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:
- 5:6fc37ae3f262
- Parent:
- 3:f8045f83d7c1
- Child:
- 6:db9f8d2afab7
diff -r f8045f83d7c1 -r 6fc37ae3f262 GYSFDMAXB.cpp --- a/GYSFDMAXB.cpp Thu Apr 22 11:51:16 2021 +0000 +++ b/GYSFDMAXB.cpp Fri Apr 23 11:25:01 2021 +0000 @@ -1,260 +1,262 @@ -//#include "mbed.h" -//#include "GYSFDMAXB.hpp" -//#include <string.h> -//#include <stdlib.h> -//#include "Vector3.hpp" -//#include <math.h> -//#define M_PI 3.14159265358979f -// -//GYSFDMAXB::GYSFDMAXB(PinName tx, PinName rx) -// :serial(tx, rx), receive_flag(false), uart_index(0), start_index(0) -//{ -// for (int i = 0; i < uart_size; i++) -// { -// uart_buffer[i] = '\0'; -// for (int j = 0; j < phrase_size; j++) -// { -// phrase_buffer[i][j] = '\0'; -// } -// } -// for (int i = 0; i < start_size; i++) -// { -// uart_start[i] = NULL; -// } -// serial.baud(57600); -// serial.attach(this, &GYSFDMAXB::Receive, Serial::RxIrq); -//} -// -//void GYSFDMAXB::Receive() -//{ -// while (serial.readable()) -// { -// char c; -// c = serial.getc(); -// if (c == '$') -// { -// uart_buffer[uart_index] = c; -// uart_start[start_index] = &(uart_buffer[uart_index]); -// uart_index = (uart_index + 1) % uart_size; -// } -// else if (c == '\r') -// { -// } -// else if (c == '\n') -// { -// start_index = (start_index + 1) % start_size; -// uart_buffer[uart_index] = '\0'; -// receive_flag = true; -// uart_index = (uart_index + 1) % uart_size; -// } -// else -// { -// uart_buffer[uart_index] = c; -// uart_index = (uart_index + 1) % uart_size; -// } -// } -//} -// -//void GYSFDMAXB::Update() -//{ -// for (int i = 0; i < start_size; i++) -// { -// if (uart_start[i] != NULL) -// { -// strcpy(phrase_buffer[i], uart_start[i]); -// uart_start[i] = NULL; -// } +#include "mbed.h" +#include "GYSFDMAXB.hpp" +#include <string.h> +#include <stdlib.h> +#include "Vector3.hpp" +#include <math.h> +#define M_PI 3.14159265358979f + +GYSFDMAXB::GYSFDMAXB(PinName tx, PinName rx) + :serial(tx, rx), receive_flag(false), start_index(0), uart_index(0) +{ + for (int i = 0; i < uart_size; i++) + { + uart_buffer[i] = '\0'; + } + for (int i = 0; i < start_size; i++) + { + uart_start[i] = NULL; + } + serial.baud(57600); + serial.attach(this, &GYSFDMAXB::Receive, Serial::RxIrq); + timer.attach(this, &GYSFDMAXB::Punctuate, 0.01); +} + +void GYSFDMAXB::Receive() +{ + while (serial.readable()) + { + char c; + c = serial.getc(); + if (c == '$') + { + uart_buffer[uart_index] = c; + uart_start[start_index] = &(uart_buffer[uart_index]); + uart_index = (uart_index + 1) % uart_size; + } + else if (c == '\r') + { + } + else if (c == '\n') + { + start_index = (start_index + 1) % start_size; + uart_buffer[uart_index] = '\0'; + receive_flag = true; + uart_index = (uart_index + 1) % uart_size; + } + else + { + uart_buffer[uart_index] = c; + uart_index = (uart_index + 1) % uart_size; + } + } +} + +void GYSFDMAXB::Punctuate() +{ + volatile static int counter = 0; + const int delay = 2; + if (receive_flag) + { + counter++; + } + if (counter >= delay) + { + counter = 0; + Update(); + receive_flag = false; + } +} + +void GYSFDMAXB::Update() +{ +// if (receive_flag){ + for (int i = 0; i < start_size; i++) + { + if (uart_start[i] != NULL) + { + char str[256]; + char* p[16]; + int p_index = 0; + for (int j = 0; j < 16; 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++; + } + 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], "$GPGGA") == 0) + { + if (p[6][0] != '\0') + Quality = atoi(p[6]); + Satellites = 0; + if (p[7][0] != '\0') + Satellites = atoi(p[7]); + if (p[8][0] != '\0') + HDOP = atof(p[8]); + if (p[9][0] != '\0') + Elevation = atof(p[9]); + UnitElevation = p[10][0]; + if (p[11][0] != '\0') + GeoidElevation = atof(p[11]); + UnitGeoidElevation = p[10][0]; + } + else if (strcmp(p[0], "$GPGLL") == 0) + { + } + else if (strcmp(p[0], "$GPGSA") == 0) + { + } + else if (strcmp(p[0], "$GPGSV") == 0) + { + } + else if (strcmp(p[0], "$GPRMC") == 0) + { + float _ms_deg_1; + int _ms_deg_2; + Hours = (p[1][0]-'0')*10+(p[1][1]-'0'); + Minutes = (p[1][2]-'0')*10+(p[1][3]-'0'); + Seconds = (p[1][4]-'0')*10+(p[1][5]-'0'); + Milliseconds = (p[1][7]-'0')*100+(p[1][8]-'0')*10+(p[1][9]-'0'); + Status = p[2][0]; + if (p[3][0] != '\0') + { + _ms_deg_1 = atof(p[3]); + _ms_deg_2 = (int)_ms_deg_1 / 100; + Latitude = _ms_deg_2 + (_ms_deg_1-100.0f*_ms_deg_2)/60.0f; + } + N_S = p[4][0]; + if (p[5][0] != '\0') + { + _ms_deg_1 = atof(p[5]); + _ms_deg_2 = (int)_ms_deg_1 / 100; + Longitude = _ms_deg_2 + (_ms_deg_1-100.0f*_ms_deg_2)/60.0f; + } + E_W = p[6][0]; + if (p[7][0] != '\0') + Speed = atof(p[7]); + if (p[8][0] != '\0') + Direction = atof(p[8]); + Day = (p[9][0]-'0')*10+(p[9][1]-'0'); + Month = (p[9][2]-'0')*10+(p[9][3]-'0'); + Year = (p[9][4]-'0')*10+(p[9][5]-'0'); + if (p[10][0] != '\0') + GeomagneticDeclination = atof(p[10]); + GeomagneticE_W = p[11][0]; + Mode = p[12][0]; + } + else if (strcmp(p[0], "$GPVTG") == 0) + { + } + else if (strcmp(p[0], "$GPZDA") == 0) + { + uart_index = 0; + } + + uart_start[i] = NULL; + } + } +// receive_flag = false; // } -// for (int i = 0; i < start_size; i++) -// { -// if (phrase_buffer[i][0] != '\0') -// { -// char str[128]; -// char* p[16]; -// int p_index = 0; -// for (int j = 0; j < 16; j++) -// { -// p[j] = NULL; -// } -// strcpy(str, phrase_buffer[i]); -// -// -// char checksum = 0; -// int c_i = 1; -// while (str[c_i] !='*') -// { -// checksum ^= str[c_i]; -// c_i++; -// } -// char data_checksum = 0; -// char cc; -// cc = str[c_i+1]; -// if ('0' <= cc && cc <= '9') -// data_checksum += (cc-'0')*16; -// else -// data_checksum += ((cc-'A')+10)*16; -// cc = str[c_i+2]; -// if ('0' <= cc && cc <= '9') -// data_checksum += (cc-'0'); -// else -// data_checksum += ((cc-'A')+10); -// if (data_checksum != checksum) -// { -// continue; -// } -// -// -// int j = 0; -// p[p_index] = str; -// p_index++; -// while (1) -// { -// if (str[j] == ',') -// { -// p[p_index] = &(str[j + 1]); -// p_index++; -// str[j] = '\0'; -// } -// else if (str[j] == '\0') -// { -// break; -// } -// j++; -// } -// -// -// if (strcmp(p[0], "$GPGGA") == 0) -// { -// strcpy(gpgga, phrase_buffer[i]); -// for (int i = 0; i < 128; i++) -// { -// gpgga[i] = -// } -// 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') -// { -// _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]; -// } -// else if (strcmp(p[0], "$GPVTG") == 0) -// { -// } -// else if (strcmp(p[0], "$GPZDA") == 0) -// { -// uart_index = 0; -// -// if (gpgga[6][0] != '\0') -// Quality = atoi(p[6]); -// Satellites = 0; -// if (gpgga[7][0] != '\0') -// Satellites = atoi(p[7]); -// if (gpgga[8][0] != '\0') -// HDOP = atof(p[8]); -// if (gpgga[9][0] != '\0') -// Elevation = atof(p[9]); -// UnitElevation = p[10][0]; -// if (gpgga[11][0] != '\0') -// GeoidElevation = atof(gpgga[11]); -// UnitGeoidElevation = gpgga[10][0]; -// -// } -// -// strcpy(phrase_buffer[i], ""); -// } -// } -//} -// -//void GYSFDMAXB::Initialize() -//{ -// Satellites = 0; -// while (Satellites <= 4 || Latitude == 0.0f || Longitude == 0.0f || Elevation == 0.0f) -// { -// Update(); -// } -// CalcurateUnit(); -//} -// -//Vector3 GYSFDMAXB::ToUniversalUnit() -//{ -// // 東経180度、北緯0度で精度最大 -// float pi_2_theta = (Latitude * ((N_S == 'N') ? 1.0f : -1.0f)) * M_PI / 180.0f; -// float pi_phi = ((E_W == 'E') ? Longitude - 180.0f : 180.0f - Longitude) * M_PI / 180.0f; -// float x = - cosf(pi_2_theta) * cosf(pi_phi); -// float y = - cosf(pi_2_theta) * sinf(pi_phi); -// float z = sinf(pi_2_theta); -// Vector3 v(x, y, z); -// return v; -//} -// -//Vector3 GYSFDMAXB::ToUniversal() -//{ -// Vector3 v = ToUniversalUnit(); -// return (Radius + Elevation) * v; -//} -// -//void GYSFDMAXB::CalcurateUnit() -//{ -// Vector3 _d = -1.0f * ToUniversalUnit(); -// -// UniversalZeroPosition = -(Radius+Elevation)*_d; -// Vector3 _z(0.0f, 0.0f, 1.0f); -// Vector3 _e = _d * _z; -// Vector3 _n = _e * _d; -// UniversalZeroUnitN = _n; -// UniversalZeroUnitE = _e; -// UniversalZeroUnitD = _d; -//} -// -//void GYSFDMAXB::Calcurate() -//{ -// UniversalPosition = ToUniversal(); -// Vector3 relative = UniversalPosition - UniversalZeroPosition; -// Vector3 _position(relative % UniversalZeroUnitN, relative % UniversalZeroUnitE, relative % UniversalZeroUnitD); -// Position = _position; -//} -// -//Vector3 GYSFDMAXB::Calcurate(Vector3 position) -//{ -// UniversalPosition = ToUniversal(); -// Vector3 relative = position - UniversalZeroPosition; -// Vector3 _position(relative % UniversalZeroUnitN, relative % UniversalZeroUnitE, relative % UniversalZeroUnitD); -// return _position; -//} +} + +void GYSFDMAXB::Initialize() +{ + Satellites = 0; + while (Satellites <= 4 || Latitude == 0.0f || Longitude == 0.0f || Elevation == 0.0f) + { + Update(); + } + CalcurateUnit(); +} + +Vector3 GYSFDMAXB::ToUniversalUnit() +{ + // 東経180度、北緯0度で精度最大 + float pi_2_theta = (Latitude * ((N_S == 'N') ? 1.0f : -1.0f)) * M_PI / 180.0f; + float pi_phi = ((E_W == 'E') ? Longitude - 180.0f : 180.0f - Longitude) * M_PI / 180.0f; + float x = - cosf(pi_2_theta) * cosf(pi_phi); + float y = - cosf(pi_2_theta) * sinf(pi_phi); + float z = sinf(pi_2_theta); + Vector3 v(x, y, z); + return v; +} + +Vector3 GYSFDMAXB::ToUniversal() +{ + Vector3 v = ToUniversalUnit(); + return (Radius + Elevation) * v; +} + +void GYSFDMAXB::CalcurateUnit() +{ + Vector3 _d = -1.0f * ToUniversalUnit(); + + UniversalZeroPosition = -(Radius+Elevation)*_d; + Vector3 _z(0.0f, 0.0f, 1.0f); + Vector3 _e = _d * _z; + Vector3 _n = _e * _d; + UniversalZeroUnitN = _n; + UniversalZeroUnitE = _e; + UniversalZeroUnitD = _d; +} + +void GYSFDMAXB::Calcurate() +{ + UniversalPosition = ToUniversal(); + Vector3 relative = UniversalPosition - UniversalZeroPosition; + Vector3 _position(relative % UniversalZeroUnitN, relative % UniversalZeroUnitE, relative % UniversalZeroUnitD); + Position = _position; +} + +Vector3 GYSFDMAXB::Calcurate(Vector3 position) +{ + UniversalPosition = ToUniversal(); + Vector3 relative = position - UniversalZeroPosition; + Vector3 _position(relative % UniversalZeroUnitN, relative % UniversalZeroUnitE, relative % UniversalZeroUnitD); + return _position; +}