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Teseo Location demo for GPSProvider using ST GNSS driver.
Dependencies: GPS_Provider X_NUCLEO_GNSS1A1
Getting Started with X-NUCLEO-GNSS1A1
This example demonstrates how to use the X-NUCLEO-GNSS1A1 component with one of the STM32 Nucleo-64 platforms and how real time GNSS data received by the Teseo-LIV3F device can be displayed through a serial connection and a serial terminal on a PC. Furthermore the user can run commands enabling three advanced features:
- Geofencing
- Odometer
- Data Logging
Setup
Once the antenna has been connected to the SMA female connector of the X-NUCLEO-GNSS1A1 plugged on top of the STM32 Nucleo, a serial connection should be set up between the STM32 Nucleo and the PC with the following parameters:
- baud rate: 115200
- data: 8 bit
- parity: none
- stop: 1bit
- flow control: none
- New-line (Tx/Rx): CR
Serial connection parameters
The user can select among different options to:
- get in a human readable format information related to the acquired GNSS position (or the satellites in view, the active satellites, and so on)
- enable feature (geofencing, odometer, data logging)
- configure a geofence circle
- require geofence status
- start/stop feature (odometer, data logging)
Application menu
Diff: source/main.cpp
- Revision:
- 0:7b0a5a01caec
- Child:
- 4:b67349d44157
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/source/main.cpp Fri Nov 09 17:10:46 2018 +0000 @@ -0,0 +1,564 @@ +/** +******************************************************************************* +* @file main.cpp +* @author AST / Central Lab +* @version V1.0.0 +* @date June-2017 +* @brief Teseo Location Hello World +* +******************************************************************************* +* @attention +* +* <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2> +* +* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); +* You may not use this file except in compliance with the License. +* You may obtain a copy of the License at: +* +* http://www.st.com/software_license_agreement_liberty_v2 +* +* Redistribution and use in source and binary forms, with or without modification, +* are permitted provided that the following conditions are met: +* 1. Redistributions of source code must retain the above copyright notice, +* this list of conditions and the following disclaimer. +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* 3. Neither the name of STMicroelectronics nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +******************************************************************************** +*/ + +#include "mbed.h" +#include "Teseo.h" +#include "GPSProvider.h" + +#include "geofence_config.h" + +#define DEBUG_RX_PIN D0 +#define DEBUG_TX_PIN D1 + +/* appliation commands */ +typedef enum AppCmd { + APP_CMD_IDLE, // No special command + APP_CMD_HELP, // Show the supported commands + APP_CMD_START, // Start location + APP_CMD_STOP, // Stop location + APP_CMD_GETLASTLOC, // Get last location + APP_CMD_ENGEOFENCE, // Enable Geofence + APP_CMD_CONFGEOFENCE, // Config Geofence + APP_CMD_GEOFENCEREQ, // Request Geofence status + APP_CMD_ENODO, // Enable Odometer + APP_CMD_STARTODO, // Start Odometer system + APP_CMD_STOPODO, // Stop Odometer system + APP_CMD_ENDATALOG, // Enable Datalog + APP_CMD_CONFDATALOG, // Config Datalog + APP_CMD_STARTDATALOG, // Start Datalog + APP_CMD_STOPDATALOG, // Stop Datalog + APP_CMD_ERASEDATALOG, // Erase Datalog + APP_CMD_VERBOSE, // Enable verbose mode + APP_CMD_RESET, // Debug command, pull reset pin high level + APP_CMD_GET_DEVICE_INFO // Get Device Info +} eAppCmd; + +static void _AppShowCmd(void); +static void _ConsoleRxHandler(void); +static void _AppCmdProcess(char *pCmd); +static void _AppShowLastPosition(const GPSProvider::LocationUpdateParams_t *lastLoc); +static void _AppEnGeofence(const bool isGeofenceSupported); +static void _AppGeofenceCfg(void); +static void _AppEnOdometer(const bool isOdometerSupported); +static void _AppEnDatalogging(const bool isDataloggingSupported); +static void _AppDatalogCfg(void); + +static void _ExecAppCmd(void); + +static int sAppCmd = APP_CMD_IDLE; +static eGeofenceId geofenceId; + +Serial serialDebug(DEBUG_TX_PIN, DEBUG_RX_PIN); +#define TESEO_APP_LOG_INFO(...) serialDebug.printf(__VA_ARGS__) + +#define WARNING_NOT_RUN_MSG TESEO_APP_LOG_INFO("GNSS is not running. Please, type 'start' to make it runnable.\r\n"); +#define WARNING_ALREADY_RUN_MSG TESEO_APP_LOG_INFO("GNSS is already running.\r\n"); + +static GPSProvider gnss; +static bool gnssRunning = false; +static int level = 1; + +void +locationHandler(const GPSProvider::LocationUpdateParams_t *params) +{ + if (params->valid) { + /* application specific handling of location data; */ + TESEO_APP_LOG_INFO("locationHandler...\r\n"); + } +} + +void +geofenceCfg(int ret_code) +{ + TESEO_APP_LOG_INFO("geofenceCfg...\r\n"); +} + +void +geofenceStatus(const GPSProvider::GeofenceStatusParams_t *params, int ret_code) +{ + /* application specific handling of geofencing status data; */ + TESEO_APP_LOG_INFO("geofenceStatus...\r\n"); +} + +static void +_ConsoleRxHandler(void) +{ + static char cmd[32] = {0}; + char ch; + + while(true) { + while (!serialDebug.readable()) { + Thread::yield(); // Allow other threads to run + } + ch = serialDebug.getc(); + serialDebug.putc(ch); + if (ch == '\r') { + serialDebug.putc('\n'); + if (strlen(cmd) > 0) { + _AppCmdProcess(cmd); + memset(cmd, 0, sizeof(cmd)); + } + } else { + cmd[strlen(cmd)] = ch; + } + } +} + +static +void +_ExecAppCmd(void) +{ + while (true) { + //TESEO_APP_LOG_INFO("main thread!!!\r\n"); + switch (sAppCmd) { + case APP_CMD_HELP: + sAppCmd = APP_CMD_IDLE; + _AppShowCmd(); + break; + + case APP_CMD_IDLE: + if(gnssRunning) { + //TESEO_APP_LOG_INFO("process.\r\n"); + gnss.process(); + } + break; + + case APP_CMD_START: + sAppCmd = APP_CMD_IDLE; + if(gnssRunning) { + WARNING_ALREADY_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("start gnss.\r\n"); + gnss.start(); + gnssRunning = true; + } + break; + case APP_CMD_STOP: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("stop gnss.\r\n"); + gnss.stop(); + gnssRunning = false; + } + break; + case APP_CMD_RESET: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("reset on.\r\n"); + gnss.reset(); + } + break; + case APP_CMD_GETLASTLOC: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("get last loc.\r\n"); + _AppShowLastPosition(gnss.getLastLocation()); + } + break; + case APP_CMD_ENGEOFENCE: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("enable geofence.\r\n"); + _AppEnGeofence(gnss.isGeofencingSupported()); + } + break; + case APP_CMD_CONFGEOFENCE: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("config geofence.\r\n"); + _AppGeofenceCfg(); + } + break; + case APP_CMD_GEOFENCEREQ: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("request geofence status.\r\n"); + gnss.geofenceReq(); + } + break; + case APP_CMD_ENODO: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("enable odometer.\r\n"); + _AppEnOdometer(gnss.isOdometerSupported()); + } + break; + case APP_CMD_STARTODO: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("start odo subystem.\r\n"); + gnss.startOdo(1); + } + break; + case APP_CMD_STOPODO: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("stop odo subystem.\r\n"); + gnss.stopOdo(); + } + break; + case APP_CMD_ENDATALOG: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("enable datalog.\r\n"); + _AppEnDatalogging(gnss.isDataloggingSupported()); + } + break; + case APP_CMD_CONFDATALOG: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("config datalog.\r\n"); + _AppDatalogCfg(); + } + break; + case APP_CMD_STARTDATALOG: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("start datalog.\r\n"); + gnss.startDatalog(); + } + break; + case APP_CMD_STOPDATALOG: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("stop datalog.\r\n"); + gnss.stopDatalog(); + } + break; + case APP_CMD_ERASEDATALOG: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("erase datalog.\r\n"); + gnss.eraseDatalog(); + } + break; + case APP_CMD_VERBOSE: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("set verbose mode.\r\n"); + gnss.setVerboseMode(level); + } + break; + case APP_CMD_GET_DEVICE_INFO: + sAppCmd = APP_CMD_IDLE; + if(!gnssRunning) { + WARNING_NOT_RUN_MSG; + } else { + TESEO_APP_LOG_INFO("get device info.\r\n"); + if(gnss.haveDeviceInfo()) { + TESEO_APP_LOG_INFO(gnss.getDeviceInfo()); + } + TESEO_APP_LOG_INFO("\r\n"); + } + break; + } + Thread::yield(); // Allow other threads to run + } +} + +int main() { + Thread consoleThread; + Thread cmdThread; + + consoleThread.set_priority(osPriorityIdle); + cmdThread.set_priority(osPriorityIdle); + + serialDebug.format(8, Serial::None, 1); + serialDebug.baud(115200); + consoleThread.start(_ConsoleRxHandler); + + gnss.reset(); + gnss.onLocationUpdate(locationHandler); + TESEO_APP_LOG_INFO("Success to new GNSS.\r\n"); + + _AppShowCmd(); + cmdThread.start(_ExecAppCmd); + + while(1) { + Thread::yield(); + } + +} + +static void +_AppShowLastPosition(const GPSProvider::LocationUpdateParams_t *lastLoc) +{ + char msg[256]; + GPSProvider::LocationUpdateParams_t lastLocation = *lastLoc; + + if(lastLocation.valid == true) { + sprintf(msg,"Latitude:\t\t[ %.0f' %d'' ]\n\r", + (lastLocation.lat - ((int)lastLocation.lat % 100)) / 100, + ((int)lastLocation.lat % 100)); + TESEO_APP_LOG_INFO(msg); + + sprintf(msg,"Longitude:\t\t[ %.0f' %d'' ]\n\r", + (lastLocation.lon - ((int)lastLocation.lon % 100)) / 100, + ((int)lastLocation.lon % 100)); + TESEO_APP_LOG_INFO(msg); + + sprintf(msg,"Altitude:\t\t[ %.2f ]\n\r", + lastLocation.altitude); + TESEO_APP_LOG_INFO(msg); + + sprintf(msg,"Satellites locked:\t[ %d ]\n\r", + lastLocation.numGPSSVs); + TESEO_APP_LOG_INFO(msg); + + sprintf(msg, "UTC:\t\t\t[ %d ]\n\r", + (int)lastLocation.utcTime); + TESEO_APP_LOG_INFO(msg); + + } else { + sprintf(msg, "Last position wasn't valid.\n\n\r"); + TESEO_APP_LOG_INFO(msg); + } +} + +static void +_AppEnGeofence(const bool isGeofenceSupported) +{ + if(isGeofenceSupported) { + gps_provider_error_t ret = gnss.enableGeofence(); + if(ret == GPS_ERROR_NONE) { + TESEO_APP_LOG_INFO("Enabling Geofencing subsystem...\n\r"); + } + } else { + TESEO_APP_LOG_INFO("Geofencing is not supported!\n\r"); + } + +} + +static void +_AppGeofenceCfg(void) +{ + GPSGeofence gf; + + switch (geofenceId) { + case LecceId: + gf.setGeofenceCircle(STLecce); + break; + case CataniaId: + gf.setGeofenceCircle(Catania); + break; + } + /* + GPSGeofence::GeofenceCircle_t c = gf.getGeofenceCircle(); + printf("_AppGeofenceCfg id=%d\r\n", c.id); + printf("_AppGeofenceCfg en=%d\r\n", c.enabled); + printf("_AppGeofenceCfg tol=%d\r\n", c.tolerance); + printf("_AppGeofenceCfg lat=%.2f\r\n", c.lat); + printf("_AppGeofenceCfg lon=%.2f\r\n", c.lon); + printf("_AppGeofenceCfg radius=%.2f\r\n", c.radius); + */ + + GPSGeofence *geofenceTable[] = {&gf}; + + gnss.onGeofenceCfgMessage(geofenceCfg); + gnss.onGeofenceStatusMessage(geofenceStatus); + gps_provider_error_t ret = gnss.configGeofences(geofenceTable, sizeof(geofenceTable)/sizeof(GPSGeofence *)); + if(ret == GPS_ERROR_NONE) { + TESEO_APP_LOG_INFO("Configuring Geofence circles...\n\r"); + } + +} + +static void +_AppEnOdometer(const bool isOdometerSupported) +{ + if(isOdometerSupported) { + gps_provider_error_t ret = gnss.enableOdo(); + if(ret == GPS_ERROR_NONE) { + TESEO_APP_LOG_INFO("Enabling Odometer subsystem...\n\r"); + } + } else { + TESEO_APP_LOG_INFO("Odometer is not supported!\n\r"); + } + +} + +static void +_AppEnDatalogging(const bool isDataloggingSupported) +{ + if(isDataloggingSupported) { + gps_provider_error_t ret = gnss.enableDatalog(); + if(ret == GPS_ERROR_NONE) { + TESEO_APP_LOG_INFO("Enabling Datalog subsystem...\n\r"); + } + } else { + TESEO_APP_LOG_INFO("Datalog is not supported!\n\r"); + } + +} + +static void +_AppDatalogCfg(void) +{ + bool enableBufferFullAlarm = false; + bool enableCircularBuffer = true; + unsigned minRate = 5; + unsigned minSpeed = 0; + unsigned minPosition = 0; + int logMask = 1; + + GPSDatalog dl(enableBufferFullAlarm, + enableCircularBuffer, + minRate, + minSpeed, + minPosition, + logMask); + + gps_provider_error_t ret = gnss.configDatalog(&dl); + if(ret == GPS_ERROR_NONE) { + TESEO_APP_LOG_INFO("Configuring Datalog...\n\r"); + } +} + +static void +_AppShowCmd(void) +{ + TESEO_APP_LOG_INFO("Location commands:\r\n"); + TESEO_APP_LOG_INFO(" help - help to show supported commands\r\n"); + TESEO_APP_LOG_INFO(" start - begin location app\r\n"); + TESEO_APP_LOG_INFO(" stop - end location app\r\n"); + TESEO_APP_LOG_INFO(" getlastloc - get last location\r\n"); + TESEO_APP_LOG_INFO(" en-geo - enable Geofence\r\n"); + TESEO_APP_LOG_INFO(" geo-c - config Geofence [c=l Lecce, c=t Catania]\r\n"); + TESEO_APP_LOG_INFO(" req-geo - request Geofence status\r\n"); + TESEO_APP_LOG_INFO(" en-odo - enable Odoemter\r\n"); + TESEO_APP_LOG_INFO(" start-odo - start Ododmeter [demo distance 1m]\r\n"); + TESEO_APP_LOG_INFO(" stop-odo - stop Ododmeter\r\n"); + TESEO_APP_LOG_INFO(" en-datalog - enable Datalog\r\n"); + TESEO_APP_LOG_INFO(" cfg-dl - config Datalog\r\n"); + TESEO_APP_LOG_INFO(" start-dl - start Datalog\r\n"); + TESEO_APP_LOG_INFO(" stop-dl - stop Datalog\r\n"); + TESEO_APP_LOG_INFO(" erase-dl - erase Datalog\r\n"); + TESEO_APP_LOG_INFO(" verbose-l - nmea msg verbose mode [l=1 normal, l=2 debug]\r\n"); + TESEO_APP_LOG_INFO(" reset - reset GNSS\r\n"); + TESEO_APP_LOG_INFO(" getdevinfo - get device info\r\n"); +} + +static void +_AppCmdProcess(char *pCmd) +{ + if (strcmp(pCmd, "help") == 0) { + sAppCmd = APP_CMD_HELP; + } else if (strcmp(pCmd, "start") == 0) { + sAppCmd = APP_CMD_START; + } else if (strcmp(pCmd, "stop") == 0) { + sAppCmd = APP_CMD_STOP; + } else if (strcmp(pCmd, "getlastloc") == 0) { + sAppCmd = APP_CMD_GETLASTLOC; + } else if (strcmp(pCmd, "en-geo") == 0) { + sAppCmd = APP_CMD_ENGEOFENCE; + } else if (strcmp(pCmd, "geo-l") == 0) { + geofenceId = LecceId; + sAppCmd = APP_CMD_CONFGEOFENCE; + } else if (strcmp(pCmd, "geo-t") == 0) { + geofenceId = CataniaId; + sAppCmd = APP_CMD_CONFGEOFENCE; + } else if (strcmp(pCmd, "req-geo") == 0) { + sAppCmd = APP_CMD_GEOFENCEREQ; + } else if (strcmp(pCmd, "en-odo") == 0) { + sAppCmd = APP_CMD_ENODO; + } else if (strcmp(pCmd, "start-odo") == 0) { + sAppCmd = APP_CMD_STARTODO; + } else if (strcmp(pCmd, "stop-odo") == 0) { + sAppCmd = APP_CMD_STOPODO; + } else if (strcmp(pCmd, "en-datalog") == 0) { + sAppCmd = APP_CMD_ENDATALOG; + } else if (strcmp(pCmd, "cfg-dl") == 0) { + sAppCmd = APP_CMD_CONFDATALOG; + } else if (strcmp(pCmd, "start-dl") == 0) { + sAppCmd = APP_CMD_STARTDATALOG; + } else if (strcmp(pCmd, "stop-dl") == 0) { + sAppCmd = APP_CMD_STOPDATALOG; + } else if (strcmp(pCmd, "erase-dl") == 0) { + sAppCmd = APP_CMD_ERASEDATALOG; + } else if (strcmp(pCmd, "verbose-1") == 0) { + level = 1; + sAppCmd = APP_CMD_VERBOSE; + } else if (strcmp(pCmd, "verbose-2") == 0) { + level = 2; + sAppCmd = APP_CMD_VERBOSE; + } else if (strcmp(pCmd, "reset") == 0) { + sAppCmd = APP_CMD_RESET; + } else if (strcmp(pCmd, "getdevinfo") == 0) { + sAppCmd = APP_CMD_GET_DEVICE_INFO; + } else { + TESEO_APP_LOG_INFO("\r\nUnknown command %s\r\n", pCmd); + } + + TESEO_APP_LOG_INFO("\r\n"); +}