GPS library.
Diff: getGPS.cpp
- Revision:
- 0:4c52e9f8484a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/getGPS.cpp Wed Oct 13 10:54:36 2021 +0000 @@ -0,0 +1,57 @@ +#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し + i = 0; + + /* gpa_data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') { + 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(度部分) */ + int latitude_dd = (int)(raw_latitude / 100); + int longitude_dd = (int)(raw_longitude / 100); + + /* 座標2(分部分 → 度) */ + double latitude_md = (raw_latitude - latitude_dd * 100) / 60; + double longitude_md = (raw_longitude - longitude_dd * 100) / 60; + + /* 座標1 + 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 +}