Igor Lima
/
mbed-lorawan-pulga-serial_rx
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Dependencies: pulga-lorawan-drv SPI_MX25R Si1133 BME280
gps.cpp
- Committer:
- ruschigo
- Date:
- 2021-02-26
- Revision:
- 63:4ec1808fb547
- Child:
- 65:4090220e19d2
File content as of revision 63:4ec1808fb547:
#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;
}