Igor Lima
contain lorawan with serial_rx enabled
Dependencies: pulga-lorawan-drv SPI_MX25R Si1133 BME280
Diff: gps.txt
- Revision:
- 63:4ec1808fb547
- Parent:
- 62:89df9529dbb0
- Child:
- 64:ed68ddac6360
--- a/gps.txt Fri Feb 26 17:07:12 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,704 +0,0 @@
-
-#define SYNC1 0xB5
-#define SYNC2 0x62
-
-//GPS DEclaration
-SPI spi_2(P0_5, P0_7, P0_11); // mosi, miso, sclk
-DigitalOut cs(P0_30);
-DigitalOut gps_reset(P1_2);
-DigitalOut gps_int (P0_23);
-DigitalOut gps_DSEL (P0_27);
-
-
-
-
-
-typedef struct
-{
- uint8_t cls;
- uint8_t id;
- uint16_t len; //Length of the payload. Does not include cls, id, or checksum bytes
- uint8_t *payload;
- uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums.
- uint8_t checksumB;
-} gps_ubxPacket;
-
-typedef struct
-{
- uint32_t iTOW=0;
- uint16_t year=0;
- uint8_t month=0;
- uint8_t day=0;
- uint8_t hour=0;
- uint8_t min=0;
- uint8_t sec=0;
- int8_t valid=0;
- uint32_t tAcc=0;
- int32_t nano=0;
- uint8_t fixtype=0;
- int8_t flags=0;
- int8_t flags2=0;
- uint8_t numSV=0;
- int32_t lon=0;
- int32_t lat=0;
- int32_t height=0;
- int32_t hMSL=0;
- uint32_t hAcc=0;
- uint32_t vAcc=0;
- int32_t velN=0;
- int32_t velE=0;
- int32_t velD=0;
- int32_t gSpeed=0;
- int32_t headMot=0;
- uint32_t sAcc=0;
- uint32_t headAcc=0;
- uint16_t pDOP=0;
- int32_t headVeh;
- int16_t magDec;
- uint16_t magAcc;
-
-
-} gps_navPVT;
-
-
-void gps_leBootMsg(){
-
- #define MAXIMUM_PACKET_SIZE 60
- int packet_size;
- uint8_t packet[MAXIMUM_PACKET_SIZE];
- uint8_t value;
- int cont;
- value = spi_2.write(0x00);
-
- while (value != '$' ){ //wait start boot msg
- value = spi_2.write(0x00);
- wait_ms(5);
- cont++;
- if (cont > 100){
- printf("\n no response \n");
- return;
- }
- }
- packet[0] = value;
- value = spi_2.write(0x00);
- for (packet_size = 1 ; packet_size <= MAXIMUM_PACKET_SIZE ;packet_size++) {
- if (value != '\n' ){
- packet [packet_size]= value;
- value = spi_2.write(0x00);
- }
- else {
- //lora_send_packet (packet , (uint8_t) packet_size+1); // manda atraves do lora a mensagem de boot do gps
- printf("Boot msg: %s \n", packet);
- return;
- }
-
- }
-
-}
-
-void gps_le_envia_linha(){
-
- uint8_t packet[150];
- uint8_t value;
-
- for (int i=0;i < 149; i++){
- if (value == '\n'){
- //lora_send_packet (packet , (uint8_t) i);
- return;
- }
- else packet [i] =value;
- }
- //lora_send_packet (packet , (uint8_t) 99);
-
-}
-
-
-gps_ubxPacket gps_calcula_check(gps_ubxPacket Packet) {
-
- uint8_t Buffer[Packet.len + 4];
- uint8_t CK_A=0;
- uint8_t CK_B=0;
-
- Buffer[0]= Packet.cls;
- Buffer[1]= Packet.id;
- Buffer[2]= Packet.len & 0xFF;
- Buffer[3]= (Packet.len >> 8)& 0xFF;;
-
- //send_packet (Buffer, (uint8_t) 4 );
-
- for (uint16_t i = 0; i < Packet.len; i++) {
- Buffer [i+4] = Packet.payload[i] ;
- }
-
- //send_packet (Buffer, (uint8_t) Packet.len + 4 );
-
- for(int i=0 ; i < Packet.len + 4 ; i++) {
- CK_A = CK_A + Buffer[i];
- CK_B = CK_B + CK_A;
- CK_A = CK_A & 0xFF;
- CK_B = CK_B & 0xFF;
- //uint8_t packet_check[5] ={Buffer[i],(uint8_t) (i+1),CK_A,CK_B,'#'};
-// send_packet (packet_check , (uint8_t) 5);
- }
-
-
-// uint8_t packet_check[2] ={CK_A, CK_B};
-// send_packet (packet_check , (uint8_t) 2);
-
- Packet.checksumA = CK_A;
- Packet.checksumB = CK_B;
-
- return Packet;
-
-}
-
-void send_gps_packet(gps_ubxPacket packet){
-
- spi_2.write(SYNC1);
- spi_2.write(SYNC2);
- spi_2.write(packet.cls);
- spi_2.write(packet.id);
- spi_2.write(packet.len & 0xFF);
- spi_2.write((packet.len >> 8)& 0xFF);
-
- for (uint16_t i = 0; i < packet.len; i++) {
- spi_2.write(packet.payload[i]);
- }
- spi_2.write(packet.checksumA);
- spi_2.write(packet.checksumB);
-
- //=============imprime resposta
- wait_ms(50);
- gps_le_envia_linha();
- gps_le_envia_linha();
-
-}
-
-gps_navPVT le_nav_pvt () {
-
- gps_navPVT Pac;
-
- char state = 0;
- int cont =0;
- int numb=0;
-
- while (1){ //começou mensagem
- if (cont > 100) {
- // BMX160_read_acc();
- return Pac;
- }
- if (state == 0 ){
-
- if ( spi_2.write(0x00) == 0xB5){
- state =1;
- }
- else {
- cont++;
- wait_ms(40);
- }
-
- }
- else if (state == 1){ // read 0xb5
- if (spi_2.write(0x00) == 0x62){
- state =2;
- //wait_ms(30);
- }
- else state =0;
- }
- else if (state == 2) {// read 0xb5 0x62
- if (spi_2.write(0x00) == 0x01){
- //printf("le_nav_pvt going to state 3");
- state =3;
- //wait_ms(30);
- }
- else state =0;
- }
- else if (state == 3) {// read 0xb5 0x62 0x01
- if (spi_2.write(0x00) == 0x07){
- state =4;
- //printf("le_nav_pvt going to state 4");
- //wait_ms(30);
- }
- else state =0;
- }
- else if (state == 4) {// read 0xb5 0x62 0x01 0x07
- if (spi_2.write(0x00) == 0x5c){
- state =5;
- //printf("le_nav_pvt going to state 5");
- //wait_ms(30);
- }
- else state =0;
- }
- else if (state == 5) {// read 0xb5 0x62 0x01 0x07 0x5c
- if (spi_2.write(0x00) == 0x00){
- state =6;
- //printf("le_nav_pvt going to state 6");
- //wait_ms(30);
- }
- else state =0;
- }
- else if (state == 6){ // read 0xb5 0x62 0x01 0x07 0x5c 0x00
- uint8_t value1,value2,value3,value4;
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.iTOW = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- Pac.year = (value2 << 8) + value1;
-
- Pac.month = 0xff & spi_2.write(0x00);
- Pac.day = 0xff & spi_2.write(0x00);
- Pac.hour = 0xff & spi_2.write(0x00);
- Pac.min = 0xff & spi_2.write(0x00);
- Pac.sec = 0xff & spi_2.write(0x00);
- Pac.valid = 0xff & spi_2.write(0x00);
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.tAcc = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.nano = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-
- Pac.fixtype = 0xff & spi_2.write(0x00);
- Pac.flags = 0xff & spi_2.write(0x00);
- Pac.flags2 = 0xff & spi_2.write(0x00);
- Pac.numSV = 0xff & spi_2.write(0x00);
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.lon = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
- lon= (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
- //printf("Long Data %d \n ", lon);
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.lat = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
- lat = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
- //printf("Lat Data %d", lat);
-
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.height = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.hMSL = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.hAcc = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.vAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.velN = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.velE = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.velD = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.gSpeed = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.headMot = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.sAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- Pac.pDOP = (value2 << 8) + value1;
-
- for (int i=0; i < 6; i++)spi_2.write(0x00);
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- value3 = 0xff & spi_2.write(0x00);
- value4 = 0xff & spi_2.write(0x00);
- Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- Pac.magDec = (value2 << 8) + value1;
-
- value1 = 0xff & spi_2.write(0x00);
- value2 = 0xff & spi_2.write(0x00);
- Pac.magAcc = (value2 << 8) + value1;
-
-
- return Pac;
- }
- }
- wait_ms(100);
-}
-
-void send_nav_pvt (){
- uint8_t packet_nav_pvt[] = { 0xB5, 0x62, 0x01, 0x07, 0x00, 0x00, 0x08, 0x19};
-
- //=============envia pacote nav pvt
- for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
- spi_2.write(packet_nav_pvt[i]);
- wait_ms(5);
- }
-
- gps_navPVT Data = le_nav_pvt();
-
- uint8_t packet [100];
-
- packet [0]= (Data.lon >> 24)& 0xff;
- packet [1]= (Data.lon >> 16) & 0xff ;
- packet [2]= (Data.lon >> 8) & 0xff;
- packet [3]= Data.lon & 0xff;
- packet [4]= (Data.lat >> 24)& 0xff;
- packet [5]= (Data.lat >> 16) & 0xff ;
- packet [6]= (Data.lat >> 8) & 0xff;
- packet [7]= Data.lat & 0xff;
- packet [8]= (Data.hMSL >> 24)& 0xff;
- packet [9]= (Data.hMSL >> 16) & 0xff ;
- packet [10]= (Data.hMSL >> 8) & 0xff;
- packet [11]= Data.hMSL & 0xff;
-
- if (Data.lon !=0 || Data.lat !=0 ){
- //lora_send_packet (packet , (uint8_t) 12);
- }
-}
-
-void send_gps_data(uint8_t *packet, uint8_t size){
- uint8_t packet_rec[size];
- for ( int i=0; i< size ; i++){
- spi_2.write(packet[i]);
-
- //wait_ms(5);
- }
- //send_packet (packet_rec ,size);
-}
-
-/*
-void wait_packet (uint8_t *header) {
-
- char state = 0;
- int cont =0;
-
- while (1){ //começou mensagem
- if (cont > 250) {
- //led2=!led2;
- return;
- }
- if (state == 0 ){
- if (spi_2.write(0x00) == header[0])
- state =1;
- else {
- cont++;
- wait_ms(10);
- }
-
-
- }
- else if (state == 1){ // read 0xb5
- if (spi_2.write(0x00) == header[1]){
- state =2;
- }
- else state =0;
- }
- else if (state == 2) {// read 0xb5 0x62
- if (spi_2.write(0x00) == header[2]){
- state =3;
- }
- else state =0;
- }
- else if (state == 3) {// read 0xb5 0x62 0x06
- if (spi_2.write(0x00) == header[3]){
- state =4;
- }
- else state =0;
- }
- else if (state == 4) {// read 0xb5 0x62 0x06 0x013
-
- uint8_t packet[100];
- uint8_t value = spi_2.write(0x00);
- uint8_t packet_size;
-
- for (packet_size = 0 ; packet_size < 100 ;packet_size++) {
- if (value != '\n' ){
- packet [packet_size]= value;
- value = spi_2.write(0x00);
- }
- else {
- lora_send_packet (packet , (uint8_t) packet_size+1);
- //packet_size = MAXIMUM_PACKET_SIZE +1;
- return;
- }
- }
-
- }
- }
-}*/
-
-void wait_packet_byte (uint8_t *header, uint8_t byte) {
-
- char state = 0;
- int cont =0;
-
- while (1){ //começou mensagem
- if (cont > 250) {
- //led2=!led2;
- return;
- }
- if (state == 0 ){
- if (spi_2.write(0x00) == header[0])
- state =1;
- else {
- cont++;
- wait_ms(10);
- }
-
-
- }
- else if (state == 1){ // read 0xb5
- if (spi_2.write(0x00) == header[1]){
- state =2;
- }
- else state =0;
- }
- else if (state == 2) {// read 0xb5 0x62
- if (spi_2.write(0x00) == header[2]){
- state =3;
- }
- else state =0;
- }
- else if (state == 3) {// read 0xb5 0x62 0x06
- if (spi_2.write(0x00) == header[3]){
- state =4;
- }
- else state =0;
- }
- else if (state == 4) {// read 0xb5 0x62 0x06 0x013
-
- if (byte == 0){//mostrar todo o pacote
- uint8_t packet[100];
- uint8_t value = spi_2.write(0x00);
- uint8_t packet_size;
-
- for (packet_size = 0 ; packet_size < 100 ;packet_size++) {
- if (value != '\n' ){
- packet [packet_size]= value;
- value = spi_2.write(0x00);
- }
- else {
- //lora_send_packet (packet , (uint8_t) packet_size+1);
- //packet_size = MAXIMUM_PACKET_SIZE +1;
- return;
- }
- }//fim for
- }//fim if byte
-
- else {//mostrar apenas um byte
-
-
- for (int i = 0 ; i < byte-1 ;i++)
- spi_2.write(0x00);
-
- uint8_t packet[]={(uint8_t)99,(uint8_t)spi_2.write(0x00)};
- //lora_send_packet (packet , (uint8_t) 2);
-
-
- for (int i = 0 ; i < 100 ;i++)
- if (spi_2.write(0x00) == '\n')
- return;
-
- return;
-
- }//fim else byte
-
- }
-
- }
-
-}
-
-
-void gps_wait_same_packet () {
-
- char state = 0;
- int cont =0;
-
- while (1){ //começou mensagem
- if (cont > 250) {
- //led2=!led2;
- return;
- }
- if (state == 0 ){
- if (spi_2.write(0x00) == 0xb5)
- state =1;
- else {
- cont++;
- wait_ms(10);
- }
-
-
- }
- else if (state == 1){ // read 0xb5
- if (spi_2.write(0x00) == 0x62){
- state =2;
- }
- else state =0;
- }
- else if (state == 2){
- uint8_t packet[200];
- uint8_t value = spi_2.write(0x00);
- uint8_t packet_size;
-
- for (packet_size = 0 ; packet_size < 200 ;packet_size++) {
- if (value != '\n' ){
- packet [packet_size]= value;
- value = spi_2.write(0x00);
- }
- else {
- //lora_send_packet (packet , (uint8_t) packet_size+1);
- //packet_size = MAXIMUM_PACKET_SIZE +1;
- return;
- }
-
- }//fim for
- // lora_send_packet (packet , 200);
- }
- }
-}
-
-void gps_config_gnss (){
-
- uint8_t packet_cfg_gnss[] = {
- 0xB5, 0x62, // Header
- 0x03, 0x3E, // Class ID = CFG, Msg ID = UBX-CFG-GNSS
- 0x3C, 0x00, // Payload Length = 60 bytes
- 0x00, 0x00, 0x20, 0x07, // msgVer=0, numTrkChHw=32, numTrkChUse=32, numConfigBlocks=7
- 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // gnssId=0 (GPS), resTrkCh=8, maxTrkCh=12, ENABLE
- 0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=1 (SBAS), resTrkCh=1, maxTrkCh=2, ENABLE
- 0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=2 (Galileo), resTrkCh=4, maxTrkCh=10, ENABLE
- 0x03, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=3 (BeiDou), resTrkCh=4, maxTrkCh=8, DISABLE
- 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=4 (IMES), resTrkCh=0, maxTrkCh=8, DISABLE
- 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=5 (QZSS), resTrkCh=0, maxTrkCh=3, DISABLE
- 0x06, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=6 (GLONASS), resTrkCh=4, maxTrkCh=8, ENABLE
- 0x00, 0x00 //checksums A & B
- };
- uint8_t pos_ck = sizeof(packet_cfg_gnss)-2;
- printf("gnss config finish");
- uint8_t ubxi;
- //calcula checksum
- for (ubxi=2; ubxi<pos_ck ; ubxi++) {
- packet_cfg_gnss[pos_ck] = packet_cfg_gnss[pos_ck] + packet_cfg_gnss[ubxi];
- packet_cfg_gnss[pos_ck+1] = packet_cfg_gnss[pos_ck+1] + packet_cfg_gnss[pos_ck];
- }
-
-}
-
-
-void gps_print_local (){
- uint8_t packet_nav_pvt[] = { 0xB5, 0x62, 0x01, 0x07, 0x00, 0x00, 0x08, 0x19};
-
- //=============envia pacote nav pvt
- for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
- spi_2.write(packet_nav_pvt[i]);
- wait_ms(20);
- }
-
- gps_navPVT Data = le_nav_pvt();
-
- //printf ("gps lat=%d lon=%d \n",Data.lat ,Data.lon );
- //lat=Data.lat;
- //lon=Data.lon;
-}
-
-void gps_get_lat_lon(int *latitude, int *logitude){
- uint8_t packet_nav_pvt[] = { 0xB5, 0x62, 0x01, 0x07, 0x00, 0x00, 0x08, 0x19};
-
- //=============envia pacote nav pvt
- for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
- spi_2.write(packet_nav_pvt[i]);
- wait_ms(20);
- }
-
- gps_navPVT Data = le_nav_pvt();
-
- //printf ("gps lat=%d lon=%d \n",Data.lat ,Data.lon );
- latitude = &(int)Data.lat;
- longitude = &(int)Data.lon;
- return;
-}
-
-void gps_config (){
- gps_DSEL = 0;
- //spi gps configuration
- spi_2.format(8,0);
- spi_2.frequency(1000000); //1MHz
- cs=1;
- wait(0.1);
- cs=0;
- wait(0.1);
-
- gps_int = 0;
-
- //gps reset
- gps_reset = 1;
- wait_ms(50);
- //gps_reset = 0;
- //wait(1.5);
-}
-