yuki kimura
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
Diff: ubloxUBX.h
- Revision:
- 1:2457089ca195
- Parent:
- 0:956653b6d3ad
- Child:
- 2:5992db47f3c3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ubloxUBX.h Tue Feb 13 04:25:54 2018 +0000
@@ -0,0 +1,90 @@
+#ifndef UBLOX_NAV_H
+#define UBLOX_NAV_H
+
+#include "mbed.h"
+#include "obsvdStruct.h"
+
+#define TIMEUTC_LEN 20
+#define POSLLH_LEN 28
+#define VELNED_LEN 36
+
+typedef union{
+ unsigned char Raw[TIMEUTC_LEN];
+ struct{
+ unsigned int iTOW;
+ unsigned int tAcc;
+ int nano;
+ unsigned short year;
+ unsigned char month;
+ unsigned char day;
+ unsigned char hour;
+ unsigned char min;
+ unsigned char sec;
+ unsigned char valid;
+ }Data;
+} bufToTIMEUTC;
+
+typedef union{
+ unsigned char Raw[POSLLH_LEN];
+ struct{
+ unsigned int iTOW;
+ int lon; //1e-7
+ int lat; //1e-7
+ int height;
+ int hMSL;
+ unsigned int hAcc;
+ unsigned int vAcc;
+ }Data;
+} bufToPOSLLH;
+
+typedef union{
+ unsigned char Raw[VELNED_LEN];
+
+ struct{
+ unsigned int iTOW;
+ int velN;
+ int velE;
+ int velD;
+ unsigned int speed;
+ unsigned int gspeed;
+ int heading;
+ unsigned int sAcc;
+ unsigned int cAcc;
+
+ }Data;
+
+} bufToVELNED;
+
+
+
+class GPS {
+
+public:
+
+ GPS(PinName mosi,PinName miso,PinName sck,PinName _cs);
+
+ bool updateData();
+
+ void chkData(obsvdData* obs);
+
+ void chkTime(timData* t);
+
+
+
+private:
+ SPI _gps;
+ DigitalOut cs;
+
+ bufToTIMEUTC timeData;
+ bufToPOSLLH posData;
+ bufToVELNED velData;
+ unsigned char buf0[50];
+ unsigned char buf1[50];
+ unsigned char buf2[50];
+
+};
+
+
+
+
+#endif
\ No newline at end of file