ublox社製GPSモジュール NEO-7Mから、SPI経由でGPSデータをUBXプロトコルで読み出すライブラリです SPI経由ではGPSの出力設定が出来ないので、予めUART接続でPCから出力データを変更する必要があります。ここら辺の詳細については https://ameblo.jp/tsukuba-step/entry-12282936077.html を参考にして下さい。 出力設定は、 NAV-POSLLH,NAV-TIMEUTC,NAV-VELNED のみを出力して下さい
ublox_Nav.h@0:956653b6d3ad, 2018-02-13 (annotated)
- Committer:
- kim1212
- Date:
- Tue Feb 13 04:21:32 2018 +0000
- Revision:
- 0:956653b6d3ad
U-Blox?UBX????????????????????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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kim1212 | 0:956653b6d3ad | 1 | #ifndef UBLOX_NAV_H |
kim1212 | 0:956653b6d3ad | 2 | #define UBLOX_NAV_H |
kim1212 | 0:956653b6d3ad | 3 | |
kim1212 | 0:956653b6d3ad | 4 | #include "mbed.h" |
kim1212 | 0:956653b6d3ad | 5 | #include "obsvdStruct.h" |
kim1212 | 0:956653b6d3ad | 6 | |
kim1212 | 0:956653b6d3ad | 7 | #define TIMEUTC_LEN 20 |
kim1212 | 0:956653b6d3ad | 8 | #define POSLLH_LEN 28 |
kim1212 | 0:956653b6d3ad | 9 | #define VELNED_LEN 36 |
kim1212 | 0:956653b6d3ad | 10 | |
kim1212 | 0:956653b6d3ad | 11 | typedef union{ |
kim1212 | 0:956653b6d3ad | 12 | unsigned char Raw[TIMEUTC_LEN]; |
kim1212 | 0:956653b6d3ad | 13 | struct{ |
kim1212 | 0:956653b6d3ad | 14 | unsigned int iTOW; |
kim1212 | 0:956653b6d3ad | 15 | unsigned int tAcc; |
kim1212 | 0:956653b6d3ad | 16 | int nano; |
kim1212 | 0:956653b6d3ad | 17 | unsigned short year; |
kim1212 | 0:956653b6d3ad | 18 | unsigned char month; |
kim1212 | 0:956653b6d3ad | 19 | unsigned char day; |
kim1212 | 0:956653b6d3ad | 20 | unsigned char hour; |
kim1212 | 0:956653b6d3ad | 21 | unsigned char min; |
kim1212 | 0:956653b6d3ad | 22 | unsigned char sec; |
kim1212 | 0:956653b6d3ad | 23 | unsigned char valid; |
kim1212 | 0:956653b6d3ad | 24 | }Data; |
kim1212 | 0:956653b6d3ad | 25 | } bufToTIMEUTC; |
kim1212 | 0:956653b6d3ad | 26 | |
kim1212 | 0:956653b6d3ad | 27 | typedef union{ |
kim1212 | 0:956653b6d3ad | 28 | unsigned char Raw[POSLLH_LEN]; |
kim1212 | 0:956653b6d3ad | 29 | struct{ |
kim1212 | 0:956653b6d3ad | 30 | unsigned int iTOW; |
kim1212 | 0:956653b6d3ad | 31 | int lon; //1e-7 |
kim1212 | 0:956653b6d3ad | 32 | int lat; //1e-7 |
kim1212 | 0:956653b6d3ad | 33 | int height; |
kim1212 | 0:956653b6d3ad | 34 | int hMSL; |
kim1212 | 0:956653b6d3ad | 35 | unsigned int hAcc; |
kim1212 | 0:956653b6d3ad | 36 | unsigned int vAcc; |
kim1212 | 0:956653b6d3ad | 37 | }Data; |
kim1212 | 0:956653b6d3ad | 38 | } bufToPOSLLH; |
kim1212 | 0:956653b6d3ad | 39 | |
kim1212 | 0:956653b6d3ad | 40 | typedef union{ |
kim1212 | 0:956653b6d3ad | 41 | unsigned char Raw[VELNED_LEN]; |
kim1212 | 0:956653b6d3ad | 42 | |
kim1212 | 0:956653b6d3ad | 43 | struct{ |
kim1212 | 0:956653b6d3ad | 44 | unsigned int iTOW; |
kim1212 | 0:956653b6d3ad | 45 | int velN; |
kim1212 | 0:956653b6d3ad | 46 | int velE; |
kim1212 | 0:956653b6d3ad | 47 | int velD; |
kim1212 | 0:956653b6d3ad | 48 | unsigned int speed; |
kim1212 | 0:956653b6d3ad | 49 | unsigned int gspeed; |
kim1212 | 0:956653b6d3ad | 50 | int heading; |
kim1212 | 0:956653b6d3ad | 51 | unsigned int sAcc; |
kim1212 | 0:956653b6d3ad | 52 | unsigned int cAcc; |
kim1212 | 0:956653b6d3ad | 53 | |
kim1212 | 0:956653b6d3ad | 54 | }Data; |
kim1212 | 0:956653b6d3ad | 55 | |
kim1212 | 0:956653b6d3ad | 56 | } bufToVELNED; |
kim1212 | 0:956653b6d3ad | 57 | |
kim1212 | 0:956653b6d3ad | 58 | |
kim1212 | 0:956653b6d3ad | 59 | |
kim1212 | 0:956653b6d3ad | 60 | class GPS { |
kim1212 | 0:956653b6d3ad | 61 | |
kim1212 | 0:956653b6d3ad | 62 | public: |
kim1212 | 0:956653b6d3ad | 63 | |
kim1212 | 0:956653b6d3ad | 64 | GPS(PinName mosi,PinName miso,PinName sck,PinName _cs); |
kim1212 | 0:956653b6d3ad | 65 | |
kim1212 | 0:956653b6d3ad | 66 | bool updateData(); |
kim1212 | 0:956653b6d3ad | 67 | |
kim1212 | 0:956653b6d3ad | 68 | void chkData(obsvdData* obs); |
kim1212 | 0:956653b6d3ad | 69 | |
kim1212 | 0:956653b6d3ad | 70 | void chkTime(timData* t); |
kim1212 | 0:956653b6d3ad | 71 | |
kim1212 | 0:956653b6d3ad | 72 | |
kim1212 | 0:956653b6d3ad | 73 | |
kim1212 | 0:956653b6d3ad | 74 | private: |
kim1212 | 0:956653b6d3ad | 75 | SPI _gps; |
kim1212 | 0:956653b6d3ad | 76 | DigitalOut cs; |
kim1212 | 0:956653b6d3ad | 77 | |
kim1212 | 0:956653b6d3ad | 78 | bufToTIMEUTC timeData; |
kim1212 | 0:956653b6d3ad | 79 | bufToPOSLLH posData; |
kim1212 | 0:956653b6d3ad | 80 | bufToVELNED velData; |
kim1212 | 0:956653b6d3ad | 81 | unsigned char buf0[50]; |
kim1212 | 0:956653b6d3ad | 82 | unsigned char buf1[50]; |
kim1212 | 0:956653b6d3ad | 83 | unsigned char buf2[50]; |
kim1212 | 0:956653b6d3ad | 84 | |
kim1212 | 0:956653b6d3ad | 85 | }; |
kim1212 | 0:956653b6d3ad | 86 | |
kim1212 | 0:956653b6d3ad | 87 | |
kim1212 | 0:956653b6d3ad | 88 | |
kim1212 | 0:956653b6d3ad | 89 | |
kim1212 | 0:956653b6d3ad | 90 | #endif |