Takashi Koyama
GPS module (GYSFDMAXB) 57600 bps
Dependents: HAPS_GPS_Test_0001
GYSFDMAXB GPSセンサーGYSFDMAXBのライブラリ 57600 bps
手順 [1] シリアルピンを設定 GYSFDMAXB gps(tx_pin, rx_pin); [2] 零点を設定する（NED座標系における零点） gps.Initialize(); [3] 自動的にデータを受信しては更新していくので、適宜メンバ変数を読み込んで使う
Diff: GYSFDMAXB.cpp
- Revision:
- 6:db9f8d2afab7
- Parent:
- 5:6fc37ae3f262
- Child:
- 9:8595608c56ca
--- a/GYSFDMAXB.cpp Fri Apr 23 11:25:01 2021 +0000
+++ b/GYSFDMAXB.cpp Fri Apr 23 11:52:33 2021 +0000
@@ -19,7 +19,7 @@
}
serial.baud(57600);
serial.attach(this, &GYSFDMAXB::Receive, Serial::RxIrq);
- timer.attach(this, &GYSFDMAXB::Punctuate, 0.01);
+ timer.attach(this, &GYSFDMAXB::Punctuate, 0.1);
}
void GYSFDMAXB::Receive()
@@ -70,138 +70,135 @@
void GYSFDMAXB::Update()
{
-// if (receive_flag){
- for (int i = 0; i < start_size; i++)
+ for (int i = 0; i < start_size; i++)
+ {
+ if (uart_start[i] != NULL)
{
- if (uart_start[i] != NULL)
+ char str[256];
+ char* p[64];
+ int p_index = 0;
+ for (int j = 0; j < 64; j++)
+ {
+ p[j] = NULL;
+ }
+ strcpy(str, uart_start[i]);
+
+
+ char checksum = 0;
+ int c_i = 1;
+ while (str[c_i] !='*')
{
- char str[256];
- char* p[16];
- int p_index = 0;
- for (int j = 0; j < 16; j++)
+ checksum ^= str[c_i];
+ c_i++;
+ }
+ char data_checksum = 0;
+ char cc;
+ cc = str[c_i+1];
+ if ('0' <= cc && cc <= '9')
+ data_checksum += (cc-'0')*16;
+ else
+ data_checksum += ((cc-'A')+10)*16;
+ cc = str[c_i+2];
+ if ('0' <= cc && cc <= '9')
+ data_checksum += (cc-'0');
+ else
+ data_checksum += ((cc-'A')+10);
+ if (data_checksum != checksum)
+ {
+ continue;
+ }
+
+
+ int j = 0;
+ p[p_index] = str;
+ p_index++;
+ while (1)
+ {
+ if (str[j] == ',')
{
- p[j] = NULL;
- }
- strcpy(str, uart_start[i]);
-
-
- char checksum = 0;
- int c_i = 1;
- while (str[c_i] !='*')
- {
- checksum ^= str[c_i];
- c_i++;
+ p[p_index] = &(str[j + 1]);
+ p_index++;
+ str[j] = '\0';
}
- char data_checksum = 0;
- char cc;
- cc = str[c_i+1];
- if ('0' <= cc && cc <= '9')
- data_checksum += (cc-'0')*16;
- else
- data_checksum += ((cc-'A')+10)*16;
- cc = str[c_i+2];
- if ('0' <= cc && cc <= '9')
- data_checksum += (cc-'0');
- else
- data_checksum += ((cc-'A')+10);
- if (data_checksum != checksum)
- {
- continue;
- }
-
-
- int j = 0;
- p[p_index] = str;
- p_index++;
- while (1)
- {
- if (str[j] == ',')
- {
- p[p_index] = &(str[j + 1]);
- p_index++;
- str[j] = '\0';
- }
- else if (str[j] == '\0')
- {
- break;
- }
- j++;
- }
-
-
- if (strcmp(p[0], "$GPGGA") == 0)
+ else if (str[j] == '\0')
{
- if (p[6][0] != '\0')
- Quality = atoi(p[6]);
- Satellites = 0;
- if (p[7][0] != '\0')
- Satellites = atoi(p[7]);
- if (p[8][0] != '\0')
- HDOP = atof(p[8]);
- if (p[9][0] != '\0')
- Elevation = atof(p[9]);
- UnitElevation = p[10][0];
- if (p[11][0] != '\0')
- GeoidElevation = atof(p[11]);
- UnitGeoidElevation = p[10][0];
+ break;
}
- else if (strcmp(p[0], "$GPGLL") == 0)
- {
- }
- else if (strcmp(p[0], "$GPGSA") == 0)
- {
- }
- else if (strcmp(p[0], "$GPGSV") == 0)
- {
- }
- else if (strcmp(p[0], "$GPRMC") == 0)
+ j++;
+ }
+
+
+ if (strcmp(p[0], "$GPGGA") == 0)
+ {
+ if (p[6][0] != '\0')
+ Quality = atoi(p[6]);
+ Satellites = 0;
+ if (p[7][0] != '\0')
+ Satellites = atoi(p[7]);
+ if (p[8][0] != '\0')
+ HDOP = atof(p[8]);
+ if (p[9][0] != '\0')
+ Elevation = atof(p[9]);
+ UnitElevation = p[10][0];
+ if (p[11][0] != '\0')
+ GeoidElevation = atof(p[11]);
+ UnitGeoidElevation = p[10][0];
+ }
+ else if (strcmp(p[0], "$GPGLL") == 0)
+ {
+ }
+ else if (strcmp(p[0], "$GPGSA") == 0)
+ {
+ }
+ else if (strcmp(p[0], "$GPGSV") == 0)
+ {
+ }
+ else if (strcmp(p[0], "$GPRMC") == 0)
+ {
+ float _ms_deg_1;
+ int _ms_deg_2;
+ Hours = (p[1][0]-'0')*10+(p[1][1]-'0');
+ Minutes = (p[1][2]-'0')*10+(p[1][3]-'0');
+ Seconds = (p[1][4]-'0')*10+(p[1][5]-'0');
+ Milliseconds = (p[1][7]-'0')*100+(p[1][8]-'0')*10+(p[1][9]-'0');
+ Status = p[2][0];
+ if (p[3][0] != '\0')
{
- float _ms_deg_1;
- int _ms_deg_2;
- Hours = (p[1][0]-'0')*10+(p[1][1]-'0');
- Minutes = (p[1][2]-'0')*10+(p[1][3]-'0');
- Seconds = (p[1][4]-'0')*10+(p[1][5]-'0');
- Milliseconds = (p[1][7]-'0')*100+(p[1][8]-'0')*10+(p[1][9]-'0');
- Status = p[2][0];
- if (p[3][0] != '\0')
- {
- _ms_deg_1 = atof(p[3]);
- _ms_deg_2 = (int)_ms_deg_1 / 100;
- Latitude = _ms_deg_2 + (_ms_deg_1-100.0f*_ms_deg_2)/60.0f;
- }
- N_S = p[4][0];
- if (p[5][0] != '\0')
- {
- _ms_deg_1 = atof(p[5]);
- _ms_deg_2 = (int)_ms_deg_1 / 100;
- Longitude = _ms_deg_2 + (_ms_deg_1-100.0f*_ms_deg_2)/60.0f;
- }
- E_W = p[6][0];
- if (p[7][0] != '\0')
- Speed = atof(p[7]);
- if (p[8][0] != '\0')
- Direction = atof(p[8]);
- Day = (p[9][0]-'0')*10+(p[9][1]-'0');
- Month = (p[9][2]-'0')*10+(p[9][3]-'0');
- Year = (p[9][4]-'0')*10+(p[9][5]-'0');
- if (p[10][0] != '\0')
- GeomagneticDeclination = atof(p[10]);
- GeomagneticE_W = p[11][0];
- Mode = p[12][0];
+ _ms_deg_1 = atof(p[3]);
+ _ms_deg_2 = (int)_ms_deg_1 / 100;
+ Latitude = _ms_deg_2 + (_ms_deg_1-100.0f*_ms_deg_2)/60.0f;
+ }
+ N_S = p[4][0];
+ if (p[5][0] != '\0')
+ {
+ _ms_deg_1 = atof(p[5]);
+ _ms_deg_2 = (int)_ms_deg_1 / 100;
+ Longitude = _ms_deg_2 + (_ms_deg_1-100.0f*_ms_deg_2)/60.0f;
}
- else if (strcmp(p[0], "$GPVTG") == 0)
- {
- }
- else if (strcmp(p[0], "$GPZDA") == 0)
- {
- uart_index = 0;
- }
-
- uart_start[i] = NULL;
+ E_W = p[6][0];
+ if (p[7][0] != '\0')
+ Speed = atof(p[7]);
+ if (p[8][0] != '\0')
+ Direction = atof(p[8]);
+ Day = (p[9][0]-'0')*10+(p[9][1]-'0');
+ Month = (p[9][2]-'0')*10+(p[9][3]-'0');
+ Year = (p[9][4]-'0')*10+(p[9][5]-'0');
+ if (p[10][0] != '\0')
+ GeomagneticDeclination = atof(p[10]);
+ GeomagneticE_W = p[11][0];
+ Mode = p[12][0];
}
+ else if (strcmp(p[0], "$GPVTG") == 0)
+ {
+ }
+ else if (strcmp(p[0], "$GPZDA") == 0)
+ {
+ uart_index = 0;
+ }
+
+ uart_start[i] = NULL;
}
-// receive_flag = false;
-// }
+ }
}
void GYSFDMAXB::Initialize()
@@ -209,7 +206,6 @@
Satellites = 0;
while (Satellites <= 4 || Latitude == 0.0f || Longitude == 0.0f || Elevation == 0.0f)
{
- Update();
}
CalcurateUnit();
}