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Révision 60

Ajouté par Yannis SENOUCI il y a environ 3 ans

creation branche Senouci

Voir les différences:

branch/SENOUCI/sp4a12/main.c
#include <stdio.h>
#include <stdlib.h>
#include <strings.h>
#include "trame.h"
//Trames de tests ? modifier si n?cessaire.
char * trames[]= {"$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C",
"$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E",
"$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C",
"$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E",
"$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D",
"$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39",
"$GPVTG,99.4,T,,M,0.4,N,0.7,K*57",
"$GPZDA,141914.00,01,02,2006,00,00*69",
0};
//Fonction ? modifier !!!!!
void traitement(char * trame)
{
printf ("> %s\n",trame);
}
//Ajouter vos tests unitaires dans cette fonction.
void tests_unitaires(void){
if (5!=5){
printf ("Erreur Test unitaire basique.\n");
exit(-1);
}
/*if (trame_cmp("$GPGGA suite chaine","GPGGA")!=1){
printf ("Erreur Test unitaire trame_cmp.\n");
exit(-1);
}*/
}
// Ne pas modifier cette fonction
int main(int argc,char ** argv)
{
tests_unitaires();
// Affichage des trames definies dans la table trames.
printf ("Trames de tests tableau trames:\n");
int i=0;
while (trames[i])
traitement(trames[i++]);
if (!trame_init())
exit(-1);
// Affichage des trames du fichier gps.log
char *trame;
printf ("Trames de tests du fichier gps.log\n");
while ((trame = trame_suivante()))
traitement(trame);
return 0;
}
branch/SENOUCI/sp4a12/gps.log
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E
$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C
$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E
$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*79
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,99.4,T,,M,0.4,N,0.7,K*57
$GPZDA,141914.00,01,02,2006,00,00*69
$GPGSV,3,1,10,01,13,142,46,03,48,144,47,11,41,277,,14,27,104,42*75
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
$GPRMC,141915.00,A,4545.6423,N,00306.6039,E,0.6,110.2,010206,,*31
$GPGLL,4545.6423,N,00306.6039,E,141915.00,A*07
$GPGGA,141915.00,4545.0242,N,00306.6039,E,1,05,3.4,499.5,M,,M,,*75
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,110.2,T,,M,0.6,N,1.2,K*67
$GPZDA,141915.00,01,02,2006,00,00*68
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
$GPGSV,3,3,10,22,39,053,49,28,15,320,*76
$GPRMC,141916.00,A,4545.6422,N,00306.6037,E,0.1,211.1,010206,,*3B
$GPGLL,4545.6422,N,00306.6037,E,141916.00,A*0B
$GPGGA,141916.00,4545.0484,N,00306.6037,E,1,05,3.4,500.0,M,,M,,*70
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,211.1,T,,M,0.1,N,0.2,K*60
$GPZDA,141916.00,01,02,2006,00,00*6B
$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,43*78
$GPGSV,3,2,10,15,03,077,,18,04,041,44,19,85,271,,20,08,214,*7A
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
$GPRMC,141917.00,A,4545.6422,N,00306.6039,E,0.3,122.3,010206,,*37
$GPGLL,4545.6422,N,00306.6039,E,141917.00,A*04
$GPGGA,141917.00,4545.0726,N,00306.6039,E,1,05,3.4,499.6,M,,M,,*73
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,122.3,T,,M,0.3,N,0.5,K*64
$GPZDA,141917.00,01,02,2006,00,00*6A
$GPGSV,3,1,10,01,13,142,45,03,48,144,46,11,41,277,,14,27,104,41*74
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
$GPRMC,141918.00,A,4545.6421,N,00306.6034,E,0.5,252.2,010206,,*35
$GPGLL,4545.6421,N,00306.6034,E,141918.00,A*05
$GPGGA,141918.00,4545.0968,N,00306.6034,E,1,05,3.4,498.8,M,,M,,*7A
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,252.2,T,,M,0.5,N,1.0,K*63
$GPZDA,141918.00,01,02,2006,00,00*65
$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,42*79
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
$GPRMC,141919.00,A,4545.6420,N,00306.6040,E,0.6,95.2,010206,,*0C
$GPGLL,4545.6420,N,00306.6040,E,141919.00,A*06
$GPGGA,141919.00,4545.1210,N,00306.6040,E,1,05,3.4,500.2,M,,M,,*77
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,95.2,T,,M,0.6,N,1.2,K*5B
$GPZDA,141919.00,01,02,2006,00,00*64
$GPGSV,3,1,10,01,13,142,46,03,48,144,49,11,41,277,,14,27,104,42*7B
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
$GPRMC,141920.00,A,4545.6419,N,00306.6039,E,0.2,133.1,010206,,*38
$GPGLL,4545.6419,N,00306.6039,E,141920.00,A*08
$GPGGA,141920.00,4545.1410,N,00306.6039,E,1,05,3.4,500.0,M,,M,,*77
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,133.1,T,,M,0.2,N,0.4,K*66
$GPZDA,141920.00,01,02,2006,00,00*6E
$GPGSV,3,1,10,01,13,142,45,03,48,144,46,11,41,277,,14,27,104,43*76
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
$GPGSV,3,3,10,22,38,053,50,28,15,320,*7F
$GPRMC,141921.00,A,4545.6419,N,00306.6043,E,0.6,103.1,010206,,*33
$GPGLL,4545.6419,N,00306.6043,E,141921.00,A*04
$GPGGA,141921.00,4545.1610,N,00306.6043,E,1,05,3.4,499.8,M,,M,,*70
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,103.1,T,,M,0.6,N,1.1,K*65
$GPZDA,141921.00,01,02,2006,00,00*6F
$GPGSV,3,1,10,01,13,142,46,03,48,144,48,11,41,277,,14,27,104,42*7A
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
$GPGSV,3,3,10,22,38,053,48,28,15,320,*76
$GPRMC,141922.00,A,4545.6418,N,00306.6046,E,0.7,96.9,010206,,*00
$GPGLL,4545.6418,N,00306.6046,E,141922.00,A*03
$GPGGA,141922.00,4545.1810,N,00306.6046,E,1,05,3.4,500.6,M,,M,,*77
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,96.9,T,,M,0.7,N,1.3,K*53
$GPZDA,141922.00,01,02,2006,00,00*6C
$GPGSV,3,1,10,01,13,142,47,03,48,144,46,11,41,277,,14,27,104,43*74
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
$GPGSV,3,3,10,22,38,053,48,28,15,320,*76
$GPRMC,141923.00,A,4545.6417,N,00306.6046,E,0.3,113.6,010206,,*39
$GPGLL,4545.6417,N,00306.6046,E,141923.00,A*0D
$GPGGA,141923.00,4545.2010,N,00306.6046,E,1,05,3.4,500.6,M,,M,,*7D
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,113.6,T,,M,0.3,N,0.7,K*61
$GPZDA,141923.00,01,02,2006,00,00*6D
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
$GPRMC,141924.00,A,4545.6416,N,00306.6044,E,0.2,197.7,010206,,*31
$GPGLL,4545.6416,N,00306.6044,E,141924.00,A*09
$GPGGA,141924.00,4545.2210,N,00306.6044,E,1,05,3.4,500.5,M,,M,,*79
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,197.7,T,,M,0.2,N,0.4,K*6E
$GPZDA,141924.00,01,02,2006,00,00*6A
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,40*74
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
$GPRMC,141925.00,A,4545.6415,N,00306.6046,E,0.2,130.8,010206,,*33
$GPGLL,4545.6415,N,00306.6046,E,141925.00,A*09
$GPGGA,141925.00,4545.2410,N,00306.6046,E,1,05,3.4,501.4,M,,M,,*7C
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
$GPVTG,130.8,T,,M,0.2,N,0.5,K*6D
$GPZDA,141925.00,01,02,2006,00,00*6B
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,40*74
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
$GPGSV,3,3,10,22,38,053,47,28,15,320,*79
$GPRMC,141926.?E,0.2,260.8,010206,,*34
branch/SENOUCI/sp4a12/trame.c
/* Fichier trames.c - Gestion et decodage des trames */
/* Ce fichier sera fourni */
#include <stdio.h>
#include <stdlib.h>
#include "trame.h"
#define FICHIER_TRAMES "gps.log" /* Par exemple */
#define MAX_FRAME_LENGTH 80
static char trame_buf[MAX_FRAME_LENGTH];
static FILE *trame_fic;
int trame_init(void)
{
trame_fic = fopen(FICHIER_TRAMES, "r");
if (trame_fic)
return 1;
fprintf(stderr, "Impossible d'ouvrir le fichier %s\n", FICHIER_TRAMES);
return 0;
}
char *trame_suivante(void)
{
return fgets(trame_buf, MAX_FRAME_LENGTH-1, trame_fic);
}
branch/SENOUCI/sp4a12/sp4a.cbp
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<CodeBlocks_project_file>
<FileVersion major="1" minor="6" />
<Project>
<Option title="sp4a" />
<Option pch_mode="2" />
<Option compiler="gcc" />
<Build>
<Target title="Debug">
<Option output="sp4a" prefix_auto="1" extension_auto="1" />
<Option object_output=".\debug" />
<Option type="1" />
<Option compiler="gcc" />
<Compiler>
<Add option="-g" />
</Compiler>
</Target>
</Build>
<Compiler>
<Add option="-Wall" />
</Compiler>
<Unit filename="gps.log" />
<Unit filename="main.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="trame.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="trame.h" />
<Extensions>
<code_completion />
<envvars />
<debugger />
<lib_finder disable_auto="1" />
</Extensions>
</Project>
</CodeBlocks_project_file>
branch/SENOUCI/sp4a12/trame.h
int trame_init(void);
char * trame_suivante(void);
branch/SENOUCI/sp4a3/sp4a3_kalman.cbp
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<CodeBlocks_project_file>
<FileVersion major="1" minor="6" />
<Project>
<Option title="sp4a3_kalman" />
<Option pch_mode="2" />
<Option compiler="gcc" />
<Build>
<Target title="Debug">
<Option output="./test_kalman" prefix_auto="1" extension_auto="1" />
<Option object_output="." />
<Option type="1" />
<Option compiler="gcc" />
<Option parameters="debug" />
<Compiler>
<Add option="-g" />
</Compiler>
</Target>
<Target title="Release">
<Option output="./test_kalman" prefix_auto="1" extension_auto="1" />
<Option object_output="." />
<Option type="1" />
<Option compiler="gcc" />
<Compiler>
<Add option="-O2" />
</Compiler>
<Linker>
<Add option="-s" />
</Linker>
</Target>
</Build>
<Compiler>
<Add option="-Wall" />
</Compiler>
<Unit filename="sp4a3_kalman.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="sp4a3_kalman_extra.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="sp4a3_kalman_extra.h" />
<Extensions>
<code_completion />
<envvars />
<debugger />
<lib_finder disable_auto="1" />
</Extensions>
</Project>
</CodeBlocks_project_file>
branch/SENOUCI/sp4a3/sp4a3_kalman_extra.c
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#define error(a) _error(__LINE__,a)
void _error(int l,char * r){
printf("Erreur Ligne (%d) : %s",l,r);
exit(1);
}
int debug=1;
void _Plot_Mat(int n,int m,double in[n][m], const char* name){
int i,j;
if (!debug) return;
printf("\n%s[%d][%d]\n",name,n,m);
for (i=0;i<n;i++)
{
for (j=0;j<m;j++)
printf("%f\t",in[i][j]);
printf("\n");
}
}
#define Equal_Mat_Mat(Mat_A,Mat_B) _Equal_Mat_Mat(sizeof(Mat_A)/sizeof(Mat_A[0]),sizeof(Mat_A[0])/sizeof(Mat_A[0][0]),Mat_A,sizeof(Mat_B)/sizeof(Mat_B[0]),sizeof(Mat_B[0])/sizeof(Mat_B[0][0]),Mat_B)
int _Equal_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb]){
int i,j;
if (na!=nb) return 0;
if (ma!=mb) return 0;
for(i=0;i<na;i++)
for(j=0;j<ma;j++){
if (fabs(A[i][j]-B[i][j])>1e-6)
return 0;
}
return 1;
}
branch/SENOUCI/sp4a3/vitesse_reelle.dat
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