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@15:6b1ed321c1be, 2018-05-25 (annotated)

Committer:
Sigma884
Date:
Fri May 25 21:29:17 2018 +0000
Revision:
15:6b1ed321c1be
Parent:
14:23611bb30bc8
Child:
17:4b09630703c0
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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 8:3f32df2b66c0 17 */
Gaku0606 8:3f32df2b66c0 18 //char GPS_interrupt::gps_buffer_A[128] = {'\0'};
Gaku0606 8:3f32df2b66c0 19 //char GPS_interrupt::gps_buffer_B[128] = {'\0'};
Gaku0606 8:3f32df2b66c0 20 //char GPS_interrupt::gps_buffer_C[128] = {'\0'};
Gaku0606 8:3f32df2b66c0 21 /*
Gaku0606 0:74d8e952a3bd 22 char* GPS_interrupt::gps_read_buffer = gps_buffer_B;
Gaku0606 4:758f97bee95a 23 bool GPS_interrupt::gps_readable = false;*/
Gaku0606 0:74d8e952a3bd 24
Gaku0606 4:758f97bee95a 25 //GPS_interrupt* GPS_interrupt::gps_irq;
Gaku0606 0:74d8e952a3bd 26
Gaku0606 2:7be89bab6db9 27 //Timeout timeout_clear;
Gaku0606 2:7be89bab6db9 28
Gaku0606 4:758f97bee95a 29 void GPS_interrupt::debug(bool tf){
Gaku0606 4:758f97bee95a 30 if(tf){
Gaku0606 4:758f97bee95a 31 debugFlag = true;
Gaku0606 4:758f97bee95a 32 }
Gaku0606 4:758f97bee95a 33 else{
Gaku0606 4:758f97bee95a 34 debugFlag = false;
Gaku0606 4:758f97bee95a 35 }
Gaku0606 2:7be89bab6db9 36 }
Gaku0606 2:7be89bab6db9 37
Gaku0606 2:7be89bab6db9 38 unsigned char GPS_interrupt::checkSum(char *str){
Gaku0606 2:7be89bab6db9 39 int num = strlen(str);
Gaku0606 2:7be89bab6db9 40 unsigned char val = 0;
Gaku0606 2:7be89bab6db9 41 for(int i = 0; i< num; i++){
Gaku0606 2:7be89bab6db9 42 val = val ^ str[i];
Gaku0606 2:7be89bab6db9 43 }
Gaku0606 2:7be89bab6db9 44 return val;
Gaku0606 2:7be89bab6db9 45 }
Sigma884 15:6b1ed321c1be 46
Gaku0606 11:1897b52fa8a1 47 GPS_interrupt::GPS_interrupt(Serial *_gps){
Gaku0606 2:7be89bab6db9 48
Gaku0606 11:1897b52fa8a1 49 if(_gps == NULL){
Gaku0606 11:1897b52fa8a1 50 error("GPS UART BUS ERROR!!\r\n");
Gaku0606 11:1897b52fa8a1 51 }
Gaku0606 6:2f91c71d64b1 52 debugFlag = false;
Gaku0606 6:2f91c71d64b1 53 initialize();
Sigma884 15:6b1ed321c1be 54 //baudrate = 9600;//_baudrate;
Sigma884 15:6b1ed321c1be 55 //frequency = 1;
Gaku0606 6:2f91c71d64b1 56 gps_irq = this;
Gaku0606 11:1897b52fa8a1 57 gps = _gps;
Sigma884 15:6b1ed321c1be 58 //gps->baud(baudrate);
Gaku0606 6:2f91c71d64b1 59 gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq);
Gaku0606 6:2f91c71d64b1 60 }
Gaku0606 6:2f91c71d64b1 61
Sigma884 15:6b1ed321c1be 62 /*
Gaku0606 11:1897b52fa8a1 63 GPS_interrupt::GPS_interrupt(Serial *_gps, int _baudrate){
Gaku0606 2:7be89bab6db9 64
Gaku0606 11:1897b52fa8a1 65 if(_gps == NULL){
Gaku0606 11:1897b52fa8a1 66 error("GPS UART BUS ERROR!!\r\n");
Gaku0606 11:1897b52fa8a1 67 }
Gaku0606 4:758f97bee95a 68 debugFlag = false;
Gaku0606 4:758f97bee95a 69 initialize();
Gaku0606 11:1897b52fa8a1 70 baudrate = _baudrate;
Gaku0606 11:1897b52fa8a1 71 //frequency = _frequency;
Gaku0606 0:74d8e952a3bd 72 gps_irq = this;
Gaku0606 0:74d8e952a3bd 73 gps = _gps;
Gaku0606 11:1897b52fa8a1 74 gps->baud(baudrate);
Sigma884 15:6b1ed321c1be 75
Sigma884 15:6b1ed321c1be 76 if(baudrate == 9600){
Gaku0606 4:758f97bee95a 77 gps->printf("$PMTK251,9600*17\r\n");
Gaku0606 4:758f97bee95a 78 }
Gaku0606 4:758f97bee95a 79 else if(baudrate == 19200){
Gaku0606 4:758f97bee95a 80 gps->printf("$PMTK251,19200*22\r\n");
Gaku0606 4:758f97bee95a 81 }
Gaku0606 4:758f97bee95a 82 else if( baudrate == 38400){
Gaku0606 4:758f97bee95a 83 gps->printf("$PMTK251,38400*27\r\n");
Gaku0606 4:758f97bee95a 84 }
Gaku0606 4:758f97bee95a 85 else if(baudrate == 56700){
Gaku0606 4:758f97bee95a 86 gps->printf("$PMTK251,57600*2C\r\n");
Gaku0606 4:758f97bee95a 87 }
Gaku0606 4:758f97bee95a 88 else if(baudrate == 115200){
Gaku0606 4:758f97bee95a 89 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 90 wait(0.1);
Gaku0606 4:758f97bee95a 91 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 92 wait(0.2);
Gaku0606 4:758f97bee95a 93 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 94 wait(0.2);
Gaku0606 4:758f97bee95a 95 }
Gaku0606 8:3f32df2b66c0 96 gps->baud(9600);
Gaku0606 11:1897b52fa8a1 97 */
Gaku0606 11:1897b52fa8a1 98 //baudrate = 9600;
Gaku0606 11:1897b52fa8a1 99 /*wait(0.1);
Gaku0606 4:758f97bee95a 100
Gaku0606 4:758f97bee95a 101 //gps->printf("$PMTK351,1*28\r\n");//$PMTK351,1*28<CR><LF> :Enable QZSS NMEA format
Gaku0606 2:7be89bab6db9 102 unsigned char checksum = 0;
Gaku0606 4:758f97bee95a 103 checksum = checkSum("PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
Gaku0606 2:7be89bab6db9 104 //$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 105 gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum);
Gaku0606 4:758f97bee95a 106 wait(0.2);
Gaku0606 4:758f97bee95a 107 gps->printf("$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 108 wait(0.2);
Gaku0606 4:758f97bee95a 109 gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum);
Gaku0606 4:758f97bee95a 110 wait(0.2);
Gaku0606 4:758f97bee95a 111 if(_frequency == 1) gps->printf("$PMTK220,1000*1F\r\n");
Gaku0606 4:758f97bee95a 112 else if(_frequency == 2) gps->printf("$PMTK220,500*2B\r\n");
Gaku0606 4:758f97bee95a 113 else if(_frequency == 3) gps->printf("$PMTK220,333*2D\r\n");
Gaku0606 4:758f97bee95a 114 else if(_frequency == 4) gps->printf("$PMTK220,250*29\r\n");
Gaku0606 4:758f97bee95a 115 else if(_frequency == 5) gps->printf("$PMTK220,200*2C\r\n");
Gaku0606 4:758f97bee95a 116 else if(_frequency == 10) gps->printf("$PMTK220,100*2F\r\n");
Gaku0606 4:758f97bee95a 117 wait(0.2);
Gaku0606 11:1897b52fa8a1 118 */
Sigma884 15:6b1ed321c1be 119 /*
Gaku0606 0:74d8e952a3bd 120 gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq);
Gaku0606 0:74d8e952a3bd 121 }
Sigma884 15:6b1ed321c1be 122 */
Sigma884 15:6b1ed321c1be 123
Sigma884 15:6b1ed321c1be 124 void GPS_interrupt::changeGPSBaud(int _baudrate){
Sigma884 15:6b1ed321c1be 125 baudrate = _baudrate;
Sigma884 15:6b1ed321c1be 126 switch(baudrate){
Sigma884 15:6b1ed321c1be 127 case 4800:
Sigma884 15:6b1ed321c1be 128 gps -> printf("$PMTK251,4800*14\r\n");
Sigma884 15:6b1ed321c1be 129 wait(0.2f);
Sigma884 15:6b1ed321c1be 130 gps->printf("$PMTK251,4800*14\r\n");
Sigma884 15:6b1ed321c1be 131 wait(0.2f);
Sigma884 15:6b1ed321c1be 132 gps->printf("$PMTK251,4800*14\r\n");
Sigma884 15:6b1ed321c1be 133 wait(0.2f);
Sigma884 15:6b1ed321c1be 134 gps->printf("$PMTK251,4800*14\r\n");
Sigma884 15:6b1ed321c1be 135 wait(0.2f);
Sigma884 15:6b1ed321c1be 136 gps->printf("$PMTK251,4800*14\r\n");
Sigma884 15:6b1ed321c1be 137 wait(0.2f);
Sigma884 15:6b1ed321c1be 138 gps->baud(4800);
Sigma884 15:6b1ed321c1be 139 break;
Sigma884 15:6b1ed321c1be 140
Sigma884 15:6b1ed321c1be 141 case 9600:
Sigma884 15:6b1ed321c1be 142 gps->printf("$PMTK251,9600*17\r\n");
Sigma884 15:6b1ed321c1be 143 wait(0.2f);
Sigma884 15:6b1ed321c1be 144 gps->printf("$PMTK251,9600*17\r\n");
Sigma884 15:6b1ed321c1be 145 wait(0.2f);
Sigma884 15:6b1ed321c1be 146 gps->printf("$PMTK251,9600*17\r\n");
Sigma884 15:6b1ed321c1be 147 wait(0.2f);
Sigma884 15:6b1ed321c1be 148 gps->printf("$PMTK251,9600*17\r\n");
Sigma884 15:6b1ed321c1be 149 wait(0.2f);
Sigma884 15:6b1ed321c1be 150 gps->printf("$PMTK251,9600*17\r\n");
Sigma884 15:6b1ed321c1be 151 wait(0.2f);
Sigma884 15:6b1ed321c1be 152 gps->baud(9600);
Sigma884 15:6b1ed321c1be 153 break;
Sigma884 15:6b1ed321c1be 154
Sigma884 15:6b1ed321c1be 155 case 14400:
Sigma884 15:6b1ed321c1be 156 gps->printf("$PMTK251,14400*29\r\n");
Sigma884 15:6b1ed321c1be 157 wait(0.2f);
Sigma884 15:6b1ed321c1be 158 gps->printf("$PMTK251,14400*29\r\n");
Sigma884 15:6b1ed321c1be 159 wait(0.2f);
Sigma884 15:6b1ed321c1be 160 gps->printf("$PMTK251,14400*29\r\n");
Sigma884 15:6b1ed321c1be 161 wait(0.2f);
Sigma884 15:6b1ed321c1be 162 gps->printf("$PMTK251,14400*29\r\n");
Sigma884 15:6b1ed321c1be 163 wait(0.2f);
Sigma884 15:6b1ed321c1be 164 gps->printf("$PMTK251,14400*29\r\n");
Sigma884 15:6b1ed321c1be 165 wait(0.2f);
Sigma884 15:6b1ed321c1be 166 gps->baud(14400);
Sigma884 15:6b1ed321c1be 167 break;
Sigma884 15:6b1ed321c1be 168
Sigma884 15:6b1ed321c1be 169 case 19200:
Sigma884 15:6b1ed321c1be 170 gps->printf("$PMTK251,19200*22\r\n");
Sigma884 15:6b1ed321c1be 171 wait(0.2f);
Sigma884 15:6b1ed321c1be 172 gps->printf("$PMTK251,19200*22\r\n");
Sigma884 15:6b1ed321c1be 173 wait(0.2f);
Sigma884 15:6b1ed321c1be 174 gps->printf("$PMTK251,19200*22\r\n");
Sigma884 15:6b1ed321c1be 175 wait(0.2f);
Sigma884 15:6b1ed321c1be 176 gps->printf("$PMTK251,19200*22\r\n");
Sigma884 15:6b1ed321c1be 177 wait(0.2f);
Sigma884 15:6b1ed321c1be 178 gps->printf("$PMTK251,19200*22\r\n");
Sigma884 15:6b1ed321c1be 179 wait(0.2f);
Sigma884 15:6b1ed321c1be 180 gps->baud(19200);
Sigma884 15:6b1ed321c1be 181 break;
Sigma884 15:6b1ed321c1be 182
Sigma884 15:6b1ed321c1be 183 case 38400:
Sigma884 15:6b1ed321c1be 184 gps->printf("$PMTK251,38400*27\r\n");
Sigma884 15:6b1ed321c1be 185 wait(0.2f);
Sigma884 15:6b1ed321c1be 186 gps->printf("$PMTK251,38400*27\r\n");
Sigma884 15:6b1ed321c1be 187 wait(0.2f);
Sigma884 15:6b1ed321c1be 188 gps->printf("$PMTK251,38400*27\r\n");
Sigma884 15:6b1ed321c1be 189 wait(0.2f);
Sigma884 15:6b1ed321c1be 190 gps->printf("$PMTK251,38400*27\r\n");
Sigma884 15:6b1ed321c1be 191 wait(0.2f);
Sigma884 15:6b1ed321c1be 192 gps->printf("$PMTK251,38400*27\r\n");
Sigma884 15:6b1ed321c1be 193 wait(0.2f);
Sigma884 15:6b1ed321c1be 194 gps->baud(38400);
Sigma884 15:6b1ed321c1be 195 break;
Sigma884 15:6b1ed321c1be 196
Sigma884 15:6b1ed321c1be 197 case 57600:
Sigma884 15:6b1ed321c1be 198 gps->printf("$PMTK251,57600*2C\r\n");
Sigma884 15:6b1ed321c1be 199 wait(0.2f);
Sigma884 15:6b1ed321c1be 200 gps->printf("$PMTK251,57600*2C\r\n");
Sigma884 15:6b1ed321c1be 201 wait(0.2f);
Sigma884 15:6b1ed321c1be 202 gps->printf("$PMTK251,57600*2C\r\n");
Sigma884 15:6b1ed321c1be 203 wait(0.2f);
Sigma884 15:6b1ed321c1be 204 gps->printf("$PMTK251,57600*2C\r\n");
Sigma884 15:6b1ed321c1be 205 wait(0.2f);
Sigma884 15:6b1ed321c1be 206 gps->printf("$PMTK251,57600*2C\r\n");
Sigma884 15:6b1ed321c1be 207 wait(0.2f);
Sigma884 15:6b1ed321c1be 208 gps->baud(57600);
Sigma884 15:6b1ed321c1be 209 break;
Sigma884 15:6b1ed321c1be 210
Sigma884 15:6b1ed321c1be 211 case 115200:
Sigma884 15:6b1ed321c1be 212 gps->printf("$PMTK251,115200*1F\r\n");
Sigma884 15:6b1ed321c1be 213 wait(0.2f);
Sigma884 15:6b1ed321c1be 214 gps->printf("$PMTK251,115200*1F\r\n");
Sigma884 15:6b1ed321c1be 215 wait(0.2f);
Sigma884 15:6b1ed321c1be 216 gps->printf("$PMTK251,115200*1F\r\n");
Sigma884 15:6b1ed321c1be 217 wait(0.2f);
Sigma884 15:6b1ed321c1be 218 gps->printf("$PMTK251,115200*1F\r\n");
Sigma884 15:6b1ed321c1be 219 wait(0.2f);
Sigma884 15:6b1ed321c1be 220 gps->printf("$PMTK251,115200*1F\r\n");
Sigma884 15:6b1ed321c1be 221 wait(0.2f);
Sigma884 15:6b1ed321c1be 222 gps->baud(115200);
Sigma884 15:6b1ed321c1be 223 break;
Sigma884 15:6b1ed321c1be 224 }
Sigma884 15:6b1ed321c1be 225 }
Sigma884 15:6b1ed321c1be 226
Sigma884 15:6b1ed321c1be 227 bool GPS_interrupt::changeGPSFreq(int _frequency){
Sigma884 15:6b1ed321c1be 228 frequency = _frequency;
Sigma884 15:6b1ed321c1be 229 flag_change_freq = 0;
Sigma884 15:6b1ed321c1be 230 switch(frequency){
Sigma884 15:6b1ed321c1be 231 case 1:
Sigma884 15:6b1ed321c1be 232 gps->printf("$PMTK220,1000*1F\r\n");
Sigma884 15:6b1ed321c1be 233 wait(0.1f);
Sigma884 15:6b1ed321c1be 234 gps->printf("$PMTK220,1000*1F\r\n");
Sigma884 15:6b1ed321c1be 235 wait(0.1f);
Sigma884 15:6b1ed321c1be 236 gps->printf("$PMTK220,1000*1F\r\n");
Sigma884 15:6b1ed321c1be 237 wait(0.1f);
Sigma884 15:6b1ed321c1be 238 break;
Sigma884 15:6b1ed321c1be 239
Sigma884 15:6b1ed321c1be 240 case 2:
Sigma884 15:6b1ed321c1be 241 gps->printf("$PMTK220,500*2B\r\n");
Sigma884 15:6b1ed321c1be 242 wait(0.1f);
Sigma884 15:6b1ed321c1be 243 gps->printf("$PMTK220,500*2B\r\n");
Sigma884 15:6b1ed321c1be 244 wait(0.1f);
Sigma884 15:6b1ed321c1be 245 gps->printf("$PMTK220,500*2B\r\n");
Sigma884 15:6b1ed321c1be 246 wait(0.1f);
Sigma884 15:6b1ed321c1be 247 break;
Sigma884 15:6b1ed321c1be 248
Sigma884 15:6b1ed321c1be 249 case 3:
Sigma884 15:6b1ed321c1be 250 gps->printf("$PMTK220,333*2D\r\n");
Sigma884 15:6b1ed321c1be 251 wait(0.1f);
Sigma884 15:6b1ed321c1be 252 gps->printf("$PMTK220,333*2D\r\n");
Sigma884 15:6b1ed321c1be 253 wait(0.1f);
Sigma884 15:6b1ed321c1be 254 gps->printf("$PMTK220,333*2D\r\n");
Sigma884 15:6b1ed321c1be 255 wait(0.1f);
Sigma884 15:6b1ed321c1be 256 break;
Sigma884 15:6b1ed321c1be 257
Sigma884 15:6b1ed321c1be 258 case 4:
Sigma884 15:6b1ed321c1be 259 gps->printf("$PMTK220,250*29\r\n");
Sigma884 15:6b1ed321c1be 260 wait(0.1f);
Sigma884 15:6b1ed321c1be 261 gps->printf("$PMTK220,250*29\r\n");
Sigma884 15:6b1ed321c1be 262 wait(0.1f);
Sigma884 15:6b1ed321c1be 263 gps->printf("$PMTK220,250*29\r\n");
Sigma884 15:6b1ed321c1be 264 wait(0.1f);
Sigma884 15:6b1ed321c1be 265 break;
Sigma884 15:6b1ed321c1be 266
Sigma884 15:6b1ed321c1be 267 case 5:
Sigma884 15:6b1ed321c1be 268 gps->printf("$PMTK220,200*2C\r\n");
Sigma884 15:6b1ed321c1be 269 wait(0.1f);
Sigma884 15:6b1ed321c1be 270 gps->printf("$PMTK220,200*2C\r\n");
Sigma884 15:6b1ed321c1be 271 wait(0.1f);
Sigma884 15:6b1ed321c1be 272 gps->printf("$PMTK220,200*2C\r\n");
Sigma884 15:6b1ed321c1be 273 wait(0.1f);
Sigma884 15:6b1ed321c1be 274 break;
Sigma884 15:6b1ed321c1be 275
Sigma884 15:6b1ed321c1be 276 case 6:
Sigma884 15:6b1ed321c1be 277 gps->printf("$PMTK220,167*2E\r\n");
Sigma884 15:6b1ed321c1be 278 wait(0.1f);
Sigma884 15:6b1ed321c1be 279 gps->printf("$PMTK220,167*2E\r\n");
Sigma884 15:6b1ed321c1be 280 wait(0.1f);
Sigma884 15:6b1ed321c1be 281 gps->printf("$PMTK220,167*2E\r\n");
Sigma884 15:6b1ed321c1be 282 wait(0.1f);
Sigma884 15:6b1ed321c1be 283 break;
Sigma884 15:6b1ed321c1be 284
Sigma884 15:6b1ed321c1be 285 case 7:
Sigma884 15:6b1ed321c1be 286 gps->printf("$PMTK220,143*28\r\n");
Sigma884 15:6b1ed321c1be 287 wait(0.1f);
Sigma884 15:6b1ed321c1be 288 gps->printf("$PMTK220,143*28\r\n");
Sigma884 15:6b1ed321c1be 289 wait(0.1f);
Sigma884 15:6b1ed321c1be 290 gps->printf("$PMTK220,143*28\r\n");
Sigma884 15:6b1ed321c1be 291 wait(0.1f);
Sigma884 15:6b1ed321c1be 292 break;
Sigma884 15:6b1ed321c1be 293
Sigma884 15:6b1ed321c1be 294 case 8:
Sigma884 15:6b1ed321c1be 295 gps->printf("$PMTK220,125*28\r\n");
Sigma884 15:6b1ed321c1be 296 wait(0.1f);
Sigma884 15:6b1ed321c1be 297 gps->printf("$PMTK220,125*28\r\n");
Sigma884 15:6b1ed321c1be 298 wait(0.1f);
Sigma884 15:6b1ed321c1be 299 gps->printf("$PMTK220,125*28\r\n");
Sigma884 15:6b1ed321c1be 300 wait(0.1f);
Sigma884 15:6b1ed321c1be 301 break;
Sigma884 15:6b1ed321c1be 302
Sigma884 15:6b1ed321c1be 303 case 9:
Sigma884 15:6b1ed321c1be 304 gps->printf("$PMTK220,111*2F\r\n");
Sigma884 15:6b1ed321c1be 305 wait(0.1f);
Sigma884 15:6b1ed321c1be 306 gps->printf("$PMTK220,111*2F\r\n");
Sigma884 15:6b1ed321c1be 307 wait(0.1f);
Sigma884 15:6b1ed321c1be 308 gps->printf("$PMTK220,111*2F\r\n");
Sigma884 15:6b1ed321c1be 309 wait(0.1f);
Sigma884 15:6b1ed321c1be 310 break;
Sigma884 15:6b1ed321c1be 311
Sigma884 15:6b1ed321c1be 312 case 10:
Sigma884 15:6b1ed321c1be 313 gps->printf("$PMTK220,100*2F\r\n");
Sigma884 15:6b1ed321c1be 314 wait(0.1f);
Sigma884 15:6b1ed321c1be 315 gps->printf("$PMTK220,100*2F\r\n");
Sigma884 15:6b1ed321c1be 316 wait(0.1f);
Sigma884 15:6b1ed321c1be 317 gps->printf("$PMTK220,100*2F\r\n");
Sigma884 15:6b1ed321c1be 318 wait(0.1f);
Sigma884 15:6b1ed321c1be 319 break;
Sigma884 15:6b1ed321c1be 320 }
Sigma884 15:6b1ed321c1be 321
Sigma884 15:6b1ed321c1be 322 for(wait_change = 0; wait_change < 10; wait_change ++){
Sigma884 15:6b1ed321c1be 323 if(flag_change_freq == 1){
Sigma884 15:6b1ed321c1be 324 return true;
Sigma884 15:6b1ed321c1be 325 }
Sigma884 15:6b1ed321c1be 326 else if(flag_change_freq == -1){
Sigma884 15:6b1ed321c1be 327 return false;
Sigma884 15:6b1ed321c1be 328 }
Sigma884 15:6b1ed321c1be 329 wait(0.1f);
Sigma884 15:6b1ed321c1be 330 }
Sigma884 15:6b1ed321c1be 331 return false;
Sigma884 15:6b1ed321c1be 332 }
Sigma884 15:6b1ed321c1be 333
Sigma884 15:6b1ed321c1be 334 bool GPS_interrupt::changeGPSData(int _GLL, int _RMC, int _VTG, int _GGA, int _GSA, int _GSV){
Sigma884 15:6b1ed321c1be 335 data_sum = _GLL + _RMC + _VTG + _GGA + _GSA + _GSV;
Sigma884 15:6b1ed321c1be 336 data_sum = data_sum % 2;
Sigma884 15:6b1ed321c1be 337 data_sum += 28;
Sigma884 15:6b1ed321c1be 338 gps->printf("$PMTK314,%d,%d,%d,%d,%d,%d,0,0,0,0,0,0,0,0,0,0,0,0,0*%d\r\n", _GLL, _RMC, _VTG, _GGA, _GSA, _GSV, data_sum);
Sigma884 15:6b1ed321c1be 339 wait(0.1f);
Sigma884 15:6b1ed321c1be 340 gps->printf("$PMTK314,%d,%d,%d,%d,%d,%d,0,0,0,0,0,0,0,0,0,0,0,0,0*%d\r\n", _GLL, _RMC, _VTG, _GGA, _GSA, _GSV, data_sum);
Sigma884 15:6b1ed321c1be 341 wait(0.1f);
Sigma884 15:6b1ed321c1be 342 gps->printf("$PMTK314,%d,%d,%d,%d,%d,%d,0,0,0,0,0,0,0,0,0,0,0,0,0*%d\r\n", _GLL, _RMC, _VTG, _GGA, _GSA, _GSV, data_sum);
Sigma884 15:6b1ed321c1be 343 wait(0.1f);
Sigma884 15:6b1ed321c1be 344
Sigma884 15:6b1ed321c1be 345 for(wait_change = 0; wait_change < 10; wait_change ++){
Sigma884 15:6b1ed321c1be 346 if(flag_change_data == 1){
Sigma884 15:6b1ed321c1be 347 return true;
Sigma884 15:6b1ed321c1be 348 }
Sigma884 15:6b1ed321c1be 349 else if(flag_change_data == -1){
Sigma884 15:6b1ed321c1be 350 return false;
Sigma884 15:6b1ed321c1be 351 }
Sigma884 15:6b1ed321c1be 352 wait(0.1f);
Sigma884 15:6b1ed321c1be 353 }
Sigma884 15:6b1ed321c1be 354 return false;
Sigma884 15:6b1ed321c1be 355 }
Gaku0606 0:74d8e952a3bd 356
Gaku0606 0:74d8e952a3bd 357 void GPS_interrupt::initialize(){
Gaku0606 0:74d8e952a3bd 358 latitude = 0.0f;
Gaku0606 0:74d8e952a3bd 359 longitude = 0.0f;
Gaku0606 0:74d8e952a3bd 360 year = 0;
Gaku0606 0:74d8e952a3bd 361 month = 0;
Gaku0606 0:74d8e952a3bd 362 day = 0;
Gaku0606 0:74d8e952a3bd 363 hour = 0;
Gaku0606 0:74d8e952a3bd 364 minutes = 0;
Gaku0606 0:74d8e952a3bd 365 seconds = 0;
Gaku0606 2:7be89bab6db9 366 knot = 0;
Gaku0606 2:7be89bab6db9 367 degree = 0;
Gaku0606 2:7be89bab6db9 368 number = 0;
Gaku0606 2:7be89bab6db9 369 height = 0;
Gaku0606 2:7be89bab6db9 370 geoid = 0;
Gaku0606 0:74d8e952a3bd 371 memset(gps_buffer_A, '\0', 128);
Gaku0606 0:74d8e952a3bd 372 memset(gps_buffer_B, '\0', 128);
Gaku0606 8:3f32df2b66c0 373 // memset(gps_buffer_C, '\0', 128);
Gaku0606 0:74d8e952a3bd 374 gps_readable = false;
Gaku0606 0:74d8e952a3bd 375 }
Gaku0606 2:7be89bab6db9 376 void GPS_interrupt::rmc_initialize(){
Gaku0606 2:7be89bab6db9 377 latitude = 0.0f;
Gaku0606 2:7be89bab6db9 378 longitude = 0.0f;
Gaku0606 2:7be89bab6db9 379 year = 0;
Gaku0606 2:7be89bab6db9 380 month = 0;
Gaku0606 2:7be89bab6db9 381 day = 0;
Gaku0606 2:7be89bab6db9 382 hour = 0;
Gaku0606 2:7be89bab6db9 383 minutes = 0;
Gaku0606 2:7be89bab6db9 384 seconds = 0;
Gaku0606 2:7be89bab6db9 385 knot = 0;
Gaku0606 2:7be89bab6db9 386 degree = 0;
Gaku0606 2:7be89bab6db9 387 }
Gaku0606 2:7be89bab6db9 388 void GPS_interrupt::gga_initialize(){
Gaku0606 2:7be89bab6db9 389 latitude = 0.0f;
Gaku0606 2:7be89bab6db9 390 longitude = 0.0f;
Gaku0606 2:7be89bab6db9 391 /*year = 0;
Gaku0606 2:7be89bab6db9 392 month = 0;
Gaku0606 2:7be89bab6db9 393 day = 0;
Gaku0606 2:7be89bab6db9 394 hour = 0;
Gaku0606 2:7be89bab6db9 395 minutes = 0;
Gaku0606 2:7be89bab6db9 396 seconds = 0;*/
Gaku0606 2:7be89bab6db9 397 number = 0;
Gaku0606 2:7be89bab6db9 398 height = 0;
Gaku0606 2:7be89bab6db9 399 geoid = 0;
Gaku0606 2:7be89bab6db9 400 }
Gaku0606 9:dab13bd20f43 401
Gaku0606 0:74d8e952a3bd 402 void GPS_interrupt::gps_auto_receive(){
Gaku0606 0:74d8e952a3bd 403
Gaku0606 0:74d8e952a3bd 404 static char str_temp[128] = {'\0'};
Gaku0606 8:3f32df2b66c0 405 static unsigned char temp = 0;
Gaku0606 0:74d8e952a3bd 406 static bool start_flag = false;
Gaku0606 8:3f32df2b66c0 407 static int current = 0;
Gaku0606 8:3f32df2b66c0 408 static char classify_ABC = 0;
Gaku0606 0:74d8e952a3bd 409 static char* save_buffer = gps_buffer_A;
Gaku0606 0:74d8e952a3bd 410
Gaku0606 0:74d8e952a3bd 411 temp = gps->getc();
Gaku0606 2:7be89bab6db9 412
Gaku0606 11:1897b52fa8a1 413 if(debugFlag) printf("%c", temp);
Gaku0606 2:7be89bab6db9 414
Gaku0606 0:74d8e952a3bd 415 if(temp == '$'){
Gaku0606 0:74d8e952a3bd 416 current = 1;
Gaku0606 0:74d8e952a3bd 417 start_flag = true;
Gaku0606 0:74d8e952a3bd 418 memset(save_buffer, '\0', 128);//初期化
Gaku0606 0:74d8e952a3bd 419 save_buffer[0] = '$';
Gaku0606 0:74d8e952a3bd 420 return;
Gaku0606 0:74d8e952a3bd 421 }
Gaku0606 0:74d8e952a3bd 422 if(start_flag){//1行スタート
Gaku0606 0:74d8e952a3bd 423 if(temp == '\r'){//1行終了
Gaku0606 0:74d8e952a3bd 424 save_buffer[current] = '\0';
Gaku0606 0:74d8e952a3bd 425 start_flag = false;
Gaku0606 0:74d8e952a3bd 426 current = 1;
Gaku0606 0:74d8e952a3bd 427 gps_read_buffer = save_buffer;
Gaku0606 2:7be89bab6db9 428
Gaku0606 2:7be89bab6db9 429 //debug(gps_read_buffer);
Gaku0606 8:3f32df2b66c0 430 //printf("%s\r\n", save_buffer);
Gaku0606 8:3f32df2b66c0 431 //printf("debug \"%s\"\r\n", gps_read_buffer);
Gaku0606 2:7be89bab6db9 432
Gaku0606 8:3f32df2b66c0 433 /*switch(classify_ABC){
Gaku0606 8:3f32df2b66c0 434 case 0:
Gaku0606 8:3f32df2b66c0 435 save_buffer = gps_buffer_B;
Gaku0606 8:3f32df2b66c0 436 classify_ABC = 1;
Gaku0606 8:3f32df2b66c0 437 break;
Gaku0606 8:3f32df2b66c0 438
Gaku0606 8:3f32df2b66c0 439 case 1:
Gaku0606 8:3f32df2b66c0 440 save_buffer = gps_buffer_C;//バッファ切換
Gaku0606 8:3f32df2b66c0 441 classify_ABC = 2;
Gaku0606 8:3f32df2b66c0 442 break;
Gaku0606 8:3f32df2b66c0 443
Gaku0606 8:3f32df2b66c0 444 case 2:
Gaku0606 8:3f32df2b66c0 445 save_buffer = gps_buffer_A;
Gaku0606 8:3f32df2b66c0 446 classify_ABC = 0;
Gaku0606 8:3f32df2b66c0 447 }*/
Gaku0606 8:3f32df2b66c0 448 if(classify_ABC == 0){
Gaku0606 8:3f32df2b66c0 449 save_buffer = gps_buffer_B;
Gaku0606 8:3f32df2b66c0 450 classify_ABC = 1;
Gaku0606 0:74d8e952a3bd 451 }
Gaku0606 8:3f32df2b66c0 452 else if(classify_ABC == 1){
Gaku0606 8:3f32df2b66c0 453 save_buffer = gps_buffer_A;//バッファ切換
Gaku0606 8:3f32df2b66c0 454 classify_ABC = 0;
Gaku0606 0:74d8e952a3bd 455 }
Gaku0606 8:3f32df2b66c0 456 memset(save_buffer, '\0', 128);
Gaku0606 7:4b893ac95ae1 457 //if(debugFlag) printf("debug \"%s\"\r\n", gps_read_buffer);
Gaku0606 6:2f91c71d64b1 458
Gaku0606 3:8e66ec281888 459 if((strncmp(gps_read_buffer, "$GPRMC", 6) == 0) || (strncmp(gps_read_buffer, "$GNRMC", 6) == 0)){
Gaku0606 2:7be89bab6db9 460 memset(str_temp, '\0', 128);
Gaku0606 0:74d8e952a3bd 461 strcpy(str_temp, gps_read_buffer);
Gaku0606 2:7be89bab6db9 462 if(processGPRMC(str_temp)){
Gaku0606 0:74d8e952a3bd 463 gps_readable = true;
Gaku0606 4:758f97bee95a 464 return;//データが取得できればここで終了
Gaku0606 0:74d8e952a3bd 465 }
Gaku0606 8:3f32df2b66c0 466 else{
Gaku0606 8:3f32df2b66c0 467 gps_readable = false;
Gaku0606 8:3f32df2b66c0 468 }
Gaku0606 0:74d8e952a3bd 469 }
Gaku0606 14:23611bb30bc8 470 else if((strncmp(gps_read_buffer, "$GPGGA", 6) == 0) || (strncmp(gps_read_buffer, "$GNGGA", 6) == 0)){
Gaku0606 2:7be89bab6db9 471 memset(str_temp, '\0', 128);
Gaku0606 2:7be89bab6db9 472 strcpy(str_temp, gps_read_buffer);
Gaku0606 2:7be89bab6db9 473 if(processGPGGA(str_temp)){
Gaku0606 2:7be89bab6db9 474 gps_readable = true;
Gaku0606 4:758f97bee95a 475 return;//データが取得できればここで終了
Gaku0606 4:758f97bee95a 476 }
Gaku0606 8:3f32df2b66c0 477 else{
Gaku0606 8:3f32df2b66c0 478 gps_readable = false;
Gaku0606 8:3f32df2b66c0 479 return;
Gaku0606 8:3f32df2b66c0 480 }
Gaku0606 2:7be89bab6db9 481 }
Gaku0606 2:7be89bab6db9 482 //else if(strncmp(gps_read_buffer, "$GPGSV", 6) == 0){
Gaku0606 2:7be89bab6db9 483 //printf("%s\r\n", gps_read_buffer);
Gaku0606 2:7be89bab6db9 484 //}
Sigma884 15:6b1ed321c1be 485 else if(strncmp(gps_read_buffer, "$PMTK001", 8) == 0){
Sigma884 15:6b1ed321c1be 486 memset(str_temp, '\0', 128);
Sigma884 15:6b1ed321c1be 487 strcpy(str_temp, gps_read_buffer);
Sigma884 15:6b1ed321c1be 488 processPMTK(str_temp);
Sigma884 15:6b1ed321c1be 489 }
Gaku0606 0:74d8e952a3bd 490 }
Gaku0606 0:74d8e952a3bd 491 else{
Gaku0606 0:74d8e952a3bd 492 save_buffer[current] = temp;
Gaku0606 0:74d8e952a3bd 493 current++;
Gaku0606 0:74d8e952a3bd 494 if(current >= 127){
Gaku0606 0:74d8e952a3bd 495 current = 1;
Gaku0606 0:74d8e952a3bd 496 start_flag = false;
Gaku0606 8:3f32df2b66c0 497 memset(save_buffer, '\0', 128);
Gaku0606 0:74d8e952a3bd 498 }
Gaku0606 0:74d8e952a3bd 499 }
Gaku0606 0:74d8e952a3bd 500 }
Gaku0606 0:74d8e952a3bd 501 }
Gaku0606 0:74d8e952a3bd 502
Gaku0606 2:7be89bab6db9 503 bool GPS_interrupt::processGPRMC(char *line){
Gaku0606 0:74d8e952a3bd 504
Gaku0606 0:74d8e952a3bd 505 char *tok; //strtokで帰ってくる文字列のポインター
Gaku0606 0:74d8e952a3bd 506 bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue
Gaku0606 0:74d8e952a3bd 507 //bool result = false;
Gaku0606 0:74d8e952a3bd 508 //char num[4] = "";//衛星数の文字データ
Gaku0606 0:74d8e952a3bd 509 //char kaibatsu[8], g_height[8];
Gaku0606 0:74d8e952a3bd 510 //char data_GPS[256] ="";
Gaku0606 0:74d8e952a3bd 511 char angle[8], speed[8];
Gaku0606 0:74d8e952a3bd 512 char ido[16] = "", keido[16] = "";
Gaku0606 0:74d8e952a3bd 513
Gaku0606 2:7be89bab6db9 514 double X = 0, Y = 0;
Gaku0606 0:74d8e952a3bd 515 double X_m = 0, Y_m = 0;//GPS座標の"分"の部分
Gaku0606 0:74d8e952a3bd 516 char zikann[11], hizuke[7];
Gaku0606 0:74d8e952a3bd 517
Gaku0606 0:74d8e952a3bd 518 //bool gga_flag = false;
Gaku0606 0:74d8e952a3bd 519 bool rmc_flag = false;
Gaku0606 2:7be89bab6db9 520 char tok_count = 0;
Gaku0606 0:74d8e952a3bd 521
Gaku0606 4:758f97bee95a 522 //rmc_initialize();
Gaku0606 0:74d8e952a3bd 523
Gaku0606 0:74d8e952a3bd 524 //_____GPRMC___________________________________
Gaku0606 0:74d8e952a3bd 525 //データ文字列の先頭から6文字目までが$GPRMCなら０が返ってくる
Gaku0606 2:7be89bab6db9 526 //if (strncmp(line, "$GPRMC", 6) == 0){
Gaku0606 0:74d8e952a3bd 527
Gaku0606 0:74d8e952a3bd 528 tok = strtok(line, ",");
Gaku0606 2:7be89bab6db9 529 tok_count = 0;
Gaku0606 0:74d8e952a3bd 530
Gaku0606 0:74d8e952a3bd 531 //$GPRMC, 002519.799, V, , , , , 0.00, 0.00, 060180, , , N * 4A
Gaku0606 0:74d8e952a3bd 532
Gaku0606 0:74d8e952a3bd 533 // 0 , 1 , 2,3,4,5,6, 7 , 8 , 9 ,10,11 ,12
Gaku0606 0:74d8e952a3bd 534 //$GPRMC,233514.000,A,3022.5291,N,13057.6141,E,0.41,335.09,030316,,,A*6C
Gaku0606 0:74d8e952a3bd 535
Gaku0606 0:74d8e952a3bd 536 // 0 , 1 ,2, 3 ,4, 5 ,6, 7 , 8 , 9 ,1, 1 ,1
Gaku0606 0:74d8e952a3bd 537 // 0 1 2
Gaku0606 0:74d8e952a3bd 538 while (1){
Gaku0606 2:7be89bab6db9 539 switch (tok_count){
Gaku0606 2:7be89bab6db9 540 case 1://時分秒
Gaku0606 2:7be89bab6db9 541 strcpy(zikann, tok);//zikann = "233514.000\0"
Gaku0606 2:7be89bab6db9 542 break;
Gaku0606 2:7be89bab6db9 543 case 2://有効か無効か判定
Gaku0606 2:7be89bab6db9 544 if (strncmp(tok, "V", 1) == 0) return false;
Gaku0606 2:7be89bab6db9 545 else if (strcmp(tok, "A") == 0) rmc_flag = true;
Gaku0606 2:7be89bab6db9 546 break;
Gaku0606 2:7be89bab6db9 547 case 3://緯度
Gaku0606 2:7be89bab6db9 548 strcpy(ido, tok);
Gaku0606 2:7be89bab6db9 549 break;
Gaku0606 2:7be89bab6db9 550 case 4://北緯か南緯か
Gaku0606 2:7be89bab6db9 551 if (strcmp(tok, "S") == 0) latSign = true;
Gaku0606 2:7be89bab6db9 552 break;
Gaku0606 2:7be89bab6db9 553 case 5://経度
Gaku0606 2:7be89bab6db9 554 strcpy(keido, tok);
Gaku0606 2:7be89bab6db9 555 break;
Gaku0606 2:7be89bab6db9 556 case 6://東経か西経か
Gaku0606 2:7be89bab6db9 557 if (strcmp(tok, "W") == 0) lonSign = true;
Gaku0606 2:7be89bab6db9 558 break;
Gaku0606 2:7be89bab6db9 559 case 7://速度（キロノット）
Gaku0606 2:7be89bab6db9 560 strcpy(speed, tok);
Gaku0606 2:7be89bab6db9 561 break;
Gaku0606 2:7be89bab6db9 562 case 8://角度
Gaku0606 2:7be89bab6db9 563 strcpy(angle, tok);
Gaku0606 2:7be89bab6db9 564 break;
Gaku0606 2:7be89bab6db9 565 case 9://日付
Gaku0606 2:7be89bab6db9 566 strcpy(hizuke, tok);//hizuke = "030316\0"
Gaku0606 2:7be89bab6db9 567 break;
Gaku0606 0:74d8e952a3bd 568 }
Gaku0606 2:7be89bab6db9 569
Gaku0606 0:74d8e952a3bd 570 tok = strtok(NULL, ",");//comma = ",\0"
Gaku0606 0:74d8e952a3bd 571 tok_count++;
Gaku0606 0:74d8e952a3bd 572 if (tok == NULL) break;
Gaku0606 0:74d8e952a3bd 573 }
Gaku0606 0:74d8e952a3bd 574 if (rmc_flag){
Gaku0606 0:74d8e952a3bd 575 rmc_flag = false;
Gaku0606 0:74d8e952a3bd 576 //ddmmyy
Gaku0606 0:74d8e952a3bd 577 int dmy = 0;
Gaku0606 0:74d8e952a3bd 578 dmy = atoi(hizuke);
Gaku0606 0:74d8e952a3bd 579 day = dmy / 10000; //030316 / 10000 = 3
Gaku0606 0:74d8e952a3bd 580 month = (dmy - day * 10000) / 100;//30316 - 30000 = 316, 316/100= 3
Gaku0606 0:74d8e952a3bd 581 year = dmy - month * 100 - day * 10000 + 2000;
Gaku0606 0:74d8e952a3bd 582
Gaku0606 0:74d8e952a3bd 583 //hhmmss.ss
Gaku0606 0:74d8e952a3bd 584 seconds = atof(zikann);//sec = 233514.000
Gaku0606 0:74d8e952a3bd 585 hour = (int)(seconds / 10000.0); //233514/10000=(int)23
Gaku0606 0:74d8e952a3bd 586 minutes = (seconds - hour * 10000) / 100;//233514.0-230000=3514.0,3514.0/100=35
Gaku0606 12:935b21d30ec2 587 seconds = seconds - ((float)minutes * 100.0 + (float)hour * 10000.0);
Gaku0606 0:74d8e952a3bd 588
Gaku0606 0:74d8e952a3bd 589 // getLonLatのとき有効
Gaku0606 0:74d8e952a3bd 590 Y_m = atof(ido);//*Y_m = 3457.5571
Gaku0606 0:74d8e952a3bd 591 Y = (int)(Y_m / 100.0);//Y = 34.0
Gaku0606 0:74d8e952a3bd 592 Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571
Gaku0606 0:74d8e952a3bd 593
Gaku0606 0:74d8e952a3bd 594 X_m = atof(keido);//*X = 13057.6142
Gaku0606 0:74d8e952a3bd 595 X = (int)(X_m / 100.0);//X = 130.0
Gaku0606 0:74d8e952a3bd 596 X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142
Gaku0606 0:74d8e952a3bd 597
Gaku0606 0:74d8e952a3bd 598 //GPS calculation
Gaku0606 0:74d8e952a3bd 599 longitude = X + X_m / 60.0;// 34.959285
Gaku0606 0:74d8e952a3bd 600 latitude = Y + Y_m / 60.0;//137.090290
Gaku0606 0:74d8e952a3bd 601
Gaku0606 2:7be89bab6db9 602 if (lonSign) longitude *= (-1);//西経なら経度を負に
Gaku0606 2:7be89bab6db9 603 if (latSign) latitude *= (-1);//南緯なら緯度を負に
Gaku0606 0:74d8e952a3bd 604 knot = atof(speed);
Gaku0606 0:74d8e952a3bd 605 degree = atof(angle);
Gaku0606 14:23611bb30bc8 606 //printf("\r\n%f\t%f\r\n",knot, degree);
Gaku0606 8:3f32df2b66c0 607 if(longitude > 100.0 && longitude < 150.0 && latitude > 30.0 && latitude < 50.0){
Gaku0606 8:3f32df2b66c0 608 return true;
Gaku0606 8:3f32df2b66c0 609 }
Gaku0606 8:3f32df2b66c0 610 else return false;
Gaku0606 0:74d8e952a3bd 611 }
Gaku0606 4:758f97bee95a 612 else{
Gaku0606 4:758f97bee95a 613 return false;
Gaku0606 4:758f97bee95a 614 }
Gaku0606 2:7be89bab6db9 615 //}
Gaku0606 2:7be89bab6db9 616 //else return false;
Gaku0606 0:74d8e952a3bd 617 }
Gaku0606 0:74d8e952a3bd 618
Gaku0606 2:7be89bab6db9 619 bool GPS_interrupt::processGPGGA(char *line){
Gaku0606 2:7be89bab6db9 620
Gaku0606 2:7be89bab6db9 621 char *tok; //strtokで帰ってくる文字列のポインター
Gaku0606 2:7be89bab6db9 622 bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue
Gaku0606 2:7be89bab6db9 623 //bool result = false;
Gaku0606 2:7be89bab6db9 624 char num[4] = "";//衛星数の文字データ
Gaku0606 2:7be89bab6db9 625 char kaibatsu[8], g_height[8];
Gaku0606 2:7be89bab6db9 626 //char data_GPS[256] ="";
Gaku0606 2:7be89bab6db9 627 //char angle[8], speed[8];
Gaku0606 2:7be89bab6db9 628 char ido[16] = "", keido[16] = "";
Gaku0606 2:7be89bab6db9 629
Gaku0606 2:7be89bab6db9 630 double X = 0, Y = 0;
Gaku0606 2:7be89bab6db9 631 double X_m = 0, Y_m = 0;//GPS座標の"分"の部分
Gaku0606 2:7be89bab6db9 632 //char zikann[11], hizuke[7];
Gaku0606 2:7be89bab6db9 633 char status[2];
Gaku0606 2:7be89bab6db9 634
Gaku0606 2:7be89bab6db9 635 bool gga_flag = false;
Gaku0606 2:7be89bab6db9 636 //bool rmc_flag = false;
Gaku0606 2:7be89bab6db9 637 char tok_count = 0;
Gaku0606 2:7be89bab6db9 638
Gaku0606 4:758f97bee95a 639 //gga_initialize();
Gaku0606 2:7be89bab6db9 640
Gaku0606 2:7be89bab6db9 641 //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 642 //if (strncmp(data_GPS, "$GPGGA", 6) == 0){
Gaku0606 2:7be89bab6db9 643
Gaku0606 2:7be89bab6db9 644 tok = strtok(line, ",");
Gaku0606 2:7be89bab6db9 645 tok_count = 0;
Gaku0606 2:7be89bab6db9 646
Gaku0606 2:7be89bab6db9 647 //$GPGGA, 002519.799, , , , , 0, 0, , , M, , M, , *40
Gaku0606 2:7be89bab6db9 648
Gaku0606 2:7be89bab6db9 649 // 0 , 1 , , , , , 2, 3, , , 4, , 5, , 6
Gaku0606 2:7be89bab6db9 650
Gaku0606 2:7be89bab6db9 651 //$GPGGA,233515.000,3022.5292,N,13057.6142,E,1,9,0.88,11.3,M,29.3,M,,*63
Gaku0606 2:7be89bab6db9 652
Gaku0606 2:7be89bab6db9 653 // 0 , 1 , 2 ,3, 4 ,5,6,7, 8 , 9 ,1, 11 ,1
Gaku0606 2:7be89bab6db9 654 // 0 2
Gaku0606 2:7be89bab6db9 655 while (1){
Gaku0606 2:7be89bab6db9 656 switch (tok_count){
Gaku0606 2:7be89bab6db9 657 case 2://緯度
Gaku0606 2:7be89bab6db9 658 strcpy(ido, tok);//ido = "30"
Gaku0606 2:7be89bab6db9 659 if (strcmp(ido, "0") == 0) return false;//GPS無効
Gaku0606 2:7be89bab6db9 660 break;
Gaku0606 2:7be89bab6db9 661 case 3://北緯か南緯か
Gaku0606 2:7be89bab6db9 662 if (strcmp(tok, "S") == 0) latSign = true;
Gaku0606 2:7be89bab6db9 663 break;
Gaku0606 2:7be89bab6db9 664 case 4:
Gaku0606 2:7be89bab6db9 665 strcpy(keido, tok);//keido = "130"
Gaku0606 2:7be89bab6db9 666 break;
Gaku0606 2:7be89bab6db9 667 case 5://東経か西経か
Gaku0606 2:7be89bab6db9 668 if (strcmp(tok, "W") == 0) lonSign = true;
Gaku0606 2:7be89bab6db9 669 break;
Gaku0606 2:7be89bab6db9 670 case 6:
Gaku0606 2:7be89bab6db9 671 strcpy(status, tok);
Gaku0606 2:7be89bab6db9 672 if (strcmp(status, "0") != 0) gga_flag = true;//GPS有効
Gaku0606 2:7be89bab6db9 673 break;
Gaku0606 2:7be89bab6db9 674 case 7:
Gaku0606 2:7be89bab6db9 675 strcpy(num, tok);
Gaku0606 2:7be89bab6db9 676 break;
Gaku0606 2:7be89bab6db9 677 case 9:
Gaku0606 2:7be89bab6db9 678 strcpy(kaibatsu, tok);
Gaku0606 2:7be89bab6db9 679 break;
Gaku0606 2:7be89bab6db9 680 case 11:
Gaku0606 2:7be89bab6db9 681 strcpy(g_height, tok);
Gaku0606 2:7be89bab6db9 682 break;
Gaku0606 2:7be89bab6db9 683 }
Gaku0606 2:7be89bab6db9 684 tok = strtok(NULL, ",");//comma = ",\0"
Gaku0606 2:7be89bab6db9 685 tok_count++;
Gaku0606 2:7be89bab6db9 686 if (tok == NULL) break;
Gaku0606 2:7be89bab6db9 687 }
Gaku0606 2:7be89bab6db9 688 if (gga_flag){
Gaku0606 2:7be89bab6db9 689
Gaku0606 2:7be89bab6db9 690 height = atof(kaibatsu);
Gaku0606 2:7be89bab6db9 691 geoid = atof(g_height);
Gaku0606 2:7be89bab6db9 692 number = atoi(num);
Gaku0606 2:7be89bab6db9 693 /*
Gaku0606 2:7be89bab6db9 694 //ddmmyy
Gaku0606 2:7be89bab6db9 695 long dmy = 0;
Gaku0606 2:7be89bab6db9 696 dmy = atol(hizuke);
Gaku0606 2:7be89bab6db9 697 day = (int)(dmy / 10000); //030316 / 10000 = 3
Gaku0606 2:7be89bab6db9 698 month = (int)(dmy / 100 - day * 100);//30316 - 30000 = 316, 316/100= 3
Gaku0606 2:7be89bab6db9 699 year = dmy - month * 100 - (long)day * 10000 + 2000;
Gaku0606 2:7be89bab6db9 700
Gaku0606 2:7be89bab6db9 701 //hhmmss.ss
Gaku0606 2:7be89bab6db9 702 seconds = atof(zikann);//sec = 233514.000
Gaku0606 2:7be89bab6db9 703 hour = (int)(seconds / 10000.0); //233514/10000=(int)23
Gaku0606 2:7be89bab6db9 704 minutes = (int)(seconds / 100.0 - hour * 100.0);//233514.0-230000=3514.0,3514.0/100=35
Gaku0606 2:7be89bab6db9 705 seconds = seconds - ((double)minutes * 100.0 + (double)hour * 10000.0);
Gaku0606 2:7be89bab6db9 706 */
Gaku0606 2:7be89bab6db9 707 // getLonLatのとき有効
Gaku0606 2:7be89bab6db9 708 Y_m = atof(ido);//Y_m = 3457.5571
Gaku0606 2:7be89bab6db9 709 Y = (int)(Y_m / 100.0);//Y = 34.0
Gaku0606 2:7be89bab6db9 710 Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571
Gaku0606 2:7be89bab6db9 711
Gaku0606 2:7be89bab6db9 712 X_m = atof(keido);//X = 13057.6142
Gaku0606 2:7be89bab6db9 713 X = (int)(X_m / 100.0);//X = 130.0
Gaku0606 2:7be89bab6db9 714 X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142
Gaku0606 2:7be89bab6db9 715
Gaku0606 2:7be89bab6db9 716 //GPS calculation
Gaku0606 2:7be89bab6db9 717 longitude = X + X_m / 60.0;// 34.959285
Gaku0606 2:7be89bab6db9 718 latitude = Y + Y_m / 60.0;//137.090290
Gaku0606 2:7be89bab6db9 719 if (lonSign == true) longitude = longitude * (-1);//西経なら経度を負に
Gaku0606 2:7be89bab6db9 720 if (latSign == true) latitude = latitude * (-1);//南緯なら緯度を負に
Gaku0606 2:7be89bab6db9 721
Gaku0606 8:3f32df2b66c0 722 if(longitude > 100.0 && longitude < 150.0 && latitude > 30.0 && latitude < 50.0){
Gaku0606 8:3f32df2b66c0 723 return true;
Gaku0606 8:3f32df2b66c0 724 }
Gaku0606 8:3f32df2b66c0 725 else{
Gaku0606 8:3f32df2b66c0 726 return false;
Gaku0606 8:3f32df2b66c0 727 }
Gaku0606 2:7be89bab6db9 728 }
Gaku0606 4:758f97bee95a 729 else{
Gaku0606 4:758f97bee95a 730 return false;
Gaku0606 4:758f97bee95a 731 }
Sigma884 15:6b1ed321c1be 732 //return false;
Gaku0606 8:3f32df2b66c0 733 }
Gaku0606 8:3f32df2b66c0 734
Sigma884 15:6b1ed321c1be 735 void GPS_interrupt::processPMTK(char *line){
Sigma884 15:6b1ed321c1be 736
Sigma884 15:6b1ed321c1be 737 char *tok; //strtokで帰ってくる文字列のポインター
Sigma884 15:6b1ed321c1be 738 int tok_count = 0;
Sigma884 15:6b1ed321c1be 739
Sigma884 15:6b1ed321c1be 740 char status[2];
Sigma884 15:6b1ed321c1be 741 char mode_change_s[5] = "";
Sigma884 15:6b1ed321c1be 742 int mode_change = 0;
Sigma884 15:6b1ed321c1be 743
Sigma884 15:6b1ed321c1be 744 tok = strtok(line, ",");
Sigma884 15:6b1ed321c1be 745 tok_count = 0;
Sigma884 15:6b1ed321c1be 746
Sigma884 15:6b1ed321c1be 747 //$PMTK001, 334, 3*34
Sigma884 15:6b1ed321c1be 748 // 0 , 1 , 2
Sigma884 15:6b1ed321c1be 749
Sigma884 15:6b1ed321c1be 750 while (1){
Sigma884 15:6b1ed321c1be 751 switch (tok_count){
Sigma884 15:6b1ed321c1be 752 case 1: //変更内容
Sigma884 15:6b1ed321c1be 753 if(strcmp(tok, "220") == 0){
Sigma884 15:6b1ed321c1be 754 mode_change = 220;
Sigma884 15:6b1ed321c1be 755 }
Sigma884 15:6b1ed321c1be 756 else if(strcmp(tok, "314") == 0){
Sigma884 15:6b1ed321c1be 757 mode_change = 314;
Sigma884 15:6b1ed321c1be 758 }
Sigma884 15:6b1ed321c1be 759 break;
Sigma884 15:6b1ed321c1be 760
Sigma884 15:6b1ed321c1be 761 case 2:
Sigma884 15:6b1ed321c1be 762 if(tok[0] = '3'){
Sigma884 15:6b1ed321c1be 763 switch(mode_change){
Sigma884 15:6b1ed321c1be 764 case 220:
Sigma884 15:6b1ed321c1be 765 flag_change_freq = 1;
Sigma884 15:6b1ed321c1be 766 break;
Sigma884 15:6b1ed321c1be 767 case 314:
Sigma884 15:6b1ed321c1be 768 flag_change_data = 1;
Sigma884 15:6b1ed321c1be 769 break;
Sigma884 15:6b1ed321c1be 770 }
Sigma884 15:6b1ed321c1be 771 }
Sigma884 15:6b1ed321c1be 772 else{
Sigma884 15:6b1ed321c1be 773 switch(mode_change){
Sigma884 15:6b1ed321c1be 774 case 220:
Sigma884 15:6b1ed321c1be 775 flag_change_freq = -1;
Sigma884 15:6b1ed321c1be 776 break;
Sigma884 15:6b1ed321c1be 777 case 314:
Sigma884 15:6b1ed321c1be 778 flag_change_data = -1;
Sigma884 15:6b1ed321c1be 779 break;
Sigma884 15:6b1ed321c1be 780 }
Sigma884 15:6b1ed321c1be 781 }
Sigma884 15:6b1ed321c1be 782 break;
Sigma884 15:6b1ed321c1be 783 }
Sigma884 15:6b1ed321c1be 784 tok = strtok(NULL, ",");
Sigma884 15:6b1ed321c1be 785 tok_count ++;
Sigma884 15:6b1ed321c1be 786 if(tok == NULL){
Sigma884 15:6b1ed321c1be 787 break;
Sigma884 15:6b1ed321c1be 788 }
Sigma884 15:6b1ed321c1be 789 }
Sigma884 15:6b1ed321c1be 790 }
Sigma884 15:6b1ed321c1be 791
Sigma884 15:6b1ed321c1be 792
Sigma884 15:6b1ed321c1be 793
Gaku0606 12:935b21d30ec2 794 float GPS_interrupt::Distance(double x, double y){
Gaku0606 2:7be89bab6db9 795
Gaku0606 8:3f32df2b66c0 796 double dLat = x - longitude;//相対経度
Gaku0606 8:3f32df2b66c0 797 double dLng = y - latitude;//相対緯度
Gaku0606 8:3f32df2b66c0 798 double radLat = latitude * GPS_PI / 180.0;//今の緯度をラジアンにしたもの
Gaku0606 8:3f32df2b66c0 799 double F = EIRTH_AspectRatioInverse;
Gaku0606 8:3f32df2b66c0 800 // 離心率の2乗
Gaku0606 8:3f32df2b66c0 801 double E = ((2.0 * F) - 1.0) / (F * F);
Gaku0606 8:3f32df2b66c0 802 // π * 赤道半径
Gaku0606 8:3f32df2b66c0 803 double PI_ER = GPS_PI * EARTH_EQUATOR_RADIUS;
Gaku0606 8:3f32df2b66c0 804 // 1 - e^2 sin^2 (θ)
Gaku0606 8:3f32df2b66c0 805 double TMP = 1.0 - E * sin(radLat) * sin(radLat);
Gaku0606 8:3f32df2b66c0 806 // 経度1°あたりの長さ
Gaku0606 8:3f32df2b66c0 807 double arc_lat = (PI_ER * (1.0 - E)) / ( 180.0 * pow(TMP, 1.5));
Gaku0606 8:3f32df2b66c0 808 // 緯度1°あたりの長さ
Gaku0606 8:3f32df2b66c0 809 double arc_lng = (PI_ER * cos(radLat)) / (180.0 * pow(TMP, 0.5));
Gaku0606 8:3f32df2b66c0 810
Gaku0606 8:3f32df2b66c0 811 dLat *= arc_lat;
Gaku0606 8:3f32df2b66c0 812 dLng *= arc_lng;
Gaku0606 12:935b21d30ec2 813 return (float)sqrt(dLat * dLat + dLng * dLng);
Gaku0606 2:7be89bab6db9 814 }