HAPSRG / GPSUBX_UART

GPS/GNSS UBX library for UART

Dependencies:   Vector3

Dependents:   GPS_0002

GPSUBX_UART.cpp@21:712076ece407, 23 months ago (annotated)

Committer:
NaotoMorita
Date:
Tue Jun 21 04:59:05 2022 +0000
Revision:
21:712076ece407
Parent:
20:efa07b922ba7 
without verctor3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 0:cf7c726ec8a1 1 #include "GPSUBX_UART.hpp"
cocorlow 0:cf7c726ec8a1 2 #include "mbed.h"
cocorlow 0:cf7c726ec8a1 3 #include <math.h>
cocorlow 0:cf7c726ec8a1 4 #define M_PI 3.14159265358979f
cocorlow 0:cf7c726ec8a1 5
NaotoMorita 20:efa07b922ba7 6
cocorlow 1:71f5168e48c8 7 GPSUBX_UART::GPSUBX_UART(PinName tx, PinName rx, int baud, int timezone)
cocorlow 1:71f5168e48c8 8 :serial(tx, rx, baud), TimeZone(timezone), receive_index(0)
cocorlow 0:cf7c726ec8a1 9 {
cocorlow 0:cf7c726ec8a1 10 }
cocorlow 0:cf7c726ec8a1 11
cocorlow 0:cf7c726ec8a1 12 void GPSUBX_UART::Checksum(char payload[], int n, char* ck_a, char* ck_b)
cocorlow 0:cf7c726ec8a1 13 {
cocorlow 0:cf7c726ec8a1 14 int ca = 0;
cocorlow 0:cf7c726ec8a1 15 int cb = 0;
cocorlow 0:cf7c726ec8a1 16 for (int i = 0; i < n+4; i++)
cocorlow 0:cf7c726ec8a1 17 {
cocorlow 0:cf7c726ec8a1 18 ca += (unsigned char)payload[i+2];
cocorlow 0:cf7c726ec8a1 19 cb += ca;
cocorlow 0:cf7c726ec8a1 20 }
cocorlow 0:cf7c726ec8a1 21 *ck_a = (char)(ca & 0xff);
cocorlow 0:cf7c726ec8a1 22 *ck_b = (char)(cb & 0xff);
cocorlow 0:cf7c726ec8a1 23 }
cocorlow 0:cf7c726ec8a1 24
cocorlow 0:cf7c726ec8a1 25 void GPSUBX_UART::Receive()
cocorlow 0:cf7c726ec8a1 26 {
cocorlow 0:cf7c726ec8a1 27 while (serial.readable())
cocorlow 0:cf7c726ec8a1 28 {
cocorlow 0:cf7c726ec8a1 29 char c;
cocorlow 0:cf7c726ec8a1 30 c = serial.getc();
cocorlow 0:cf7c726ec8a1 31 receive_buffer[receive_index] = c;
cocorlow 1:71f5168e48c8 32 receive_index = (receive_index + 1) % RECEIVE_SIZE;
cocorlow 1:71f5168e48c8 33 }
cocorlow 1:71f5168e48c8 34 }
cocorlow 1:71f5168e48c8 35
cocorlow 1:71f5168e48c8 36
cocorlow 1:71f5168e48c8 37 void GPSUBX_UART::Update()
cocorlow 1:71f5168e48c8 38 {
cocorlow 1:71f5168e48c8 39 volatile static int sentence_start = 0;
cocorlow 1:71f5168e48c8 40 volatile static int sentence_length = 0;
cocorlow 1:71f5168e48c8 41 volatile static int sentence_counter = 0;
cocorlow 1:71f5168e48c8 42 volatile static int read_index = 0;
cocorlow 1:71f5168e48c8 43
cocorlow 1:71f5168e48c8 44 volatile static char m_class = 0x00;
cocorlow 1:71f5168e48c8 45 volatile static char m_id = 0x00;
cocorlow 1:71f5168e48c8 46
cocorlow 1:71f5168e48c8 47 while (read_index != receive_index)
cocorlow 1:71f5168e48c8 48 {
cocorlow 1:71f5168e48c8 49 char c;
cocorlow 1:71f5168e48c8 50 c = receive_buffer[read_index];
cocorlow 0:cf7c726ec8a1 51 if (sentence_counter >= 2)
cocorlow 0:cf7c726ec8a1 52 {
cocorlow 0:cf7c726ec8a1 53 sentence_counter++;
cocorlow 0:cf7c726ec8a1 54 if (sentence_counter == 3)
cocorlow 0:cf7c726ec8a1 55 {
cocorlow 0:cf7c726ec8a1 56 m_class = c;
cocorlow 0:cf7c726ec8a1 57 }
cocorlow 0:cf7c726ec8a1 58 else if (sentence_counter == 4)
cocorlow 0:cf7c726ec8a1 59 {
cocorlow 0:cf7c726ec8a1 60 m_id = c;
cocorlow 0:cf7c726ec8a1 61 }
cocorlow 0:cf7c726ec8a1 62 else if (sentence_counter == 5)
cocorlow 0:cf7c726ec8a1 63 {
cocorlow 0:cf7c726ec8a1 64 }
cocorlow 0:cf7c726ec8a1 65 else if (sentence_counter == 6)
cocorlow 0:cf7c726ec8a1 66 {
cocorlow 1:71f5168e48c8 67 int sss = (read_index+RECEIVE_SIZE-1)%RECEIVE_SIZE;
cocorlow 0:cf7c726ec8a1 68 sentence_length = (int)(c << 8 | receive_buffer[sss]);
cocorlow 0:cf7c726ec8a1 69 }
cocorlow 0:cf7c726ec8a1 70 else if (sentence_counter >= sentence_length+8)
cocorlow 0:cf7c726ec8a1 71 {
cocorlow 0:cf7c726ec8a1 72 for (int i = 0; i < sentence_length+8; i++)
cocorlow 0:cf7c726ec8a1 73 {
cocorlow 0:cf7c726ec8a1 74 sentence_buffer[i] = receive_buffer[(sentence_start+i)%RECEIVE_SIZE];
cocorlow 0:cf7c726ec8a1 75 }
cocorlow 0:cf7c726ec8a1 76 char ca, cb;
cocorlow 0:cf7c726ec8a1 77 Checksum(sentence_buffer, sentence_length, &ca, &cb);
cocorlow 0:cf7c726ec8a1 78 if (ca == sentence_buffer[sentence_length+6] && cb == sentence_buffer[sentence_length+7])
cocorlow 0:cf7c726ec8a1 79 {
cocorlow 0:cf7c726ec8a1 80 Decode(sentence_buffer, m_class, m_id);
cocorlow 0:cf7c726ec8a1 81 }
cocorlow 0:cf7c726ec8a1 82 sentence_start = 0;
cocorlow 0:cf7c726ec8a1 83 sentence_length = 0;
cocorlow 0:cf7c726ec8a1 84 sentence_counter = 0;
cocorlow 0:cf7c726ec8a1 85 m_class = 0x00;
cocorlow 0:cf7c726ec8a1 86 m_id = 0x00;
cocorlow 0:cf7c726ec8a1 87 }
cocorlow 0:cf7c726ec8a1 88 }
cocorlow 0:cf7c726ec8a1 89
cocorlow 1:71f5168e48c8 90 int ss = (read_index+RECEIVE_SIZE-1)%RECEIVE_SIZE;
cocorlow 0:cf7c726ec8a1 91 if (c == 0x62 && receive_buffer[ss] == 0xb5)
cocorlow 0:cf7c726ec8a1 92 {
cocorlow 0:cf7c726ec8a1 93 sentence_start = ss;
cocorlow 0:cf7c726ec8a1 94 sentence_counter = 2;
cocorlow 0:cf7c726ec8a1 95 }
cocorlow 1:71f5168e48c8 96 read_index = (read_index + 1) % RECEIVE_SIZE;
cocorlow 0:cf7c726ec8a1 97 }
cocorlow 0:cf7c726ec8a1 98 }
cocorlow 0:cf7c726ec8a1 99
cocorlow 0:cf7c726ec8a1 100 void GPSUBX_UART::Attach()
cocorlow 0:cf7c726ec8a1 101 {
cocorlow 0:cf7c726ec8a1 102 serial.attach(this, &GPSUBX_UART::Receive, Serial::RxIrq);
cocorlow 0:cf7c726ec8a1 103 }
cocorlow 0:cf7c726ec8a1 104
cocorlow 0:cf7c726ec8a1 105 void GPSUBX_UART::Decode(char buffer[], int mc, int mi)
cocorlow 0:cf7c726ec8a1 106 {
cocorlow 0:cf7c726ec8a1 107 // POSLLH
cocorlow 0:cf7c726ec8a1 108 if (mc == 0x01 && mi == 0x02)
cocorlow 0:cf7c726ec8a1 109 {
cocorlow 0:cf7c726ec8a1 110 POSLLH posllh;
cocorlow 0:cf7c726ec8a1 111 for (int i = 0; i < POSLLH_LEN; i++)
cocorlow 0:cf7c726ec8a1 112 {
cocorlow 0:cf7c726ec8a1 113 posllh.byte_data[i] = buffer[i+6];
cocorlow 0:cf7c726ec8a1 114 }
cocorlow 0:cf7c726ec8a1 115 iTOW_POSLLH = posllh.data.iTOW;
cocorlow 0:cf7c726ec8a1 116 Longitude = (float)posllh.data.lon * 1e-7f;
cocorlow 0:cf7c726ec8a1 117 Latitude = (float)posllh.data.lat * 1e-7f;
cocorlow 0:cf7c726ec8a1 118 Height = (float)posllh.data.height / 1000.0f;
NaotoMorita 18:ba361d6ab9cd 119 Hacc = (float)posllh.data.hAcc / 1000.0f;
cocorlow 2:6218fe8e54f4 120 // pc.printf("!%d, %f, %f, %f\r\n", iTOW_POSLLH, Longitude, Latitude, Height);
cocorlow 0:cf7c726ec8a1 121 }
NaotoMorita 13:facd8e54f2eb 122 // STATUS
NaotoMorita 13:facd8e54f2eb 123 if (mc == 0x01 && mi == 0x03)
cocorlow 10:a90d07e4c34d 124 {
NaotoMorita 13:facd8e54f2eb 125 STATUS status;
NaotoMorita 13:facd8e54f2eb 126 for (int i = 0; i < STATUS_LEN; i++)
cocorlow 10:a90d07e4c34d 127 {
NaotoMorita 14:1ed344c662d2 128 status.byte_data[i] = buffer[i+6];
cocorlow 10:a90d07e4c34d 129 }
NaotoMorita 14:1ed344c662d2 130 iTOW_STATUS = status.data.iTOW;
NaotoMorita 14:1ed344c662d2 131 gpsFix = status.data.gpsFix;
cocorlow 10:a90d07e4c34d 132 }
cocorlow 0:cf7c726ec8a1 133 // TIMEUTC
cocorlow 0:cf7c726ec8a1 134 else if (mc == 0x01 && mi == 0x21)
cocorlow 0:cf7c726ec8a1 135 {
cocorlow 0:cf7c726ec8a1 136 TIMEUTC timeutc;
cocorlow 0:cf7c726ec8a1 137 for (int i = 0; i < TIMEUTC_LEN; i++)
cocorlow 0:cf7c726ec8a1 138 {
cocorlow 0:cf7c726ec8a1 139 timeutc.byte_data[i] = buffer[i+6];
cocorlow 0:cf7c726ec8a1 140 }
cocorlow 0:cf7c726ec8a1 141 Year = timeutc.data.year;
cocorlow 0:cf7c726ec8a1 142 Month = timeutc.data.month;
cocorlow 0:cf7c726ec8a1 143 Day = timeutc.data.day;
cocorlow 1:71f5168e48c8 144 Hours = (int)timeutc.data.hour + TimeZone;
cocorlow 0:cf7c726ec8a1 145 if (Hours >= 24)
cocorlow 0:cf7c726ec8a1 146 {
cocorlow 0:cf7c726ec8a1 147 Hours -= 24;
cocorlow 0:cf7c726ec8a1 148 Day += 1;
cocorlow 0:cf7c726ec8a1 149 }
cocorlow 0:cf7c726ec8a1 150 else if (Hours < 0)
cocorlow 0:cf7c726ec8a1 151 {
cocorlow 0:cf7c726ec8a1 152 Hours += 24;
cocorlow 0:cf7c726ec8a1 153 Day -= 1;
cocorlow 0:cf7c726ec8a1 154 }
cocorlow 0:cf7c726ec8a1 155 Minutes = timeutc.data.min;
cocorlow 0:cf7c726ec8a1 156 Seconds = timeutc.data.sec;
cocorlow 2:6218fe8e54f4 157 // pc.printf("&%4d/%2d/%2d %2d:%2d %2d\r\n", Year, Month, Day, Hours, Minutes, Seconds);
cocorlow 0:cf7c726ec8a1 158 }
cocorlow 0:cf7c726ec8a1 159 // VELNED
cocorlow 0:cf7c726ec8a1 160 if (mc == 0x01 && mi == 0x12)
cocorlow 0:cf7c726ec8a1 161 {
cocorlow 0:cf7c726ec8a1 162 VELNED velned;
cocorlow 0:cf7c726ec8a1 163 for (int i = 0; i < VELNED_LEN; i++)
cocorlow 0:cf7c726ec8a1 164 {
cocorlow 0:cf7c726ec8a1 165 velned.byte_data[i] = buffer[i+6];
cocorlow 0:cf7c726ec8a1 166 }
cocorlow 0:cf7c726ec8a1 167 iTOW_VELNED = velned.data.iTOW;
cocorlow 0:cf7c726ec8a1 168 VelocityNED.x = (float)velned.data.velN / 100.0f;
cocorlow 0:cf7c726ec8a1 169 VelocityNED.y = (float)velned.data.velE / 100.0f;
cocorlow 0:cf7c726ec8a1 170 VelocityNED.z = (float)velned.data.velD / 100.0f;
cocorlow 0:cf7c726ec8a1 171 Speed = (float)velned.data.speed / 100.0f;
cocorlow 0:cf7c726ec8a1 172 GroundSpeed = (float)velned.data.gSpeed / 100.0f;
cocorlow 0:cf7c726ec8a1 173 Heading = (float)velned.data.heading * 1e-5f;
cocorlow 2:6218fe8e54f4 174 // pc.printf("#%d, %f, %f, %f\r\n", iTOW_VELNED, VelocityNED.x, VelocityNED.y, VelocityNED.z);
cocorlow 0:cf7c726ec8a1 175 }
cocorlow 0:cf7c726ec8a1 176 }
cocorlow 0:cf7c726ec8a1 177
cocorlow 0:cf7c726ec8a1 178 Vector3 GPSUBX_UART::ToUniversalUnit()
cocorlow 0:cf7c726ec8a1 179 {
cocorlow 0:cf7c726ec8a1 180 // 東経180度、北緯0度で精度最大
cocorlow 0:cf7c726ec8a1 181 float pi_2_theta = Latitude * M_PI / 180.0f;
cocorlow 0:cf7c726ec8a1 182 float pi_phi = ((Longitude > 0.0f) ? (Longitude - 180.0f) : (Longitude + 180.0f)) * M_PI / 180.0f;
cocorlow 0:cf7c726ec8a1 183 float x = - cosf(pi_2_theta) * cosf(pi_phi);
cocorlow 0:cf7c726ec8a1 184 float y = - cosf(pi_2_theta) * sinf(pi_phi);
cocorlow 0:cf7c726ec8a1 185 float z = sinf(pi_2_theta);
cocorlow 0:cf7c726ec8a1 186 Vector3 v(x, y, z);
NaotoMorita 12:2ffb2fcaac23 187
cocorlow 0:cf7c726ec8a1 188 return v;
cocorlow 0:cf7c726ec8a1 189 }
cocorlow 0:cf7c726ec8a1 190
cocorlow 0:cf7c726ec8a1 191 Vector3 GPSUBX_UART::ToUniversal()
cocorlow 0:cf7c726ec8a1 192 {
cocorlow 0:cf7c726ec8a1 193 Vector3 v = ToUniversalUnit();
cocorlow 0:cf7c726ec8a1 194 return (Radius + Height) * v;
cocorlow 0:cf7c726ec8a1 195 }
cocorlow 0:cf7c726ec8a1 196
cocorlow 0:cf7c726ec8a1 197 void GPSUBX_UART::CalculateUnit()
cocorlow 0:cf7c726ec8a1 198 {
cocorlow 0:cf7c726ec8a1 199 Vector3 _d = -1.0f * ToUniversalUnit();
cocorlow 0:cf7c726ec8a1 200
cocorlow 0:cf7c726ec8a1 201 UniversalZeroPosition = -(Radius+Height)*_d;
cocorlow 0:cf7c726ec8a1 202 Vector3 _z(0.0f, 0.0f, 1.0f);
cocorlow 0:cf7c726ec8a1 203 Vector3 _e = _d * _z;
cocorlow 0:cf7c726ec8a1 204 Vector3 _n = _e * _d;
osaka 15:e77382079cd9 205 UniversalZeroUnitN = _n / _n.Norm();
osaka 15:e77382079cd9 206 UniversalZeroUnitE = _e / _e.Norm();
NaotoMorita 16:8181909e88f8 207 UniversalZeroUnitD = _d / _d.Norm();
NaotoMorita 12:2ffb2fcaac23 208 //twelite.printf("%f %f %f \r\n",_n,_e,_d);
cocorlow 0:cf7c726ec8a1 209 }
cocorlow 0:cf7c726ec8a1 210
NaotoMorita 21:712076ece407 211 void GPSUBX_UART::Calculate(float& posN,float& posE,float& posD,float& velN,float& velE,float& velD)
cocorlow 0:cf7c726ec8a1 212 {
cocorlow 0:cf7c726ec8a1 213 UniversalPosition = ToUniversal();
cocorlow 0:cf7c726ec8a1 214 Vector3 relative = UniversalPosition - UniversalZeroPosition;
cocorlow 0:cf7c726ec8a1 215 Vector3 _position(relative % UniversalZeroUnitN, relative % UniversalZeroUnitE, relative % UniversalZeroUnitD);
cocorlow 0:cf7c726ec8a1 216 PositionNED = _position;
NaotoMorita 21:712076ece407 217 posN = _position.x;
NaotoMorita 21:712076ece407 218 posE = _position.y;
NaotoMorita 21:712076ece407 219 posD = _position.z;
NaotoMorita 21:712076ece407 220 velN = VelocityNED.x;
NaotoMorita 21:712076ece407 221 velE = VelocityNED.y;
NaotoMorita 21:712076ece407 222 velD = VelocityNED.z;
cocorlow 0:cf7c726ec8a1 223 }
cocorlow 0:cf7c726ec8a1 224
cocorlow 0:cf7c726ec8a1 225 Vector3 GPSUBX_UART::Calculate(Vector3 position)
cocorlow 0:cf7c726ec8a1 226 {
cocorlow 0:cf7c726ec8a1 227 UniversalPosition = ToUniversal();
cocorlow 0:cf7c726ec8a1 228 Vector3 relative = position - UniversalZeroPosition;
cocorlow 0:cf7c726ec8a1 229 Vector3 _position(relative % UniversalZeroUnitN, relative % UniversalZeroUnitE, relative % UniversalZeroUnitD);
cocorlow 0:cf7c726ec8a1 230 return _position;
cocorlow 0:cf7c726ec8a1 231 }