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@0:a77f1f1f8318, 2018-11-09 (annotated)

Committer:
apalmieri
Date:
Fri Nov 09 17:06:11 2018 +0000
Revision:
0:a77f1f1f8318
Child:
3:2d568ec8da14
Initial commit

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 0:a77f1f1f8318 145 if (serialDebug)
apalmieri 0:a77f1f1f8318 146 serialDebug->printf("%s: Resetting...", TESEO_NAME);
apalmieri 0:a77f1f1f8318 147
apalmieri 0:a77f1f1f8318 148 _reset.write(0);
apalmieri 0:a77f1f1f8318 149
apalmieri 0:a77f1f1f8318 150 wait_ms(5);
apalmieri 0:a77f1f1f8318 151
apalmieri 0:a77f1f1f8318 152 _reset.write(1);
apalmieri 0:a77f1f1f8318 153
apalmieri 0:a77f1f1f8318 154 wait_ms(70);
apalmieri 0:a77f1f1f8318 155
apalmieri 0:a77f1f1f8318 156 if (serialDebug)
apalmieri 0:a77f1f1f8318 157 serialDebug->printf("Done...\n\r");
apalmieri 0:a77f1f1f8318 158 }
apalmieri 0:a77f1f1f8318 159
apalmieri 0:a77f1f1f8318 160 void
apalmieri 0:a77f1f1f8318 161 Teseo::_Reset(Serial *serialDebug)
apalmieri 0:a77f1f1f8318 162 {
apalmieri 0:a77f1f1f8318 163 if (serialDebug)
apalmieri 0:a77f1f1f8318 164 serialDebug->printf("%s: Resetting...", TESEO_NAME);
apalmieri 0:a77f1f1f8318 165
apalmieri 0:a77f1f1f8318 166 //_pps.output();
apalmieri 0:a77f1f1f8318 167 //_pps.write(0);
apalmieri 0:a77f1f1f8318 168
apalmieri 0:a77f1f1f8318 169 //wait_ms(500);
apalmieri 0:a77f1f1f8318 170
apalmieri 0:a77f1f1f8318 171 _reset.write(1);
apalmieri 0:a77f1f1f8318 172
apalmieri 0:a77f1f1f8318 173 wait_ms(500);
apalmieri 0:a77f1f1f8318 174
apalmieri 0:a77f1f1f8318 175 _reset.write(0);
apalmieri 0:a77f1f1f8318 176 //_pps.write(0);
apalmieri 0:a77f1f1f8318 177
apalmieri 0:a77f1f1f8318 178 wait_ms(500);
apalmieri 0:a77f1f1f8318 179
apalmieri 0:a77f1f1f8318 180 _reset.write(1);
apalmieri 0:a77f1f1f8318 181
apalmieri 0:a77f1f1f8318 182 if (serialDebug)
apalmieri 0:a77f1f1f8318 183 serialDebug->printf("Done...\n\r");
apalmieri 0:a77f1f1f8318 184
apalmieri 0:a77f1f1f8318 185 //_pps.write(1);
apalmieri 0:a77f1f1f8318 186
apalmieri 0:a77f1f1f8318 187 //wait_ms(1000);
apalmieri 0:a77f1f1f8318 188
apalmieri 0:a77f1f1f8318 189 //_pps.input();
apalmieri 0:a77f1f1f8318 190 }
apalmieri 0:a77f1f1f8318 191
apalmieri 0:a77f1f1f8318 192 void
apalmieri 0:a77f1f1f8318 193 Teseo::_SendString(char *buf, int len)
apalmieri 0:a77f1f1f8318 194 {
apalmieri 0:a77f1f1f8318 195 for (int i = 0; i < len; ++i) {
apalmieri 0:a77f1f1f8318 196 while (!_uart->writeable());
apalmieri 0:a77f1f1f8318 197 _uart->putc(buf[i]);
apalmieri 0:a77f1f1f8318 198 }
apalmieri 0:a77f1f1f8318 199 }
apalmieri 0:a77f1f1f8318 200
apalmieri 0:a77f1f1f8318 201 int
apalmieri 0:a77f1f1f8318 202 Teseo::_WakeUp()
apalmieri 0:a77f1f1f8318 203 {
apalmieri 0:a77f1f1f8318 204 wait_ms(100);
apalmieri 0:a77f1f1f8318 205
apalmieri 0:a77f1f1f8318 206 _wakeup.write(1);
apalmieri 0:a77f1f1f8318 207
apalmieri 0:a77f1f1f8318 208 wait_ms(500);
apalmieri 0:a77f1f1f8318 209
apalmieri 0:a77f1f1f8318 210 _wakeup.write(0);
apalmieri 0:a77f1f1f8318 211
apalmieri 0:a77f1f1f8318 212 return 0;
apalmieri 0:a77f1f1f8318 213 }
apalmieri 0:a77f1f1f8318 214
apalmieri 0:a77f1f1f8318 215 int
apalmieri 0:a77f1f1f8318 216 Teseo::_CRC(char *buf, int size)
apalmieri 0:a77f1f1f8318 217 {
apalmieri 0:a77f1f1f8318 218 int i = 0, ch = 0;
apalmieri 0:a77f1f1f8318 219
apalmieri 0:a77f1f1f8318 220 if (buf[0] == '$') {
apalmieri 0:a77f1f1f8318 221 ++i;
apalmieri 0:a77f1f1f8318 222 }
apalmieri 0:a77f1f1f8318 223
apalmieri 0:a77f1f1f8318 224 if (size) {
apalmieri 0:a77f1f1f8318 225 for (; i < size; ++i) {
apalmieri 0:a77f1f1f8318 226 ch ^= buf[i];
apalmieri 0:a77f1f1f8318 227 }
apalmieri 0:a77f1f1f8318 228 } else {
apalmieri 0:a77f1f1f8318 229 for (; buf[i] != 0; ++i) {
apalmieri 0:a77f1f1f8318 230 ch ^= buf[i];
apalmieri 0:a77f1f1f8318 231 }
apalmieri 0:a77f1f1f8318 232 }
apalmieri 0:a77f1f1f8318 233
apalmieri 0:a77f1f1f8318 234 return ch;
apalmieri 0:a77f1f1f8318 235 }
apalmieri 0:a77f1f1f8318 236
apalmieri 0:a77f1f1f8318 237 void
apalmieri 0:a77f1f1f8318 238 Teseo::SendCommand(Teseo::eCmd c)
apalmieri 0:a77f1f1f8318 239 {
apalmieri 0:a77f1f1f8318 240 char crc[3];
apalmieri 0:a77f1f1f8318 241
apalmieri 0:a77f1f1f8318 242 sprintf(crc, "*%02X", _CRC(teseoCmds[c].cmd, -1));
apalmieri 0:a77f1f1f8318 243
apalmieri 0:a77f1f1f8318 244 _SendString(teseoCmds[c].cmd, strlen(teseoCmds[c].cmd));
apalmieri 0:a77f1f1f8318 245 _SendString(crc, 3);
apalmieri 0:a77f1f1f8318 246 }
apalmieri 0:a77f1f1f8318 247
apalmieri 0:a77f1f1f8318 248 void
apalmieri 0:a77f1f1f8318 249 Teseo::SendCommand(char *cmd)
apalmieri 0:a77f1f1f8318 250 {
apalmieri 0:a77f1f1f8318 251 char crc[5];
apalmieri 0:a77f1f1f8318 252
apalmieri 0:a77f1f1f8318 253 sprintf(crc, "*%02X\n\r", _CRC(cmd, strlen(cmd)));
apalmieri 0:a77f1f1f8318 254 //printf("CRC=%s\n\r", crc);
apalmieri 0:a77f1f1f8318 255
apalmieri 0:a77f1f1f8318 256 _SendString(cmd, strlen(cmd));
apalmieri 0:a77f1f1f8318 257 _SendString(crc, 5);
apalmieri 0:a77f1f1f8318 258 }
apalmieri 0:a77f1f1f8318 259
apalmieri 0:a77f1f1f8318 260 /** TBC */
apalmieri 0:a77f1f1f8318 261 int
apalmieri 0:a77f1f1f8318 262 Teseo::_CheckI2C()
apalmieri 0:a77f1f1f8318 263 {
apalmieri 0:a77f1f1f8318 264 if (!_i2c)
apalmieri 0:a77f1f1f8318 265 return -1;
apalmieri 0:a77f1f1f8318 266
apalmieri 0:a77f1f1f8318 267 _i2c->start();
apalmieri 0:a77f1f1f8318 268 int res = _i2c->write((TESEO_I2C_ADDRESS << 1) | 1);
apalmieri 0:a77f1f1f8318 269 _i2c->stop();
apalmieri 0:a77f1f1f8318 270 /*
apalmieri 0:a77f1f1f8318 271 * @returns
apalmieri 0:a77f1f1f8318 272 * '0' - NAK was received
apalmieri 0:a77f1f1f8318 273 * '1' - ACK was received,
apalmieri 0:a77f1f1f8318 274 * '2' - timeout
apalmieri 0:a77f1f1f8318 275 */
apalmieri 0:a77f1f1f8318 276 return res == 1 ? 0 : -1;
apalmieri 0:a77f1f1f8318 277 }
apalmieri 0:a77f1f1f8318 278
apalmieri 0:a77f1f1f8318 279 void
apalmieri 0:a77f1f1f8318 280 Teseo::ReadSentence(Teseo::eMsg msg)
apalmieri 0:a77f1f1f8318 281 {
apalmieri 0:a77f1f1f8318 282 eStatus status = TESEO_STATUS_FAILURE;
apalmieri 0:a77f1f1f8318 283
apalmieri 0:a77f1f1f8318 284 do {
apalmieri 0:a77f1f1f8318 285 osEvent evt = queue.get();
apalmieri 0:a77f1f1f8318 286 if (evt.status == osEventMessage) {
apalmieri 0:a77f1f1f8318 287 struct _teseoMsg *message = (struct _teseoMsg *)evt.value.p;
apalmieri 0:a77f1f1f8318 288 if (message->len > 0) {
apalmieri 0:a77f1f1f8318 289 status = _GetMsg(msg, message->buf);
apalmieri 0:a77f1f1f8318 290 }
apalmieri 0:a77f1f1f8318 291
apalmieri 0:a77f1f1f8318 292 mpool.free(message);
apalmieri 0:a77f1f1f8318 293 }
apalmieri 0:a77f1f1f8318 294 } while (status != TESEO_STATUS_SUCCESS);
apalmieri 0:a77f1f1f8318 295 }
apalmieri 0:a77f1f1f8318 296
apalmieri 0:a77f1f1f8318 297 void
apalmieri 0:a77f1f1f8318 298 Teseo::_InitUART(int br)
apalmieri 0:a77f1f1f8318 299 {
apalmieri 0:a77f1f1f8318 300 _uart = new (std::nothrow) Serial(_uartRx, _uartTx);
apalmieri 0:a77f1f1f8318 301 if(_uart != NULL) {
apalmieri 0:a77f1f1f8318 302 _uart->format(8, SerialBase::None, 1);
apalmieri 0:a77f1f1f8318 303 _uart->baud(br);
apalmieri 0:a77f1f1f8318 304 } else {
apalmieri 0:a77f1f1f8318 305 TESEO_LOG_INFO("Error allocating UART.\r\n");
apalmieri 0:a77f1f1f8318 306 }
apalmieri 0:a77f1f1f8318 307 }
apalmieri 0:a77f1f1f8318 308
apalmieri 0:a77f1f1f8318 309 bool
apalmieri 0:a77f1f1f8318 310 Teseo::setPowerMode(GPSProvider::PowerMode_t pwrMode)
apalmieri 0:a77f1f1f8318 311 {
apalmieri 0:a77f1f1f8318 312 /* TBI */
apalmieri 0:a77f1f1f8318 313 return false;
apalmieri 0:a77f1f1f8318 314 }
apalmieri 0:a77f1f1f8318 315
apalmieri 0:a77f1f1f8318 316 void
apalmieri 0:a77f1f1f8318 317 Teseo::eventHandler(eTeseoLocEventType event, uint32_t data)
apalmieri 0:a77f1f1f8318 318 {
apalmieri 0:a77f1f1f8318 319 if (appEventCb) {
apalmieri 0:a77f1f1f8318 320 appEventCb(event, data);
apalmieri 0:a77f1f1f8318 321 }
apalmieri 0:a77f1f1f8318 322 }
apalmieri 0:a77f1f1f8318 323
apalmieri 0:a77f1f1f8318 324 void
apalmieri 0:a77f1f1f8318 325 Teseo::ReadProcess(void)
apalmieri 0:a77f1f1f8318 326 {
apalmieri 0:a77f1f1f8318 327 char c;
apalmieri 0:a77f1f1f8318 328
apalmieri 0:a77f1f1f8318 329 struct _teseoMsg *msg = mpool.alloc();
apalmieri 0:a77f1f1f8318 330 msg->len = 0;
apalmieri 0:a77f1f1f8318 331
apalmieri 0:a77f1f1f8318 332 while(true) {
apalmieri 0:a77f1f1f8318 333 if (_uart->readable()) {
apalmieri 0:a77f1f1f8318 334 c = _uart->getc();
apalmieri 0:a77f1f1f8318 335
apalmieri 0:a77f1f1f8318 336 if (c == '$') {
apalmieri 0:a77f1f1f8318 337 queue.put(msg);
apalmieri 0:a77f1f1f8318 338 msg = mpool.alloc();
apalmieri 0:a77f1f1f8318 339 msg->len = 0;
apalmieri 0:a77f1f1f8318 340 }
apalmieri 0:a77f1f1f8318 341 msg->buf[msg->len++] = c;
apalmieri 0:a77f1f1f8318 342
apalmieri 0:a77f1f1f8318 343 } else {
apalmieri 0:a77f1f1f8318 344 Thread::yield(); //wait_us(100); Allow other threads to run
apalmieri 0:a77f1f1f8318 345 }
apalmieri 0:a77f1f1f8318 346 }
apalmieri 0:a77f1f1f8318 347 }
apalmieri 0:a77f1f1f8318 348
apalmieri 0:a77f1f1f8318 349 static void
apalmieri 0:a77f1f1f8318 350 _UARTStreamProcess(Teseo *gnss)
apalmieri 0:a77f1f1f8318 351 {
apalmieri 0:a77f1f1f8318 352 gnss->ReadProcess();
apalmieri 0:a77f1f1f8318 353 }
apalmieri 0:a77f1f1f8318 354
apalmieri 0:a77f1f1f8318 355 void
apalmieri 0:a77f1f1f8318 356 Teseo::start(void)
apalmieri 0:a77f1f1f8318 357 {
apalmieri 0:a77f1f1f8318 358 if(_locState == TESEO_LOC_STATE_IDLE) {
apalmieri 0:a77f1f1f8318 359
apalmieri 0:a77f1f1f8318 360 _InitUART();
apalmieri 0:a77f1f1f8318 361 _locState = TESEO_LOC_STATE_RUN;
apalmieri 0:a77f1f1f8318 362
apalmieri 0:a77f1f1f8318 363 // Start thread for UART listener and set the highest priority
apalmieri 0:a77f1f1f8318 364 serialStreamThread = new (std::nothrow) Thread();
apalmieri 0:a77f1f1f8318 365 if(serialStreamThread != NULL) {
apalmieri 0:a77f1f1f8318 366 serialStreamThread->set_priority(osPriorityRealtime);
apalmieri 0:a77f1f1f8318 367 serialStreamThread->start(callback(_UARTStreamProcess, this));
apalmieri 0:a77f1f1f8318 368 } else {
apalmieri 0:a77f1f1f8318 369 TESEO_LOG_INFO("Error allocating serialStreamThread\r\n");
apalmieri 0:a77f1f1f8318 370 }
apalmieri 0:a77f1f1f8318 371
apalmieri 0:a77f1f1f8318 372 eventHandler(TESEO_LOC_EVENT_START_RESULT, 0);
apalmieri 0:a77f1f1f8318 373 } else {
apalmieri 0:a77f1f1f8318 374 TESEO_LOG_INFO("Already started\r\n");
apalmieri 0:a77f1f1f8318 375 }
apalmieri 0:a77f1f1f8318 376 }
apalmieri 0:a77f1f1f8318 377
apalmieri 0:a77f1f1f8318 378 void
apalmieri 0:a77f1f1f8318 379 Teseo::stop(void)
apalmieri 0:a77f1f1f8318 380 {
apalmieri 0:a77f1f1f8318 381 if(_locState == TESEO_LOC_STATE_IDLE) {
apalmieri 0:a77f1f1f8318 382 return;
apalmieri 0:a77f1f1f8318 383 }
apalmieri 0:a77f1f1f8318 384 // Stop thread for UART listener
apalmieri 0:a77f1f1f8318 385 if(serialStreamThread != NULL) {
apalmieri 0:a77f1f1f8318 386 serialStreamThread->terminate();
apalmieri 0:a77f1f1f8318 387 delete serialStreamThread;
apalmieri 0:a77f1f1f8318 388 }
apalmieri 0:a77f1f1f8318 389
apalmieri 0:a77f1f1f8318 390 if(_uart != NULL) {
apalmieri 0:a77f1f1f8318 391 delete _uart;
apalmieri 0:a77f1f1f8318 392 _uart = NULL;
apalmieri 0:a77f1f1f8318 393 }
apalmieri 0:a77f1f1f8318 394
apalmieri 0:a77f1f1f8318 395 _locState = TESEO_LOC_STATE_IDLE;
apalmieri 0:a77f1f1f8318 396 eventHandler(TESEO_LOC_EVENT_STOP_RESULT, 0);
apalmieri 0:a77f1f1f8318 397 }
apalmieri 0:a77f1f1f8318 398
apalmieri 0:a77f1f1f8318 399 void
apalmieri 0:a77f1f1f8318 400 Teseo::outputHandler(uint32_t msgId, uint32_t msgType, tTeseoData *pData)
apalmieri 0:a77f1f1f8318 401 {
apalmieri 0:a77f1f1f8318 402 switch(msgId) {
apalmieri 0:a77f1f1f8318 403 case LOC_OUTPUT_LOCATION:
apalmieri 0:a77f1f1f8318 404
apalmieri 0:a77f1f1f8318 405 if(pData->gpgga_data.valid == VALID) {
apalmieri 0:a77f1f1f8318 406 lastLocation.valid = true;
apalmieri 0:a77f1f1f8318 407 lastLocation.lat = pData->gpgga_data.xyz.lat;
apalmieri 0:a77f1f1f8318 408 lastLocation.lon = pData->gpgga_data.xyz.lon;
apalmieri 0:a77f1f1f8318 409 lastLocation.altitude = pData->gpgga_data.xyz.alt;
apalmieri 0:a77f1f1f8318 410 lastLocation.numGPSSVs = pData->gpgga_data.sats;
apalmieri 0:a77f1f1f8318 411 lastLocation.utcTime = pData->gpgga_data.utc.utc;
apalmieri 0:a77f1f1f8318 412 } else {
apalmieri 0:a77f1f1f8318 413 lastLocation.valid = false;
apalmieri 0:a77f1f1f8318 414 }
apalmieri 0:a77f1f1f8318 415
apalmieri 0:a77f1f1f8318 416 if (locationCallback) {
apalmieri 0:a77f1f1f8318 417 locationCallback(&lastLocation);
apalmieri 0:a77f1f1f8318 418 }
apalmieri 0:a77f1f1f8318 419
apalmieri 0:a77f1f1f8318 420 break;
apalmieri 0:a77f1f1f8318 421
apalmieri 0:a77f1f1f8318 422 case LOC_OUTPUT_PSTM: {
apalmieri 0:a77f1f1f8318 423 Teseo::ePSTMsg msg = (Teseo::ePSTMsg)msgType;
apalmieri 0:a77f1f1f8318 424 int code;
apalmieri 0:a77f1f1f8318 425
apalmieri 0:a77f1f1f8318 426 switch(msg) {
apalmieri 0:a77f1f1f8318 427 case PSTMGEOFENCE: {
apalmieri 0:a77f1f1f8318 428
apalmieri 0:a77f1f1f8318 429 /* Geofence enabling */
apalmieri 0:a77f1f1f8318 430 if(pData->geofence_data.op == GNSS_FEATURE_EN_MSG) {
apalmieri 0:a77f1f1f8318 431 code = pData->geofence_data.result ?
apalmieri 0:a77f1f1f8318 432 GPS_ERROR_FEATURE_ENABLING : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 433
apalmieri 0:a77f1f1f8318 434 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 435 saveConfigParams();
apalmieri 0:a77f1f1f8318 436 }
apalmieri 0:a77f1f1f8318 437 }
apalmieri 0:a77f1f1f8318 438
apalmieri 0:a77f1f1f8318 439 /* Geofence configuration */
apalmieri 0:a77f1f1f8318 440 if(pData->geofence_data.op == GNSS_GEOFENCE_CFG_MSG) {
apalmieri 0:a77f1f1f8318 441 code = pData->geofence_data.result ?
apalmieri 0:a77f1f1f8318 442 GPS_ERROR_GEOFENCE_CFG : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 443 if (geofenceCfgMessageCallback) {
apalmieri 0:a77f1f1f8318 444 geofenceCfgMessageCallback(code);
apalmieri 0:a77f1f1f8318 445 }
apalmieri 0:a77f1f1f8318 446 }
apalmieri 0:a77f1f1f8318 447
apalmieri 0:a77f1f1f8318 448 /* Geofence Status */
apalmieri 0:a77f1f1f8318 449 if(pData->geofence_data.op == GNSS_GEOFENCE_STATUS_MSG) {
apalmieri 0:a77f1f1f8318 450 code = pData->geofence_data.result ? GPS_ERROR_GEOFENCE_STATUS : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 451 if(code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 452 geofenceStatus.timestamp.hh = pData->geofence_data.timestamp.hh;
apalmieri 0:a77f1f1f8318 453 geofenceStatus.timestamp.mm = pData->geofence_data.timestamp.mm;
apalmieri 0:a77f1f1f8318 454 geofenceStatus.timestamp.ss = pData->geofence_data.timestamp.ss;
apalmieri 0:a77f1f1f8318 455 geofenceStatus.timestamp.day = pData->geofence_data.timestamp.day;
apalmieri 0:a77f1f1f8318 456 geofenceStatus.timestamp.month = pData->geofence_data.timestamp.month;
apalmieri 0:a77f1f1f8318 457 geofenceStatus.timestamp.year = pData->geofence_data.timestamp.year;
apalmieri 0:a77f1f1f8318 458 geofenceStatus.currentStatus = pData->geofence_data.status;
apalmieri 0:a77f1f1f8318 459 geofenceStatus.numGeofences = MAX_GEOFENCES_NUM;
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 /* Geofence Alarm */
apalmieri 0:a77f1f1f8318 467 if(pData->geofence_data.op == GNSS_GEOFENCE_ALARM_MSG) {
apalmieri 0:a77f1f1f8318 468 code = pData->geofence_data.result ? GPS_ERROR_GEOFENCE_STATUS : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 469 if(code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 470 geofenceStatus.timestamp.hh = pData->geofence_data.timestamp.hh;
apalmieri 0:a77f1f1f8318 471 geofenceStatus.timestamp.mm = pData->geofence_data.timestamp.mm;
apalmieri 0:a77f1f1f8318 472 geofenceStatus.timestamp.ss = pData->geofence_data.timestamp.ss;
apalmieri 0:a77f1f1f8318 473 geofenceStatus.currentStatus = pData->geofence_data.status;
apalmieri 0:a77f1f1f8318 474 geofenceStatus.idAlarm = pData->geofence_data.idAlarm;
apalmieri 0:a77f1f1f8318 475 }
apalmieri 0:a77f1f1f8318 476 if (geofenceStatusMessageCallback) {
apalmieri 0:a77f1f1f8318 477 geofenceStatusMessageCallback(&geofenceStatus, code);
apalmieri 0:a77f1f1f8318 478 }
apalmieri 0:a77f1f1f8318 479 }
apalmieri 0:a77f1f1f8318 480 }
apalmieri 0:a77f1f1f8318 481 break;
apalmieri 0:a77f1f1f8318 482
apalmieri 0:a77f1f1f8318 483 case PSTMODO: {
apalmieri 0:a77f1f1f8318 484 /* Odometer enabling */
apalmieri 0:a77f1f1f8318 485 if(pData->odo_data.op == GNSS_FEATURE_EN_MSG) {
apalmieri 0:a77f1f1f8318 486
apalmieri 0:a77f1f1f8318 487 code = pData->odo_data.result ?
apalmieri 0:a77f1f1f8318 488 GPS_ERROR_FEATURE_ENABLING : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 489
apalmieri 0:a77f1f1f8318 490 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 491 saveConfigParams();
apalmieri 0:a77f1f1f8318 492 }
apalmieri 0:a77f1f1f8318 493 }
apalmieri 0:a77f1f1f8318 494
apalmieri 0:a77f1f1f8318 495 /* Odometer start */
apalmieri 0:a77f1f1f8318 496 if(pData->odo_data.op == GNSS_ODO_START_MSG) {
apalmieri 0:a77f1f1f8318 497 code = pData->odo_data.result ?
apalmieri 0:a77f1f1f8318 498 GPS_ERROR_ODO_START : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 499 }
apalmieri 0:a77f1f1f8318 500 /* Odometer stop */
apalmieri 0:a77f1f1f8318 501 if(pData->odo_data.op == GNSS_ODO_STOP_MSG) {
apalmieri 0:a77f1f1f8318 502 code = pData->odo_data.result ?
apalmieri 0:a77f1f1f8318 503 GPS_ERROR_ODO_STOP : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 504 }
apalmieri 0:a77f1f1f8318 505 }
apalmieri 0:a77f1f1f8318 506 break;
apalmieri 0:a77f1f1f8318 507
apalmieri 0:a77f1f1f8318 508 case PSTMDATALOG: {
apalmieri 0:a77f1f1f8318 509 /* Datalog enabling */
apalmieri 0:a77f1f1f8318 510 if(pData->datalog_data.op == GNSS_FEATURE_EN_MSG) {
apalmieri 0:a77f1f1f8318 511
apalmieri 0:a77f1f1f8318 512 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 513 GPS_ERROR_FEATURE_ENABLING : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 514
apalmieri 0:a77f1f1f8318 515 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 516 saveConfigParams();
apalmieri 0:a77f1f1f8318 517 }
apalmieri 0:a77f1f1f8318 518 }
apalmieri 0:a77f1f1f8318 519 /* Datalog create */
apalmieri 0:a77f1f1f8318 520 if(pData->datalog_data.op == GNSS_DATALOG_CFG_MSG) {
apalmieri 0:a77f1f1f8318 521 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 522 GPS_ERROR_DATALOG_CFG : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 523 }
apalmieri 0:a77f1f1f8318 524 /* Datalog start */
apalmieri 0:a77f1f1f8318 525 if(pData->datalog_data.op == GNSS_DATALOG_START_MSG) {
apalmieri 0:a77f1f1f8318 526 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 527 GPS_ERROR_DATALOG_START : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 528 }
apalmieri 0:a77f1f1f8318 529 /* Datalog stop */
apalmieri 0:a77f1f1f8318 530 if(pData->datalog_data.op == GNSS_DATALOG_STOP_MSG) {
apalmieri 0:a77f1f1f8318 531 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 532 GPS_ERROR_DATALOG_STOP : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 533 }
apalmieri 0:a77f1f1f8318 534 /* Datalog erase */
apalmieri 0:a77f1f1f8318 535 if(pData->datalog_data.op == GNSS_DATALOG_ERASE_MSG) {
apalmieri 0:a77f1f1f8318 536 code = pData->datalog_data.result ?
apalmieri 0:a77f1f1f8318 537 GPS_ERROR_DATALOG_ERASE : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 538 }
apalmieri 0:a77f1f1f8318 539 }
apalmieri 0:a77f1f1f8318 540 break;
apalmieri 0:a77f1f1f8318 541
apalmieri 0:a77f1f1f8318 542 case PSTMSGL: {
apalmieri 0:a77f1f1f8318 543 /* Msg List cfg */
apalmieri 0:a77f1f1f8318 544 code = pData->ack ?
apalmieri 0:a77f1f1f8318 545 GPS_ERROR_MSGLIST_CFG : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 546
apalmieri 0:a77f1f1f8318 547 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 548 saveConfigParams();
apalmieri 0:a77f1f1f8318 549 }
apalmieri 0:a77f1f1f8318 550 }
apalmieri 0:a77f1f1f8318 551 break;
apalmieri 0:a77f1f1f8318 552
apalmieri 0:a77f1f1f8318 553 case PSTMSAVEPAR: {
apalmieri 0:a77f1f1f8318 554 code = pData->ack ?
apalmieri 0:a77f1f1f8318 555 GPS_ERROR_SAVEPAR : GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 556
apalmieri 0:a77f1f1f8318 557 if (code == GPS_ERROR_NONE) {
apalmieri 0:a77f1f1f8318 558 reset();
apalmieri 0:a77f1f1f8318 559 }
apalmieri 0:a77f1f1f8318 560 }
apalmieri 0:a77f1f1f8318 561 break;
apalmieri 0:a77f1f1f8318 562
apalmieri 0:a77f1f1f8318 563 } /* end switch */
apalmieri 0:a77f1f1f8318 564 } /* end case LOC_OUTPUT_PSTM */
apalmieri 0:a77f1f1f8318 565
apalmieri 0:a77f1f1f8318 566 break;
apalmieri 0:a77f1f1f8318 567
apalmieri 0:a77f1f1f8318 568 default:
apalmieri 0:a77f1f1f8318 569 break;
apalmieri 0:a77f1f1f8318 570 }
apalmieri 0:a77f1f1f8318 571
apalmieri 0:a77f1f1f8318 572 if (appOutCb) {
apalmieri 0:a77f1f1f8318 573 appOutCb(msgId, msgType, pData);
apalmieri 0:a77f1f1f8318 574 }
apalmieri 0:a77f1f1f8318 575
apalmieri 0:a77f1f1f8318 576 }
apalmieri 0:a77f1f1f8318 577
apalmieri 0:a77f1f1f8318 578
apalmieri 0:a77f1f1f8318 579 eStatus
apalmieri 0:a77f1f1f8318 580 Teseo::_GetMsg(Teseo::eMsg msg, uint8_t *buffer)
apalmieri 0:a77f1f1f8318 581 {
apalmieri 0:a77f1f1f8318 582 eStatus status = TESEO_STATUS_FAILURE;
apalmieri 0:a77f1f1f8318 583
apalmieri 0:a77f1f1f8318 584 switch(msg) {
apalmieri 0:a77f1f1f8318 585
apalmieri 0:a77f1f1f8318 586 case GPGGA:
apalmieri 0:a77f1f1f8318 587 status = (eStatus)parse_gpgga(&pData.gpgga_data, buffer);
apalmieri 0:a77f1f1f8318 588 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 589 outputHandler(LOC_OUTPUT_LOCATION, msg, &pData);
apalmieri 0:a77f1f1f8318 590 }
apalmieri 0:a77f1f1f8318 591 break;
apalmieri 0:a77f1f1f8318 592
apalmieri 0:a77f1f1f8318 593 case GNS:
apalmieri 0:a77f1f1f8318 594 status = (eStatus)parse_gnsmsg(&pData.gns_data, buffer);
apalmieri 0:a77f1f1f8318 595 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 596 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 597 }
apalmieri 0:a77f1f1f8318 598 break;
apalmieri 0:a77f1f1f8318 599
apalmieri 0:a77f1f1f8318 600 case GPGST:
apalmieri 0:a77f1f1f8318 601 status = (eStatus)parse_gpgst(&pData.gpgst_data, buffer);
apalmieri 0:a77f1f1f8318 602 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 603 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 604 }
apalmieri 0:a77f1f1f8318 605 break;
apalmieri 0:a77f1f1f8318 606
apalmieri 0:a77f1f1f8318 607 case GPRMC:
apalmieri 0:a77f1f1f8318 608 status = (eStatus)parse_gprmc(&pData.gprmc_data, buffer);
apalmieri 0:a77f1f1f8318 609 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 610 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 611 }
apalmieri 0:a77f1f1f8318 612 break;
apalmieri 0:a77f1f1f8318 613
apalmieri 0:a77f1f1f8318 614 case GSA:
apalmieri 0:a77f1f1f8318 615 status = (eStatus)parse_gsamsg(&pData.gsa_data, buffer);
apalmieri 0:a77f1f1f8318 616 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 617 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 618 }
apalmieri 0:a77f1f1f8318 619 break;
apalmieri 0:a77f1f1f8318 620
apalmieri 0:a77f1f1f8318 621 case GSV:
apalmieri 0:a77f1f1f8318 622 status = (eStatus)parse_gsvmsg(&pData.gsv_data, buffer);
apalmieri 0:a77f1f1f8318 623 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 624 outputHandler(LOC_OUTPUT_NMEA, msg, &pData);
apalmieri 0:a77f1f1f8318 625 }
apalmieri 0:a77f1f1f8318 626 break;
apalmieri 0:a77f1f1f8318 627
apalmieri 0:a77f1f1f8318 628 default:
apalmieri 0:a77f1f1f8318 629 break;
apalmieri 0:a77f1f1f8318 630
apalmieri 0:a77f1f1f8318 631 }
apalmieri 0:a77f1f1f8318 632
apalmieri 0:a77f1f1f8318 633 return status;
apalmieri 0:a77f1f1f8318 634 }
apalmieri 0:a77f1f1f8318 635
apalmieri 0:a77f1f1f8318 636 void
apalmieri 0:a77f1f1f8318 637 Teseo::setVerboseMode(int level)
apalmieri 0:a77f1f1f8318 638 {
apalmieri 0:a77f1f1f8318 639 cfgMessageList(level);
apalmieri 0:a77f1f1f8318 640 }
apalmieri 0:a77f1f1f8318 641
apalmieri 0:a77f1f1f8318 642 void
apalmieri 0:a77f1f1f8318 643 Teseo::_GetLocationMsg(Teseo::eMsg msg, uint8_t *buffer)
apalmieri 0:a77f1f1f8318 644 {
apalmieri 0:a77f1f1f8318 645 eStatus status;
apalmieri 0:a77f1f1f8318 646
apalmieri 0:a77f1f1f8318 647 #if 0
apalmieri 0:a77f1f1f8318 648 _serialDebug->printf("\n\r --------------------->\n\r");
apalmieri 0:a77f1f1f8318 649 for (int i = 0; i < TESEO_RXBUF_LEN ; ++i) {
apalmieri 0:a77f1f1f8318 650 _serialDebug->putc((int)buffer[i]);
apalmieri 0:a77f1f1f8318 651 }
apalmieri 0:a77f1f1f8318 652 _serialDebug->printf("\n\r<---------------------\n\r");
apalmieri 0:a77f1f1f8318 653 #endif
apalmieri 0:a77f1f1f8318 654
apalmieri 0:a77f1f1f8318 655 status = (eStatus)parse_gpgga(&pData.gpgga_data, buffer);
apalmieri 0:a77f1f1f8318 656 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 657 outputHandler(LOC_OUTPUT_LOCATION, msg, &pData);
apalmieri 0:a77f1f1f8318 658 }
apalmieri 0:a77f1f1f8318 659 }
apalmieri 0:a77f1f1f8318 660
apalmieri 0:a77f1f1f8318 661 void
apalmieri 0:a77f1f1f8318 662 Teseo::_GetPSTMsg(Teseo::ePSTMsg msg, uint8_t *buffer)
apalmieri 0:a77f1f1f8318 663 {
apalmieri 0:a77f1f1f8318 664 eStatus status;
apalmieri 0:a77f1f1f8318 665
apalmieri 0:a77f1f1f8318 666 #if 0
apalmieri 0:a77f1f1f8318 667 _serialDebug->printf("\n\r --------------------->\n\r");
apalmieri 0:a77f1f1f8318 668 for (int i = 0; i < TESEO_RXBUF_LEN ; ++i) {
apalmieri 0:a77f1f1f8318 669 _serialDebug->putc((int)buffer[i]);
apalmieri 0:a77f1f1f8318 670 }
apalmieri 0:a77f1f1f8318 671 _serialDebug->printf("\n\r<---------------------\n\r");
apalmieri 0:a77f1f1f8318 672 #endif
apalmieri 0:a77f1f1f8318 673
apalmieri 0:a77f1f1f8318 674 switch(msg) {
apalmieri 0:a77f1f1f8318 675
apalmieri 0:a77f1f1f8318 676 case PSTMGEOFENCE:
apalmieri 0:a77f1f1f8318 677 status = (eStatus)parse_pstmgeofence(&pData.geofence_data, buffer);
apalmieri 0:a77f1f1f8318 678 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 679 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 680 }
apalmieri 0:a77f1f1f8318 681 break;
apalmieri 0:a77f1f1f8318 682 case PSTMODO:
apalmieri 0:a77f1f1f8318 683 status = (eStatus)parse_pstmodo(&pData.odo_data, buffer);
apalmieri 0:a77f1f1f8318 684 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 685 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 686 }
apalmieri 0:a77f1f1f8318 687 break;
apalmieri 0:a77f1f1f8318 688 case PSTMDATALOG:
apalmieri 0:a77f1f1f8318 689 status = (eStatus)parse_pstmdatalog(&pData.datalog_data, buffer);
apalmieri 0:a77f1f1f8318 690 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 691 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 692 }
apalmieri 0:a77f1f1f8318 693 break;
apalmieri 0:a77f1f1f8318 694 case PSTMSGL:
apalmieri 0:a77f1f1f8318 695 status = (eStatus)parse_pstmsgl(&pData.ack, buffer);
apalmieri 0:a77f1f1f8318 696 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 697 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 698 }
apalmieri 0:a77f1f1f8318 699 break;
apalmieri 0:a77f1f1f8318 700 case PSTMSAVEPAR:
apalmieri 0:a77f1f1f8318 701 status = (eStatus)parse_pstmsavepar(&pData.ack, buffer);
apalmieri 0:a77f1f1f8318 702 if(status == TESEO_STATUS_SUCCESS) {
apalmieri 0:a77f1f1f8318 703 outputHandler(LOC_OUTPUT_PSTM, msg, &pData);
apalmieri 0:a77f1f1f8318 704 }
apalmieri 0:a77f1f1f8318 705 break;
apalmieri 0:a77f1f1f8318 706
apalmieri 0:a77f1f1f8318 707 default:
apalmieri 0:a77f1f1f8318 708 break;
apalmieri 0:a77f1f1f8318 709 }
apalmieri 0:a77f1f1f8318 710 /* Recover the normal state */
apalmieri 0:a77f1f1f8318 711
apalmieri 0:a77f1f1f8318 712 }
apalmieri 0:a77f1f1f8318 713
apalmieri 0:a77f1f1f8318 714 void
apalmieri 0:a77f1f1f8318 715 Teseo::process(void)
apalmieri 0:a77f1f1f8318 716 {
apalmieri 0:a77f1f1f8318 717 osEvent evt = queue.get();
apalmieri 0:a77f1f1f8318 718 if (evt.status == osEventMessage) {
apalmieri 0:a77f1f1f8318 719 struct _teseoMsg *message = (struct _teseoMsg *)evt.value.p;
apalmieri 0:a77f1f1f8318 720 if (message->len > 0) {
apalmieri 0:a77f1f1f8318 721
apalmieri 0:a77f1f1f8318 722 for(int m = 0; m < PSTM_NMEA_MSGS_NUM; m++) {
apalmieri 0:a77f1f1f8318 723 _GetPSTMsg((ePSTMsg)m, message->buf);
apalmieri 0:a77f1f1f8318 724 }
apalmieri 0:a77f1f1f8318 725 for(int m = 0; m < NMEA_MSGS_NUM; m++) {
apalmieri 0:a77f1f1f8318 726 _GetMsg((eMsg)m, message->buf);
apalmieri 0:a77f1f1f8318 727 }
apalmieri 0:a77f1f1f8318 728 }
apalmieri 0:a77f1f1f8318 729
apalmieri 0:a77f1f1f8318 730 mpool.free(message);
apalmieri 0:a77f1f1f8318 731 }
apalmieri 0:a77f1f1f8318 732 }
apalmieri 0:a77f1f1f8318 733
apalmieri 0:a77f1f1f8318 734 uint32_t
apalmieri 0:a77f1f1f8318 735 Teseo::ioctl(uint32_t command, void *arg)
apalmieri 0:a77f1f1f8318 736 {
apalmieri 0:a77f1f1f8318 737 /* TBI */
apalmieri 0:a77f1f1f8318 738 return 0;
apalmieri 0:a77f1f1f8318 739 }
apalmieri 0:a77f1f1f8318 740
apalmieri 0:a77f1f1f8318 741 void
apalmieri 0:a77f1f1f8318 742 Teseo::lpmGetImmediateLocation(void)
apalmieri 0:a77f1f1f8318 743 {
apalmieri 0:a77f1f1f8318 744 /* TBI */
apalmieri 0:a77f1f1f8318 745 }
apalmieri 0:a77f1f1f8318 746
apalmieri 0:a77f1f1f8318 747 const GPSProvider::LocationUpdateParams_t *
apalmieri 0:a77f1f1f8318 748 Teseo::getLastLocation(void) const
apalmieri 0:a77f1f1f8318 749 {
apalmieri 0:a77f1f1f8318 750 return &lastLocation;
apalmieri 0:a77f1f1f8318 751 }
apalmieri 0:a77f1f1f8318 752
apalmieri 0:a77f1f1f8318 753 void
apalmieri 0:a77f1f1f8318 754 Teseo::reset(void)
apalmieri 0:a77f1f1f8318 755 {
apalmieri 0:a77f1f1f8318 756 _ResetFast(_serialDebug);
apalmieri 0:a77f1f1f8318 757 }
apalmieri 0:a77f1f1f8318 758
apalmieri 0:a77f1f1f8318 759 gps_provider_error_t
apalmieri 0:a77f1f1f8318 760 Teseo::cfgMessageList(int level)
apalmieri 0:a77f1f1f8318 761 {
apalmieri 0:a77f1f1f8318 762 int lowMask = 0x2;
apalmieri 0:a77f1f1f8318 763 int highMask = 0x80000;
apalmieri 0:a77f1f1f8318 764
apalmieri 0:a77f1f1f8318 765 if(level == 2) {
apalmieri 0:a77f1f1f8318 766 lowMask = 0x18004F;
apalmieri 0:a77f1f1f8318 767 }
apalmieri 0:a77f1f1f8318 768
apalmieri 0:a77f1f1f8318 769 sprintf(_teseoCmd, "$PSTMCFGMSGL,%d,%d,%x,%x",
apalmieri 0:a77f1f1f8318 770 0, /*NMEA 0*/
apalmieri 0:a77f1f1f8318 771 1, /*Rate*/
apalmieri 0:a77f1f1f8318 772 lowMask,
apalmieri 0:a77f1f1f8318 773 highMask);
apalmieri 0:a77f1f1f8318 774
apalmieri 0:a77f1f1f8318 775 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 776
apalmieri 0:a77f1f1f8318 777 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 778 }
apalmieri 0:a77f1f1f8318 779
apalmieri 0:a77f1f1f8318 780 gps_provider_error_t
apalmieri 0:a77f1f1f8318 781 Teseo::saveConfigParams(void)
apalmieri 0:a77f1f1f8318 782 {
apalmieri 0:a77f1f1f8318 783 sprintf(_teseoCmd, "$PSTMSAVEPAR");
apalmieri 0:a77f1f1f8318 784 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 785
apalmieri 0:a77f1f1f8318 786 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 787 }
apalmieri 0:a77f1f1f8318 788
apalmieri 0:a77f1f1f8318 789 bool
apalmieri 0:a77f1f1f8318 790 Teseo::isGeofencingSupported(void)
apalmieri 0:a77f1f1f8318 791 {
apalmieri 0:a77f1f1f8318 792 return true;
apalmieri 0:a77f1f1f8318 793 }
apalmieri 0:a77f1f1f8318 794
apalmieri 0:a77f1f1f8318 795 gps_provider_error_t
apalmieri 0:a77f1f1f8318 796 Teseo::enableGeofence(void)
apalmieri 0:a77f1f1f8318 797 {
apalmieri 0:a77f1f1f8318 798 //$PSTMCFGGEOFENCE,<en>,<tol>*<checksum><cr><lf>
apalmieri 0:a77f1f1f8318 799 sprintf(_teseoCmd, "$PSTMCFGGEOFENCE,%d,%d",1,1);
apalmieri 0:a77f1f1f8318 800 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 801
apalmieri 0:a77f1f1f8318 802 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 803 }
apalmieri 0:a77f1f1f8318 804
apalmieri 0:a77f1f1f8318 805 //FIXME!
apalmieri 0:a77f1f1f8318 806 gps_provider_error_t
apalmieri 0:a77f1f1f8318 807 Teseo::cfgGeofenceCircle(void)
apalmieri 0:a77f1f1f8318 808 {
apalmieri 0:a77f1f1f8318 809 GPSGeofence::GeofenceCircle_t circle = {
apalmieri 0:a77f1f1f8318 810 .id = 0,
apalmieri 0:a77f1f1f8318 811 .enabled = 1,
apalmieri 0:a77f1f1f8318 812 .tolerance = 1,
apalmieri 0:a77f1f1f8318 813 .lat = 40.336055,
apalmieri 0:a77f1f1f8318 814 .lon = 18.120611,
apalmieri 0:a77f1f1f8318 815 .radius = 200
apalmieri 0:a77f1f1f8318 816 };
apalmieri 0:a77f1f1f8318 817
apalmieri 0:a77f1f1f8318 818 sprintf(_teseoCmd, "$PSTMCFGGEOCIR,%d,%d,%lf,%lf,%lf",
apalmieri 0:a77f1f1f8318 819 circle.id,
apalmieri 0:a77f1f1f8318 820 circle.enabled,
apalmieri 0:a77f1f1f8318 821 circle.lat,
apalmieri 0:a77f1f1f8318 822 circle.lon,
apalmieri 0:a77f1f1f8318 823 circle.radius);
apalmieri 0:a77f1f1f8318 824 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 825
apalmieri 0:a77f1f1f8318 826 sprintf(_teseoCmd, "$PSTMSAVEPAR");
apalmieri 0:a77f1f1f8318 827 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 828
apalmieri 0:a77f1f1f8318 829 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 830 }
apalmieri 0:a77f1f1f8318 831
apalmieri 0:a77f1f1f8318 832
apalmieri 0:a77f1f1f8318 833 gps_provider_error_t
apalmieri 0:a77f1f1f8318 834 Teseo::configGeofences(GPSGeofence *geofences[], unsigned geofenceCount)
apalmieri 0:a77f1f1f8318 835 {
apalmieri 0:a77f1f1f8318 836 uint8_t trials;
apalmieri 0:a77f1f1f8318 837
apalmieri 0:a77f1f1f8318 838 if(geofenceCount > MAX_GEOFENCES_NUM) {
apalmieri 0:a77f1f1f8318 839 return GPS_ERROR_GEOFENCE_MAX_EXCEEDED;
apalmieri 0:a77f1f1f8318 840 }
apalmieri 0:a77f1f1f8318 841
apalmieri 0:a77f1f1f8318 842 for(uint8_t i = 0; i < geofenceCount; i++) {
apalmieri 0:a77f1f1f8318 843 trials = 1;
apalmieri 0:a77f1f1f8318 844 //printf("Teseo::configGeofences id=%d\r\n", (geofences[i]->getGeofenceCircle()).id);
apalmieri 0:a77f1f1f8318 845 /*
apalmieri 0:a77f1f1f8318 846 printf("Teseo::configGeofences en=%d\r\n", en);
apalmieri 0:a77f1f1f8318 847 printf("Teseo::configGeofences tol=%d\r\n", (geofences[i]->getGeofenceCircle()).tolerance);
apalmieri 0:a77f1f1f8318 848 printf("Teseo::configGeofences lat=%02f\r\n", (geofences[i]->getGeofenceCircle()).lat);
apalmieri 0:a77f1f1f8318 849 printf("Teseo::configGeofences lon=%02f\r\n", (geofences[i]->getGeofenceCircle()).lon);
apalmieri 0:a77f1f1f8318 850 printf("Teseo::configGeofences radius=%02f\r\n", (geofences[i]->getGeofenceCircle()).radius);
apalmieri 0:a77f1f1f8318 851 */
apalmieri 0:a77f1f1f8318 852 sprintf(_teseoCmd, "$PSTMGEOFENCECFG,%d,%d,%d,%lf,%lf,%lf",
apalmieri 0:a77f1f1f8318 853 (geofences[i]->getGeofenceCircle()).id,
apalmieri 0:a77f1f1f8318 854 (geofences[i]->getGeofenceCircle()).enabled,
apalmieri 0:a77f1f1f8318 855 (geofences[i]->getGeofenceCircle()).tolerance,
apalmieri 0:a77f1f1f8318 856 (geofences[i]->getGeofenceCircle()).lat,
apalmieri 0:a77f1f1f8318 857 (geofences[i]->getGeofenceCircle()).lon,
apalmieri 0:a77f1f1f8318 858 (geofences[i]->getGeofenceCircle()).radius);
apalmieri 0:a77f1f1f8318 859
apalmieri 0:a77f1f1f8318 860 do{
apalmieri 0:a77f1f1f8318 861 trials--;
apalmieri 0:a77f1f1f8318 862
apalmieri 0:a77f1f1f8318 863 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 864 /*
apalmieri 0:a77f1f1f8318 865 sprintf(_teseoCmd, "$PSTMCFGGEOFENCE,%d,%d\n\r",1,1);
apalmieri 0:a77f1f1f8318 866
apalmieri 0:a77f1f1f8318 867 //sprintf(_teseoCmd, "$PSTMGETSWVER,6");
apalmieri 0:a77f1f1f8318 868 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 869
apalmieri 0:a77f1f1f8318 870 sprintf(_teseoCmd, "$PSTMSAVEPAR\n\r");
apalmieri 0:a77f1f1f8318 871 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 872 */
apalmieri 0:a77f1f1f8318 873 //printf("Teseo::configGeofences _teseoCmd=%s\r\n", _teseoCmd);
apalmieri 0:a77f1f1f8318 874 } while (trials > 0);
apalmieri 0:a77f1f1f8318 875 }
apalmieri 0:a77f1f1f8318 876 //printf("Teseo::configGeofences sizeof(geofences)=%d numGeofences=%d strlen(_teseoCmd)=%d\r\n", sizeof(geofences), numGeofences, strlen(_teseoCmd));
apalmieri 0:a77f1f1f8318 877
apalmieri 0:a77f1f1f8318 878 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 879 }
apalmieri 0:a77f1f1f8318 880
apalmieri 0:a77f1f1f8318 881 gps_provider_error_t
apalmieri 0:a77f1f1f8318 882 Teseo::geofenceReq(void)
apalmieri 0:a77f1f1f8318 883 {
apalmieri 0:a77f1f1f8318 884 sprintf(_teseoCmd, "$PSTMGEOFENCEREQ");
apalmieri 0:a77f1f1f8318 885 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 886
apalmieri 0:a77f1f1f8318 887 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 888 }
apalmieri 0:a77f1f1f8318 889
apalmieri 0:a77f1f1f8318 890 bool
apalmieri 0:a77f1f1f8318 891 Teseo::isDataloggingSupported(void)
apalmieri 0:a77f1f1f8318 892 {
apalmieri 0:a77f1f1f8318 893 return true;
apalmieri 0:a77f1f1f8318 894 }
apalmieri 0:a77f1f1f8318 895
apalmieri 0:a77f1f1f8318 896 gps_provider_error_t
apalmieri 0:a77f1f1f8318 897 Teseo::enableDatalog(void)
apalmieri 0:a77f1f1f8318 898 {
apalmieri 0:a77f1f1f8318 899 //$PSTMCFGLOG,<en>,<circ>,<rectype>,<oneshot>,<rate>,<speed>,<dist>*<checksum><cr><lf>
apalmieri 0:a77f1f1f8318 900 sprintf(_teseoCmd, "$PSTMCFGLOG,%d,%d,%d,%d,%u,%u,%u",
apalmieri 0:a77f1f1f8318 901 1, //Enable/Disable the log
apalmieri 0:a77f1f1f8318 902 1, //Enable/Disable circular mode
apalmieri 0:a77f1f1f8318 903 1, //Record type
apalmieri 0:a77f1f1f8318 904 0, //Enable/Disable one shot mode
apalmieri 0:a77f1f1f8318 905 5, //time interval in seconds between two consecutive logged records
apalmieri 0:a77f1f1f8318 906 0, //minimum speed threshold
apalmieri 0:a77f1f1f8318 907 0 //distance threshold
apalmieri 0:a77f1f1f8318 908 );
apalmieri 0:a77f1f1f8318 909 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 910
apalmieri 0:a77f1f1f8318 911 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 912 }
apalmieri 0:a77f1f1f8318 913
apalmieri 0:a77f1f1f8318 914 gps_provider_error_t
apalmieri 0:a77f1f1f8318 915 Teseo::configDatalog(GPSDatalog *datalog)
apalmieri 0:a77f1f1f8318 916 {
apalmieri 0:a77f1f1f8318 917 //printf("Teseo::configDatalog 0x%03x\r\n", (datalog->getEnableBufferFullAlarm())<<1|(datalog->getEnableCircularBuffer()));
apalmieri 0:a77f1f1f8318 918 //$PSTMLOGCREATE,<cfg>,<min-rate>,<min-speed>,<min-position>,<logmask>*<checksum><cr><lf>
apalmieri 0:a77f1f1f8318 919 sprintf(_teseoCmd, "$PSTMLOGCREATE,%03x,%u,%u,%u,%d",
apalmieri 0:a77f1f1f8318 920 (datalog->getEnableBufferFullAlarm())<<1|(datalog->getEnableCircularBuffer()),
apalmieri 0:a77f1f1f8318 921 datalog->getMinRate(),
apalmieri 0:a77f1f1f8318 922 datalog->getMinSpeed(),
apalmieri 0:a77f1f1f8318 923 datalog->getMinPosition(),
apalmieri 0:a77f1f1f8318 924 datalog->getLogMask()
apalmieri 0:a77f1f1f8318 925 );
apalmieri 0:a77f1f1f8318 926 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 927
apalmieri 0:a77f1f1f8318 928 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 929 }
apalmieri 0:a77f1f1f8318 930
apalmieri 0:a77f1f1f8318 931 gps_provider_error_t
apalmieri 0:a77f1f1f8318 932 Teseo::startDatalog(void)
apalmieri 0:a77f1f1f8318 933 {
apalmieri 0:a77f1f1f8318 934 sprintf(_teseoCmd, "$PSTMLOGSTART");
apalmieri 0:a77f1f1f8318 935 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 936
apalmieri 0:a77f1f1f8318 937 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 938 }
apalmieri 0:a77f1f1f8318 939
apalmieri 0:a77f1f1f8318 940 gps_provider_error_t
apalmieri 0:a77f1f1f8318 941 Teseo::stopDatalog(void)
apalmieri 0:a77f1f1f8318 942 {
apalmieri 0:a77f1f1f8318 943 sprintf(_teseoCmd, "$PSTMLOGSTOP");
apalmieri 0:a77f1f1f8318 944 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 945
apalmieri 0:a77f1f1f8318 946 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 947 }
apalmieri 0:a77f1f1f8318 948
apalmieri 0:a77f1f1f8318 949 gps_provider_error_t
apalmieri 0:a77f1f1f8318 950 Teseo::eraseDatalog(void)
apalmieri 0:a77f1f1f8318 951 {
apalmieri 0:a77f1f1f8318 952 sprintf(_teseoCmd, "$PSTMLOGERASE");
apalmieri 0:a77f1f1f8318 953 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 954
apalmieri 0:a77f1f1f8318 955 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 956 }
apalmieri 0:a77f1f1f8318 957
apalmieri 0:a77f1f1f8318 958 gps_provider_error_t
apalmieri 0:a77f1f1f8318 959 Teseo::logReqStatus(void)
apalmieri 0:a77f1f1f8318 960 {
apalmieri 0:a77f1f1f8318 961 /* TBI */
apalmieri 0:a77f1f1f8318 962 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 963 }
apalmieri 0:a77f1f1f8318 964
apalmieri 0:a77f1f1f8318 965 gps_provider_error_t
apalmieri 0:a77f1f1f8318 966 Teseo::logReqQuery(GPSProvider::LogQueryParams_t &logReqQuery)
apalmieri 0:a77f1f1f8318 967 {
apalmieri 0:a77f1f1f8318 968 /* TBI */
apalmieri 0:a77f1f1f8318 969 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 970 }
apalmieri 0:a77f1f1f8318 971
apalmieri 0:a77f1f1f8318 972 bool
apalmieri 0:a77f1f1f8318 973 Teseo::isOdometerSupported(void)
apalmieri 0:a77f1f1f8318 974 {
apalmieri 0:a77f1f1f8318 975 return true;
apalmieri 0:a77f1f1f8318 976 }
apalmieri 0:a77f1f1f8318 977
apalmieri 0:a77f1f1f8318 978 gps_provider_error_t
apalmieri 0:a77f1f1f8318 979 Teseo::enableOdo(void)
apalmieri 0:a77f1f1f8318 980 {
apalmieri 0:a77f1f1f8318 981 //$PSTMCFGODO,<en>,<enmsg>,<alarm>*<checksum><cr><lf>
apalmieri 0:a77f1f1f8318 982 sprintf(_teseoCmd, "$PSTMCFGODO,1,1,1");
apalmieri 0:a77f1f1f8318 983 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 984
apalmieri 0:a77f1f1f8318 985 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 986 }
apalmieri 0:a77f1f1f8318 987
apalmieri 0:a77f1f1f8318 988 gps_provider_error_t
apalmieri 0:a77f1f1f8318 989 Teseo::startOdo(unsigned alarmDistance)
apalmieri 0:a77f1f1f8318 990 {
apalmieri 0:a77f1f1f8318 991 sprintf(_teseoCmd, "$PSTMODOSTART,%08x", alarmDistance);
apalmieri 0:a77f1f1f8318 992 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 993
apalmieri 0:a77f1f1f8318 994 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 995 }
apalmieri 0:a77f1f1f8318 996
apalmieri 0:a77f1f1f8318 997 gps_provider_error_t
apalmieri 0:a77f1f1f8318 998 Teseo::stopOdo(void)
apalmieri 0:a77f1f1f8318 999 {
apalmieri 0:a77f1f1f8318 1000 sprintf(_teseoCmd, "$PSTMODOSTOP");
apalmieri 0:a77f1f1f8318 1001 SendCommand(_teseoCmd);
apalmieri 0:a77f1f1f8318 1002
apalmieri 0:a77f1f1f8318 1003 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 1004 }
apalmieri 0:a77f1f1f8318 1005 gps_provider_error_t
apalmieri 0:a77f1f1f8318 1006 Teseo::resetOdo(void)
apalmieri 0:a77f1f1f8318 1007 {
apalmieri 0:a77f1f1f8318 1008 /* TBI */
apalmieri 0:a77f1f1f8318 1009 return GPS_ERROR_NONE;
apalmieri 0:a77f1f1f8318 1010 }