Igor Lima
contain lorawan with serial_rx enabled
Dependencies: pulga-lorawan-drv SPI_MX25R Si1133 BME280
Revision 63:4ec1808fb547, committed 2021-02-26
- Comitter:
- ruschigo
- Date:
- Fri Feb 26 18:11:06 2021 +0000
- Parent:
- 62:89df9529dbb0
- Child:
- 64:ed68ddac6360
- Commit message:
- insert serial rx by interrupt
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gps.cpp Fri Feb 26 18:11:06 2021 +0000
@@ -0,0 +1,657 @@
+#include "gps.h"
+
+//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);
+
+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);
+}
+
+int get_latitude(){
+ return lat;
+}
+
+int get_longitude(){
+ return lon;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gps.h Fri Feb 26 18:11:06 2021 +0000
@@ -0,0 +1,102 @@
+#ifndef __GPS_H
+
+#define __GPS_H
+
+#include "mbed.h"
+
+#define SYNC1 0xB5
+#define SYNC2 0x62
+
+
+#define MAXIMUM_PACKET_SIZE 60
+
+//GPS DEclaration
+extern SPI spi_2; // mosi, miso, sclk
+extern DigitalOut cs;
+extern DigitalOut gps_reset;
+extern DigitalOut gps_int;
+extern DigitalOut gps_DSEL;
+
+static int lat;
+static int lon;
+
+
+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;
+
+
+extern void gps_leBootMsg();
+
+extern void gps_le_envia_linha();
+
+extern gps_ubxPacket gps_calcula_check(gps_ubxPacket Packet);
+
+extern void send_gps_packet(gps_ubxPacket packet);
+
+extern gps_navPVT le_nav_pvt ();
+
+extern void send_nav_pvt();
+
+extern void send_gps_data(uint8_t *packet, uint8_t size);
+
+extern void wait_packet_byte (uint8_t *header, uint8_t byte);
+
+extern void gps_wait_same_packet();
+
+extern void gps_config_gnss();
+
+extern void gps_print_local ();
+
+extern void gps_get_lat_lon(int *latitude, int *logitude);
+
+extern void gps_config();
+
+extern int get_latitude();
+
+extern int get_longitude();
+
+#endif
\ No newline at end of file
--- 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);
-}
-
--- a/main.cpp Fri Feb 26 17:07:12 2021 +0000
+++ b/main.cpp Fri Feb 26 18:11:06 2021 +0000
@@ -28,6 +28,7 @@
//#include "BME280.h"
#include "serial.h"
+#include "gps.h"
using namespace events;
@@ -110,8 +111,8 @@
mbed::DigitalOut _alive_led(P1_13, 0);
mbed::DigitalOut _actuated_led(P1_14,1);
-int lat=0;
-int lon=0;
+//int lat=0;
+//int lon=0;
int latitude=0;
int longitude=0;
@@ -119,7 +120,7 @@
//Temperature, Pressure, Humidity Sensor
#include "BME280.txt"
#include "BMX160.txt"
-#include "gps.txt"
+//#include "gps.txt"
void BMX160Read (void)
{
@@ -161,14 +162,14 @@
void GPS_Read(void)
{
gps_print_local();
- pc.printf ("gps longitude=%d \n",lon);
- pc.printf ("gps latitude=%d \n",lat);
+ pc.printf ("gps longitude=%d \n",get_longitude());
+ pc.printf ("gps latitude=%d \n",get_latitude());
if(lat!=0 && lon!=0){
- longitude=lon;
- latitude=lat;
+ longitude=get_longitude();
+ latitude=get_latitude();
// led1 = !led1;
- }
- }
+ }
+}
void serial_rx(){
if(pc.readable()){
@@ -310,7 +311,7 @@
int32_t sensor_value;
gps_print_local();
- packet_len = sprintf((char *) tx_buffer, "%2.2f, %04.2f, %2.2f, %d, %d\n", getTemperature(), getPressure(), getHumidity(), lon, lat);
+ packet_len = sprintf((char *) tx_buffer, "%2.2f, %04.2f, %2.2f, %d, %d\n", getTemperature(), getPressure(), getHumidity(), get_longitude(), get_latitude());
retcode = lorawan.send(MBED_CONF_LORA_APP_PORT, tx_buffer, packet_len,
MSG_UNCONFIRMED_FLAG);
@@ -330,8 +331,8 @@
pc.printf("%2.2f;%04.2f;%2.2f;", getTemperature(), getPressure(), getHumidity());
BMX160Read();
- pc.printf ("%d;",lon);
- pc.printf ("%d \r\n",lat);
+ pc.printf ("%d;",get_longitude());
+ pc.printf ("%d \r\n",get_latitude());
// printf("\r\n %d bytes scheduled for transmission \r\n", retcode);
memset(tx_buffer, 0, sizeof(tx_buffer));
}
--- a/serial.h Fri Feb 26 17:07:12 2021 +0000 +++ b/serial.h Fri Feb 26 18:11:06 2021 +0000 @@ -2,7 +2,7 @@ #define _SERIAL_H_ #include "mbed.h" - +#include "gps.h" #define CMD_PRINT_LAST_GPS 'g' extern RawSerial pc;
--- a/serial_cmds.cpp Fri Feb 26 17:07:12 2021 +0000
+++ b/serial_cmds.cpp Fri Feb 26 18:11:06 2021 +0000
@@ -8,9 +8,10 @@
{
case CMD_PRINT_LAST_GPS:
- int local_lat, local_log
- gps_get_lat_lon(&local_lat, &local_log)
- pc.printf("<g%d,%d\n>", local_lat, local_log);
+ int local_lat, local_log;
+ //gps_get_lat_lon(&local_lat, &local_log);
+ //get_latitude
+ pc.printf("<g%d,%d\n>", get_latitude(), get_longitude());
break;