Linkit ONE 讀取GPS紀錄並寫入SPI flash
Linkit ONE 讀取GPS紀錄並寫入SPI flash
#include "LGPS.h"
#include "LTask.h"
#include "LFlash.h"
#include "LSD.h"
#include "LStorage.h"
#define Drv LFlash // use Internal 10M Flash
// #define Drv LSD // use SD card
gpsSentenceInfoStruct info;
//Global define the GPS parameters
char buff[256];
double latitude;
double longitude;
double height=0;
int tmp, year, month, day, hour, minute, second, num ;
char datestamp[12];
char timestamp[12];
double bearing=0 ;
double velocity=0 ;
static unsigned char getComma(unsigned char num,const char *str)
{
unsigned char i,j = 0;
int len=strlen(str);
for(i = 0;i < len;i ++)
{
if(str[i] == ',')
j++;
if(j == num)
return i + 1;
}
return 0;
}
static double getDoubleNumber(const char *s)
{
char buf[10];
unsigned char i;
double rev;
i=getComma(1, s);
i = i - 1;
strncpy(buf, s, i);
buf[i] = 0;
rev=atof(buf);
return rev;
}
static double getIntNumber(const char *s)
{
char buf[10];
unsigned char i;
int rev;
i=getComma(1, s);
i = i - 1;
strncpy(buf, s, i);
buf[i] = 0;
rev=atoi(buf);
return rev;
}
void parseGPGGA(const char* GPGGAstr)
{
/* Refer to http://www.gpsinformation.org/dale/nmea.htm#GGA
* Sample data: $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
* Where:
* GGA Global Positioning System Fix Data
* 123519 Fix taken at 12:35:19 UTC
* 4807.038,N Latitude 48 deg 07.038' N
* 01131.000,E Longitude 11 deg 31.000' E
* 1 Fix quality: 0 = invalid
* 1 = GPS fix (SPS)
* 2 = DGPS fix
* 3 = PPS fix
* 4 = Real Time Kinematic
* 5 = Float RTK
* 6 = estimated (dead reckoning) (2.3 feature)
* 7 = Manual input mode
* 8 = Simulation mode
* 08 Number of satellites being tracked
* 0.9 Horizontal dilution of position
* 545.4,M Altitude, Meters, above mean sea level
* 46.9,M Height of geoid (mean sea level) above WGS84
* ellipsoid
* (empty field) time in seconds since last DGPS update
* (empty field) DGPS station ID number
* *47 the checksum data, always begins with *
Recommended Minimum Specific GPS/TRANSIT Data（RMC）推薦定位資訊
*/
if(GPGGAstr[0] == '$')
{
tmp = getComma(2, GPGGAstr);
latitude = getDoubleNumber(&GPGGAstr[tmp])*10000;
tmp = getComma(4, GPGGAstr);
longitude = getDoubleNumber(&GPGGAstr[tmp])*10000;
tmp = getComma(1, GPGGAstr);
hour = (GPGGAstr[tmp + 0] - '0') * 10 + (GPGGAstr[tmp + 1] - '0');
minute = (GPGGAstr[tmp + 2] - '0') * 10 + (GPGGAstr[tmp + 3] - '0');
second = (GPGGAstr[tmp + 4] - '0') * 10 + (GPGGAstr[tmp + 5] - '0');
sprintf(timestamp, "%2d:%2d:%2d", hour, minute, second);
tmp = getComma(7, GPGGAstr);
num = getIntNumber(&GPGGAstr[tmp]);
tmp = getComma(9, GPGGAstr);
height = getDoubleNumber(&GPGGAstr[tmp]);
}
else
{
Serial.println("Not get data");
}
}
void parseGPRMC(const char* GPRMCstr)
{
/*
$GPRMC,(1),(2),(3),(4),(5),(6),(*7),(*8),(*9),(10),(11),(12)*hh
(1) UTC時間，hhmmss（時分秒）格式
(2) 定位狀態，A=有效定位，V=無效定位
(3) 緯度ddmm.mmmm（度分）格式（前面的0也將被傳輸）
(4) 緯度半球N（北半球）或S（南半球）
(5) 經度dddmm.mmmm（度分）格式（前面的0也將被傳輸）
(6) 經度半球E（東經）或W（西經）
(7) 地面速率（000.0~999.9節，前面的0也將被傳輸）
(8) 地面航向（000.0~359.9度，以真北為參考基準，前面的0也將被傳輸）
(9) UTC日期，ddmmyy（日月年）格式
(10) 磁偏角（000.0~180.0度，前面的0也將被傳輸）
(11) 磁偏角方向，E（東）或W（西）
(12) 模式指示（僅NMEA0183 3.00版本輸出，A=自主定位，D=差分，E=估算，N=資料無效）
*/<1><2><3><4><5><6><10><11><12><1><2><3><4><5><6><7><8><9><10><11><12>
if(GPRMCstr[0] == '$')
{
tmp = getComma(7, GPRMCstr);
velocity = getDoubleNumber(&GPRMCstr[tmp])*0.5144444; // translated knot to m/sec
tmp = getComma(8, GPRMCstr);
bearing = getDoubleNumber(&GPRMCstr[tmp]);
tmp = getComma(9, GPRMCstr);
day = (GPRMCstr[tmp + 0] - '0') * 10 + (GPRMCstr[tmp + 1] - '0');
month = (GPRMCstr[tmp + 2] - '0') * 10 + (GPRMCstr[tmp + 3] - '0');
year = (GPRMCstr[tmp + 4] - '0') * 10 + (GPRMCstr[tmp + 5] - '0') + 2000;
sprintf(datestamp, "%4d/%2d/%2d", year, month, day);
}
else
{
Serial.println("Not get data");
}
}
double Coordinate_transform( double GPS_temp )
{
// To transform GPS(dd°mm'ss.ss") to GPS decimal format
char gps_datum[14];
int GPS_degree = GPS_temp / 1000000 ; // modulo down the residue for degree
GPS_temp = GPS_temp - GPS_degree * 1000000 ; // take back the residue
int GPS_minutes = GPS_temp / 10000 ; // modulo down the residue for minute
float GPS_second = (GPS_temp - GPS_minutes * 10000 ) /100; // take back the residue and calculate second
float GPS_return = GPS_degree / 1.0 + GPS_minutes / 60.0 + GPS_second / 3600.0 ;
Serial.print("GPS_return= ");Serial.println(GPS_return,8);
return GPS_return ;
}
void setup() {
// put your setup code here, to run once:
Serial.begin(115200);
Serial.print("Initializing SD card...");
// make sure that the default chip select pin is set to
// output, even if you don't use it:
pinMode(10, OUTPUT);
// see if the card is present and can be initialized:
Drv.begin();
Serial.println("card initialized.");
LGPS.powerOn();
Serial.println("LGPS Power on, and waiting ...");
delay(60000);
}
void loop()
{
char dataString[400];
// put your main code here, to run repeatedly:
Serial.println("LGPS loop");
LGPS.getData(&info);
Serial.println((char*)info.GPGGA);
parseGPGGA((const char*)info.GPGGA);
Serial.println((char*)info.GPRMC);
parseGPRMC((const char*)info.GPRMC);
latitude = Coordinate_transform(latitude);
longitude = Coordinate_transform(longitude) - 0.005 ; // WGS84 transfer to Google map had about 500m right shift.
Serial.println();Serial.println();
Serial.println("-------------------------------------------------------------");
Serial.print("GPS datum:"); Serial.print(datestamp);Serial.print(" ");Serial.println(timestamp);
Serial.print("Location :"); Serial.print(latitude,7); Serial.print(","); Serial.println(longitude,7);
Serial.print("Elevation:"); Serial.print(height);Serial.println(" m");
Serial.print("satellites number:"); Serial.println(num);
Serial.print("Bearing:"); Serial.print(bearing);Serial.println(" degree");
Serial.print("Velocity:"); Serial.print(velocity);Serial.println(" m/sec");
Serial.println("-------------------------------------------------------------");
sprintf(dataString, "%s,%s,%.7f,%.7f,%.1f,%d,%.2f,%.2f",
datestamp,
timestamp,
latitude,
longitude,
height,
num,
bearing,
velocity
);
// open the file. note that only one file can be open at a time,
// so you have to close this one before opening another.
Serial.println(dataString);
LFile dataFile = Drv.open("GPSlogger.csv", FILE_WRITE);
// if the file is available, write to it:
if (dataFile)
{
dataFile.println(dataString);
dataFile.close();
// print to the serial port too:
Serial.println(dataString);
}
// if the file isn't open, pop up an error:
else
{
Serial.println("error opening datalog.txt");
}
delay(10000);
}
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