PQ_Hybrid_Electrical_Equipment_Team / GPS_interrupt

2017年伊豆大島共同打ち上げ実験用電装モジュール搭載GPS測位プログラム

Dependents:   Hybrid_interruptGPS Hybrid_main_FirstEdtion rocket_logger_sinkan2018_v1 HYBRYD2018_IZU_ROCKET ... more

GPS_interrupt.cpp@6:2f91c71d64b1, 2017-02-21 (annotated)

Committer:
Gaku0606
Date:
Tue Feb 21 13:42:00 2017 +0000
Revision:
6:2f91c71d64b1
Parent:
4:758f97bee95a
Child:
7:4b893ac95ae1
due

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gaku0606 0:74d8e952a3bd 1 #include "mbed.h"
Gaku0606 0:74d8e952a3bd 2 #include "GPS_interrupt.h"
Gaku0606 4:758f97bee95a 3
Gaku0606 4:758f97bee95a 4 /*double GPS_interrupt::latitude;
Gaku0606 0:74d8e952a3bd 5 double GPS_interrupt::longitude;
Gaku0606 0:74d8e952a3bd 6 int GPS_interrupt::year;
Gaku0606 0:74d8e952a3bd 7 int GPS_interrupt::month;
Gaku0606 0:74d8e952a3bd 8 int GPS_interrupt::day;
Gaku0606 0:74d8e952a3bd 9 int GPS_interrupt::hour;
Gaku0606 0:74d8e952a3bd 10 int GPS_interrupt::minutes;
Gaku0606 0:74d8e952a3bd 11 double GPS_interrupt::seconds;
Gaku0606 0:74d8e952a3bd 12 double GPS_interrupt::degree = 0;
Gaku0606 0:74d8e952a3bd 13 double GPS_interrupt::knot = 0;
Gaku0606 0:74d8e952a3bd 14 double GPS_interrupt::height = 0;
Gaku0606 0:74d8e952a3bd 15 double GPS_interrupt::geoid = 0;
Gaku0606 0:74d8e952a3bd 16 int GPS_interrupt::number = 0;
Gaku0606 0:74d8e952a3bd 17
Gaku0606 0:74d8e952a3bd 18 char GPS_interrupt::gps_buffer_A[128];
Gaku0606 0:74d8e952a3bd 19 char GPS_interrupt::gps_buffer_B[128];
Gaku0606 0:74d8e952a3bd 20 char* GPS_interrupt::gps_read_buffer = gps_buffer_B;
Gaku0606 4:758f97bee95a 21 bool GPS_interrupt::gps_readable = false;*/
Gaku0606 0:74d8e952a3bd 22
Gaku0606 4:758f97bee95a 23 //GPS_interrupt* GPS_interrupt::gps_irq;
Gaku0606 0:74d8e952a3bd 24
Gaku0606 2:7be89bab6db9 25 //Timeout timeout_clear;
Gaku0606 2:7be89bab6db9 26
Gaku0606 4:758f97bee95a 27 void GPS_interrupt::debug(bool tf){
Gaku0606 4:758f97bee95a 28 if(tf){
Gaku0606 4:758f97bee95a 29 debugFlag = true;
Gaku0606 4:758f97bee95a 30 }
Gaku0606 4:758f97bee95a 31 else{
Gaku0606 4:758f97bee95a 32 debugFlag = false;
Gaku0606 4:758f97bee95a 33 }
Gaku0606 2:7be89bab6db9 34 }
Gaku0606 2:7be89bab6db9 35
Gaku0606 2:7be89bab6db9 36 unsigned char GPS_interrupt::checkSum(char *str){
Gaku0606 2:7be89bab6db9 37 int num = strlen(str);
Gaku0606 2:7be89bab6db9 38 unsigned char val = 0;
Gaku0606 2:7be89bab6db9 39 for(int i = 0; i< num; i++){
Gaku0606 2:7be89bab6db9 40 val = val ^ str[i];
Gaku0606 2:7be89bab6db9 41 }
Gaku0606 2:7be89bab6db9 42 return val;
Gaku0606 2:7be89bab6db9 43 }
Gaku0606 6:2f91c71d64b1 44 GPS_interrupt::GPS_interrupt(Serial *_gps){
Gaku0606 2:7be89bab6db9 45
Gaku0606 6:2f91c71d64b1 46 debugFlag = false;
Gaku0606 6:2f91c71d64b1 47 initialize();
Gaku0606 6:2f91c71d64b1 48 baudrate = 115200;//_baudrate;
Gaku0606 6:2f91c71d64b1 49 frequency = 10;
Gaku0606 6:2f91c71d64b1 50 gps_irq = this;
Gaku0606 6:2f91c71d64b1 51 gps = _gps;
Gaku0606 6:2f91c71d64b1 52 gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq);
Gaku0606 6:2f91c71d64b1 53 }
Gaku0606 6:2f91c71d64b1 54
Gaku0606 6:2f91c71d64b1 55 GPS_interrupt::GPS_interrupt(Serial *_gps, int _frequency){
Gaku0606 2:7be89bab6db9 56
Gaku0606 4:758f97bee95a 57 debugFlag = false;
Gaku0606 4:758f97bee95a 58 initialize();
Gaku0606 4:758f97bee95a 59 baudrate = 115200;//_baudrate;
Gaku0606 2:7be89bab6db9 60 frequency = _frequency;
Gaku0606 0:74d8e952a3bd 61 gps_irq = this;
Gaku0606 0:74d8e952a3bd 62 gps = _gps;
Gaku0606 4:758f97bee95a 63 gps->baud(9600);
Gaku0606 4:758f97bee95a 64 if(baudrate == 9600){
Gaku0606 4:758f97bee95a 65 gps->printf("$PMTK251,9600*17\r\n");
Gaku0606 4:758f97bee95a 66 }
Gaku0606 4:758f97bee95a 67 else if(baudrate == 19200){
Gaku0606 4:758f97bee95a 68 gps->printf("$PMTK251,19200*22\r\n");
Gaku0606 4:758f97bee95a 69 }
Gaku0606 4:758f97bee95a 70 else if( baudrate == 38400){
Gaku0606 4:758f97bee95a 71 gps->printf("$PMTK251,38400*27\r\n");
Gaku0606 4:758f97bee95a 72 }
Gaku0606 4:758f97bee95a 73 else if(baudrate == 56700){
Gaku0606 4:758f97bee95a 74 gps->printf("$PMTK251,57600*2C\r\n");
Gaku0606 4:758f97bee95a 75 }
Gaku0606 4:758f97bee95a 76 else if(baudrate == 115200){
Gaku0606 4:758f97bee95a 77 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 78 wait(0.1);
Gaku0606 4:758f97bee95a 79 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 80 wait(0.2);
Gaku0606 4:758f97bee95a 81 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 82 wait(0.2);
Gaku0606 4:758f97bee95a 83 }
Gaku0606 4:758f97bee95a 84 gps->baud(115200);
Gaku0606 4:758f97bee95a 85 baudrate = 115200;
Gaku0606 2:7be89bab6db9 86 wait(0.1);
Gaku0606 4:758f97bee95a 87
Gaku0606 4:758f97bee95a 88 //gps->printf("$PMTK351,1*28\r\n");//$PMTK351,1*28<CR><LF> :Enable QZSS NMEA format
Gaku0606 2:7be89bab6db9 89 unsigned char checksum = 0;
Gaku0606 4:758f97bee95a 90 checksum = checkSum("PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
Gaku0606 2:7be89bab6db9 91 //$PMTK314,GLL,RMC,VTG,GGA,GSA,GSV,0,0,0,0,0,0,0,0,0,0,0,ZDA,MCHN,チェックサム
Gaku0606 4:758f97bee95a 92 gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum);
Gaku0606 4:758f97bee95a 93 wait(0.2);
Gaku0606 4:758f97bee95a 94 gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum);
Gaku0606 4:758f97bee95a 95 wait(0.2);
Gaku0606 4:758f97bee95a 96 gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum);
Gaku0606 4:758f97bee95a 97 wait(0.2);
Gaku0606 4:758f97bee95a 98 if(_frequency == 1) gps->printf("$PMTK220,1000*1F\r\n");
Gaku0606 4:758f97bee95a 99 else if(_frequency == 2) gps->printf("$PMTK220,500*2B\r\n");
Gaku0606 4:758f97bee95a 100 else if(_frequency == 3) gps->printf("$PMTK220,333*2D\r\n");
Gaku0606 4:758f97bee95a 101 else if(_frequency == 4) gps->printf("$PMTK220,250*29\r\n");
Gaku0606 4:758f97bee95a 102 else if(_frequency == 5) gps->printf("$PMTK220,200*2C\r\n");
Gaku0606 4:758f97bee95a 103 else if(_frequency == 10) gps->printf("$PMTK220,100*2F\r\n");
Gaku0606 4:758f97bee95a 104 wait(0.2);
Gaku0606 0:74d8e952a3bd 105 gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq);
Gaku0606 0:74d8e952a3bd 106 }
Gaku0606 0:74d8e952a3bd 107
Gaku0606 0:74d8e952a3bd 108 void GPS_interrupt::initialize(){
Gaku0606 0:74d8e952a3bd 109 latitude = 0.0f;
Gaku0606 0:74d8e952a3bd 110 longitude = 0.0f;
Gaku0606 0:74d8e952a3bd 111 year = 0;
Gaku0606 0:74d8e952a3bd 112 month = 0;
Gaku0606 0:74d8e952a3bd 113 day = 0;
Gaku0606 0:74d8e952a3bd 114 hour = 0;
Gaku0606 0:74d8e952a3bd 115 minutes = 0;
Gaku0606 0:74d8e952a3bd 116 seconds = 0;
Gaku0606 2:7be89bab6db9 117 knot = 0;
Gaku0606 2:7be89bab6db9 118 degree = 0;
Gaku0606 2:7be89bab6db9 119 number = 0;
Gaku0606 2:7be89bab6db9 120 height = 0;
Gaku0606 2:7be89bab6db9 121 geoid = 0;
Gaku0606 0:74d8e952a3bd 122 memset(gps_buffer_A, '\0', 128);
Gaku0606 0:74d8e952a3bd 123 memset(gps_buffer_B, '\0', 128);
Gaku0606 0:74d8e952a3bd 124 gps_readable = false;
Gaku0606 0:74d8e952a3bd 125 }
Gaku0606 2:7be89bab6db9 126 void GPS_interrupt::rmc_initialize(){
Gaku0606 2:7be89bab6db9 127 latitude = 0.0f;
Gaku0606 2:7be89bab6db9 128 longitude = 0.0f;
Gaku0606 2:7be89bab6db9 129 year = 0;
Gaku0606 2:7be89bab6db9 130 month = 0;
Gaku0606 2:7be89bab6db9 131 day = 0;
Gaku0606 2:7be89bab6db9 132 hour = 0;
Gaku0606 2:7be89bab6db9 133 minutes = 0;
Gaku0606 2:7be89bab6db9 134 seconds = 0;
Gaku0606 2:7be89bab6db9 135 knot = 0;
Gaku0606 2:7be89bab6db9 136 degree = 0;
Gaku0606 2:7be89bab6db9 137 }
Gaku0606 2:7be89bab6db9 138 void GPS_interrupt::gga_initialize(){
Gaku0606 2:7be89bab6db9 139 latitude = 0.0f;
Gaku0606 2:7be89bab6db9 140 longitude = 0.0f;
Gaku0606 2:7be89bab6db9 141 /*year = 0;
Gaku0606 2:7be89bab6db9 142 month = 0;
Gaku0606 2:7be89bab6db9 143 day = 0;
Gaku0606 2:7be89bab6db9 144 hour = 0;
Gaku0606 2:7be89bab6db9 145 minutes = 0;
Gaku0606 2:7be89bab6db9 146 seconds = 0;*/
Gaku0606 2:7be89bab6db9 147 number = 0;
Gaku0606 2:7be89bab6db9 148 height = 0;
Gaku0606 2:7be89bab6db9 149 geoid = 0;
Gaku0606 2:7be89bab6db9 150 }
Gaku0606 0:74d8e952a3bd 151 void GPS_interrupt::gps_auto_receive(){
Gaku0606 0:74d8e952a3bd 152
Gaku0606 0:74d8e952a3bd 153 static char str_temp[128] = {'\0'};
Gaku0606 0:74d8e952a3bd 154 static char temp = 0;
Gaku0606 0:74d8e952a3bd 155 static bool start_flag = false;
Gaku0606 0:74d8e952a3bd 156 static unsigned char current = 0;
Gaku0606 0:74d8e952a3bd 157 static char classify_AB = 0;
Gaku0606 0:74d8e952a3bd 158 static char* save_buffer = gps_buffer_A;
Gaku0606 0:74d8e952a3bd 159
Gaku0606 0:74d8e952a3bd 160 temp = gps->getc();
Gaku0606 2:7be89bab6db9 161
Gaku0606 2:7be89bab6db9 162 //printf("%c", temp);
Gaku0606 2:7be89bab6db9 163
Gaku0606 0:74d8e952a3bd 164 if(temp == '$'){
Gaku0606 0:74d8e952a3bd 165 current = 1;
Gaku0606 0:74d8e952a3bd 166 start_flag = true;
Gaku0606 0:74d8e952a3bd 167 memset(save_buffer, '\0', 128);//初期化
Gaku0606 0:74d8e952a3bd 168 save_buffer[0] = '$';
Gaku0606 0:74d8e952a3bd 169 return;
Gaku0606 0:74d8e952a3bd 170 }
Gaku0606 0:74d8e952a3bd 171 if(start_flag){//1行スタート
Gaku0606 0:74d8e952a3bd 172 if(temp == '\r'){//1行終了
Gaku0606 0:74d8e952a3bd 173 save_buffer[current] = '\0';
Gaku0606 0:74d8e952a3bd 174 start_flag = false;
Gaku0606 0:74d8e952a3bd 175 current = 1;
Gaku0606 0:74d8e952a3bd 176 gps_read_buffer = save_buffer;
Gaku0606 2:7be89bab6db9 177
Gaku0606 2:7be89bab6db9 178 //debug(gps_read_buffer);
Gaku0606 2:7be89bab6db9 179 //printf("%s\r\n", save_buffer);
Gaku0606 2:7be89bab6db9 180
Gaku0606 0:74d8e952a3bd 181 if(classify_AB){
Gaku0606 0:74d8e952a3bd 182 save_buffer = gps_buffer_A;//バッファ切換
Gaku0606 0:74d8e952a3bd 183 classify_AB = ~classify_AB;
Gaku0606 0:74d8e952a3bd 184 }
Gaku0606 0:74d8e952a3bd 185 else{
Gaku0606 0:74d8e952a3bd 186 save_buffer = gps_buffer_B;
Gaku0606 0:74d8e952a3bd 187 classify_AB = ~classify_AB;
Gaku0606 0:74d8e952a3bd 188 }
Gaku0606 4:758f97bee95a 189
Gaku0606 6:2f91c71d64b1 190 if(debugFlag) printf("debug \"%s\"\r\n", gps_read_buffer);
Gaku0606 6:2f91c71d64b1 191
Gaku0606 3:8e66ec281888 192 if((strncmp(gps_read_buffer, "$GPRMC", 6) == 0) || (strncmp(gps_read_buffer, "$GNRMC", 6) == 0)){
Gaku0606 2:7be89bab6db9 193 memset(str_temp, '\0', 128);
Gaku0606 0:74d8e952a3bd 194 strcpy(str_temp, gps_read_buffer);
Gaku0606 2:7be89bab6db9 195 if(processGPRMC(str_temp)){
Gaku0606 0:74d8e952a3bd 196 gps_readable = true;
Gaku0606 4:758f97bee95a 197 return;//データが取得できればここで終了
Gaku0606 0:74d8e952a3bd 198 }
Gaku0606 0:74d8e952a3bd 199 }
Gaku0606 2:7be89bab6db9 200 else if(strncmp(gps_read_buffer, "$GPGGA", 6) == 0){
Gaku0606 2:7be89bab6db9 201 memset(str_temp, '\0', 128);
Gaku0606 2:7be89bab6db9 202 strcpy(str_temp, gps_read_buffer);
Gaku0606 2:7be89bab6db9 203 if(processGPGGA(str_temp)){
Gaku0606 2:7be89bab6db9 204 gps_readable = true;
Gaku0606 4:758f97bee95a 205 return;//データが取得できればここで終了
Gaku0606 4:758f97bee95a 206 }
Gaku0606 2:7be89bab6db9 207 }
Gaku0606 4:758f97bee95a 208
Gaku0606 4:758f97bee95a 209
Gaku0606 2:7be89bab6db9 210 //else if(strncmp(gps_read_buffer, "$GPGSV", 6) == 0){
Gaku0606 2:7be89bab6db9 211 //printf("%s\r\n", gps_read_buffer);
Gaku0606 2:7be89bab6db9 212 //}
Gaku0606 0:74d8e952a3bd 213 }
Gaku0606 0:74d8e952a3bd 214 else{
Gaku0606 0:74d8e952a3bd 215 save_buffer[current] = temp;
Gaku0606 0:74d8e952a3bd 216 current++;
Gaku0606 0:74d8e952a3bd 217 if(current >= 127){
Gaku0606 0:74d8e952a3bd 218 current = 1;
Gaku0606 0:74d8e952a3bd 219 start_flag = false;
Gaku0606 0:74d8e952a3bd 220 }
Gaku0606 0:74d8e952a3bd 221 }
Gaku0606 0:74d8e952a3bd 222 }
Gaku0606 0:74d8e952a3bd 223 }
Gaku0606 0:74d8e952a3bd 224
Gaku0606 2:7be89bab6db9 225 bool GPS_interrupt::processGPRMC(char *line){
Gaku0606 0:74d8e952a3bd 226
Gaku0606 0:74d8e952a3bd 227 char *tok; //strtokで帰ってくる文字列のポインター
Gaku0606 0:74d8e952a3bd 228 bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue
Gaku0606 0:74d8e952a3bd 229 //bool result = false;
Gaku0606 0:74d8e952a3bd 230 //char num[4] = "";//衛星数の文字データ
Gaku0606 0:74d8e952a3bd 231 //char kaibatsu[8], g_height[8];
Gaku0606 0:74d8e952a3bd 232 //char data_GPS[256] ="";
Gaku0606 0:74d8e952a3bd 233 char angle[8], speed[8];
Gaku0606 0:74d8e952a3bd 234 char ido[16] = "", keido[16] = "";
Gaku0606 0:74d8e952a3bd 235
Gaku0606 2:7be89bab6db9 236 double X = 0, Y = 0;
Gaku0606 0:74d8e952a3bd 237 double X_m = 0, Y_m = 0;//GPS座標の"分"の部分
Gaku0606 0:74d8e952a3bd 238 char zikann[11], hizuke[7];
Gaku0606 0:74d8e952a3bd 239
Gaku0606 0:74d8e952a3bd 240 //bool gga_flag = false;
Gaku0606 0:74d8e952a3bd 241 bool rmc_flag = false;
Gaku0606 2:7be89bab6db9 242 char tok_count = 0;
Gaku0606 0:74d8e952a3bd 243
Gaku0606 4:758f97bee95a 244 //rmc_initialize();
Gaku0606 0:74d8e952a3bd 245
Gaku0606 0:74d8e952a3bd 246 //_____GPRMC___________________________________
Gaku0606 0:74d8e952a3bd 247 //データ文字列の先頭から6文字目までが$GPRMCなら０が返ってくる
Gaku0606 2:7be89bab6db9 248 //if (strncmp(line, "$GPRMC", 6) == 0){
Gaku0606 0:74d8e952a3bd 249
Gaku0606 0:74d8e952a3bd 250 tok = strtok(line, ",");
Gaku0606 2:7be89bab6db9 251 tok_count = 0;
Gaku0606 0:74d8e952a3bd 252
Gaku0606 0:74d8e952a3bd 253 //$GPRMC, 002519.799, V, , , , , 0.00, 0.00, 060180, , , N * 4A
Gaku0606 0:74d8e952a3bd 254
Gaku0606 0:74d8e952a3bd 255 // 0 , 1 , 2,3,4,5,6, 7 , 8 , 9 ,10,11 ,12
Gaku0606 0:74d8e952a3bd 256 //$GPRMC,233514.000,A,3022.5291,N,13057.6141,E,0.41,335.09,030316,,,A*6C
Gaku0606 0:74d8e952a3bd 257
Gaku0606 0:74d8e952a3bd 258 // 0 , 1 ,2, 3 ,4, 5 ,6, 7 , 8 , 9 ,1, 1 ,1
Gaku0606 0:74d8e952a3bd 259 // 0 1 2
Gaku0606 0:74d8e952a3bd 260 while (1){
Gaku0606 2:7be89bab6db9 261 switch (tok_count){
Gaku0606 2:7be89bab6db9 262 case 1://時分秒
Gaku0606 2:7be89bab6db9 263 strcpy(zikann, tok);//zikann = "233514.000\0"
Gaku0606 2:7be89bab6db9 264 break;
Gaku0606 2:7be89bab6db9 265 case 2://有効か無効か判定
Gaku0606 2:7be89bab6db9 266 if (strncmp(tok, "V", 1) == 0) return false;
Gaku0606 2:7be89bab6db9 267 else if (strcmp(tok, "A") == 0) rmc_flag = true;
Gaku0606 2:7be89bab6db9 268 break;
Gaku0606 2:7be89bab6db9 269 case 3://緯度
Gaku0606 2:7be89bab6db9 270 strcpy(ido, tok);
Gaku0606 2:7be89bab6db9 271 break;
Gaku0606 2:7be89bab6db9 272 case 4://北緯か南緯か
Gaku0606 2:7be89bab6db9 273 if (strcmp(tok, "S") == 0) latSign = true;
Gaku0606 2:7be89bab6db9 274 break;
Gaku0606 2:7be89bab6db9 275 case 5://経度
Gaku0606 2:7be89bab6db9 276 strcpy(keido, tok);
Gaku0606 2:7be89bab6db9 277 break;
Gaku0606 2:7be89bab6db9 278 case 6://東経か西経か
Gaku0606 2:7be89bab6db9 279 if (strcmp(tok, "W") == 0) lonSign = true;
Gaku0606 2:7be89bab6db9 280 break;
Gaku0606 2:7be89bab6db9 281 case 7://速度（キロノット）
Gaku0606 2:7be89bab6db9 282 strcpy(speed, tok);
Gaku0606 2:7be89bab6db9 283 break;
Gaku0606 2:7be89bab6db9 284 case 8://角度
Gaku0606 2:7be89bab6db9 285 strcpy(angle, tok);
Gaku0606 2:7be89bab6db9 286 break;
Gaku0606 2:7be89bab6db9 287 case 9://日付
Gaku0606 2:7be89bab6db9 288 strcpy(hizuke, tok);//hizuke = "030316\0"
Gaku0606 2:7be89bab6db9 289 break;
Gaku0606 0:74d8e952a3bd 290 }
Gaku0606 2:7be89bab6db9 291
Gaku0606 0:74d8e952a3bd 292 tok = strtok(NULL, ",");//comma = ",\0"
Gaku0606 0:74d8e952a3bd 293 tok_count++;
Gaku0606 0:74d8e952a3bd 294 if (tok == NULL) break;
Gaku0606 0:74d8e952a3bd 295 }
Gaku0606 0:74d8e952a3bd 296 if (rmc_flag){
Gaku0606 0:74d8e952a3bd 297 rmc_flag = false;
Gaku0606 0:74d8e952a3bd 298 //ddmmyy
Gaku0606 0:74d8e952a3bd 299 int dmy = 0;
Gaku0606 0:74d8e952a3bd 300 dmy = atoi(hizuke);
Gaku0606 0:74d8e952a3bd 301 day = dmy / 10000; //030316 / 10000 = 3
Gaku0606 0:74d8e952a3bd 302 month = (dmy - day * 10000) / 100;//30316 - 30000 = 316, 316/100= 3
Gaku0606 0:74d8e952a3bd 303 year = dmy - month * 100 - day * 10000 + 2000;
Gaku0606 0:74d8e952a3bd 304
Gaku0606 0:74d8e952a3bd 305 //hhmmss.ss
Gaku0606 0:74d8e952a3bd 306 seconds = atof(zikann);//sec = 233514.000
Gaku0606 0:74d8e952a3bd 307 hour = (int)(seconds / 10000.0); //233514/10000=(int)23
Gaku0606 0:74d8e952a3bd 308 minutes = (seconds - hour * 10000) / 100;//233514.0-230000=3514.0,3514.0/100=35
Gaku0606 0:74d8e952a3bd 309 seconds = seconds - ((double)minutes * 100.0 + (double)hour * 10000.0);
Gaku0606 0:74d8e952a3bd 310
Gaku0606 0:74d8e952a3bd 311 // getLonLatのとき有効
Gaku0606 0:74d8e952a3bd 312 Y_m = atof(ido);//*Y_m = 3457.5571
Gaku0606 0:74d8e952a3bd 313 Y = (int)(Y_m / 100.0);//Y = 34.0
Gaku0606 0:74d8e952a3bd 314 Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571
Gaku0606 0:74d8e952a3bd 315
Gaku0606 0:74d8e952a3bd 316 X_m = atof(keido);//*X = 13057.6142
Gaku0606 0:74d8e952a3bd 317 X = (int)(X_m / 100.0);//X = 130.0
Gaku0606 0:74d8e952a3bd 318 X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142
Gaku0606 0:74d8e952a3bd 319
Gaku0606 0:74d8e952a3bd 320 //GPS calculation
Gaku0606 0:74d8e952a3bd 321 longitude = X + X_m / 60.0;// 34.959285
Gaku0606 0:74d8e952a3bd 322 latitude = Y + Y_m / 60.0;//137.090290
Gaku0606 0:74d8e952a3bd 323
Gaku0606 2:7be89bab6db9 324 if (lonSign) longitude *= (-1);//西経なら経度を負に
Gaku0606 2:7be89bab6db9 325 if (latSign) latitude *= (-1);//南緯なら緯度を負に
Gaku0606 0:74d8e952a3bd 326 knot = atof(speed);
Gaku0606 0:74d8e952a3bd 327 degree = atof(angle);
Gaku0606 4:758f97bee95a 328
Gaku0606 4:758f97bee95a 329 return true;
Gaku0606 4:758f97bee95a 330
Gaku0606 0:74d8e952a3bd 331 }
Gaku0606 4:758f97bee95a 332 else{
Gaku0606 4:758f97bee95a 333 return false;
Gaku0606 4:758f97bee95a 334 }
Gaku0606 2:7be89bab6db9 335 //}
Gaku0606 2:7be89bab6db9 336 //else return false;
Gaku0606 0:74d8e952a3bd 337 }
Gaku0606 0:74d8e952a3bd 338
Gaku0606 2:7be89bab6db9 339 bool GPS_interrupt::processGPGGA(char *line){
Gaku0606 2:7be89bab6db9 340
Gaku0606 2:7be89bab6db9 341 char *tok; //strtokで帰ってくる文字列のポインター
Gaku0606 2:7be89bab6db9 342 bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue
Gaku0606 2:7be89bab6db9 343 //bool result = false;
Gaku0606 2:7be89bab6db9 344 char num[4] = "";//衛星数の文字データ
Gaku0606 2:7be89bab6db9 345 char kaibatsu[8], g_height[8];
Gaku0606 2:7be89bab6db9 346 //char data_GPS[256] ="";
Gaku0606 2:7be89bab6db9 347 //char angle[8], speed[8];
Gaku0606 2:7be89bab6db9 348 char ido[16] = "", keido[16] = "";
Gaku0606 2:7be89bab6db9 349
Gaku0606 2:7be89bab6db9 350 double X = 0, Y = 0;
Gaku0606 2:7be89bab6db9 351 double X_m = 0, Y_m = 0;//GPS座標の"分"の部分
Gaku0606 2:7be89bab6db9 352 //char zikann[11], hizuke[7];
Gaku0606 2:7be89bab6db9 353 char status[2];
Gaku0606 2:7be89bab6db9 354
Gaku0606 2:7be89bab6db9 355 bool gga_flag = false;
Gaku0606 2:7be89bab6db9 356 //bool rmc_flag = false;
Gaku0606 2:7be89bab6db9 357 char tok_count = 0;
Gaku0606 2:7be89bab6db9 358
Gaku0606 4:758f97bee95a 359 //gga_initialize();
Gaku0606 2:7be89bab6db9 360
Gaku0606 2:7be89bab6db9 361 //データ文字列の先頭から6文字目までが$GPGLLなら０が返ってくる
Gaku0606 2:7be89bab6db9 362 //if (strncmp(data_GPS, "$GPGGA", 6) == 0){
Gaku0606 2:7be89bab6db9 363
Gaku0606 2:7be89bab6db9 364 tok = strtok(line, ",");
Gaku0606 2:7be89bab6db9 365 tok_count = 0;
Gaku0606 2:7be89bab6db9 366
Gaku0606 2:7be89bab6db9 367 //$GPGGA, 002519.799, , , , , 0, 0, , , M, , M, , *40
Gaku0606 2:7be89bab6db9 368
Gaku0606 2:7be89bab6db9 369 // 0 , 1 , , , , , 2, 3, , , 4, , 5, , 6
Gaku0606 2:7be89bab6db9 370
Gaku0606 2:7be89bab6db9 371 //$GPGGA,233515.000,3022.5292,N,13057.6142,E,1,9,0.88,11.3,M,29.3,M,,*63
Gaku0606 2:7be89bab6db9 372
Gaku0606 2:7be89bab6db9 373 // 0 , 1 , 2 ,3, 4 ,5,6,7, 8 , 9 ,1, 11 ,1
Gaku0606 2:7be89bab6db9 374 // 0 2
Gaku0606 2:7be89bab6db9 375 while (1){
Gaku0606 2:7be89bab6db9 376 switch (tok_count){
Gaku0606 2:7be89bab6db9 377 case 2://緯度
Gaku0606 2:7be89bab6db9 378 strcpy(ido, tok);//ido = "30"
Gaku0606 2:7be89bab6db9 379 if (strcmp(ido, "0") == 0) return false;//GPS無効
Gaku0606 2:7be89bab6db9 380 break;
Gaku0606 2:7be89bab6db9 381 case 3://北緯か南緯か
Gaku0606 2:7be89bab6db9 382 if (strcmp(tok, "S") == 0) latSign = true;
Gaku0606 2:7be89bab6db9 383 break;
Gaku0606 2:7be89bab6db9 384 case 4:
Gaku0606 2:7be89bab6db9 385 strcpy(keido, tok);//keido = "130"
Gaku0606 2:7be89bab6db9 386 break;
Gaku0606 2:7be89bab6db9 387 case 5://東経か西経か
Gaku0606 2:7be89bab6db9 388 if (strcmp(tok, "W") == 0) lonSign = true;
Gaku0606 2:7be89bab6db9 389 break;
Gaku0606 2:7be89bab6db9 390 case 6:
Gaku0606 2:7be89bab6db9 391 strcpy(status, tok);
Gaku0606 2:7be89bab6db9 392 if (strcmp(status, "0") != 0) gga_flag = true;//GPS有効
Gaku0606 2:7be89bab6db9 393 break;
Gaku0606 2:7be89bab6db9 394 case 7:
Gaku0606 2:7be89bab6db9 395 strcpy(num, tok);
Gaku0606 2:7be89bab6db9 396 break;
Gaku0606 2:7be89bab6db9 397 case 9:
Gaku0606 2:7be89bab6db9 398 strcpy(kaibatsu, tok);
Gaku0606 2:7be89bab6db9 399 break;
Gaku0606 2:7be89bab6db9 400 case 11:
Gaku0606 2:7be89bab6db9 401 strcpy(g_height, tok);
Gaku0606 2:7be89bab6db9 402 break;
Gaku0606 2:7be89bab6db9 403 }
Gaku0606 2:7be89bab6db9 404 tok = strtok(NULL, ",");//comma = ",\0"
Gaku0606 2:7be89bab6db9 405 tok_count++;
Gaku0606 2:7be89bab6db9 406 if (tok == NULL) break;
Gaku0606 2:7be89bab6db9 407 }
Gaku0606 2:7be89bab6db9 408 if (gga_flag){
Gaku0606 2:7be89bab6db9 409
Gaku0606 2:7be89bab6db9 410 height = atof(kaibatsu);
Gaku0606 2:7be89bab6db9 411 geoid = atof(g_height);
Gaku0606 2:7be89bab6db9 412 number = atoi(num);
Gaku0606 2:7be89bab6db9 413 /*
Gaku0606 2:7be89bab6db9 414 //ddmmyy
Gaku0606 2:7be89bab6db9 415 long dmy = 0;
Gaku0606 2:7be89bab6db9 416 dmy = atol(hizuke);
Gaku0606 2:7be89bab6db9 417 day = (int)(dmy / 10000); //030316 / 10000 = 3
Gaku0606 2:7be89bab6db9 418 month = (int)(dmy / 100 - day * 100);//30316 - 30000 = 316, 316/100= 3
Gaku0606 2:7be89bab6db9 419 year = dmy - month * 100 - (long)day * 10000 + 2000;
Gaku0606 2:7be89bab6db9 420
Gaku0606 2:7be89bab6db9 421 //hhmmss.ss
Gaku0606 2:7be89bab6db9 422 seconds = atof(zikann);//sec = 233514.000
Gaku0606 2:7be89bab6db9 423 hour = (int)(seconds / 10000.0); //233514/10000=(int)23
Gaku0606 2:7be89bab6db9 424 minutes = (int)(seconds / 100.0 - hour * 100.0);//233514.0-230000=3514.0,3514.0/100=35
Gaku0606 2:7be89bab6db9 425 seconds = seconds - ((double)minutes * 100.0 + (double)hour * 10000.0);
Gaku0606 2:7be89bab6db9 426 */
Gaku0606 2:7be89bab6db9 427 // getLonLatのとき有効
Gaku0606 2:7be89bab6db9 428 Y_m = atof(ido);//Y_m = 3457.5571
Gaku0606 2:7be89bab6db9 429 Y = (int)(Y_m / 100.0);//Y = 34.0
Gaku0606 2:7be89bab6db9 430 Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571
Gaku0606 2:7be89bab6db9 431
Gaku0606 2:7be89bab6db9 432 X_m = atof(keido);//X = 13057.6142
Gaku0606 2:7be89bab6db9 433 X = (int)(X_m / 100.0);//X = 130.0
Gaku0606 2:7be89bab6db9 434 X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142
Gaku0606 2:7be89bab6db9 435
Gaku0606 2:7be89bab6db9 436 //GPS calculation
Gaku0606 2:7be89bab6db9 437 longitude = X + X_m / 60.0;// 34.959285
Gaku0606 2:7be89bab6db9 438 latitude = Y + Y_m / 60.0;//137.090290
Gaku0606 2:7be89bab6db9 439 if (lonSign == true) longitude = longitude * (-1);//西経なら経度を負に
Gaku0606 2:7be89bab6db9 440 if (latSign == true) latitude = latitude * (-1);//南緯なら緯度を負に
Gaku0606 2:7be89bab6db9 441
Gaku0606 2:7be89bab6db9 442 return true;
Gaku0606 2:7be89bab6db9 443 }
Gaku0606 4:758f97bee95a 444 else{
Gaku0606 4:758f97bee95a 445 return false;
Gaku0606 4:758f97bee95a 446 }
Gaku0606 2:7be89bab6db9 447 //}
Gaku0606 2:7be89bab6db9 448
Gaku0606 2:7be89bab6db9 449 }