SPATIAL.h

00001 
00002 #ifndef MBED_SPATIAL_H
00003 #define MBED_SPATIAL_H
00004 
00005 #include "mbed.h"
00006 
00007 class SPATIAL {
00008 public:
00009     void Init(int);
00010     void SPATIAL_RECEIVE();
00011     
00012     double LATITUDE, LONGITUDE, HEIGHT;
00013     float Vx, Vy, Vz, ROLL, PITCH, YAW, ROLL_RATE, PITCH_RATE, YAW_RATE;
00014     uint32_t UNIX_TIME;
00015     bool SPATIAL_ID_39_BOOL, SPATIAL_ID_39_PARSING_BOOL;
00016     bool SPATIAL_ID_42_BOOL, SPATIAL_ID_42_PARSING_BOOL;
00017     bool SPATIAL_ID_35_BOOL, SPATIAL_ID_35_PARSING_BOOL;
00018     bool SPATIAL_ID_32_BOOL, SPATIAL_ID_32_PARSING_BOOL;
00019     bool SPATIAL_ID_30_BOOL, SPATIAL_ID_30_PARSING_BOOL;
00020     bool SPATIAL_ID_22_BOOL, SPATIAL_ID_22_PARSING_BOOL;
00021     int HZ_CNT;
00022     int SATELLITE_NUM;
00023     uint8_t SYSTEM_STATUS,FILTER_STATUS;
00024     bool SPATIAL_STABLE();
00025     float DECLINATION_ANGLE;
00026 private:
00027     int SPATIAL_BUF_CNT;
00028     unsigned char SPATIAL_ID[5];
00029     unsigned char SPATIAL_42_BUF[12], SPATIAL_39_BUF[12], SPATIAL_35_BUF[12], SPATIAL_32_BUF[24], SPATIAL_22_BUF[14], SPATIAL_30_BUF[13];
00030     uint16_t CRC_INPUT;
00031     void SPATIAL_ID_39_Parsing();
00032     void SPATIAL_ID_42_Parsing();
00033     void SPATIAL_ID_35_Parsing();
00034     void SPATIAL_ID_32_Parsing();
00035     void SPATIAL_ID_30_Parsing();
00036     void SPATIAL_ID_22_Parsing();
00037     int SENSOR_STABLE_CNT;
00038     bool SENSOR_STABLE_OK;
00039     bool SENSOR_WAIT_BOOL;
00040 };
00041 
00042 
00043 static const uint16_t crc16_table[256] =
00044 {
00045         0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273,
00046         0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528,
00047         0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886,
00048         0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf,
00049         0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5,
00050         0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2,
00051         0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8,
00052         0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691,
00053         0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f,
00054         0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64,
00055         0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
00056 };
00057 
00058 
00059 #endif
00060