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@9:dab13bd20f43, 2017-10-25 (annotated)

Committer:
Gaku0606
Date:
Wed Oct 25 08:07:14 2017 +0000
Revision:
9:dab13bd20f43
Parent:
8:3f32df2b66c0
Child:
10:a006445dc76d
???

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 }
Gaku0606 6:2f91c71d64b1 46 GPS_interrupt::GPS_interrupt(Serial *_gps){
Gaku0606 2:7be89bab6db9 47
Gaku0606 6:2f91c71d64b1 48 debugFlag = false;
Gaku0606 6:2f91c71d64b1 49 initialize();
Gaku0606 6:2f91c71d64b1 50 baudrate = 115200;//_baudrate;
Gaku0606 6:2f91c71d64b1 51 frequency = 10;
Gaku0606 6:2f91c71d64b1 52 gps_irq = this;
Gaku0606 6:2f91c71d64b1 53 gps = _gps;
Gaku0606 6:2f91c71d64b1 54 gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq);
Gaku0606 6:2f91c71d64b1 55 }
Gaku0606 6:2f91c71d64b1 56
Gaku0606 6:2f91c71d64b1 57 GPS_interrupt::GPS_interrupt(Serial *_gps, int _frequency){
Gaku0606 2:7be89bab6db9 58
Gaku0606 4:758f97bee95a 59 debugFlag = false;
Gaku0606 4:758f97bee95a 60 initialize();
Gaku0606 8:3f32df2b66c0 61 baudrate = 9600;//_baudrate;
Gaku0606 2:7be89bab6db9 62 frequency = _frequency;
Gaku0606 0:74d8e952a3bd 63 gps_irq = this;
Gaku0606 0:74d8e952a3bd 64 gps = _gps;
Gaku0606 4:758f97bee95a 65 gps->baud(9600);
Gaku0606 4:758f97bee95a 66 if(baudrate == 9600){
Gaku0606 4:758f97bee95a 67 gps->printf("$PMTK251,9600*17\r\n");
Gaku0606 4:758f97bee95a 68 }
Gaku0606 4:758f97bee95a 69 else if(baudrate == 19200){
Gaku0606 4:758f97bee95a 70 gps->printf("$PMTK251,19200*22\r\n");
Gaku0606 4:758f97bee95a 71 }
Gaku0606 4:758f97bee95a 72 else if( baudrate == 38400){
Gaku0606 4:758f97bee95a 73 gps->printf("$PMTK251,38400*27\r\n");
Gaku0606 4:758f97bee95a 74 }
Gaku0606 4:758f97bee95a 75 else if(baudrate == 56700){
Gaku0606 4:758f97bee95a 76 gps->printf("$PMTK251,57600*2C\r\n");
Gaku0606 4:758f97bee95a 77 }
Gaku0606 4:758f97bee95a 78 else if(baudrate == 115200){
Gaku0606 4:758f97bee95a 79 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 80 wait(0.1);
Gaku0606 4:758f97bee95a 81 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 82 wait(0.2);
Gaku0606 4:758f97bee95a 83 gps->printf("$PMTK251,115200*1F\r\n");
Gaku0606 4:758f97bee95a 84 wait(0.2);
Gaku0606 4:758f97bee95a 85 }
Gaku0606 8:3f32df2b66c0 86 gps->baud(9600);
Gaku0606 8:3f32df2b66c0 87 baudrate = 9600;
Gaku0606 2:7be89bab6db9 88 wait(0.1);
Gaku0606 4:758f97bee95a 89
Gaku0606 4:758f97bee95a 90 //gps->printf("$PMTK351,1*28\r\n");//$PMTK351,1*28<CR><LF> :Enable QZSS NMEA format
Gaku0606 2:7be89bab6db9 91 unsigned char checksum = 0;
Gaku0606 4:758f97bee95a 92 checksum = checkSum("PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
Gaku0606 2:7be89bab6db9 93 //$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 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 gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum);
Gaku0606 4:758f97bee95a 99 wait(0.2);
Gaku0606 4:758f97bee95a 100 if(_frequency == 1) gps->printf("$PMTK220,1000*1F\r\n");
Gaku0606 4:758f97bee95a 101 else if(_frequency == 2) gps->printf("$PMTK220,500*2B\r\n");
Gaku0606 4:758f97bee95a 102 else if(_frequency == 3) gps->printf("$PMTK220,333*2D\r\n");
Gaku0606 4:758f97bee95a 103 else if(_frequency == 4) gps->printf("$PMTK220,250*29\r\n");
Gaku0606 4:758f97bee95a 104 else if(_frequency == 5) gps->printf("$PMTK220,200*2C\r\n");
Gaku0606 4:758f97bee95a 105 else if(_frequency == 10) gps->printf("$PMTK220,100*2F\r\n");
Gaku0606 4:758f97bee95a 106 wait(0.2);
Gaku0606 0:74d8e952a3bd 107 gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq);
Gaku0606 0:74d8e952a3bd 108 }
Gaku0606 0:74d8e952a3bd 109
Gaku0606 0:74d8e952a3bd 110 void GPS_interrupt::initialize(){
Gaku0606 0:74d8e952a3bd 111 latitude = 0.0f;
Gaku0606 0:74d8e952a3bd 112 longitude = 0.0f;
Gaku0606 0:74d8e952a3bd 113 year = 0;
Gaku0606 0:74d8e952a3bd 114 month = 0;
Gaku0606 0:74d8e952a3bd 115 day = 0;
Gaku0606 0:74d8e952a3bd 116 hour = 0;
Gaku0606 0:74d8e952a3bd 117 minutes = 0;
Gaku0606 0:74d8e952a3bd 118 seconds = 0;
Gaku0606 2:7be89bab6db9 119 knot = 0;
Gaku0606 2:7be89bab6db9 120 degree = 0;
Gaku0606 2:7be89bab6db9 121 number = 0;
Gaku0606 2:7be89bab6db9 122 height = 0;
Gaku0606 2:7be89bab6db9 123 geoid = 0;
Gaku0606 0:74d8e952a3bd 124 memset(gps_buffer_A, '\0', 128);
Gaku0606 0:74d8e952a3bd 125 memset(gps_buffer_B, '\0', 128);
Gaku0606 8:3f32df2b66c0 126 // memset(gps_buffer_C, '\0', 128);
Gaku0606 0:74d8e952a3bd 127 gps_readable = false;
Gaku0606 0:74d8e952a3bd 128 }
Gaku0606 2:7be89bab6db9 129 void GPS_interrupt::rmc_initialize(){
Gaku0606 2:7be89bab6db9 130 latitude = 0.0f;
Gaku0606 2:7be89bab6db9 131 longitude = 0.0f;
Gaku0606 2:7be89bab6db9 132 year = 0;
Gaku0606 2:7be89bab6db9 133 month = 0;
Gaku0606 2:7be89bab6db9 134 day = 0;
Gaku0606 2:7be89bab6db9 135 hour = 0;
Gaku0606 2:7be89bab6db9 136 minutes = 0;
Gaku0606 2:7be89bab6db9 137 seconds = 0;
Gaku0606 2:7be89bab6db9 138 knot = 0;
Gaku0606 2:7be89bab6db9 139 degree = 0;
Gaku0606 2:7be89bab6db9 140 }
Gaku0606 2:7be89bab6db9 141 void GPS_interrupt::gga_initialize(){
Gaku0606 2:7be89bab6db9 142 latitude = 0.0f;
Gaku0606 2:7be89bab6db9 143 longitude = 0.0f;
Gaku0606 2:7be89bab6db9 144 /*year = 0;
Gaku0606 2:7be89bab6db9 145 month = 0;
Gaku0606 2:7be89bab6db9 146 day = 0;
Gaku0606 2:7be89bab6db9 147 hour = 0;
Gaku0606 2:7be89bab6db9 148 minutes = 0;
Gaku0606 2:7be89bab6db9 149 seconds = 0;*/
Gaku0606 2:7be89bab6db9 150 number = 0;
Gaku0606 2:7be89bab6db9 151 height = 0;
Gaku0606 2:7be89bab6db9 152 geoid = 0;
Gaku0606 2:7be89bab6db9 153 }
Gaku0606 9:dab13bd20f43 154
Gaku0606 0:74d8e952a3bd 155 void GPS_interrupt::gps_auto_receive(){
Gaku0606 0:74d8e952a3bd 156
Gaku0606 0:74d8e952a3bd 157 static char str_temp[128] = {'\0'};
Gaku0606 8:3f32df2b66c0 158 static unsigned char temp = 0;
Gaku0606 0:74d8e952a3bd 159 static bool start_flag = false;
Gaku0606 8:3f32df2b66c0 160 static int current = 0;
Gaku0606 8:3f32df2b66c0 161 static char classify_ABC = 0;
Gaku0606 0:74d8e952a3bd 162 static char* save_buffer = gps_buffer_A;
Gaku0606 0:74d8e952a3bd 163
Gaku0606 0:74d8e952a3bd 164 temp = gps->getc();
Gaku0606 2:7be89bab6db9 165
Gaku0606 9:dab13bd20f43 166 //if(debugFlag) printf("%c", temp);
Gaku0606 2:7be89bab6db9 167
Gaku0606 0:74d8e952a3bd 168 if(temp == '$'){
Gaku0606 0:74d8e952a3bd 169 current = 1;
Gaku0606 0:74d8e952a3bd 170 start_flag = true;
Gaku0606 0:74d8e952a3bd 171 memset(save_buffer, '\0', 128);//初期化
Gaku0606 0:74d8e952a3bd 172 save_buffer[0] = '$';
Gaku0606 0:74d8e952a3bd 173 return;
Gaku0606 0:74d8e952a3bd 174 }
Gaku0606 0:74d8e952a3bd 175 if(start_flag){//1行スタート
Gaku0606 0:74d8e952a3bd 176 if(temp == '\r'){//1行終了
Gaku0606 0:74d8e952a3bd 177 save_buffer[current] = '\0';
Gaku0606 0:74d8e952a3bd 178 start_flag = false;
Gaku0606 0:74d8e952a3bd 179 current = 1;
Gaku0606 0:74d8e952a3bd 180 gps_read_buffer = save_buffer;
Gaku0606 2:7be89bab6db9 181
Gaku0606 2:7be89bab6db9 182 //debug(gps_read_buffer);
Gaku0606 8:3f32df2b66c0 183 //printf("%s\r\n", save_buffer);
Gaku0606 8:3f32df2b66c0 184 //printf("debug \"%s\"\r\n", gps_read_buffer);
Gaku0606 2:7be89bab6db9 185
Gaku0606 8:3f32df2b66c0 186 /*switch(classify_ABC){
Gaku0606 8:3f32df2b66c0 187 case 0:
Gaku0606 8:3f32df2b66c0 188 save_buffer = gps_buffer_B;
Gaku0606 8:3f32df2b66c0 189 classify_ABC = 1;
Gaku0606 8:3f32df2b66c0 190 break;
Gaku0606 8:3f32df2b66c0 191
Gaku0606 8:3f32df2b66c0 192 case 1:
Gaku0606 8:3f32df2b66c0 193 save_buffer = gps_buffer_C;//バッファ切換
Gaku0606 8:3f32df2b66c0 194 classify_ABC = 2;
Gaku0606 8:3f32df2b66c0 195 break;
Gaku0606 8:3f32df2b66c0 196
Gaku0606 8:3f32df2b66c0 197 case 2:
Gaku0606 8:3f32df2b66c0 198 save_buffer = gps_buffer_A;
Gaku0606 8:3f32df2b66c0 199 classify_ABC = 0;
Gaku0606 8:3f32df2b66c0 200 }*/
Gaku0606 8:3f32df2b66c0 201 if(classify_ABC == 0){
Gaku0606 8:3f32df2b66c0 202 save_buffer = gps_buffer_B;
Gaku0606 8:3f32df2b66c0 203 classify_ABC = 1;
Gaku0606 0:74d8e952a3bd 204 }
Gaku0606 8:3f32df2b66c0 205 else if(classify_ABC == 1){
Gaku0606 8:3f32df2b66c0 206 save_buffer = gps_buffer_A;//バッファ切換
Gaku0606 8:3f32df2b66c0 207 classify_ABC = 0;
Gaku0606 0:74d8e952a3bd 208 }
Gaku0606 8:3f32df2b66c0 209 memset(save_buffer, '\0', 128);
Gaku0606 7:4b893ac95ae1 210 //if(debugFlag) printf("debug \"%s\"\r\n", gps_read_buffer);
Gaku0606 6:2f91c71d64b1 211
Gaku0606 3:8e66ec281888 212 if((strncmp(gps_read_buffer, "$GPRMC", 6) == 0) || (strncmp(gps_read_buffer, "$GNRMC", 6) == 0)){
Gaku0606 2:7be89bab6db9 213 memset(str_temp, '\0', 128);
Gaku0606 0:74d8e952a3bd 214 strcpy(str_temp, gps_read_buffer);
Gaku0606 2:7be89bab6db9 215 if(processGPRMC(str_temp)){
Gaku0606 0:74d8e952a3bd 216 gps_readable = true;
Gaku0606 4:758f97bee95a 217 return;//データが取得できればここで終了
Gaku0606 0:74d8e952a3bd 218 }
Gaku0606 8:3f32df2b66c0 219 else{
Gaku0606 8:3f32df2b66c0 220 gps_readable = false;
Gaku0606 8:3f32df2b66c0 221 }
Gaku0606 0:74d8e952a3bd 222 }
Gaku0606 2:7be89bab6db9 223 else if(strncmp(gps_read_buffer, "$GPGGA", 6) == 0){
Gaku0606 2:7be89bab6db9 224 memset(str_temp, '\0', 128);
Gaku0606 2:7be89bab6db9 225 strcpy(str_temp, gps_read_buffer);
Gaku0606 2:7be89bab6db9 226 if(processGPGGA(str_temp)){
Gaku0606 2:7be89bab6db9 227 gps_readable = true;
Gaku0606 4:758f97bee95a 228 return;//データが取得できればここで終了
Gaku0606 4:758f97bee95a 229 }
Gaku0606 8:3f32df2b66c0 230 else{
Gaku0606 8:3f32df2b66c0 231 gps_readable = false;
Gaku0606 8:3f32df2b66c0 232 return;
Gaku0606 8:3f32df2b66c0 233 }
Gaku0606 2:7be89bab6db9 234 }
Gaku0606 2:7be89bab6db9 235 //else if(strncmp(gps_read_buffer, "$GPGSV", 6) == 0){
Gaku0606 2:7be89bab6db9 236 //printf("%s\r\n", gps_read_buffer);
Gaku0606 2:7be89bab6db9 237 //}
Gaku0606 0:74d8e952a3bd 238 }
Gaku0606 0:74d8e952a3bd 239 else{
Gaku0606 0:74d8e952a3bd 240 save_buffer[current] = temp;
Gaku0606 0:74d8e952a3bd 241 current++;
Gaku0606 0:74d8e952a3bd 242 if(current >= 127){
Gaku0606 0:74d8e952a3bd 243 current = 1;
Gaku0606 0:74d8e952a3bd 244 start_flag = false;
Gaku0606 8:3f32df2b66c0 245 memset(save_buffer, '\0', 128);
Gaku0606 0:74d8e952a3bd 246 }
Gaku0606 0:74d8e952a3bd 247 }
Gaku0606 0:74d8e952a3bd 248 }
Gaku0606 0:74d8e952a3bd 249 }
Gaku0606 0:74d8e952a3bd 250
Gaku0606 2:7be89bab6db9 251 bool GPS_interrupt::processGPRMC(char *line){
Gaku0606 0:74d8e952a3bd 252
Gaku0606 0:74d8e952a3bd 253 char *tok; //strtokで帰ってくる文字列のポインター
Gaku0606 0:74d8e952a3bd 254 bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue
Gaku0606 0:74d8e952a3bd 255 //bool result = false;
Gaku0606 0:74d8e952a3bd 256 //char num[4] = "";//衛星数の文字データ
Gaku0606 0:74d8e952a3bd 257 //char kaibatsu[8], g_height[8];
Gaku0606 0:74d8e952a3bd 258 //char data_GPS[256] ="";
Gaku0606 0:74d8e952a3bd 259 char angle[8], speed[8];
Gaku0606 0:74d8e952a3bd 260 char ido[16] = "", keido[16] = "";
Gaku0606 0:74d8e952a3bd 261
Gaku0606 2:7be89bab6db9 262 double X = 0, Y = 0;
Gaku0606 0:74d8e952a3bd 263 double X_m = 0, Y_m = 0;//GPS座標の"分"の部分
Gaku0606 0:74d8e952a3bd 264 char zikann[11], hizuke[7];
Gaku0606 0:74d8e952a3bd 265
Gaku0606 0:74d8e952a3bd 266 //bool gga_flag = false;
Gaku0606 0:74d8e952a3bd 267 bool rmc_flag = false;
Gaku0606 2:7be89bab6db9 268 char tok_count = 0;
Gaku0606 0:74d8e952a3bd 269
Gaku0606 4:758f97bee95a 270 //rmc_initialize();
Gaku0606 0:74d8e952a3bd 271
Gaku0606 0:74d8e952a3bd 272 //_____GPRMC___________________________________
Gaku0606 0:74d8e952a3bd 273 //データ文字列の先頭から6文字目までが$GPRMCなら０が返ってくる
Gaku0606 2:7be89bab6db9 274 //if (strncmp(line, "$GPRMC", 6) == 0){
Gaku0606 0:74d8e952a3bd 275
Gaku0606 0:74d8e952a3bd 276 tok = strtok(line, ",");
Gaku0606 2:7be89bab6db9 277 tok_count = 0;
Gaku0606 0:74d8e952a3bd 278
Gaku0606 0:74d8e952a3bd 279 //$GPRMC, 002519.799, V, , , , , 0.00, 0.00, 060180, , , N * 4A
Gaku0606 0:74d8e952a3bd 280
Gaku0606 0:74d8e952a3bd 281 // 0 , 1 , 2,3,4,5,6, 7 , 8 , 9 ,10,11 ,12
Gaku0606 0:74d8e952a3bd 282 //$GPRMC,233514.000,A,3022.5291,N,13057.6141,E,0.41,335.09,030316,,,A*6C
Gaku0606 0:74d8e952a3bd 283
Gaku0606 0:74d8e952a3bd 284 // 0 , 1 ,2, 3 ,4, 5 ,6, 7 , 8 , 9 ,1, 1 ,1
Gaku0606 0:74d8e952a3bd 285 // 0 1 2
Gaku0606 0:74d8e952a3bd 286 while (1){
Gaku0606 2:7be89bab6db9 287 switch (tok_count){
Gaku0606 2:7be89bab6db9 288 case 1://時分秒
Gaku0606 2:7be89bab6db9 289 strcpy(zikann, tok);//zikann = "233514.000\0"
Gaku0606 2:7be89bab6db9 290 break;
Gaku0606 2:7be89bab6db9 291 case 2://有効か無効か判定
Gaku0606 2:7be89bab6db9 292 if (strncmp(tok, "V", 1) == 0) return false;
Gaku0606 2:7be89bab6db9 293 else if (strcmp(tok, "A") == 0) rmc_flag = true;
Gaku0606 2:7be89bab6db9 294 break;
Gaku0606 2:7be89bab6db9 295 case 3://緯度
Gaku0606 2:7be89bab6db9 296 strcpy(ido, tok);
Gaku0606 2:7be89bab6db9 297 break;
Gaku0606 2:7be89bab6db9 298 case 4://北緯か南緯か
Gaku0606 2:7be89bab6db9 299 if (strcmp(tok, "S") == 0) latSign = true;
Gaku0606 2:7be89bab6db9 300 break;
Gaku0606 2:7be89bab6db9 301 case 5://経度
Gaku0606 2:7be89bab6db9 302 strcpy(keido, tok);
Gaku0606 2:7be89bab6db9 303 break;
Gaku0606 2:7be89bab6db9 304 case 6://東経か西経か
Gaku0606 2:7be89bab6db9 305 if (strcmp(tok, "W") == 0) lonSign = true;
Gaku0606 2:7be89bab6db9 306 break;
Gaku0606 2:7be89bab6db9 307 case 7://速度（キロノット）
Gaku0606 2:7be89bab6db9 308 strcpy(speed, tok);
Gaku0606 2:7be89bab6db9 309 break;
Gaku0606 2:7be89bab6db9 310 case 8://角度
Gaku0606 2:7be89bab6db9 311 strcpy(angle, tok);
Gaku0606 2:7be89bab6db9 312 break;
Gaku0606 2:7be89bab6db9 313 case 9://日付
Gaku0606 2:7be89bab6db9 314 strcpy(hizuke, tok);//hizuke = "030316\0"
Gaku0606 2:7be89bab6db9 315 break;
Gaku0606 0:74d8e952a3bd 316 }
Gaku0606 2:7be89bab6db9 317
Gaku0606 0:74d8e952a3bd 318 tok = strtok(NULL, ",");//comma = ",\0"
Gaku0606 0:74d8e952a3bd 319 tok_count++;
Gaku0606 0:74d8e952a3bd 320 if (tok == NULL) break;
Gaku0606 0:74d8e952a3bd 321 }
Gaku0606 0:74d8e952a3bd 322 if (rmc_flag){
Gaku0606 0:74d8e952a3bd 323 rmc_flag = false;
Gaku0606 0:74d8e952a3bd 324 //ddmmyy
Gaku0606 0:74d8e952a3bd 325 int dmy = 0;
Gaku0606 0:74d8e952a3bd 326 dmy = atoi(hizuke);
Gaku0606 0:74d8e952a3bd 327 day = dmy / 10000; //030316 / 10000 = 3
Gaku0606 0:74d8e952a3bd 328 month = (dmy - day * 10000) / 100;//30316 - 30000 = 316, 316/100= 3
Gaku0606 0:74d8e952a3bd 329 year = dmy - month * 100 - day * 10000 + 2000;
Gaku0606 0:74d8e952a3bd 330
Gaku0606 0:74d8e952a3bd 331 //hhmmss.ss
Gaku0606 0:74d8e952a3bd 332 seconds = atof(zikann);//sec = 233514.000
Gaku0606 0:74d8e952a3bd 333 hour = (int)(seconds / 10000.0); //233514/10000=(int)23
Gaku0606 0:74d8e952a3bd 334 minutes = (seconds - hour * 10000) / 100;//233514.0-230000=3514.0,3514.0/100=35
Gaku0606 0:74d8e952a3bd 335 seconds = seconds - ((double)minutes * 100.0 + (double)hour * 10000.0);
Gaku0606 0:74d8e952a3bd 336
Gaku0606 0:74d8e952a3bd 337 // getLonLatのとき有効
Gaku0606 0:74d8e952a3bd 338 Y_m = atof(ido);//*Y_m = 3457.5571
Gaku0606 0:74d8e952a3bd 339 Y = (int)(Y_m / 100.0);//Y = 34.0
Gaku0606 0:74d8e952a3bd 340 Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571
Gaku0606 0:74d8e952a3bd 341
Gaku0606 0:74d8e952a3bd 342 X_m = atof(keido);//*X = 13057.6142
Gaku0606 0:74d8e952a3bd 343 X = (int)(X_m / 100.0);//X = 130.0
Gaku0606 0:74d8e952a3bd 344 X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142
Gaku0606 0:74d8e952a3bd 345
Gaku0606 0:74d8e952a3bd 346 //GPS calculation
Gaku0606 0:74d8e952a3bd 347 longitude = X + X_m / 60.0;// 34.959285
Gaku0606 0:74d8e952a3bd 348 latitude = Y + Y_m / 60.0;//137.090290
Gaku0606 0:74d8e952a3bd 349
Gaku0606 2:7be89bab6db9 350 if (lonSign) longitude *= (-1);//西経なら経度を負に
Gaku0606 2:7be89bab6db9 351 if (latSign) latitude *= (-1);//南緯なら緯度を負に
Gaku0606 0:74d8e952a3bd 352 knot = atof(speed);
Gaku0606 0:74d8e952a3bd 353 degree = atof(angle);
Gaku0606 8:3f32df2b66c0 354 if(longitude > 100.0 && longitude < 150.0 && latitude > 30.0 && latitude < 50.0){
Gaku0606 8:3f32df2b66c0 355 return true;
Gaku0606 8:3f32df2b66c0 356 }
Gaku0606 8:3f32df2b66c0 357 else return false;
Gaku0606 0:74d8e952a3bd 358 }
Gaku0606 4:758f97bee95a 359 else{
Gaku0606 4:758f97bee95a 360 return false;
Gaku0606 4:758f97bee95a 361 }
Gaku0606 2:7be89bab6db9 362 //}
Gaku0606 2:7be89bab6db9 363 //else return false;
Gaku0606 0:74d8e952a3bd 364 }
Gaku0606 0:74d8e952a3bd 365
Gaku0606 2:7be89bab6db9 366 bool GPS_interrupt::processGPGGA(char *line){
Gaku0606 2:7be89bab6db9 367
Gaku0606 2:7be89bab6db9 368 char *tok; //strtokで帰ってくる文字列のポインター
Gaku0606 2:7be89bab6db9 369 bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue
Gaku0606 2:7be89bab6db9 370 //bool result = false;
Gaku0606 2:7be89bab6db9 371 char num[4] = "";//衛星数の文字データ
Gaku0606 2:7be89bab6db9 372 char kaibatsu[8], g_height[8];
Gaku0606 2:7be89bab6db9 373 //char data_GPS[256] ="";
Gaku0606 2:7be89bab6db9 374 //char angle[8], speed[8];
Gaku0606 2:7be89bab6db9 375 char ido[16] = "", keido[16] = "";
Gaku0606 2:7be89bab6db9 376
Gaku0606 2:7be89bab6db9 377 double X = 0, Y = 0;
Gaku0606 2:7be89bab6db9 378 double X_m = 0, Y_m = 0;//GPS座標の"分"の部分
Gaku0606 2:7be89bab6db9 379 //char zikann[11], hizuke[7];
Gaku0606 2:7be89bab6db9 380 char status[2];
Gaku0606 2:7be89bab6db9 381
Gaku0606 2:7be89bab6db9 382 bool gga_flag = false;
Gaku0606 2:7be89bab6db9 383 //bool rmc_flag = false;
Gaku0606 2:7be89bab6db9 384 char tok_count = 0;
Gaku0606 2:7be89bab6db9 385
Gaku0606 4:758f97bee95a 386 //gga_initialize();
Gaku0606 2:7be89bab6db9 387
Gaku0606 2:7be89bab6db9 388 //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 389 //if (strncmp(data_GPS, "$GPGGA", 6) == 0){
Gaku0606 2:7be89bab6db9 390
Gaku0606 2:7be89bab6db9 391 tok = strtok(line, ",");
Gaku0606 2:7be89bab6db9 392 tok_count = 0;
Gaku0606 2:7be89bab6db9 393
Gaku0606 2:7be89bab6db9 394 //$GPGGA, 002519.799, , , , , 0, 0, , , M, , M, , *40
Gaku0606 2:7be89bab6db9 395
Gaku0606 2:7be89bab6db9 396 // 0 , 1 , , , , , 2, 3, , , 4, , 5, , 6
Gaku0606 2:7be89bab6db9 397
Gaku0606 2:7be89bab6db9 398 //$GPGGA,233515.000,3022.5292,N,13057.6142,E,1,9,0.88,11.3,M,29.3,M,,*63
Gaku0606 2:7be89bab6db9 399
Gaku0606 2:7be89bab6db9 400 // 0 , 1 , 2 ,3, 4 ,5,6,7, 8 , 9 ,1, 11 ,1
Gaku0606 2:7be89bab6db9 401 // 0 2
Gaku0606 2:7be89bab6db9 402 while (1){
Gaku0606 2:7be89bab6db9 403 switch (tok_count){
Gaku0606 2:7be89bab6db9 404 case 2://緯度
Gaku0606 2:7be89bab6db9 405 strcpy(ido, tok);//ido = "30"
Gaku0606 2:7be89bab6db9 406 if (strcmp(ido, "0") == 0) return false;//GPS無効
Gaku0606 2:7be89bab6db9 407 break;
Gaku0606 2:7be89bab6db9 408 case 3://北緯か南緯か
Gaku0606 2:7be89bab6db9 409 if (strcmp(tok, "S") == 0) latSign = true;
Gaku0606 2:7be89bab6db9 410 break;
Gaku0606 2:7be89bab6db9 411 case 4:
Gaku0606 2:7be89bab6db9 412 strcpy(keido, tok);//keido = "130"
Gaku0606 2:7be89bab6db9 413 break;
Gaku0606 2:7be89bab6db9 414 case 5://東経か西経か
Gaku0606 2:7be89bab6db9 415 if (strcmp(tok, "W") == 0) lonSign = true;
Gaku0606 2:7be89bab6db9 416 break;
Gaku0606 2:7be89bab6db9 417 case 6:
Gaku0606 2:7be89bab6db9 418 strcpy(status, tok);
Gaku0606 2:7be89bab6db9 419 if (strcmp(status, "0") != 0) gga_flag = true;//GPS有効
Gaku0606 2:7be89bab6db9 420 break;
Gaku0606 2:7be89bab6db9 421 case 7:
Gaku0606 2:7be89bab6db9 422 strcpy(num, tok);
Gaku0606 2:7be89bab6db9 423 break;
Gaku0606 2:7be89bab6db9 424 case 9:
Gaku0606 2:7be89bab6db9 425 strcpy(kaibatsu, tok);
Gaku0606 2:7be89bab6db9 426 break;
Gaku0606 2:7be89bab6db9 427 case 11:
Gaku0606 2:7be89bab6db9 428 strcpy(g_height, tok);
Gaku0606 2:7be89bab6db9 429 break;
Gaku0606 2:7be89bab6db9 430 }
Gaku0606 2:7be89bab6db9 431 tok = strtok(NULL, ",");//comma = ",\0"
Gaku0606 2:7be89bab6db9 432 tok_count++;
Gaku0606 2:7be89bab6db9 433 if (tok == NULL) break;
Gaku0606 2:7be89bab6db9 434 }
Gaku0606 2:7be89bab6db9 435 if (gga_flag){
Gaku0606 2:7be89bab6db9 436
Gaku0606 2:7be89bab6db9 437 height = atof(kaibatsu);
Gaku0606 2:7be89bab6db9 438 geoid = atof(g_height);
Gaku0606 2:7be89bab6db9 439 number = atoi(num);
Gaku0606 2:7be89bab6db9 440 /*
Gaku0606 2:7be89bab6db9 441 //ddmmyy
Gaku0606 2:7be89bab6db9 442 long dmy = 0;
Gaku0606 2:7be89bab6db9 443 dmy = atol(hizuke);
Gaku0606 2:7be89bab6db9 444 day = (int)(dmy / 10000); //030316 / 10000 = 3
Gaku0606 2:7be89bab6db9 445 month = (int)(dmy / 100 - day * 100);//30316 - 30000 = 316, 316/100= 3
Gaku0606 2:7be89bab6db9 446 year = dmy - month * 100 - (long)day * 10000 + 2000;
Gaku0606 2:7be89bab6db9 447
Gaku0606 2:7be89bab6db9 448 //hhmmss.ss
Gaku0606 2:7be89bab6db9 449 seconds = atof(zikann);//sec = 233514.000
Gaku0606 2:7be89bab6db9 450 hour = (int)(seconds / 10000.0); //233514/10000=(int)23
Gaku0606 2:7be89bab6db9 451 minutes = (int)(seconds / 100.0 - hour * 100.0);//233514.0-230000=3514.0,3514.0/100=35
Gaku0606 2:7be89bab6db9 452 seconds = seconds - ((double)minutes * 100.0 + (double)hour * 10000.0);
Gaku0606 2:7be89bab6db9 453 */
Gaku0606 2:7be89bab6db9 454 // getLonLatのとき有効
Gaku0606 2:7be89bab6db9 455 Y_m = atof(ido);//Y_m = 3457.5571
Gaku0606 2:7be89bab6db9 456 Y = (int)(Y_m / 100.0);//Y = 34.0
Gaku0606 2:7be89bab6db9 457 Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571
Gaku0606 2:7be89bab6db9 458
Gaku0606 2:7be89bab6db9 459 X_m = atof(keido);//X = 13057.6142
Gaku0606 2:7be89bab6db9 460 X = (int)(X_m / 100.0);//X = 130.0
Gaku0606 2:7be89bab6db9 461 X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142
Gaku0606 2:7be89bab6db9 462
Gaku0606 2:7be89bab6db9 463 //GPS calculation
Gaku0606 2:7be89bab6db9 464 longitude = X + X_m / 60.0;// 34.959285
Gaku0606 2:7be89bab6db9 465 latitude = Y + Y_m / 60.0;//137.090290
Gaku0606 2:7be89bab6db9 466 if (lonSign == true) longitude = longitude * (-1);//西経なら経度を負に
Gaku0606 2:7be89bab6db9 467 if (latSign == true) latitude = latitude * (-1);//南緯なら緯度を負に
Gaku0606 2:7be89bab6db9 468
Gaku0606 8:3f32df2b66c0 469 if(longitude > 100.0 && longitude < 150.0 && latitude > 30.0 && latitude < 50.0){
Gaku0606 8:3f32df2b66c0 470 return true;
Gaku0606 8:3f32df2b66c0 471 }
Gaku0606 8:3f32df2b66c0 472 else{
Gaku0606 8:3f32df2b66c0 473 return false;
Gaku0606 8:3f32df2b66c0 474 }
Gaku0606 2:7be89bab6db9 475 }
Gaku0606 4:758f97bee95a 476 else{
Gaku0606 4:758f97bee95a 477 return false;
Gaku0606 4:758f97bee95a 478 }
Gaku0606 8:3f32df2b66c0 479 return false;
Gaku0606 8:3f32df2b66c0 480 }
Gaku0606 8:3f32df2b66c0 481
Gaku0606 8:3f32df2b66c0 482 double GPS_interrupt::Distance(double x, double y){
Gaku0606 2:7be89bab6db9 483
Gaku0606 8:3f32df2b66c0 484 double dLat = x - longitude;//相対経度
Gaku0606 8:3f32df2b66c0 485 double dLng = y - latitude;//相対緯度
Gaku0606 8:3f32df2b66c0 486 double radLat = latitude * GPS_PI / 180.0;//今の緯度をラジアンにしたもの
Gaku0606 8:3f32df2b66c0 487 double F = EIRTH_AspectRatioInverse;
Gaku0606 8:3f32df2b66c0 488 // 離心率の2乗
Gaku0606 8:3f32df2b66c0 489 double E = ((2.0 * F) - 1.0) / (F * F);
Gaku0606 8:3f32df2b66c0 490 // π * 赤道半径
Gaku0606 8:3f32df2b66c0 491 double PI_ER = GPS_PI * EARTH_EQUATOR_RADIUS;
Gaku0606 8:3f32df2b66c0 492 // 1 - e^2 sin^2 (θ)
Gaku0606 8:3f32df2b66c0 493 double TMP = 1.0 - E * sin(radLat) * sin(radLat);
Gaku0606 8:3f32df2b66c0 494 // 経度1°あたりの長さ
Gaku0606 8:3f32df2b66c0 495 double arc_lat = (PI_ER * (1.0 - E)) / ( 180.0 * pow(TMP, 1.5));
Gaku0606 8:3f32df2b66c0 496 // 緯度1°あたりの長さ
Gaku0606 8:3f32df2b66c0 497 double arc_lng = (PI_ER * cos(radLat)) / (180.0 * pow(TMP, 0.5));
Gaku0606 8:3f32df2b66c0 498
Gaku0606 8:3f32df2b66c0 499 dLat *= arc_lat;
Gaku0606 8:3f32df2b66c0 500 dLng *= arc_lng;
Gaku0606 8:3f32df2b66c0 501 return sqrt(dLat * dLat + dLng * dLng);
Gaku0606 2:7be89bab6db9 502 }