ST / X_NUCLEO_GNSS1A1

GPSProvider wrapper library for STMicroelectronics' X-NUCLEO-GNSS1A1 Expansion Board.

Dependents:   TeseoLocation

X_NUCLEO_GNSS1A1 Library

GPS_Provider wrapper library for STMicroelectronics' X-NUCLEO-GNSS1A1 component.

Overview

This library includes drivers for ST’s Teseo-LIV3F Global Navigation Satellite System (GNSS) device and middleware for the NMEA protocol support. This firmware package implements the port of the GPS_Provider to STMicroelectronics' X-NUCLEO-GNSS1A1 GNSS Expansion Board.

The key features of the library are:

  • Complete software to build applications using Teseo-LIV3F GNSS device
  • Middleware for the NMEA protocol support

Furthermore the library provides the following advanced features:

  • Geofencing - allows the Teseo-LIV3F receiver to raise a NMEA message when the resolved GNSS position is close to or entering or exiting from a specific circle
  • Odometer - provides information on the traveled distance using only the resolved GNSS position
  • Data Logging - allows the Teseo-LIV3F receiver to save locally on the flash the resolved GNSS position to be retrieved on demand from the Host

Hardware description

The X-NUCLEO-GNSS1A1 is a Global Navigation Satellite System Expansion Board usable with the STM32 Nucleo system and other Arduino compatible platforms. It is designed around the STMicroelectronics Teseo-LIV3F GNSS receiver IC working on multiple constellations (GPS/Galileo/Glonass/BeiDou/QZSS).

The Teseo-LIV3F module is designed for top performance in a minimal space. Within its 10x10mm compact size, Teseo-LIV3F offers superior accuracy thanks to the on board 26MHz Temperature Compensated Crystal Oscillator (TCXO) and a reduced Time To First Fix (TTFF) relying to its dedicated 32KHz Real Time Clock (RTC) oscillator.

The X-NUCLEO-GNSS1A1, hosting the Teseo-LIV3F, is compatible with Arduino UNO R3 connector layout and interfaces with the MCU via the UART channel. To connect by serial port the GNSS receiver and the host the following parameters must be used:

  • 8 data bits
  • No parity
  • 1 stop bit
  • 9600 bauds

A GPS/GLONASS/Beidou antenna, distributed along with the X-NUCLEO-GNSS1A1 Expansion Board, must be connected to the antenna connector present on the Expansion Board. For the X-NUCLEO-GNSS1A1 proper operations, the following jumper settings must be used:

  • J2 open
  • J3 closed
  • J4 closed
  • J5 open
  • J6 closed
  • J7 closed
  • J8 open
  • J9 closed
  • J10 open
  • J11 closed
  • J12 closed
  • J13 closed
  • J14 closed
  • J15 closed

Tested platforms

This firmware has been tested on STM32 NUCLEO-F401RE

Example Application

To run GNSS example applications using X-NUCLEO-GNSS1A1 Expansion Board based on mbed OS, please refer to TeseoLocation page.

Components/Teseo/Teseo.cpp@4:9d0addf682f0, 2019-02-14 (annotated)

Committer:
apalmieri
Date:
Thu Feb 14 11:37:40 2019 +0000
Revision:
4:9d0addf682f0
Parent:
3:2d568ec8da14
Child:
5:1fe1ba1f0013
Update .json file

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apalmieri 0:a77f1f1f8318 1 /**
apalmieri 0:a77f1f1f8318 2 *******************************************************************************
apalmieri 0:a77f1f1f8318 3 * @file Teseo.h
apalmieri 0:a77f1f1f8318 4 * @author AST / Central Lab
apalmieri 0:a77f1f1f8318 5 * @version V1.0.0
apalmieri 0:a77f1f1f8318 6 * @date May-2017
apalmieri 0:a77f1f1f8318 7 * @brief Teseo Location Class
apalmieri 0:a77f1f1f8318 8 *
apalmieri 0:a77f1f1f8318 9 *******************************************************************************
apalmieri 0:a77f1f1f8318 10 * @attention
apalmieri 0:a77f1f1f8318 11 *
apalmieri 0:a77f1f1f8318 12 * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
apalmieri 0:a77f1f1f8318 13 *
apalmieri 0:a77f1f1f8318 14 * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
apalmieri 0:a77f1f1f8318 15 * You may not use this file except in compliance with the License.
apalmieri 0:a77f1f1f8318 16 * You may obtain a copy of the License at:
apalmieri 0:a77f1f1f8318 17 *
apalmieri 0:a77f1f1f8318 18 * http://www.st.com/software_license_agreement_liberty_v2
apalmieri 0:a77f1f1f8318 19 *
apalmieri 0:a77f1f1f8318 20 * Redistribution and use in source and binary forms, with or without modification,
apalmieri 0:a77f1f1f8318 21 * are permitted provided that the following conditions are met:
apalmieri 0:a77f1f1f8318 22 * 1. Redistributions of source code must retain the above copyright notice,
apalmieri 0:a77f1f1f8318 23 * this list of conditions and the following disclaimer.
apalmieri 0:a77f1f1f8318 24 * 2. Redistributions in binary form must reproduce the above copyright notice,
apalmieri 0:a77f1f1f8318 25 * this list of conditions and the following disclaimer in the documentation
apalmieri 0:a77f1f1f8318 26 * and/or other materials provided with the distribution.
apalmieri 0:a77f1f1f8318 27 * 3. Neither the name of STMicroelectronics nor the names of its contributors
apalmieri 0:a77f1f1f8318 28 * may be used to endorse or promote products derived from this software
apalmieri 0:a77f1f1f8318 29 * without specific prior written permission.
apalmieri 0:a77f1f1f8318 30 *
apalmieri 0:a77f1f1f8318 31 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
apalmieri 0:a77f1f1f8318 32 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
apalmieri 0:a77f1f1f8318 33 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
apalmieri 0:a77f1f1f8318 34 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
apalmieri 0:a77f1f1f8318 35 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
apalmieri 0:a77f1f1f8318 36 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
apalmieri 0:a77f1f1f8318 37 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
apalmieri 0:a77f1f1f8318 38 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
apalmieri 0:a77f1f1f8318 39 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
apalmieri 0:a77f1f1f8318 40 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
apalmieri 0:a77f1f1f8318 41 *
apalmieri 0:a77f1f1f8318 42 ********************************************************************************
apalmieri 0:a77f1f1f8318 43 */
apalmieri 0:a77f1f1f8318 44
apalmieri 0:a77f1f1f8318 45 #include "Teseo.h"
apalmieri 0:a77f1f1f8318 46
apalmieri 0:a77f1f1f8318 47 static char TESEO_NAME[] = "Teseo-LIV3F";
apalmieri 0:a77f1f1f8318 48 /*
apalmieri 0:a77f1f1f8318 49 static char _OK[] = "OK";
apalmieri 0:a77f1f1f8318 50 static char _Failed[] = "Failed";
apalmieri 0:a77f1f1f8318 51 */
apalmieri 0:a77f1f1f8318 52
apalmieri 0:a77f1f1f8318 53 struct teseoCmd {
apalmieri 0:a77f1f1f8318 54 char *cmd;
apalmieri 0:a77f1f1f8318 55 };
apalmieri 0:a77f1f1f8318 56
apalmieri 0:a77f1f1f8318 57 static struct teseoCmd teseoCmds[] = {
apalmieri 0:a77f1f1f8318 58 [Teseo::TEST] = {
apalmieri 0:a77f1f1f8318 59 .cmd = (char*)"$\n\r",
apalmieri 0:a77f1f1f8318 60 },
apalmieri 0:a77f1f1f8318 61 [Teseo::GETSWVER] = {
apalmieri 0:a77f1f1f8318 62 .cmd = (char*)"$PSTMGETSWVER,6\n\r",
apalmieri 0:a77f1f1f8318 63 },
apalmieri 0:a77f1f1f8318 64 [Teseo::FORCESTANDBY] = {
apalmieri 0:a77f1f1f8318 65 .cmd = (char*)"$PSTMFORCESTANDBY,00010\n\r",
apalmieri 0:a77f1f1f8318 66 },
apalmieri 0:a77f1f1f8318 67 [Teseo::RFTESTON] = {
apalmieri 0:a77f1f1f8318 68 .cmd = (char*)"$PSTMRFTESTON,16\n\r",
apalmieri 0:a77f1f1f8318 69 },
apalmieri 0:a77f1f1f8318 70 [Teseo::RFTESTOFF] = {
apalmieri 0:a77f1f1f8318 71 .cmd = (char*)"$PSTMRFTESTOFF\n\r",
apalmieri 0:a77f1f1f8318 72 },
apalmieri 0:a77f1f1f8318 73 [Teseo::LOWPOWER] = {
apalmieri 0:a77f1f1f8318 74 .cmd = (char*)"$PSTMLOWPOWERONOFF,1,0,000,05,0,1,000,1,00010,01,0,0,1,01\n\r",
apalmieri 0:a77f1f1f8318 75 },
apalmieri 0:a77f1f1f8318 76 [Teseo::FWUPDATE] = {
apalmieri 0:a77f1f1f8318 77 .cmd = (char*)"$PSTMFWUPGRADE\n\r",
apalmieri 0:a77f1f1f8318 78 }
apalmieri 0:a77f1f1f8318 79 };
apalmieri 0:a77f1f1f8318 80
apalmieri 0:a77f1f1f8318 81 Teseo::Teseo(PinName resetPin,
apalmieri 0:a77f1f1f8318 82 PinName wakeupPin,
apalmieri 0:a77f1f1f8318 83 PinName ppsPin,
apalmieri 0:a77f1f1f8318 84 PinName uartTxPin,
apalmieri 0:a77f1f1f8318 85 PinName uartRxPin,
apalmieri 0:a77f1f1f8318 86 Serial *serialDebug):
apalmieri 0:a77f1f1f8318 87 _loc_led2(LOC_LED2),
apalmieri 0:a77f1f1f8318 88 _reset(resetPin, 1),
apalmieri 0:a77f1f1f8318 89 _pps(ppsPin),
apalmieri 0:a77f1f1f8318 90 _wakeup(wakeupPin, 0),
apalmieri 0:a77f1f1f8318 91 _uartRx(uartRxPin),
apalmieri 0:a77f1f1f8318 92 _uartTx(uartTxPin),
apalmieri 0:a77f1f1f8318 93 _serialDebug(serialDebug)
apalmieri 0:a77f1f1f8318 94 {
apalmieri 0:a77f1f1f8318 95 wait_ms(POWERON_STABLE_SIGNAL_DELAY_MS);
apalmieri 0:a77f1f1f8318 96 _uart = NULL;
apalmieri 0:a77f1f1f8318 97 _i2c = NULL;
apalmieri 0:a77f1f1f8318 98
apalmieri 0:a77f1f1f8318 99 _locState = TESEO_LOC_STATE_IDLE;
apalmieri 0:a77f1f1f8318 100
apalmieri 0:a77f1f1f8318 101 deviceInfo = TESEO_NAME;
apalmieri 0:a77f1f1f8318 102 }
apalmieri 0:a77f1f1f8318 103
apalmieri 0:a77f1f1f8318 104 Teseo::Teseo(PinName resetPin,
apalmieri 0:a77f1f1f8318 105 PinName wakeupPin,
apalmieri 0:a77f1f1f8318 106 PinName ppsPin,
apalmieri 0:a77f1f1f8318 107 PinName uartTxPin,
apalmieri 0:a77f1f1f8318 108 PinName uartRxPin,
apalmieri 0:a77f1f1f8318 109 I2C *i2cBus,
apalmieri 0:a77f1f1f8318 110 Serial *serialDebug):
apalmieri 0:a77f1f1f8318 111 _loc_led2(LOC_LED2),
apalmieri 0:a77f1f1f8318 112 _reset(resetPin, 1),
apalmieri 0:a77f1f1f8318 113 _pps(ppsPin),
apalmieri 0:a77f1f1f8318 114 _wakeup(wakeupPin, 0),
apalmieri 0:a77f1f1f8318 115 _uartRx(uartRxPin),
apalmieri 0:a77f1f1f8318 116 _uartTx(uartTxPin),
apalmieri 0:a77f1f1f8318 117 _serialDebug(serialDebug),
apalmieri 0:a77f1f1f8318 118 _i2c(i2cBus)
apalmieri 0:a77f1f1f8318 119 {
apalmieri 0:a77f1f1f8318 120 wait_ms(POWERON_STABLE_SIGNAL_DELAY_MS);
apalmieri 0:a77f1f1f8318 121 _uart = NULL;
apalmieri 0:a77f1f1f8318 122
apalmieri 0:a77f1f1f8318 123 _locState = TESEO_LOC_STATE_IDLE;
apalmieri 0:a77f1f1f8318 124
apalmieri 0:a77f1f1f8318 125 deviceInfo = TESEO_NAME;
apalmieri 0:a77f1f1f8318 126 }
apalmieri 0:a77f1f1f8318 127
apalmieri 0:a77f1f1f8318 128 void
apalmieri 0:a77f1f1f8318 129 Teseo::TeseoLocRegOutput(teseo_app_output_callback app_output_cb, teseo_app_event_callback app_event_cb)
apalmieri 0:a77f1f1f8318 130 {
apalmieri 0:a77f1f1f8318 131 appOutCb = app_output_cb;
apalmieri 0:a77f1f1f8318 132 appEventCb = app_event_cb;
apalmieri 0:a77f1f1f8318 133 }
apalmieri 0:a77f1f1f8318 134
apalmieri 0:a77f1f1f8318 135 int
apalmieri 0:a77f1f1f8318 136 Teseo::EnableLowPower()
apalmieri 0:a77f1f1f8318 137 {
apalmieri 0:a77f1f1f8318 138 SendCommand(LOWPOWER);
apalmieri 0:a77f1f1f8318 139 return 0;
apalmieri 0:a77f1f1f8318 140 }
apalmieri 0:a77f1f1f8318 141
apalmieri 0:a77f1f1f8318 142 void
apalmieri 0:a77f1f1f8318 143 Teseo::_ResetFast(Serial *serialDebug)
apalmieri 0:a77f1f1f8318 144 {
apalmieri 3:2d568ec8da14 145 if (serialDebug) {
apalmieri 0:a77f1f1f8318 146 serialDebug->printf("%s: Resetting...", TESEO_NAME);
apalmieri 3:2d568ec8da14 147 }
apalmieri 3:2d568ec8da14 148
apalmieri 0:a77f1f1f8318 149 _reset.write(0);
apalmieri 0:a77f1f1f8318 150
apalmieri 0:a77f1f1f8318 151 wait_ms(5);
apalmieri 0:a77f1f1f8318 152
apalmieri 0:a77f1f1f8318 153 _reset.write(1);
apalmieri 0:a77f1f1f8318 154
apalmieri 0:a77f1f1f8318 155 wait_ms(70);
apalmieri 0:a77f1f1f8318 156
apalmieri 3:2d568ec8da14 157 if (serialDebug) {
apalmieri 0:a77f1f1f8318 158 serialDebug->printf("Done...\n\r");
apalmieri 3:2d568ec8da14 159 }
apalmieri 0:a77f1f1f8318 160 }
apalmieri 0:a77f1f1f8318 161
apalmieri 0:a77f1f1f8318 162 void
apalmieri 0:a77f1f1f8318 163 Teseo::_Reset(Serial *serialDebug)
apalmieri 0:a77f1f1f8318 164 {
apalmieri 3:2d568ec8da14 165 if (serialDebug) {
apalmieri 0:a77f1f1f8318 166 serialDebug->printf("%s: Resetting...", TESEO_NAME);
apalmieri 3:2d568ec8da14 167 }
apalmieri 0:a77f1f1f8318 168
apalmieri 0:a77f1f1f8318 169 //_pps.output();
apalmieri 0:a77f1f1f8318 170 //_pps.write(0);
apalmieri 0:a77f1f1f8318 171
apalmieri 0:a77f1f1f8318 172 //wait_ms(500);
apalmieri 0:a77f1f1f8318 173
apalmieri 0:a77f1f1f8318 174 _reset.write(1);
apalmieri 0:a77f1f1f8318 175
apalmieri 0:a77f1f1f8318 176 wait_ms(500);
apalmieri 0:a77f1f1f8318 177
apalmieri 0:a77f1f1f8318 178 _reset.write(0);
apalmieri 0:a77f1f1f8318 179 //_pps.write(0);
apalmieri 0:a77f1f1f8318 180
apalmieri 0:a77f1f1f8318 181 wait_ms(500);
apalmieri 0:a77f1f1f8318 182
apalmieri 0:a77f1f1f8318 183 _reset.write(1);
apalmieri 0:a77f1f1f8318 184
apalmieri 3:2d568ec8da14 185 if (serialDebug) {
apalmieri 0:a77f1f1f8318 186 serialDebug->printf("Done...\n\r");
apalmieri 3:2d568ec8da14 187 }
apalmieri 0:a77f1f1f8318 188
apalmieri 0:a77f1f1f8318 189 //_pps.write(1);
apalmieri 0:a77f1f1f8318 190
apalmieri 0:a77f1f1f8318 191 //wait_ms(1000);
apalmieri 0:a77f1f1f8318 192
apalmieri 0:a77f1f1f8318 193 //_pps.input();
apalmieri 0:a77f1f1f8318 194 }
apalmieri 0:a77f1f1f8318 195
apalmieri 0:a77f1f1f8318 196 void
apalmieri 0:a77f1f1f8318 197 Teseo::_SendString(char *buf, int len)
apalmieri 0:a77f1f1f8318 198 {
apalmieri 0:a77f1f1f8318 199 for (int i = 0; i < len; ++i) {
apalmieri 0:a77f1f1f8318 200 while (!_uart->writeable());
apalmieri 0:a77f1f1f8318 201 _uart->putc(buf[i]);
apalmieri 0:a77f1f1f8318 202 }
apalmieri 0:a77f1f1f8318 203 }
apalmieri 0:a77f1f1f8318 204
apalmieri 0:a77f1f1f8318 205 int
apalmieri 0:a77f1f1f8318 206 Teseo::_WakeUp()
apalmieri 0:a77f1f1f8318 207 {
apalmieri 0:a77f1f1f8318 208 wait_ms(100);
apalmieri 0:a77f1f1f8318 209
apalmieri 0:a77f1f1f8318 210 _wakeup.write(1);
apalmieri 0:a77f1f1f8318 211
apalmieri 0:a77f1f1f8318 212 wait_ms(500);
apalmieri 0:a77f1f1f8318 213
apalmieri 0:a77f1f1f8318 214 _wakeup.write(0);
apalmieri 0:a77f1f1f8318 215
apalmieri 0:a77f1f1f8318 216 return 0;
apalmieri 0:a77f1f1f8318 217 }
apalmieri 0:a77f1f1f8318 218
apalmieri 0:a77f1f1f8318 219 int
apalmieri 0:a77f1f1f8318 220 Teseo::_CRC(char *buf, int size)
apalmieri 0:a77f1f1f8318 221 {
apalmieri 0:a77f1f1f8318 222 int i = 0, ch = 0;
apalmieri 0:a77f1f1f8318 223
apalmieri 0:a77f1f1f8318 224 if (buf[0] == '$') {
apalmieri 0:a77f1f1f8318 225 ++i;
apalmieri 0:a77f1f1f8318 226 }
apalmieri 0:a77f1f1f8318 227
apalmieri 0:a77f1f1f8318 228 if (size) {
apalmieri 0:a77f1f1f8318 229 for (; i < size; ++i) {
apalmieri 0:a77f1f1f8318 230 ch ^= buf[i];
apalmieri 0:a77f1f1f8318 231 }
apalmieri 0:a77f1f1f8318 232 } else {
apalmieri 0:a77f1f1f8318 233 for (; buf[i] != 0; ++i) {
apalmieri 0:a77f1f1f8318 234 ch ^= buf[i];
apalmieri 0:a77f1f1f8318 235 }
apalmieri 0:a77f1f1f8318 236 }
apalmieri 0:a77f1f1f8318 237
apalmieri 0:a77f1f1f8318 238 return ch;
apalmieri 0:a77f1f1f8318 239 }
apalmieri 0:a77f1f1f8318 240
apalmieri 0:a77f1f1f8318 241 void
apalmieri 0:a77f1f1f8318 242 Teseo::SendCommand(Teseo::eCmd c)
apalmieri 0:a77f1f1f8318 243 {
apalmieri 0:a77f1f1f8318 244 char crc[3];
apalmieri 0:a77f1f1f8318 245
apalmieri 0:a77f1f1f8318 246 sprintf(crc, "*%02X", _CRC(teseoCmds[c].cmd, -1));
apalmieri 0:a77f1f1f8318 247
apalmieri 0:a77f1f1f8318 248 _SendString(teseoCmds[c].cmd, strlen(teseoCmds[c].cmd));
apalmieri 0:a77f1f1f8318 249 _SendString(crc, 3);
apalmieri 0:a77f1f1f8318 250 }
apalmieri 0:a77f1f1f8318 251
apalmieri 0:a77f1f1f8318 252 void
apalmieri 0:a77f1f1f8318 253 Teseo::SendCommand(char *cmd)
apalmieri 0:a77f1f1f8318 254 {
apalmieri 0:a77f1f1f8318 255 char crc[5];
apalmieri 0:a77f1f1f8318 256
apalmieri 0:a77f1f1f8318 257 sprintf(crc, "*%02X\n\r", _CRC(cmd, strlen(cmd)));
apalmieri 0:a77f1f1f8318 258 //printf("CRC=%s\n\r", crc);
apalmieri 0:a77f1f1f8318 259
apalmieri 0:a77f1f1f8318 260 _SendString(cmd, strlen(cmd));
apalmieri 0:a77f1f1f8318 261 _SendString(crc, 5);
apalmieri 0:a77f1f1f8318 262 }
apalmieri 0:a77f1f1f8318 263
apalmieri 0:a77f1f1f8318 264 void
apalmieri 0:a77f1f1f8318 265 Teseo::ReadSentence(Teseo::eMsg msg)
apalmieri 0:a77f1f1f8318 266 {
apalmieri 0:a77f1f1f8318 267 eStatus status = TESEO_STATUS_FAILURE;
apalmieri 0:a77f1f1f8318 268
apalmieri 0:a77f1f1f8318 269 do {
apalmieri 0:a77f1f1f8318 270 osEvent evt = queue.get();
apalmieri 0:a77f1f1f8318 271 if (evt.status == osEventMessage) {
apalmieri 0:a77f1f1f8318 272 struct _teseoMsg *message = (struct _teseoMsg *)evt.value.p;
apalmieri 0:a77f1f1f8318 273 if (message->len > 0) {
apalmieri 0:a77f1f1f8318 274 status = _GetMsg(msg, message->buf);
apalmieri 0:a77f1f1f8318 275 }
apalmieri 0:a77f1f1f8318 276
apalmieri 0:a77f1f1f8318 277 mpool.free(message);
apalmieri 0:a77f1f1f8318 278 }
apalmieri 0:a77f1f1f8318 279 } while (status != TESEO_STATUS_SUCCESS);
apalmieri 0:a77f1f1f8318 280 }
apalmieri 0:a77f1f1f8318 281
apalmieri 0:a77f1f1f8318 282 void
apalmieri 0:a77f1f1f8318 283 Teseo::_InitUART(int br)
apalmieri 0:a77f1f1f8318 284 {
apalmieri 0:a77f1f1f8318 285 _uart = new (std::nothrow) Serial(_uartRx, _uartTx);
apalmieri 0:a77f1f1f8318 286 if(_uart != NULL) {
apalmieri 0:a77f1f1f8318 287 _uart->format(8, SerialBase::None, 1);
apalmieri 0:a77f1f1f8318 288 _uart->baud(br);
apalmieri 0:a77f1f1f8318 289 } else {
apalmieri 0:a77f1f1f8318 290 TESEO_LOG_INFO("Error allocating UART.\r\n");
apalmieri 0:a77f1f1f8318 291 }
apalmieri 0:a77f1f1f8318 292 }
apalmieri 0:a77f1f1f8318 293
apalmieri 0:a77f1f1f8318 294 bool
apalmieri 0:a77f1f1f8318 295 Teseo::setPowerMode(GPSProvider::PowerMode_t pwrMode)
apalmieri 0:a77f1f1f8318 296 {
apalmieri 0:a77f1f1f8318 297 /* TBI */
apalmieri 0:a77f1f1f8318 298 return false;
apalmieri 0:a77f1f1f8318 299 }
apalmieri 0:a77f1f1f8318 300
apalmieri 0:a77f1f1f8318 301 void
apalmieri 0:a77f1f1f8318 302 Teseo::eventHandler(eTeseoLocEventType event, uint32_t data)
apalmieri 0:a77f1f1f8318 303 {
apalmieri 0:a77f1f1f8318 304 if (appEventCb) {
apalmieri 0:a77f1f1f8318 305 appEventCb(event, data);
apalmieri 0:a77f1f1f8318 306 }
apalmieri 0:a77f1f1f8318 307 }
apalmieri 0:a77f1f1f8318 308
apalmieri 0:a77f1f1f8318 309 void
apalmieri 0:a77f1f1f8318 310 Teseo::ReadProcess(void)
apalmieri 0:a77f1f1f8318 311 {
apalmieri 0:a77f1f1f8318 312 char c;
apalmieri 0:a77f1f1f8318 313
apalmieri 0:a77f1f1f8318 314 struct _teseoMsg *msg = mpool.alloc();
apalmieri 0:a77f1f1f8318 315 msg->len = 0;
apalmieri 0:a77f1f1f8318 316
apalmieri 0:a77f1f1f8318 317 while(true) {
apalmieri 0:a77f1f1f8318 318 if (_uart->readable()) {
apalmieri 0:a77f1f1f8318 319 c = _uart->getc();
apalmieri 0:a77f1f1f8318 320
apalmieri 0:a77f1f1f8318 321 if (c == '$') {
apalmieri 0:a77f1f1f8318 322 queue.put(msg);
apalmieri 0:a77f1f1f8318 323 msg = mpool.alloc();
apalmieri 0:a77f1f1f8318 324 msg->len = 0;
apalmieri 0:a77f1f1f8318 325 }
apalmieri 0:a77f1f1f8318 326 msg->buf[msg->len++] = c;
apalmieri 0:a77f1f1f8318 327
apalmieri 0:a77f1f1f8318 328 } else {
apalmieri 0:a77f1f1f8318 329 Thread::yield(); //wait_us(100); Allow other threads to run
apalmieri 0:a77f1f1f8318 330 }
apalmieri 0:a77f1f1f8318 331 }
apalmieri 0:a77f1f1f8318 332 }
apalmieri 0:a77f1f1f8318 333
apalmieri 0:a77f1f1f8318 334 static void
apalmieri 0:a77f1f1f8318 335 _UARTStreamProcess(Teseo *gnss)
apalmieri 0:a77f1f1f8318 336 {
apalmieri 0:a77f1f1f8318 337 gnss->ReadProcess();
apalmieri 0:a77f1f1f8318 338 }
apalmieri 0:a77f1f1f8318 339
apalmieri 0:a77f1f1f8318 340 void
apalmieri 0:a77f1f1f8318 341 Teseo::start(void)
apalmieri 0:a77f1f1f8318 342 {
apalmieri 0:a77f1f1f8318 343 if(_locState == TESEO_LOC_STATE_IDLE) {
apalmieri 0:a77f1f1f8318 344
apalmieri 0:a77f1f1f8318 345 _InitUART();
apalmieri 0:a77f1f1f8318 346 _locState = TESEO_LOC_STATE_RUN;
apalmieri 0:a77f1f1f8318 347
apalmieri 0:a77f1f1f8318 348 // Start thread for UART listener and set the highest priority
apalmieri 0:a77f1f1f8318 349 serialStreamThread = new (std::nothrow) Thread();
apalmieri 0:a77f1f1f8318 350 if(serialStreamThread != NULL) {
apalmieri 0:a77f1f1f8318 351 serialStreamThread->set_priority(osPriorityRealtime);
apalmieri 0:a77f1f1f8318 352 serialStreamThread->start(callback(_UARTStreamProcess, this));
apalmieri 0:a77f1f1f8318 353 } else {
apalmieri 0:a77f1f1f8318 354 TESEO_LOG_INFO("Error allocating serialStreamThread\r\n");
apalmieri 0:a77f1f1f8318 355 }
apalmieri 0:a77f1f1f8318 356
apalmieri 0:a77f1f1f8318 357 eventHandler(TESEO_LOC_EVENT_START_RESULT, 0);
apalmieri 0:a77f1f1f8318 358 } else {
apalmieri 0:a77f1f1f8318 359 TESEO_LOG_INFO("Already started\r\n");
apalmieri 0:a77f1f1f8318 360 }
apalmieri 0:a77f1f1f8318 361 }
apalmieri 0:a77f1f1f8318 362
apalmieri 0:a77f1f1f8318 363 void
apalmieri 0:a77f1f1f8318 364 Teseo::stop(void)
apalmieri 0:a77f1f1f8318 365 {
apalmieri 0:a77f1f1f8318 366 if(_locState == TESEO_LOC_STATE_IDLE) {
apalmieri 0:a77f1f1f8318 367 return;
apalmieri 0:a77f1f1f8318 368 }
apalmieri 0:a77f1f1f8318 369 // Stop thread for UART listener
apalmieri 0:a77f1f1f8318 370 if(serialStreamThread != NULL) {
apalmieri 0:a77f1f1f8318 371 serialStreamThread->terminate();
apalmieri 0:a77f1f1f8318 372 delete serialStreamThread;
apalmieri 0:a77f1f1f8318 373 }
apalmieri 0:a77f1f1f8318 374
apalmieri 0:a77f1f1f8318 375 if(_uart != NULL) {
apalmieri 0:a77f1f1f8318 376 delete _uart;
apalmieri 0:a77f1f1f8318 377 _uart = NULL;
apalmieri 0:a77f1f1f8318 378 }
apalmieri 0:a77f1f1f8318 379
apalmieri 0:a77f1f1f8318 380 _locState = TESEO_LOC_STATE_IDLE;
apalmieri 0:a77f1f1f8318 381 eventHandler(TESEO_LOC_EVENT_STOP_RESULT, 0);
apalmieri 0:a77f1f1f8318 382 }
apalmieri 0:a77f1f1f8318 383
apalmieri 0:a77f1f1f8318 384 void
apalmieri 0:a77f1f1f8318 385 Teseo::outputHandler(uint32_t msgId, uint32_t msgType, tTeseoData *pData)
apalmieri 0:a77f1f1f8318 386 {
apalmieri 0:a77f1f1f8318 387 switch(msgId) {
apalmieri 0:a77f1f1f8318 388 case LOC_OUTPUT_LOCATION:
apalmieri 0:a77f1f1f8318 389
apalmieri 0:a77f1f1f8318 390 if(pData->gpgga_data.valid == VALID) {
apalmieri 0:a77f1f1f8318 391 lastLocation.valid = true;
apalmieri 0:a77f1f1f8318 392 lastLocation.lat = pData->gpgga_data.xyz.lat;
apalmieri 0:a77f1f1f8318 393 lastLocation.lon = pData->gpgga_data.xyz.lon;
apalmieri 0:a77f1f1f8318 394 lastLocation.altitude = pData->gpgga_data.xyz.alt;
apalmieri 0:a77f1f1f8318 395 lastLocation.numGPSSVs = pData->gpgga_data.sats;
apalmieri 0:a77f1f1f8318 396 lastLocation.utcTime = pData->gpgga_data.utc.utc;
apalmieri 0:a77f1f1f8318 397 } else {
apalmieri 0:a77f1f1f8318 398 lastLocation.valid = false;
apalmieri 0:a77f1f1f8318 399 }
apalmieri 0:a77f1f1f8318 400
apalmieri 0:a77f1f1f8318 401 if (locationCallback) {
apalmieri 0:a77f1f1f8318 402 locationCallback(&lastLocation);
apalmieri 0:a77f1f1f8318 403 }
apalmieri 0:a77f1f1f8318 404
apalmieri 0:a77f1f1f8318 405 break;
apalmieri 0:a77f1f1f8318 406
apalmieri 0:a77f1f1f8318 407 case LOC_OUTPUT_PSTM: {
apalmieri 0:a77f1f1f8318 408 Teseo::ePSTMsg msg = (Teseo::ePSTMsg)msgType;
apalmieri 0:a77f1f1f8318 409 int code;
apalmieri 0:a77f1f1f8318 410
apalmieri 0:a77f1f1f8318 411 switch(msg) {
apalmieri 0:a77f1f1f8318 412 case PSTMGEOFENCE: {
apalmieri 0:a77f1f1f8318 413
apalmieri 0:a77f1f1f8318 414 /* Geofence enabling */
apalmieri 0:a77f1f1f8318 415 if(pData->geofence_data.op == GNSS_FEATURE_EN_MSG) {
apalmieri 0:a77f1f1f8318 416 code = pData->geofence_data.result ?
apalmieri 0:a77f1f1f8318 417 GPS_ERROR_FEATURE_ENABLING : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 418
apalmieri 0:a77f1f1f8318 419 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 420 saveConfigParams();
apalmieri 0:a77f1f1f8318 421 }
apalmieri 0:a77f1f1f8318 422 }
apalmieri 0:a77f1f1f8318 423
apalmieri 0:a77f1f1f8318 424 /* Geofence configuration */
apalmieri 0:a77f1f1f8318 425 if(pData->geofence_data.op == GNSS_GEOFENCE_CFG_MSG) {
apalmieri 0:a77f1f1f8318 426 code = pData->geofence_data.result ?
apalmieri 0:a77f1f1f8318 427 GPS_ERROR_GEOFENCE_CFG : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 428 if (geofenceCfgMessageCallback) {
apalmieri 0:a77f1f1f8318 429 geofenceCfgMessageCallback(code);
apalmieri 0:a77f1f1f8318 430 }
apalmieri 0:a77f1f1f8318 431 }
apalmieri 0:a77f1f1f8318 432
apalmieri 0:a77f1f1f8318 433 /* Geofence Status */
apalmieri 0:a77f1f1f8318 434 if(pData->geofence_data.op == GNSS_GEOFENCE_STATUS_MSG) {
apalmieri 0:a77f1f1f8318 435 code = pData->geofence_data.result ? GPS_ERROR_GEOFENCE_STATUS : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 436 if(code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 437 geofenceStatus.timestamp.hh = pData->geofence_data.timestamp.hh;
apalmieri 0:a77f1f1f8318 438 geofenceStatus.timestamp.mm = pData->geofence_data.timestamp.mm;
apalmieri 0:a77f1f1f8318 439 geofenceStatus.timestamp.ss = pData->geofence_data.timestamp.ss;
apalmieri 0:a77f1f1f8318 440 geofenceStatus.timestamp.day = pData->geofence_data.timestamp.day;
apalmieri 0:a77f1f1f8318 441 geofenceStatus.timestamp.month = pData->geofence_data.timestamp.month;
apalmieri 0:a77f1f1f8318 442 geofenceStatus.timestamp.year = pData->geofence_data.timestamp.year;
apalmieri 0:a77f1f1f8318 443 geofenceStatus.currentStatus = pData->geofence_data.status;
apalmieri 0:a77f1f1f8318 444 geofenceStatus.numGeofences = MAX_GEOFENCES_NUM;
apalmieri 0:a77f1f1f8318 445 }
apalmieri 0:a77f1f1f8318 446 if (geofenceStatusMessageCallback) {
apalmieri 0:a77f1f1f8318 447 geofenceStatusMessageCallback(&geofenceStatus, code);
apalmieri 0:a77f1f1f8318 448 }
apalmieri 0:a77f1f1f8318 449 }
apalmieri 0:a77f1f1f8318 450
apalmieri 0:a77f1f1f8318 451 /* Geofence Alarm */
apalmieri 0:a77f1f1f8318 452 if(pData->geofence_data.op == GNSS_GEOFENCE_ALARM_MSG) {
apalmieri 0:a77f1f1f8318 453 code = pData->geofence_data.result ? GPS_ERROR_GEOFENCE_STATUS : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 454 if(code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 455 geofenceStatus.timestamp.hh = pData->geofence_data.timestamp.hh;
apalmieri 0:a77f1f1f8318 456 geofenceStatus.timestamp.mm = pData->geofence_data.timestamp.mm;
apalmieri 0:a77f1f1f8318 457 geofenceStatus.timestamp.ss = pData->geofence_data.timestamp.ss;
apalmieri 0:a77f1f1f8318 458 geofenceStatus.currentStatus = pData->geofence_data.status;
apalmieri 0:a77f1f1f8318 459 geofenceStatus.idAlarm = pData->geofence_data.idAlarm;
apalmieri 0:a77f1f1f8318 460 }
apalmieri 0:a77f1f1f8318 461 if (geofenceStatusMessageCallback) {
apalmieri 0:a77f1f1f8318 462 geofenceStatusMessageCallback(&geofenceStatus, code);
apalmieri 0:a77f1f1f8318 463 }
apalmieri 0:a77f1f1f8318 464 }
apalmieri 0:a77f1f1f8318 465 }
apalmieri 0:a77f1f1f8318 466 break;
apalmieri 0:a77f1f1f8318 467
apalmieri 0:a77f1f1f8318 468 case PSTMODO: {
apalmieri 0:a77f1f1f8318 469 /* Odometer enabling */
apalmieri 0:a77f1f1f8318 470 if(pData->odo_data.op == GNSS_FEATURE_EN_MSG) {
apalmieri 0:a77f1f1f8318 471
apalmieri 0:a77f1f1f8318 472 code = pData->odo_data.result ?
apalmieri 0:a77f1f1f8318 473 GPS_ERROR_FEATURE_ENABLING : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 474
apalmieri 0:a77f1f1f8318 475 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 476 saveConfigParams();
apalmieri 0:a77f1f1f8318 477 }
apalmieri 0:a77f1f1f8318 478 }
apalmieri 0:a77f1f1f8318 479
apalmieri 0:a77f1f1f8318 480 /* Odometer start */
apalmieri 0:a77f1f1f8318 481 if(pData->odo_data.op == GNSS_ODO_START_MSG) {
apalmieri 0:a77f1f1f8318 482 code = pData->odo_data.result ?
apalmieri 0:a77f1f1f8318 483 GPS_ERROR_ODO_START : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 484 }
apalmieri 0:a77f1f1f8318 485 /* Odometer stop */
apalmieri 0:a77f1f1f8318 486 if(pData->odo_data.op == GNSS_ODO_STOP_MSG) {
apalmieri 0:a77f1f1f8318 487 code = pData->odo_data.result ?
apalmieri 0:a77f1f1f8318 488 GPS_ERROR_ODO_STOP : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 489 }
apalmieri 0:a77f1f1f8318 490 }
apalmieri 0:a77f1f1f8318 491 break;
apalmieri 0:a77f1f1f8318 492
apalmieri 0:a77f1f1f8318 493 case PSTMDATALOG: {
apalmieri 0:a77f1f1f8318 494 /* Datalog enabling */
apalmieri 0:a77f1f1f8318 495 if(pData->datalog_data.op == GNSS_FEATURE_EN_MSG) {
apalmieri 0:a77f1f1f8318 496
apalmieri 0:a77f1f1f8318 497 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 498 GPS_ERROR_FEATURE_ENABLING : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 499
apalmieri 0:a77f1f1f8318 500 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 501 saveConfigParams();
apalmieri 0:a77f1f1f8318 502 }
apalmieri 0:a77f1f1f8318 503 }
apalmieri 0:a77f1f1f8318 504 /* Datalog create */
apalmieri 0:a77f1f1f8318 505 if(pData->datalog_data.op == GNSS_DATALOG_CFG_MSG) {
apalmieri 0:a77f1f1f8318 506 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 507 GPS_ERROR_DATALOG_CFG : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 508 }
apalmieri 0:a77f1f1f8318 509 /* Datalog start */
apalmieri 0:a77f1f1f8318 510 if(pData->datalog_data.op == GNSS_DATALOG_START_MSG) {
apalmieri 0:a77f1f1f8318 511 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 512 GPS_ERROR_DATALOG_START : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 513 }
apalmieri 0:a77f1f1f8318 514 /* Datalog stop */
apalmieri 0:a77f1f1f8318 515 if(pData->datalog_data.op == GNSS_DATALOG_STOP_MSG) {
apalmieri 0:a77f1f1f8318 516 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 517 GPS_ERROR_DATALOG_STOP : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 518 }
apalmieri 0:a77f1f1f8318 519 /* Datalog erase */
apalmieri 0:a77f1f1f8318 520 if(pData->datalog_data.op == GNSS_DATALOG_ERASE_MSG) {
apalmieri 0:a77f1f1f8318 521 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 522 GPS_ERROR_DATALOG_ERASE : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 523 }
apalmieri 0:a77f1f1f8318 524 }
apalmieri 0:a77f1f1f8318 525 break;
apalmieri 0:a77f1f1f8318 526
apalmieri 0:a77f1f1f8318 527 case PSTMSGL: {
apalmieri 0:a77f1f1f8318 528 /* Msg List cfg */
apalmieri 0:a77f1f1f8318 529 code = pData->ack ?
apalmieri 0:a77f1f1f8318 530 GPS_ERROR_MSGLIST_CFG : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 531
apalmieri 0:a77f1f1f8318 532 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 533 saveConfigParams();
apalmieri 0:a77f1f1f8318 534 }
apalmieri 0:a77f1f1f8318 535 }
apalmieri 0:a77f1f1f8318 536 break;
apalmieri 0:a77f1f1f8318 537
apalmieri 0:a77f1f1f8318 538 case PSTMSAVEPAR: {
apalmieri 0:a77f1f1f8318 539 code = pData->ack ?
apalmieri 0:a77f1f1f8318 540 GPS_ERROR_SAVEPAR : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 541
apalmieri 0:a77f1f1f8318 542 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 543 reset();
apalmieri 0:a77f1f1f8318 544 }
apalmieri 0:a77f1f1f8318 545 }
apalmieri 0:a77f1f1f8318 546 break;
apalmieri 0:a77f1f1f8318 547
apalmieri 0:a77f1f1f8318 548 } /* end switch */
apalmieri 0:a77f1f1f8318 549 } /* end case LOC_OUTPUT_PSTM */
apalmieri 0:a77f1f1f8318 550
apalmieri 0:a77f1f1f8318 551 break;
apalmieri 0:a77f1f1f8318 552
apalmieri 0:a77f1f1f8318 553 default:
apalmieri 0:a77f1f1f8318 554 break;
apalmieri 0:a77f1f1f8318 555 }
apalmieri 0:a77f1f1f8318 556
apalmieri 0:a77f1f1f8318 557 if (appOutCb) {
apalmieri 0:a77f1f1f8318 558 appOutCb(msgId, msgType, pData);
apalmieri 0:a77f1f1f8318 559 }
apalmieri 0:a77f1f1f8318 560
apalmieri 0:a77f1f1f8318 561 }
apalmieri 0:a77f1f1f8318 562
apalmieri 0:a77f1f1f8318 563
apalmieri 0:a77f1f1f8318 564 eStatus
apalmieri 0:a77f1f1f8318 565 Teseo::_GetMsg(Teseo::eMsg msg, uint8_t *buffer)
apalmieri 0:a77f1f1f8318 566 {
apalmieri 0:a77f1f1f8318 567 eStatus status = TESEO_STATUS_FAILURE;
apalmieri 0:a77f1f1f8318 568
apalmieri 0:a77f1f1f8318 569 switch(msg) {
apalmieri 0:a77f1f1f8318 570
apalmieri 0:a77f1f1f8318 571 case GPGGA:
apalmieri 0:a77f1f1f8318 572 status = (eStatus)parse_gpgga(&pData.gpgga_data, buffer);
apalmieri 0:a77f1f1f8318 573 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 574 outputHandler(LOC_OUTPUT_LOCATION, msg, &pData);
apalmieri 0:a77f1f1f8318 575 }
apalmieri 0:a77f1f1f8318 576 break;
apalmieri 0:a77f1f1f8318 577
apalmieri 0:a77f1f1f8318 578 case GNS:
apalmieri 0:a77f1f1f8318 579 status = (eStatus)parse_gnsmsg(&pData.gns_data, buffer);
apalmieri 0:a77f1f1f8318 580 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 581 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 582 }
apalmieri 0:a77f1f1f8318 583 break;
apalmieri 0:a77f1f1f8318 584
apalmieri 0:a77f1f1f8318 585 case GPGST:
apalmieri 0:a77f1f1f8318 586 status = (eStatus)parse_gpgst(&pData.gpgst_data, buffer);
apalmieri 0:a77f1f1f8318 587 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 588 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 589 }
apalmieri 0:a77f1f1f8318 590 break;
apalmieri 0:a77f1f1f8318 591
apalmieri 0:a77f1f1f8318 592 case GPRMC:
apalmieri 0:a77f1f1f8318 593 status = (eStatus)parse_gprmc(&pData.gprmc_data, buffer);
apalmieri 0:a77f1f1f8318 594 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 595 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 596 }
apalmieri 0:a77f1f1f8318 597 break;
apalmieri 0:a77f1f1f8318 598
apalmieri 0:a77f1f1f8318 599 case GSA:
apalmieri 0:a77f1f1f8318 600 status = (eStatus)parse_gsamsg(&pData.gsa_data, buffer);
apalmieri 0:a77f1f1f8318 601 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 602 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 603 }
apalmieri 0:a77f1f1f8318 604 break;
apalmieri 0:a77f1f1f8318 605
apalmieri 0:a77f1f1f8318 606 case GSV:
apalmieri 0:a77f1f1f8318 607 status = (eStatus)parse_gsvmsg(&pData.gsv_data, buffer);
apalmieri 0:a77f1f1f8318 608 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 609 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 610 }
apalmieri 0:a77f1f1f8318 611 break;
apalmieri 0:a77f1f1f8318 612
apalmieri 0:a77f1f1f8318 613 default:
apalmieri 0:a77f1f1f8318 614 break;
apalmieri 0:a77f1f1f8318 615
apalmieri 0:a77f1f1f8318 616 }
apalmieri 0:a77f1f1f8318 617
apalmieri 0:a77f1f1f8318 618 return status;
apalmieri 0:a77f1f1f8318 619 }
apalmieri 0:a77f1f1f8318 620
apalmieri 0:a77f1f1f8318 621 void
apalmieri 0:a77f1f1f8318 622 Teseo::setVerboseMode(int level)
apalmieri 0:a77f1f1f8318 623 {
apalmieri 0:a77f1f1f8318 624 cfgMessageList(level);
apalmieri 0:a77f1f1f8318 625 }
apalmieri 0:a77f1f1f8318 626
apalmieri 0:a77f1f1f8318 627 void
apalmieri 0:a77f1f1f8318 628 Teseo::_GetLocationMsg(Teseo::eMsg msg, uint8_t *buffer)
apalmieri 0:a77f1f1f8318 629 {
apalmieri 0:a77f1f1f8318 630 eStatus status;
apalmieri 0:a77f1f1f8318 631
apalmieri 0:a77f1f1f8318 632 #if 0
apalmieri 0:a77f1f1f8318 633 _serialDebug->printf("\n\r --------------------->\n\r");
apalmieri 0:a77f1f1f8318 634 for (int i = 0; i < TESEO_RXBUF_LEN ; ++i) {
apalmieri 0:a77f1f1f8318 635 _serialDebug->putc((int)buffer[i]);
apalmieri 0:a77f1f1f8318 636 }
apalmieri 0:a77f1f1f8318 637 _serialDebug->printf("\n\r<---------------------\n\r");
apalmieri 0:a77f1f1f8318 638 #endif
apalmieri 0:a77f1f1f8318 639
apalmieri 0:a77f1f1f8318 640 status = (eStatus)parse_gpgga(&pData.gpgga_data, buffer);
apalmieri 0:a77f1f1f8318 641 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 642 outputHandler(LOC_OUTPUT_LOCATION, msg, &pData);
apalmieri 0:a77f1f1f8318 643 }
apalmieri 0:a77f1f1f8318 644 }
apalmieri 0:a77f1f1f8318 645
apalmieri 0:a77f1f1f8318 646 void
apalmieri 0:a77f1f1f8318 647 Teseo::_GetPSTMsg(Teseo::ePSTMsg msg, uint8_t *buffer)
apalmieri 0:a77f1f1f8318 648 {
apalmieri 0:a77f1f1f8318 649 eStatus status;
apalmieri 0:a77f1f1f8318 650
apalmieri 0:a77f1f1f8318 651 #if 0
apalmieri 0:a77f1f1f8318 652 _serialDebug->printf("\n\r --------------------->\n\r");
apalmieri 0:a77f1f1f8318 653 for (int i = 0; i < TESEO_RXBUF_LEN ; ++i) {
apalmieri 0:a77f1f1f8318 654 _serialDebug->putc((int)buffer[i]);
apalmieri 0:a77f1f1f8318 655 }
apalmieri 0:a77f1f1f8318 656 _serialDebug->printf("\n\r<---------------------\n\r");
apalmieri 0:a77f1f1f8318 657 #endif
apalmieri 0:a77f1f1f8318 658
apalmieri 0:a77f1f1f8318 659 switch(msg) {
apalmieri 0:a77f1f1f8318 660
apalmieri 0:a77f1f1f8318 661 case PSTMGEOFENCE:
apalmieri 0:a77f1f1f8318 662 status = (eStatus)parse_pstmgeofence(&pData.geofence_data, buffer);
apalmieri 0:a77f1f1f8318 663 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 664 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 665 }
apalmieri 0:a77f1f1f8318 666 break;
apalmieri 0:a77f1f1f8318 667 case PSTMODO:
apalmieri 0:a77f1f1f8318 668 status = (eStatus)parse_pstmodo(&pData.odo_data, buffer);
apalmieri 0:a77f1f1f8318 669 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 670 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 671 }
apalmieri 0:a77f1f1f8318 672 break;
apalmieri 0:a77f1f1f8318 673 case PSTMDATALOG:
apalmieri 0:a77f1f1f8318 674 status = (eStatus)parse_pstmdatalog(&pData.datalog_data, buffer);
apalmieri 0:a77f1f1f8318 675 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 676 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 677 }
apalmieri 0:a77f1f1f8318 678 break;
apalmieri 0:a77f1f1f8318 679 case PSTMSGL:
apalmieri 0:a77f1f1f8318 680 status = (eStatus)parse_pstmsgl(&pData.ack, buffer);
apalmieri 0:a77f1f1f8318 681 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 682 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 683 }
apalmieri 0:a77f1f1f8318 684 break;
apalmieri 0:a77f1f1f8318 685 case PSTMSAVEPAR:
apalmieri 0:a77f1f1f8318 686 status = (eStatus)parse_pstmsavepar(&pData.ack, buffer);
apalmieri 0:a77f1f1f8318 687 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 688 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 689 }
apalmieri 0:a77f1f1f8318 690 break;
apalmieri 0:a77f1f1f8318 691
apalmieri 0:a77f1f1f8318 692 default:
apalmieri 0:a77f1f1f8318 693 break;
apalmieri 0:a77f1f1f8318 694 }
apalmieri 0:a77f1f1f8318 695 /* Recover the normal state */
apalmieri 0:a77f1f1f8318 696
apalmieri 0:a77f1f1f8318 697 }
apalmieri 0:a77f1f1f8318 698
apalmieri 0:a77f1f1f8318 699 void
apalmieri 0:a77f1f1f8318 700 Teseo::process(void)
apalmieri 0:a77f1f1f8318 701 {
apalmieri 0:a77f1f1f8318 702 osEvent evt = queue.get();
apalmieri 0:a77f1f1f8318 703 if (evt.status == osEventMessage) {
apalmieri 0:a77f1f1f8318 704 struct _teseoMsg *message = (struct _teseoMsg *)evt.value.p;
apalmieri 0:a77f1f1f8318 705 if (message->len > 0) {
apalmieri 0:a77f1f1f8318 706
apalmieri 0:a77f1f1f8318 707 for(int m = 0; m < PSTM_NMEA_MSGS_NUM; m++) {
apalmieri 0:a77f1f1f8318 708 _GetPSTMsg((ePSTMsg)m, message->buf);
apalmieri 0:a77f1f1f8318 709 }
apalmieri 0:a77f1f1f8318 710 for(int m = 0; m < NMEA_MSGS_NUM; m++) {
apalmieri 0:a77f1f1f8318 711 _GetMsg((eMsg)m, message->buf);
apalmieri 0:a77f1f1f8318 712 }
apalmieri 0:a77f1f1f8318 713 }
apalmieri 0:a77f1f1f8318 714
apalmieri 0:a77f1f1f8318 715 mpool.free(message);
apalmieri 0:a77f1f1f8318 716 }
apalmieri 0:a77f1f1f8318 717 }
apalmieri 0:a77f1f1f8318 718
apalmieri 0:a77f1f1f8318 719 const GPSProvider::LocationUpdateParams_t *
apalmieri 0:a77f1f1f8318 720 Teseo::getLastLocation(void) const
apalmieri 0:a77f1f1f8318 721 {
apalmieri 0:a77f1f1f8318 722 return &lastLocation;
apalmieri 0:a77f1f1f8318 723 }
apalmieri 0:a77f1f1f8318 724
apalmieri 0:a77f1f1f8318 725 void
apalmieri 0:a77f1f1f8318 726 Teseo::reset(void)
apalmieri 0:a77f1f1f8318 727 {
apalmieri 0:a77f1f1f8318 728 _ResetFast(_serialDebug);
apalmieri 0:a77f1f1f8318 729 }
apalmieri 0:a77f1f1f8318 730
apalmieri 0:a77f1f1f8318 731 gps_provider_error_t
apalmieri 0:a77f1f1f8318 732 Teseo::cfgMessageList(int level)
apalmieri 0:a77f1f1f8318 733 {
apalmieri 0:a77f1f1f8318 734 int lowMask = 0x2;
apalmieri 0:a77f1f1f8318 735 int highMask = 0x80000;
apalmieri 0:a77f1f1f8318 736
apalmieri 0:a77f1f1f8318 737 if(level == 2) {
apalmieri 0:a77f1f1f8318 738 lowMask = 0x18004F;
apalmieri 0:a77f1f1f8318 739 }
apalmieri 0:a77f1f1f8318 740
apalmieri 0:a77f1f1f8318 741 sprintf(_teseoCmd, "$PSTMCFGMSGL,%d,%d,%x,%x",
apalmieri 0:a77f1f1f8318 742 0, /*NMEA 0*/
apalmieri 0:a77f1f1f8318 743 1, /*Rate*/
apalmieri 0:a77f1f1f8318 744 lowMask,
apalmieri 0:a77f1f1f8318 745 highMask);
apalmieri 0:a77f1f1f8318 746
apalmieri 0:a77f1f1f8318 747 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 748
apalmieri 0:a77f1f1f8318 749 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 750 }
apalmieri 0:a77f1f1f8318 751
apalmieri 0:a77f1f1f8318 752 gps_provider_error_t
apalmieri 0:a77f1f1f8318 753 Teseo::saveConfigParams(void)
apalmieri 0:a77f1f1f8318 754 {
apalmieri 0:a77f1f1f8318 755 sprintf(_teseoCmd, "$PSTMSAVEPAR");
apalmieri 0:a77f1f1f8318 756 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 757
apalmieri 0:a77f1f1f8318 758 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 759 }
apalmieri 0:a77f1f1f8318 760
apalmieri 0:a77f1f1f8318 761 bool
apalmieri 0:a77f1f1f8318 762 Teseo::isGeofencingSupported(void)
apalmieri 0:a77f1f1f8318 763 {
apalmieri 0:a77f1f1f8318 764 return true;
apalmieri 0:a77f1f1f8318 765 }
apalmieri 0:a77f1f1f8318 766
apalmieri 0:a77f1f1f8318 767 gps_provider_error_t
apalmieri 0:a77f1f1f8318 768 Teseo::enableGeofence(void)
apalmieri 0:a77f1f1f8318 769 {
apalmieri 0:a77f1f1f8318 770 //$PSTMCFGGEOFENCE,<en>,<tol>*<checksum><cr><lf>
apalmieri 0:a77f1f1f8318 771 sprintf(_teseoCmd, "$PSTMCFGGEOFENCE,%d,%d",1,1);
apalmieri 0:a77f1f1f8318 772 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 773
apalmieri 0:a77f1f1f8318 774 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 775 }
apalmieri 0:a77f1f1f8318 776
apalmieri 0:a77f1f1f8318 777 gps_provider_error_t
apalmieri 0:a77f1f1f8318 778 Teseo::cfgGeofenceCircle(void)
apalmieri 0:a77f1f1f8318 779 {
apalmieri 0:a77f1f1f8318 780 GPSGeofence::GeofenceCircle_t circle = {
apalmieri 0:a77f1f1f8318 781 .id = 0,
apalmieri 0:a77f1f1f8318 782 .enabled = 1,
apalmieri 0:a77f1f1f8318 783 .tolerance = 1,
apalmieri 0:a77f1f1f8318 784 .lat = 40.336055,
apalmieri 0:a77f1f1f8318 785 .lon = 18.120611,
apalmieri 0:a77f1f1f8318 786 .radius = 200
apalmieri 0:a77f1f1f8318 787 };
apalmieri 0:a77f1f1f8318 788
apalmieri 0:a77f1f1f8318 789 sprintf(_teseoCmd, "$PSTMCFGGEOCIR,%d,%d,%lf,%lf,%lf",
apalmieri 0:a77f1f1f8318 790 circle.id,
apalmieri 0:a77f1f1f8318 791 circle.enabled,
apalmieri 0:a77f1f1f8318 792 circle.lat,
apalmieri 0:a77f1f1f8318 793 circle.lon,
apalmieri 0:a77f1f1f8318 794 circle.radius);
apalmieri 0:a77f1f1f8318 795 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 796
apalmieri 0:a77f1f1f8318 797 sprintf(_teseoCmd, "$PSTMSAVEPAR");
apalmieri 0:a77f1f1f8318 798 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 799
apalmieri 0:a77f1f1f8318 800 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 801 }
apalmieri 0:a77f1f1f8318 802
apalmieri 0:a77f1f1f8318 803
apalmieri 0:a77f1f1f8318 804 gps_provider_error_t
apalmieri 0:a77f1f1f8318 805 Teseo::configGeofences(GPSGeofence *geofences[], unsigned geofenceCount)
apalmieri 0:a77f1f1f8318 806 {
apalmieri 0:a77f1f1f8318 807 uint8_t trials;
apalmieri 0:a77f1f1f8318 808
apalmieri 0:a77f1f1f8318 809 if(geofenceCount > MAX_GEOFENCES_NUM) {
apalmieri 0:a77f1f1f8318 810 return GPS_ERROR_GEOFENCE_MAX_EXCEEDED;
apalmieri 0:a77f1f1f8318 811 }
apalmieri 0:a77f1f1f8318 812
apalmieri 0:a77f1f1f8318 813 for(uint8_t i = 0; i < geofenceCount; i++) {
apalmieri 0:a77f1f1f8318 814 trials = 1;
apalmieri 0:a77f1f1f8318 815 //printf("Teseo::configGeofences id=%d\r\n", (geofences[i]->getGeofenceCircle()).id);
apalmieri 0:a77f1f1f8318 816 /*
apalmieri 0:a77f1f1f8318 817 printf("Teseo::configGeofences en=%d\r\n", en);
apalmieri 0:a77f1f1f8318 818 printf("Teseo::configGeofences tol=%d\r\n", (geofences[i]->getGeofenceCircle()).tolerance);
apalmieri 0:a77f1f1f8318 819 printf("Teseo::configGeofences lat=%02f\r\n", (geofences[i]->getGeofenceCircle()).lat);
apalmieri 0:a77f1f1f8318 820 printf("Teseo::configGeofences lon=%02f\r\n", (geofences[i]->getGeofenceCircle()).lon);
apalmieri 0:a77f1f1f8318 821 printf("Teseo::configGeofences radius=%02f\r\n", (geofences[i]->getGeofenceCircle()).radius);
apalmieri 0:a77f1f1f8318 822 */
apalmieri 0:a77f1f1f8318 823 sprintf(_teseoCmd, "$PSTMGEOFENCECFG,%d,%d,%d,%lf,%lf,%lf",
apalmieri 0:a77f1f1f8318 824 (geofences[i]->getGeofenceCircle()).id,
apalmieri 0:a77f1f1f8318 825 (geofences[i]->getGeofenceCircle()).enabled,
apalmieri 0:a77f1f1f8318 826 (geofences[i]->getGeofenceCircle()).tolerance,
apalmieri 0:a77f1f1f8318 827 (geofences[i]->getGeofenceCircle()).lat,
apalmieri 0:a77f1f1f8318 828 (geofences[i]->getGeofenceCircle()).lon,
apalmieri 0:a77f1f1f8318 829 (geofences[i]->getGeofenceCircle()).radius);
apalmieri 0:a77f1f1f8318 830
apalmieri 0:a77f1f1f8318 831 do{
apalmieri 0:a77f1f1f8318 832 trials--;
apalmieri 0:a77f1f1f8318 833
apalmieri 0:a77f1f1f8318 834 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 835 /*
apalmieri 0:a77f1f1f8318 836 sprintf(_teseoCmd, "$PSTMCFGGEOFENCE,%d,%d\n\r",1,1);
apalmieri 0:a77f1f1f8318 837
apalmieri 0:a77f1f1f8318 838 //sprintf(_teseoCmd, "$PSTMGETSWVER,6");
apalmieri 0:a77f1f1f8318 839 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 840
apalmieri 0:a77f1f1f8318 841 sprintf(_teseoCmd, "$PSTMSAVEPAR\n\r");
apalmieri 0:a77f1f1f8318 842 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 843 */
apalmieri 0:a77f1f1f8318 844 //printf("Teseo::configGeofences _teseoCmd=%s\r\n", _teseoCmd);
apalmieri 0:a77f1f1f8318 845 } while (trials > 0);
apalmieri 0:a77f1f1f8318 846 }
apalmieri 0:a77f1f1f8318 847 //printf("Teseo::configGeofences sizeof(geofences)=%d numGeofences=%d strlen(_teseoCmd)=%d\r\n", sizeof(geofences), numGeofences, strlen(_teseoCmd));
apalmieri 0:a77f1f1f8318 848
apalmieri 0:a77f1f1f8318 849 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 850 }
apalmieri 0:a77f1f1f8318 851
apalmieri 0:a77f1f1f8318 852 gps_provider_error_t
apalmieri 0:a77f1f1f8318 853 Teseo::geofenceReq(void)
apalmieri 0:a77f1f1f8318 854 {
apalmieri 0:a77f1f1f8318 855 sprintf(_teseoCmd, "$PSTMGEOFENCEREQ");
apalmieri 0:a77f1f1f8318 856 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 857
apalmieri 0:a77f1f1f8318 858 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 859 }
apalmieri 0:a77f1f1f8318 860
apalmieri 0:a77f1f1f8318 861 bool
apalmieri 0:a77f1f1f8318 862 Teseo::isDataloggingSupported(void)
apalmieri 0:a77f1f1f8318 863 {
apalmieri 0:a77f1f1f8318 864 return true;
apalmieri 0:a77f1f1f8318 865 }
apalmieri 0:a77f1f1f8318 866
apalmieri 0:a77f1f1f8318 867 gps_provider_error_t
apalmieri 0:a77f1f1f8318 868 Teseo::enableDatalog(void)
apalmieri 0:a77f1f1f8318 869 {
apalmieri 0:a77f1f1f8318 870 //$PSTMCFGLOG,<en>,<circ>,<rectype>,<oneshot>,<rate>,<speed>,<dist>*<checksum><cr><lf>
apalmieri 0:a77f1f1f8318 871 sprintf(_teseoCmd, "$PSTMCFGLOG,%d,%d,%d,%d,%u,%u,%u",
apalmieri 0:a77f1f1f8318 872 1, //Enable/Disable the log
apalmieri 0:a77f1f1f8318 873 1, //Enable/Disable circular mode
apalmieri 0:a77f1f1f8318 874 1, //Record type
apalmieri 0:a77f1f1f8318 875 0, //Enable/Disable one shot mode
apalmieri 0:a77f1f1f8318 876 5, //time interval in seconds between two consecutive logged records
apalmieri 0:a77f1f1f8318 877 0, //minimum speed threshold
apalmieri 0:a77f1f1f8318 878 0 //distance threshold
apalmieri 0:a77f1f1f8318 879 );
apalmieri 0:a77f1f1f8318 880 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 881
apalmieri 0:a77f1f1f8318 882 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 883 }
apalmieri 0:a77f1f1f8318 884
apalmieri 0:a77f1f1f8318 885 gps_provider_error_t
apalmieri 0:a77f1f1f8318 886 Teseo::configDatalog(GPSDatalog *datalog)
apalmieri 0:a77f1f1f8318 887 {
apalmieri 0:a77f1f1f8318 888 //printf("Teseo::configDatalog 0x%03x\r\n", (datalog->getEnableBufferFullAlarm())<<1|(datalog->getEnableCircularBuffer()));
apalmieri 0:a77f1f1f8318 889 //$PSTMLOGCREATE,<cfg>,<min-rate>,<min-speed>,<min-position>,<logmask>*<checksum><cr><lf>
apalmieri 0:a77f1f1f8318 890 sprintf(_teseoCmd, "$PSTMLOGCREATE,%03x,%u,%u,%u,%d",
apalmieri 0:a77f1f1f8318 891 (datalog->getEnableBufferFullAlarm())<<1|(datalog->getEnableCircularBuffer()),
apalmieri 0:a77f1f1f8318 892 datalog->getMinRate(),
apalmieri 0:a77f1f1f8318 893 datalog->getMinSpeed(),
apalmieri 0:a77f1f1f8318 894 datalog->getMinPosition(),
apalmieri 0:a77f1f1f8318 895 datalog->getLogMask()
apalmieri 0:a77f1f1f8318 896 );
apalmieri 0:a77f1f1f8318 897 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 898
apalmieri 0:a77f1f1f8318 899 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 900 }
apalmieri 0:a77f1f1f8318 901
apalmieri 0:a77f1f1f8318 902 gps_provider_error_t
apalmieri 0:a77f1f1f8318 903 Teseo::startDatalog(void)
apalmieri 0:a77f1f1f8318 904 {
apalmieri 0:a77f1f1f8318 905 sprintf(_teseoCmd, "$PSTMLOGSTART");
apalmieri 0:a77f1f1f8318 906 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 907
apalmieri 0:a77f1f1f8318 908 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 909 }
apalmieri 0:a77f1f1f8318 910
apalmieri 0:a77f1f1f8318 911 gps_provider_error_t
apalmieri 0:a77f1f1f8318 912 Teseo::stopDatalog(void)
apalmieri 0:a77f1f1f8318 913 {
apalmieri 0:a77f1f1f8318 914 sprintf(_teseoCmd, "$PSTMLOGSTOP");
apalmieri 0:a77f1f1f8318 915 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 916
apalmieri 0:a77f1f1f8318 917 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 918 }
apalmieri 0:a77f1f1f8318 919
apalmieri 0:a77f1f1f8318 920 gps_provider_error_t
apalmieri 0:a77f1f1f8318 921 Teseo::eraseDatalog(void)
apalmieri 0:a77f1f1f8318 922 {
apalmieri 0:a77f1f1f8318 923 sprintf(_teseoCmd, "$PSTMLOGERASE");
apalmieri 0:a77f1f1f8318 924 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 925
apalmieri 0:a77f1f1f8318 926 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 927 }
apalmieri 0:a77f1f1f8318 928
apalmieri 0:a77f1f1f8318 929 gps_provider_error_t
apalmieri 0:a77f1f1f8318 930 Teseo::logReqStatus(void)
apalmieri 0:a77f1f1f8318 931 {
apalmieri 0:a77f1f1f8318 932 /* TBI */
apalmieri 0:a77f1f1f8318 933 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 934 }
apalmieri 0:a77f1f1f8318 935
apalmieri 0:a77f1f1f8318 936 gps_provider_error_t
apalmieri 0:a77f1f1f8318 937 Teseo::logReqQuery(GPSProvider::LogQueryParams_t &logReqQuery)
apalmieri 0:a77f1f1f8318 938 {
apalmieri 0:a77f1f1f8318 939 /* TBI */
apalmieri 0:a77f1f1f8318 940 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 941 }
apalmieri 0:a77f1f1f8318 942
apalmieri 0:a77f1f1f8318 943 bool
apalmieri 0:a77f1f1f8318 944 Teseo::isOdometerSupported(void)
apalmieri 0:a77f1f1f8318 945 {
apalmieri 0:a77f1f1f8318 946 return true;
apalmieri 0:a77f1f1f8318 947 }
apalmieri 0:a77f1f1f8318 948
apalmieri 0:a77f1f1f8318 949 gps_provider_error_t
apalmieri 0:a77f1f1f8318 950 Teseo::enableOdo(void)
apalmieri 0:a77f1f1f8318 951 {
apalmieri 0:a77f1f1f8318 952 //$PSTMCFGODO,<en>,<enmsg>,<alarm>*<checksum><cr><lf>
apalmieri 0:a77f1f1f8318 953 sprintf(_teseoCmd, "$PSTMCFGODO,1,1,1");
apalmieri 0:a77f1f1f8318 954 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 955
apalmieri 0:a77f1f1f8318 956 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 957 }
apalmieri 0:a77f1f1f8318 958
apalmieri 0:a77f1f1f8318 959 gps_provider_error_t
apalmieri 0:a77f1f1f8318 960 Teseo::startOdo(unsigned alarmDistance)
apalmieri 0:a77f1f1f8318 961 {
apalmieri 0:a77f1f1f8318 962 sprintf(_teseoCmd, "$PSTMODOSTART,%08x", alarmDistance);
apalmieri 0:a77f1f1f8318 963 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 964
apalmieri 0:a77f1f1f8318 965 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 966 }
apalmieri 0:a77f1f1f8318 967
apalmieri 0:a77f1f1f8318 968 gps_provider_error_t
apalmieri 0:a77f1f1f8318 969 Teseo::stopOdo(void)
apalmieri 0:a77f1f1f8318 970 {
apalmieri 0:a77f1f1f8318 971 sprintf(_teseoCmd, "$PSTMODOSTOP");
apalmieri 0:a77f1f1f8318 972 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 973
apalmieri 0:a77f1f1f8318 974 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 975 }
apalmieri 0:a77f1f1f8318 976 gps_provider_error_t
apalmieri 0:a77f1f1f8318 977 Teseo::resetOdo(void)
apalmieri 0:a77f1f1f8318 978 {
apalmieri 0:a77f1f1f8318 979 /* TBI */
apalmieri 0:a77f1f1f8318 980 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 981 }