File content as of revision 0:74d8e952a3bd:

#include "mbed.h"
#include "GPS_interrupt.h"
double GPS_interrupt::latitude;
double GPS_interrupt::longitude;
int GPS_interrupt::year;
int GPS_interrupt::month;
int GPS_interrupt::day;
int GPS_interrupt::hour;
int GPS_interrupt::minutes;
double GPS_interrupt::seconds;
double GPS_interrupt::degree = 0;
double GPS_interrupt::knot = 0;
double GPS_interrupt::height = 0;
double GPS_interrupt::geoid = 0;
int GPS_interrupt::number = 0;

char GPS_interrupt::gps_buffer_A[128];
char GPS_interrupt::gps_buffer_B[128];
char* GPS_interrupt::gps_read_buffer = gps_buffer_B;
bool GPS_interrupt::gps_readable = false;

GPS_interrupt* GPS_interrupt::gps_irq;

GPS_interrupt::GPS_interrupt(RawSerial *_gps, int baudrate){
    gps_irq = this;
    gps = _gps;
    gps->baud(baudrate);
    gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq);
}

void GPS_interrupt::initialize(){
    latitude = 0.0f;
    longitude = 0.0f;
    year = 0;
    month = 0;
    day = 0;
    hour = 0;
    minutes = 0;
    seconds = 0;
    memset(gps_buffer_A, '\0', 128);
    memset(gps_buffer_B, '\0', 128);
    gps_readable = false;
}
void GPS_interrupt::gps_auto_receive(){

    static char str_temp[128] = {'\0'};
    static char temp = 0;
    static bool start_flag = false;
    static unsigned char current = 0;
    static char classify_AB = 0;
    static char* save_buffer = gps_buffer_A;
    
    temp = gps->getc();
    if(temp == '$'){
        current = 1;
        start_flag = true;
        memset(save_buffer, '\0', 128);//初期化
        save_buffer[0] = '$';
        return;   
    }
    if(start_flag){//1行スタート
        if(temp == '\r'){//1行終了
            save_buffer[current] = '\0';
            start_flag = false;
            current = 1;
            gps_read_buffer = save_buffer;
            if(classify_AB){
                save_buffer = gps_buffer_A;//バッファ切換
                classify_AB = ~classify_AB;
            }
            else{
                save_buffer = gps_buffer_B;
                classify_AB = ~classify_AB;
            }
            if(strncmp(gps_read_buffer, "$GPRMC", 6) == 0){
                strcpy(str_temp, gps_read_buffer);
                if(processGPS(str_temp)){
                    gps_readable = true;
                }
            }
        }
        else{
            save_buffer[current] = temp;
            current++;
            if(current >= 127){
                current = 1;
                start_flag = false;   
            }
        }
    }
   
}

bool GPS_interrupt::processGPS(char *line){

    char *tok; //strtokで帰ってくる文字列のポインター
    bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue
    //bool result = false;
    //char num[4] = "";//衛星数の文字データ
    //char kaibatsu[8], g_height[8];
    //char data_GPS[256] ="";
    char angle[8], speed[8];
    char ido[16] = "", keido[16] = "";
    
    double  X = 0, Y = 0;
    double X_m = 0, Y_m = 0;//GPS座標の"分"の部分
    char  zikann[11],  hizuke[7];
    
    //bool gga_flag = false;
    bool rmc_flag = false;
    
    initialize();
    
//_____GPRMC___________________________________
       
    //データ文字列の先頭から6文字目までが$GPRMCなら０が返ってくる
    if (strncmp(line, "$GPRMC", 6) == 0){
        
        tok = strtok(line, ",");
        char tok_count = 0;

        //$GPRMC, 002519.799, V, , , , , 0.00, 0.00, 060180, , , N * 4A

        //  0   ,    1      , 2,3,4,5,6,  7  ,  8  ,    9  ,10,11 ,12   
        //$GPRMC,233514.000,A,3022.5291,N,13057.6141,E,0.41,335.09,030316,,,A*6C

        //   0  ,    1     ,2,    3    ,4,      5   ,6, 7  ,   8  ,   9  ,1, 1 ,1
        //                                                                0  1  2
        while (1){

            //___UTC時間_____________
            if (tok_count == 1){
                strcpy(zikann, tok);//zikann = "233514.000\0"
            }
            //___確認,経度___________
            else if (tok_count == 2){
                if (strncmp(tok, "V", 1) == 0)  return false;
                else if (strcmp(tok, "A") == 0) rmc_flag = true;
            }
            else if (tok_count == 3){//緯度
                strcpy(ido, tok);
            }
            else if (tok_count == 4){//北緯か南緯か
                if (strcmp(tok, "S") == 0)  latSign = true;
            }
            else if (tok_count == 5){//経度
                strcpy(keido, tok);
            }
            else if (tok_count == 6){//東経か西経か
                if (strcmp(tok, "W") == 0)  lonSign = true;
            }
            else if (tok_count == 7){//速度（キロノット）
                strcpy(speed, tok);
            }
            else if (tok_count == 8){//角度
                strcpy(angle, tok);
            }
            //___日付________________
            else if (tok_count == 9){
                strcpy(hizuke, tok);//hizuke = "030316\0"
            }
            tok = strtok(NULL, ",");//comma = ",\0"
            tok_count++;
            if (tok == NULL) break;
        }
        if (rmc_flag){
            rmc_flag = false;
            //ddmmyy
            int dmy = 0;
            dmy = atoi(hizuke);
            day = dmy / 10000;  //030316 / 10000 = 3
            month = (dmy - day * 10000) / 100;//30316 - 30000 = 316, 316/100= 3
            year = dmy - month * 100 - day * 10000 + 2000;
    
            //hhmmss.ss
            seconds = atof(zikann);//sec = 233514.000
            hour = (int)(seconds / 10000.0); //233514/10000=(int)23
            minutes = (seconds - hour * 10000) / 100;//233514.0-230000=3514.0,3514.0/100=35
            seconds = seconds - ((double)minutes * 100.0 + (double)hour * 10000.0);
    
            // getLonLatのとき有効
            Y_m = atof(ido);//*Y_m = 3457.5571
            Y = (int)(Y_m / 100.0);//Y = 34.0
            Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571
    
            X_m = atof(keido);//*X = 13057.6142
            X = (int)(X_m / 100.0);//X = 130.0
            X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142
    
            //GPS calculation
            longitude = X + X_m / 60.0;// 34.959285
            latitude = Y + Y_m / 60.0;//137.090290
            
            if (lonSign == true)    longitude *= (-1);//西経なら経度を負に
            if (latSign == true)    latitude *= (-1);//南緯なら緯度を負に
            knot = atof(speed);
            degree = atof(angle);
            if(longitude > 129.0 && latitude > 29.0){
                return true;
            }
            else return false;
        }
        else return false;
    }
    else return false;
}