Mbed library to get location informatiuon from GYSFDMAXB
GPS.cpp@5:6231c440275d, 2019-03-02 (annotated)
- Committer:
- zeutel
- Date:
- Sat Mar 02 15:15:29 2019 +0000
- Revision:
- 5:6231c440275d
- Parent:
- 1:68601d2af8a5
GPS
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kim1212 | 0:4cc88ba7719b | 1 | #include "mbed.h" |
kim1212 | 0:4cc88ba7719b | 2 | #include "GPS.h" |
kim1212 | 0:4cc88ba7719b | 3 | |
kim1212 | 0:4cc88ba7719b | 4 | GPS::GPS(PinName gpstx,PinName gpsrx): _gps(gpstx,gpsrx) |
kim1212 | 0:4cc88ba7719b | 5 | { |
kim1212 | 1:68601d2af8a5 | 6 | latitude=0; |
zeutel | 5:6231c440275d | 7 | longitude=0; |
kim1212 | 1:68601d2af8a5 | 8 | |
kim1212 | 0:4cc88ba7719b | 9 | gpscmd("314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0"); |
kim1212 | 0:4cc88ba7719b | 10 | int odr=ODR; |
kim1212 | 0:4cc88ba7719b | 11 | odr=1000/odr; |
kim1212 | 0:4cc88ba7719b | 12 | sprintf(buf,"300,%d,0,0,0,0",odr); |
kim1212 | 0:4cc88ba7719b | 13 | gpscmd(buf); |
kim1212 | 0:4cc88ba7719b | 14 | |
kim1212 | 0:4cc88ba7719b | 15 | int baud=GPSBAUD; |
kim1212 | 0:4cc88ba7719b | 16 | |
kim1212 | 0:4cc88ba7719b | 17 | for(int i=0;i<100;i++){ |
kim1212 | 0:4cc88ba7719b | 18 | buf[i]=0; |
kim1212 | 0:4cc88ba7719b | 19 | } |
kim1212 | 0:4cc88ba7719b | 20 | |
kim1212 | 0:4cc88ba7719b | 21 | sprintf(buf,"251,%d",baud); |
kim1212 | 0:4cc88ba7719b | 22 | |
kim1212 | 0:4cc88ba7719b | 23 | gpscmd(buf); |
kim1212 | 0:4cc88ba7719b | 24 | gpscmd(buf); |
kim1212 | 0:4cc88ba7719b | 25 | |
kim1212 | 0:4cc88ba7719b | 26 | |
kim1212 | 0:4cc88ba7719b | 27 | _gps.baud(GPSBAUD); |
kim1212 | 0:4cc88ba7719b | 28 | |
zeutel | 5:6231c440275d | 29 | //_gps.attach(this,&GPS::getgps); |
zeutel | 5:6231c440275d | 30 | } |
zeutel | 5:6231c440275d | 31 | |
zeutel | 5:6231c440275d | 32 | GPS::~GPS() |
zeutel | 5:6231c440275d | 33 | { |
kim1212 | 0:4cc88ba7719b | 34 | } |
kim1212 | 0:4cc88ba7719b | 35 | |
kim1212 | 0:4cc88ba7719b | 36 | void GPS::gpscmd(char *command) |
kim1212 | 0:4cc88ba7719b | 37 | { |
kim1212 | 0:4cc88ba7719b | 38 | int len=strlen(command); |
kim1212 | 0:4cc88ba7719b | 39 | char xordata[len+4]; |
kim1212 | 0:4cc88ba7719b | 40 | sprintf(xordata,"PMTK%s",command); |
kim1212 | 0:4cc88ba7719b | 41 | |
kim1212 | 0:4cc88ba7719b | 42 | |
kim1212 | 0:4cc88ba7719b | 43 | char xorbuf=0x00; |
kim1212 | 0:4cc88ba7719b | 44 | for(int i=0;i<len+4;i++){ |
kim1212 | 0:4cc88ba7719b | 45 | xorbuf=xorbuf^xordata[i]; |
kim1212 | 0:4cc88ba7719b | 46 | } |
kim1212 | 0:4cc88ba7719b | 47 | |
kim1212 | 0:4cc88ba7719b | 48 | |
kim1212 | 0:4cc88ba7719b | 49 | char packet[len+8]; |
kim1212 | 0:4cc88ba7719b | 50 | if(xorbuf>0x0f){ |
kim1212 | 0:4cc88ba7719b | 51 | sprintf(packet,"$%s*%x",xordata,xorbuf); |
kim1212 | 0:4cc88ba7719b | 52 | } |
kim1212 | 0:4cc88ba7719b | 53 | else { |
kim1212 | 0:4cc88ba7719b | 54 | sprintf(packet,"$%s*0%x",xordata,xorbuf); |
kim1212 | 0:4cc88ba7719b | 55 | } |
kim1212 | 0:4cc88ba7719b | 56 | |
kim1212 | 0:4cc88ba7719b | 57 | |
kim1212 | 0:4cc88ba7719b | 58 | _gps.printf(packet); |
kim1212 | 0:4cc88ba7719b | 59 | _gps.putc(0x0D); |
kim1212 | 0:4cc88ba7719b | 60 | _gps.putc(0x0A); |
kim1212 | 0:4cc88ba7719b | 61 | } |
kim1212 | 0:4cc88ba7719b | 62 | |
kim1212 | 0:4cc88ba7719b | 63 | void GPS::getgps() |
kim1212 | 0:4cc88ba7719b | 64 | { |
kim1212 | 0:4cc88ba7719b | 65 | if(_gps.getc()=='$'){ |
kim1212 | 0:4cc88ba7719b | 66 | |
kim1212 | 0:4cc88ba7719b | 67 | int counter; |
kim1212 | 0:4cc88ba7719b | 68 | char sample=0x00; |
kim1212 | 0:4cc88ba7719b | 69 | |
kim1212 | 0:4cc88ba7719b | 70 | int point1=0; |
kim1212 | 0:4cc88ba7719b | 71 | int point2=0; |
kim1212 | 0:4cc88ba7719b | 72 | |
kim1212 | 0:4cc88ba7719b | 73 | |
kim1212 | 0:4cc88ba7719b | 74 | for(counter=0;counter<18;counter++){ |
kim1212 | 0:4cc88ba7719b | 75 | sample=_gps.getc(); |
kim1212 | 0:4cc88ba7719b | 76 | } |
kim1212 | 0:4cc88ba7719b | 77 | |
kim1212 | 0:4cc88ba7719b | 78 | if(sample=='A'){ |
kim1212 | 0:4cc88ba7719b | 79 | |
kim1212 | 0:4cc88ba7719b | 80 | //初期化 |
kim1212 | 0:4cc88ba7719b | 81 | latitude=0; |
zeutel | 5:6231c440275d | 82 | longitude=0; |
kim1212 | 0:4cc88ba7719b | 83 | |
kim1212 | 0:4cc88ba7719b | 84 | //データ取得 |
kim1212 | 0:4cc88ba7719b | 85 | for(counter=0;sample!='\n';counter++){ |
kim1212 | 0:4cc88ba7719b | 86 | sample=_gps.getc(); |
kim1212 | 0:4cc88ba7719b | 87 | buf[counter]=sample; |
kim1212 | 0:4cc88ba7719b | 88 | |
kim1212 | 0:4cc88ba7719b | 89 | if(buf[counter]=='.'&&point1==0){ |
kim1212 | 0:4cc88ba7719b | 90 | point1=counter; |
kim1212 | 0:4cc88ba7719b | 91 | } |
kim1212 | 0:4cc88ba7719b | 92 | |
kim1212 | 0:4cc88ba7719b | 93 | if(counter>8&&buf[counter]=='.'&&point2==0){ |
kim1212 | 0:4cc88ba7719b | 94 | point2=counter; |
kim1212 | 0:4cc88ba7719b | 95 | } |
kim1212 | 0:4cc88ba7719b | 96 | } |
kim1212 | 0:4cc88ba7719b | 97 | |
kim1212 | 0:4cc88ba7719b | 98 | //緯度計算 |
kim1212 | 0:4cc88ba7719b | 99 | for(counter=1;counter<point1-2;counter++){ |
kim1212 | 0:4cc88ba7719b | 100 | |
kim1212 | 0:4cc88ba7719b | 101 | float num=1; |
kim1212 | 0:4cc88ba7719b | 102 | for(int i=point1-counter-3;i>0;i--){ |
kim1212 | 0:4cc88ba7719b | 103 | num=num*10; |
kim1212 | 0:4cc88ba7719b | 104 | } |
kim1212 | 0:4cc88ba7719b | 105 | |
kim1212 | 0:4cc88ba7719b | 106 | latitude+=(float)num*(buf[counter]-48); |
kim1212 | 0:4cc88ba7719b | 107 | } |
kim1212 | 0:4cc88ba7719b | 108 | |
kim1212 | 0:4cc88ba7719b | 109 | float minute=0; |
kim1212 | 0:4cc88ba7719b | 110 | |
kim1212 | 0:4cc88ba7719b | 111 | minute+=(buf[point1-2]-48)*10; |
kim1212 | 0:4cc88ba7719b | 112 | minute+=(buf[point1-1]-48); |
kim1212 | 0:4cc88ba7719b | 113 | |
kim1212 | 0:4cc88ba7719b | 114 | for(counter=point1+1;counter<point1+5;counter++){ |
kim1212 | 0:4cc88ba7719b | 115 | float num=1; |
kim1212 | 0:4cc88ba7719b | 116 | |
kim1212 | 0:4cc88ba7719b | 117 | for(int i=counter-point1;i>0;i--){ |
kim1212 | 1:68601d2af8a5 | 118 | num=num*0.1f; |
kim1212 | 0:4cc88ba7719b | 119 | } |
kim1212 | 0:4cc88ba7719b | 120 | |
kim1212 | 0:4cc88ba7719b | 121 | minute+=(float)num*(buf[counter]-48); |
kim1212 | 0:4cc88ba7719b | 122 | } |
kim1212 | 0:4cc88ba7719b | 123 | |
kim1212 | 0:4cc88ba7719b | 124 | latitude+=minute/60; |
kim1212 | 0:4cc88ba7719b | 125 | |
kim1212 | 0:4cc88ba7719b | 126 | |
kim1212 | 0:4cc88ba7719b | 127 | //経度計算 |
kim1212 | 0:4cc88ba7719b | 128 | for(counter=point1+8;counter<point2-2;counter++){ |
kim1212 | 0:4cc88ba7719b | 129 | |
kim1212 | 0:4cc88ba7719b | 130 | float num=1; |
kim1212 | 0:4cc88ba7719b | 131 | for(int i=point2-counter-3;i>0;i--){ |
kim1212 | 0:4cc88ba7719b | 132 | num=num*10; |
kim1212 | 0:4cc88ba7719b | 133 | } |
kim1212 | 0:4cc88ba7719b | 134 | |
zeutel | 5:6231c440275d | 135 | longitude+=(float)num*(buf[counter]-48); |
kim1212 | 0:4cc88ba7719b | 136 | } |
kim1212 | 0:4cc88ba7719b | 137 | |
kim1212 | 0:4cc88ba7719b | 138 | minute=0; |
kim1212 | 0:4cc88ba7719b | 139 | |
kim1212 | 0:4cc88ba7719b | 140 | minute+=(buf[point2-2]-48)*10; |
kim1212 | 0:4cc88ba7719b | 141 | minute+=(buf[point2-1]-48); |
kim1212 | 0:4cc88ba7719b | 142 | |
kim1212 | 0:4cc88ba7719b | 143 | for(counter=point2+1;counter<point2+5;counter++){ |
kim1212 | 0:4cc88ba7719b | 144 | float num=1; |
kim1212 | 0:4cc88ba7719b | 145 | |
kim1212 | 0:4cc88ba7719b | 146 | for(int i=counter-point2;i>0;i--){ |
kim1212 | 1:68601d2af8a5 | 147 | num=num*0.1f; |
kim1212 | 0:4cc88ba7719b | 148 | } |
kim1212 | 0:4cc88ba7719b | 149 | |
kim1212 | 0:4cc88ba7719b | 150 | minute+=(float)num*(buf[counter]-48); |
kim1212 | 0:4cc88ba7719b | 151 | } |
kim1212 | 0:4cc88ba7719b | 152 | |
zeutel | 5:6231c440275d | 153 | longitude+=minute/60; |
kim1212 | 0:4cc88ba7719b | 154 | |
kim1212 | 0:4cc88ba7719b | 155 | |
kim1212 | 0:4cc88ba7719b | 156 | result=true; |
kim1212 | 0:4cc88ba7719b | 157 | } |
kim1212 | 0:4cc88ba7719b | 158 | |
kim1212 | 0:4cc88ba7719b | 159 | else{ |
kim1212 | 0:4cc88ba7719b | 160 | result=false; |
kim1212 | 0:4cc88ba7719b | 161 | } |
kim1212 | 0:4cc88ba7719b | 162 | |
kim1212 | 0:4cc88ba7719b | 163 | |
kim1212 | 0:4cc88ba7719b | 164 | |
kim1212 | 0:4cc88ba7719b | 165 | |
kim1212 | 0:4cc88ba7719b | 166 | |
kim1212 | 0:4cc88ba7719b | 167 | } |
kim1212 | 0:4cc88ba7719b | 168 | } |