SakuraIo Evaluation Board Standard

Diff: main.cpp

Revision:

1:faf04d99f302

Parent:

0:db3ec2781484

Child:

3:e5e53c1f6fda

--- a/main.cpp	Thu Sep 07 08:32:10 2017 +0000
+++ b/main.cpp	Wed Nov 29 06:30:47 2017 +0000
@@ -5,6 +5,7 @@
 #include <SakuraIO.h>
 #include "SakuraPinNames.h"
 #include "sensors.h"
+#include "gps.h"
 
 // Serial over CMSIS_DAP
 Serial pc(DAP_UART_TX, DAP_UART_RX, 9600);
@@ -44,6 +45,14 @@
 
 SensorData sensor_data;
 
+// GPS UART buffer
+char uart_buffer[128] = {0};
+int uart_buffer_index = 0;
+
+// NMEA Decoder
+GPSDecoder gps_decoder;
+
+void gps_uart_buffering_handler();
 
 void setup()
 {
@@ -66,7 +75,9 @@
     mpu9250.calib_acc();
     mpu9250.AK8963_calib_Magnetometer();
 
+    // active high
     gps_en = 1;
+    gps.attach(&gps_uart_buffering_handler, Serial::RxIrq);
 }
 
 void read_sensor_data()
@@ -90,44 +101,71 @@
     sakuraio.enqueueTx(1, sensor_data.bme280.temperature);
     sakuraio.enqueueTx(2, sensor_data.bme280.pressure);
     sakuraio.enqueueTx(3, sensor_data.bme280.humidity);
-    
-    sakuraio.enqueueTx(4, sensor_data.mpu9250.temperature); // これいる？
-    sakuraio.enqueueTx(5, sensor_data.mpu9250.accelerometer[0]);
-    sakuraio.enqueueTx(6, sensor_data.mpu9250.accelerometer[1]);
-    sakuraio.enqueueTx(7, sensor_data.mpu9250.accelerometer[2]);
-    sakuraio.enqueueTx(8, sensor_data.mpu9250.gyroscope[0]);
-    sakuraio.enqueueTx(9, sensor_data.mpu9250.gyroscope[1]);
-    sakuraio.enqueueTx(10, sensor_data.mpu9250.gyroscope[2]);
-    sakuraio.enqueueTx(11, sensor_data.mpu9250.magnetometer[0]);
-    sakuraio.enqueueTx(12, sensor_data.mpu9250.magnetometer[1]);
-    sakuraio.enqueueTx(13, sensor_data.mpu9250.magnetometer[2]);
-    //sakuraio.enqueueTx(14, lon);
-    //sakuraio.enqueueTx(15, lat);
+    sakuraio.enqueueTx(4, sensor_data.mpu9250.accelerometer[0]);
+    sakuraio.enqueueTx(5, sensor_data.mpu9250.accelerometer[1]);
+    sakuraio.enqueueTx(6, sensor_data.mpu9250.accelerometer[2]);
+    sakuraio.enqueueTx(7, sensor_data.mpu9250.gyroscope[0]);
+    sakuraio.enqueueTx(8, sensor_data.mpu9250.gyroscope[1]);
+    sakuraio.enqueueTx(9, sensor_data.mpu9250.gyroscope[2]);
+    sakuraio.enqueueTx(10, sensor_data.mpu9250.magnetometer[0]);
+    sakuraio.enqueueTx(11, sensor_data.mpu9250.magnetometer[1]);
+    sakuraio.enqueueTx(12, sensor_data.mpu9250.magnetometer[2]);
+    sakuraio.enqueueTx(13, gps_decoder.get_longitude());
+    sakuraio.enqueueTx(14, gps_decoder.get_latitude());
+    sakuraio.enqueueTx(15, gps_decoder.get_unixtime());
+}
+
+void gps_uart_buffering_handler()
+{
+    while (gps.readable() == 1) {
+        char c = gps.getc();
+        if (c == '\r') {
+            continue;
+        }
+        uart_buffer[uart_buffer_index] = c;
+        uart_buffer_index++;
+        if (c == '\n') {
+            uart_buffer[uart_buffer_index - 1] = '\0';
+            gps_decoder.set_nmea_message(uart_buffer);
+            gps_decoder.decode();
+            uart_buffer_index = 0;
+        }
+    }
 }
 
 
 void loop()
 {
-    pc.printf("\r\n\r\nGPS\r\n");
-    while(gps.readable()) {
-        pc.putc(gps.getc());
-    }
-    pc.printf("\r\n");
+    pc.printf("\r\n\r\n--------------------\r\n");
+
     static int i = 1;
     read_sensor_data();
     wait(1);
     pc.printf("This program runs since %d seconds.\r\n", i);
     pc.printf("BME280\r\n");
-    pc.printf("\tTemp: %fC\r\n", sensor_data.bme280.temperature);
-    pc.printf("\tPres: %fhPa\r\n", sensor_data.bme280.pressure);
-    pc.printf("\tHum: %f%%\r\n", sensor_data.bme280.humidity);
+    pc.printf("\tTemp: %.2fC\r\n", sensor_data.bme280.temperature);
+    pc.printf("\tPres: %.2fhPa\r\n", sensor_data.bme280.pressure);
+    pc.printf("\tHum: %.2f%%\r\n", sensor_data.bme280.humidity);
     pc.printf("MPU9250\r\n");
-    pc.printf("\tTemp: %fC\r\n", sensor_data.mpu9250.temperature);
+    pc.printf("\tTemp: %.2fC\r\n", sensor_data.mpu9250.temperature);
     for (int j = 0; j < 3; j++) {
-        pc.printf("\tacc[%d]: %f\r\n", j, sensor_data.mpu9250.accelerometer[j]);
-        pc.printf("\tgyro[%d]: %f\r\n", j, sensor_data.mpu9250.gyroscope[j]);
-        pc.printf("\tmag[%d]: %f\r\n", j, sensor_data.mpu9250.magnetometer[j]);
+        pc.printf("\tacc[%d]: %.2f\r\n", j, sensor_data.mpu9250.accelerometer[j]);
+        pc.printf("\tgyro[%d]: %.2f\r\n", j, sensor_data.mpu9250.gyroscope[j]);
+        pc.printf("\tmag[%d]: %.2f\r\n", j, sensor_data.mpu9250.magnetometer[j]);
     }
+    pc.printf("GPS\r\n");
+    pc.printf("\tlat: %f%c\r\n", 
+            gps_decoder.get_latitude(), 
+            gps_decoder.get_latitude() >= 0 ? 'N' : 'S');
+    pc.printf("\tlon: %f%c\r\n", 
+            gps_decoder.get_longitude(),
+            gps_decoder.get_longitude() >= 0 ? 'E' : 'W');
+    pc.printf("\tspeed: %fkm/h\r\n", gps_decoder.get_speed());
+    pc.printf("\tmove_direction: %f\r\n", gps_decoder.get_move_direction());
+    pc.printf("\tdate: %d/%02d/%02d %02d:%02d:%02d (UTC)\r\n",
+              gps_decoder.get_year(), gps_decoder.get_month(), gps_decoder.get_day(),
+              gps_decoder.get_hour(), gps_decoder.get_min(), gps_decoder.get_sec());
+    pc.printf("\tUNIX time: %d\r\n", gps_decoder.get_unixtime());
     lcd.cls();
     if( (sakuraio.getConnectionStatus() & 0x80) == 0x80 ) {
         lcd.printf("Online\n", i);
@@ -138,7 +176,7 @@
     i++;
     led_1 = !led_1;
     led_4 = !sw_4;
-    
+
     enqueue_sensor_data(i);
     sakuraio.send();
 }