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gps
Diff: getGPS.cpp
- Revision:
- 0:77bff687ff05
diff -r 000000000000 -r 77bff687ff05 getGPS.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/getGPS.cpp Fri Oct 02 13:48:57 2020 +0000 @@ -0,0 +1,61 @@ +#include "mbed.h" +#include "getGPS.h" + +GPS::GPS(PinName gpstx,PinName gpsrx): _gps(gpstx,gpsrx) +{ + latitude = 0; + longitude = 0; + _gps.baud(GPSBAUD); + _gps.printf("$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"); +} + +bool GPS::getgps() +{ + char gps_data[256]; + int i; + + do { + while(_gps.getc() != '$'); //$マークまで読み飛ばす + + i = 0; + + /*gpsデータを初期化*/ + for(int j = 0; j < 256; j++){ + gps_data[j] = '\0'; + } + + /* NMEAから一行読み込み */ + while((gps_data[i] = _gps.getc()) != '\r')//受信データを格納、\rが出てくるまでループ + { + i++; + if(i == 256) { + i = 255; + break; + } + } + } while(strstr(gps_data, "GPGGA") == NULL); //GGAセンテンスまで一行ずつ読み込み続ける + + int rlock; + char ns,ew; + double w_time, raw_longitude, raw_latitude; + int satnum; + double hdop; + + if(sscanf(gps_data, "GPGGA, %lf, %lf, %c, %lf, %c, %d, %d, %lf", &w_time, &raw_latitude, &ns, &raw_longitude, &ew, &rlock, &satnum, &hdop) > 1) { + /*座標1(度成分)*/ + double latitude_dd = (double)(raw_latitude / 100); + double longitude_dd = (double)(raw_longitude / 100); + + /* 座標2(分成分 → 度)*/ + double latitude_md = (raw_latitude - latitude_dd * 100) / 60; + double longitude_md = (raw_longitude - longitude_dd * 100) / 60; + + /* 座標1+座標2 */ + latitude = latitude_dd + latitude_md; + longitude = longitude_dd + longitude_md; + + return true; + } else + return false; //GGAセンテンスの情報が欠けている時 +} + \ No newline at end of file