narumi tatsuya / Mbed 2 deprecated motor_sample

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Dependencies:   mbed BMP180

getGPS.cpp@4:443e82b039ba, 2020-12-19 (annotated)

Committer:
naruu
Date:
Sat Dec 19 09:24:42 2020 +0000
Revision:
4:443e82b039ba
Parent:
1:1dab888e1f3c
Child:
5:e922c07f1b61
koukou;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
naruu 1:1dab888e1f3c 1 #include "mbed.h"
naruu 1:1dab888e1f3c 2 #include "getGPS.h"
naruu 1:1dab888e1f3c 3
naruu 1:1dab888e1f3c 4 GPS::GPS(PinName gpstx,PinName gpsrx): _gps(gpstx,gpsrx)
naruu 1:1dab888e1f3c 5 {
naruu 1:1dab888e1f3c 6 latitude = 0;
naruu 1:1dab888e1f3c 7 longitude = 0;
naruu 1:1dab888e1f3c 8 _gps.baud(GPSBAUD);
naruu 1:1dab888e1f3c 9 _gps.printf("$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29");
naruu 1:1dab888e1f3c 10 }
naruu 1:1dab888e1f3c 11
naruu 1:1dab888e1f3c 12 bool GPS::getgps()
naruu 1:1dab888e1f3c 13 {
naruu 1:1dab888e1f3c 14 char gps_data[256];
naruu 1:1dab888e1f3c 15 int i;
naruu 1:1dab888e1f3c 16
naruu 1:1dab888e1f3c 17 do {
naruu 1:1dab888e1f3c 18 while(_gps.getc() != '$'); //$マークまで読み飛ばし
naruu 1:1dab888e1f3c 19 i = 0;
naruu 1:1dab888e1f3c 20
naruu 4:443e82b039ba 21 /* gps_data初期化 */
naruu 1:1dab888e1f3c 22 for(int j = 0; j < 256; j++)
naruu 1:1dab888e1f3c 23 gps_data[j] = '\0';
naruu 1:1dab888e1f3c 24
naruu 1:1dab888e1f3c 25 /* NMEAから一行読み込み */
naruu 1:1dab888e1f3c 26 while((gps_data[i] = _gps.getc()) != '\r') {
naruu 1:1dab888e1f3c 27 i++;
naruu 1:1dab888e1f3c 28 if(i == 256) {
naruu 1:1dab888e1f3c 29 i = 255;
naruu 1:1dab888e1f3c 30 break;
naruu 1:1dab888e1f3c 31 }
naruu 1:1dab888e1f3c 32 }
naruu 1:1dab888e1f3c 33 } 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
naruu 1:1dab888e1f3c 34
naruu 1:1dab888e1f3c 35 int rlock;
naruu 1:1dab888e1f3c 36 char ns,ew;
naruu 1:1dab888e1f3c 37 double w_time, raw_longitude, raw_latitude;
naruu 1:1dab888e1f3c 38 int satnum;
naruu 1:1dab888e1f3c 39 double hdop;
naruu 1:1dab888e1f3c 40
naruu 1:1dab888e1f3c 41 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) {
naruu 1:1dab888e1f3c 42 /* 座標1（度部分） */
naruu 1:1dab888e1f3c 43 double latitude_dd = (double)(raw_latitude / 100);
naruu 1:1dab888e1f3c 44 double longitude_dd = (double)(raw_longitude / 100);
naruu 1:1dab888e1f3c 45
naruu 1:1dab888e1f3c 46 /* 座標2（分部分 → 度） */
naruu 1:1dab888e1f3c 47 double latitude_md = (raw_latitude - latitude_dd * 100) / 60;
naruu 1:1dab888e1f3c 48 double longitude_md = (raw_longitude - longitude_dd * 100) / 60;
naruu 1:1dab888e1f3c 49
naruu 1:1dab888e1f3c 50 /* 座標1 + 2 */
naruu 1:1dab888e1f3c 51 latitude = latitude_dd + latitude_md;
naruu 1:1dab888e1f3c 52 longitude = longitude_dd + longitude_md;
naruu 1:1dab888e1f3c 53
naruu 1:1dab888e1f3c 54 return true;
naruu 1:1dab888e1f3c 55 } else
naruu 1:1dab888e1f3c 56 return false; //GGAセンテンスの情報が欠けている時
naruu 1:1dab888e1f3c 57 }
naruu 1:1dab888e1f3c 58