Ivan Stoev
/
HeptaCamera_GPS
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependents: 3daf572bcae1 Team Team01_HEPTA_Trainig
Fork of
HeptaCamera_GPS
by 
HEPTA-Sat Training 2017~2018
Revision 6:c11f48bbb567, committed 2017-08-05
- Comitter:
- hepta2ume
- Date:
- Sat Aug 05 13:36:04 2017 +0000
- Parent:
- 5:50a03fcd9cc0
- Child:
- 7:a41100627f55
- Commit message:
- test
Changed in this revision
| HeptaSerial.cpp | Show annotated file Show diff for this revision Revisions of this file |
| HeptaSerial.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/HeptaSerial.cpp Wed Jul 26 06:22:13 2017 +0000
+++ b/HeptaSerial.cpp Sat Aug 05 13:36:04 2017 +0000
@@ -614,21 +614,11 @@
{
serial.setTimeout(1);
HeptaSerial::ErrorNumber err = HeptaSerial::NoError;
- serial._baud(14400);
- err = sync();
- //setmbedBaud(HeptaSerial::Baud115200);
- //err = sync();
- if (HeptaSerial::NoError == err) {
- printf("[ OK ] : Camera::sync\r\n");
- } else {
- printf("[FAIL] : Camera::sync (Error=%02X)\r\n", (int)err);
- }
- /*
- HeptaSerial::ErrorNumber err = HeptaSerial::NoError;
err = sync();
int count=0;
while(err) {
+ printf("count = %d\r\n",count);
switch(count) {
case 0:
setmbedBaud(HeptaSerial::Baud14400);
@@ -636,20 +626,20 @@
case 1:
setmbedBaud(HeptaSerial::Baud115200);
break;
- case 2:
- setmbedBaud(HeptaSerial::Baud57600);
- break;
- case 3:
- setmbedBaud(HeptaSerial::Baud28800);
- break;
default:
count=0;
}
count++;
err = sync();
printf("init err1=%d\r\n", err);
-
- }*/
+ if(!err) {
+ printf("to 115200\r\n");
+ init(HeptaSerial::Baud115200, HeptaSerial::JpegResolution320x240);
+ printf("init err2=%d\r\n", err);
+ setmbedBaud(HeptaSerial::Baud115200);
+ printf("init err3=%d\r\n", err);
+ }
+ }
}
void HeptaSerial::test_jpeg_snapshot_picture(int CAPTURE_FRAMES)
@@ -704,68 +694,72 @@
}
//*********************serial*********************//
+void HeptaSerial::gps_setting(void)
+{
+ serial._baud(9600);
+ serial.setTimeout(9999);
+}
+
+
char HeptaSerial::getc()
{
- serial._baud(9600);
- serial.setTimeout(999);
+ gps_setting();
c = serial.getc();
return c;
}
int HeptaSerial::readable()
{
- serial._baud(9600);
- serial.setTimeout(999);
+ gps_setting();
i = serial.readable();
return i;
}
void HeptaSerial::flushSerialBuffer(void)
{
- serial._baud(9600);
- serial.setTimeout(999);
+ gps_setting();
ite = 0;
- while (serial.readable())
- {
+ while (serial.readable()) {
serial.getc();
ite++;
- if(ite==100){break;};
+ if(ite==100) {
+ break;
+ };
}
return;
}
void HeptaSerial::gga_sensing(float *time, float *latitude, char *ns, float *longitude, char *ew, int *quality, int *stnum, float *hacu, float *altitude, char *aunit, int *serial_check)
{
- serial._baud(9600);
- serial.setTimeout(999);
+ gps_setting();
int ite = 0;
- while(serial.getc()!='$'){
+ while(serial.getc()!='$') {
ite++;
if(ite==10000) break;
}
- for(int i=0; i<5; i++){
+ for(int i=0; i<5; i++) {
msg[i] = serial.getc();
}
- if((msg[2]=='G')&(msg[3]=='G')&(msg[4]=='A')){
- for(int j=0; j<6; j++){
- if(j==0){
- for(int i=5; i<256; i++){
+ if((msg[2]=='G')&(msg[3]=='G')&(msg[4]=='A')) {
+ for(int j=0; j<6; j++) {
+ if(j==0) {
+ for(int i=5; i<256; i++) {
msg[i] = serial.getc();
if(msg[i] == '\r') {
msg[i] = 0;
break;
}
}
- }else{
- for(int i=0; i<256; i++){
+ } else {
+ for(int i=0; i<256; i++) {
msgd[i] = serial.getc();
if(msgd[i] == '\r') {
break;
}
}
- if((msgd[4]=='V')&(msgd[5]=='T')&(msgd[6]=='G')){
+ if((msgd[4]=='V')&(msgd[5]=='T')&(msgd[6]=='G')) {
break;
}
}
}
- if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", time, latitude, ns, longitude, ew, quality, stnum, hacu, altitude, aunit) >= 1) {
+ if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", time, latitude, ns, longitude, ew, quality, stnum, hacu, altitude, aunit) >= 1) {
if(!(quality)) {
//latitude(unit transformation)
*latitude=int(*latitude/100)+(*latitude-int(*latitude/100)*100)/60;
@@ -779,46 +773,44 @@
*longitude = int(*longitude/100)+(*longitude-int(*longitude/100)*100)/60;
*serial_check = 1;
}
- }
- else{
+ } else {
printf("No Data");
*serial_check = 2;
- }
- }
- else{
+ }
+ } else {
*serial_check = 3;
}
}
-void HeptaSerial::lat_log_sensing_u16(char *lat, char *log, int *dsize)
+void HeptaSerial::lat_log_sensing_u16(char *lat, char *log, char *height, int *dsize1, int *dsize2)
{
- serial._baud(9600);
- serial.setTimeout(999);
- char gph1[8]={0x00},gph2[8]={0x00},gph3[8]={0x00},gph4[8]={0x00},gpt1[8]={0x00},gpt2[8]={0x00},gpt3[8]={0x00},gpt4[8]={0x00};
+ gps_setting();
+ height_1 = 29.4;
+ char gph1[8]= {0x00},gph2[8]= {0x00},gph3[8]= {0x00},gph4[8]= {0x00},gpt1[8]= {0x00},gpt2[8]= {0x00},gpt3[8]= {0x00},gpt4[8]= {0x00};
+ char hei1[8]= {0x00},hei2[8]= {0x00};
int i=0,j=0;
- while (serial.readable()){
+ while (serial.readable()) {
serial.getc();
}
- loop:
- while(serial.getc()!='$'){}
- for(j=0;j<5;j++){
+loop:
+ while(serial.getc()!='$') {}
+ for(j=0; j<5; j++) {
gps_data[1][j]=serial.getc();
}
- if((gps_data[1][2]==0x52)&(gps_data[1][3]==0x4d)&(gps_data[1][4]==0x43)){
- for(j=0;j<1;j++){
- if(j==0){
+ if((gps_data[1][2]==0x52)&(gps_data[1][3]==0x4d)&(gps_data[1][4]==0x43)) {
+ for(j=0; j<1; j++) {
+ if(j==0) {
i=0;
- while((gps_data[j+1][i+5] = serial.getc()) != '\r'){
+ while((gps_data[j+1][i+5] = serial.getc()) != '\r') {
//pc.putc(gps_data[j+1][i+5]);
i++;
}
gps_data[j+1][i+5]='\0';
i=0;
//pc.printf("\n\r");
- }
- else{
- while(serial.getc()!='$'){}
+ } else {
+ while(serial.getc()!='$') {}
i=0;
- while((gps_data[j+1][i] = serial.getc()) != '\r'){
+ while((gps_data[j+1][i] = serial.getc()) != '\r') {
//pc.putc(gps_data[j+1][i]);
i++;
}
@@ -827,12 +819,10 @@
//pc.printf("\n\r");
}
}
- }
- else
- {
+ } else {
goto loop;
}
- if( sscanf(gps_data[1],"GPRMC,%f,%c,%f,%c,%f,%c,%f",&time,&statas,&hokui,&ns,&tokei,&ew,&vel) >= 1){
+ if( sscanf(gps_data[1],"GPRMC,%f,%c,%f,%c,%f,%c,%f",&time,&statas,&hokui,&ns,&tokei,&ew,&vel) >= 1) {
//hokui
d_hokui=int(hokui/100);
m_hokui=(hokui-d_hokui*100);
@@ -842,7 +832,7 @@
sprintf( gph2, "%02X", (char(m_hokui)) & 0xFF);
sprintf( gph3, "%02X", (char((m_hokui-char(m_hokui))*100)) & 0xFF);
sprintf( gph4, "%02X", (char(((m_hokui-char(m_hokui))*100-char((m_hokui-char(m_hokui))*100))*100)) & 0xFF);
-
+
//tokei
d_tokei=int(tokei/100);
m_tokei=(tokei-d_tokei*100);
@@ -852,6 +842,13 @@
sprintf( gpt2, "%02X", (char(m_tokei)) & 0xFF);
sprintf( gpt3, "%02X", (char((m_tokei-char(m_tokei))*100)) & 0xFF);
sprintf( gpt4, "%02X", (char(((m_tokei-char(m_tokei))*100-char((m_tokei-char(m_tokei))*100))*100)) & 0xFF);
+
+ m_height = int(height_1);
+ cm_height = int((height_1-m_height)*100 );
+ //printf("%d\r\n",cm_height);
+ sprintf( hei1, "%02X", (char(m_height)) & 0xFF);
+ sprintf( hei2, "%02X", (char(cm_height)) & 0xFF);
+
lat[0] = gph1[0];
lat[1] = gph1[1];
lat[2] = gph2[0];
@@ -867,7 +864,12 @@
log[4] = gpt3[0];
log[5] = gpt3[1];
log[6] = gpt4[0];
- log[7] = gpt4[1];
+ log[7] = gpt4[1];
+ height[0] = hei1[0];
+ height[1] = hei1[1];
+ height[2] = hei2[0];
+ height[3] = hei2[1];
}
- *dsize = 8;
+ *dsize1 = 8;
+ *dsize2 = 4;
}
\ No newline at end of file
--- a/HeptaSerial.h Wed Jul 26 06:22:13 2017 +0000
+++ b/HeptaSerial.h Sat Aug 05 13:36:04 2017 +0000
@@ -53,11 +53,12 @@
void test_jpeg_snapshot_picture(int CAPTURE_FRAMES);
void test_jpeg_snapshot_data(int CAPTURE_FRAMES);
void jpeg_callback(char *buf, size_t siz);
+ void gps_setting(void);
char getc();
int readable();
void flushSerialBuffer(void);
void gga_sensing(float *time, float *latitude, char *ns, float *longitude, char *ew, int *quality, int *stnum, float *hacu, float *altitude, char *aunit, int *gps_check);
- void lat_log_sensing_u16(char *lat, char *log, int *dsize);
+ void lat_log_sensing_u16(char *lat, char *log, char * height, int *dsize1, int *dsize2);
private:
SerialBuffered serial;
@@ -75,6 +76,8 @@
float g_hokui,g_tokei;
float d_hokui,m_hokui,d_tokei,m_tokei;
int h_time,m_time,s_time;
+ float height_1;
+ int m_height,cm_height;
ErrorNumber sendInitial(Baud band, JpegResolution jr);
ErrorNumber sendGetPicture(void);