Revision 6:56eda66d585b, committed 2017-06-14

Comitter:

rob.meades@u-blox.com

Date:

Wed Jun 14 20:44:42 2017 +0100

Parent:

5:af4baf3c67f3

Child:

7:bfbe9d5d6f56

Child:

8:720841961804

Commit message:

Test passing on C027 and C030 platforms.

Changed in this revision

--- a/TESTS/unit_tests/default/main.cpp	Sun Jun 11 13:45:56 2017 +0000
+++ b/TESTS/unit_tests/default/main.cpp	Wed Jun 14 20:44:42 2017 +0100
@@ -3,9 +3,6 @@
 #include "unity.h"
 #include "utest.h"
 #include "gnss.h"
-extern "C" {
-#include "c030_api.h"
-}
  
 using namespace utest::v1;
 
@@ -58,47 +55,55 @@
     char buffer[64];
     int responseLength = 0;
     int returnCode;
+    bool gotAck = false;
+    Timer timer;
 
     GnssSerial *pGnss = new GnssSerial();
 
-    // Initialise the GNSS chip and wait for it to start up
+    // Initialise the GNSS chip
     pGnss->init(NC);
-    wait_ms(1000);
 
-    // See ublox7-V14_ReceiverDescrProtSpec section 30.11.15 (CFG-NAV5)
-    // Set automotive mode, which should be acknowledged
-    memset (buffer, 0, sizeof (buffer));
-    buffer[0] = 0x00;
-    buffer[1] = 0x01; // Set dynamic config only
-    buffer[2] = 0x04; // Automotive
-    // Send length is 32 bytes of payload + 6 bytes header + 2 bytes CRC
-    TEST_ASSERT_EQUAL_INT (40, pGnss->sendUbx(0x06, 0x24, buffer, 32));
-    while (responseLength == 0) {
-        // Wait for the required Ack
-        returnCode = pGnss->getMessage(buffer, sizeof(buffer));
-        if ((returnCode != GnssSerial::WAIT) && (returnCode != GnssSerial::NOT_FOUND)) {
-            responseLength = LENGTH(returnCode);
-            if ((PROTOCOL(returnCode) == GnssSerial::UBX)) {
-                printHex(buffer, responseLength);
-                // Ack is  0xb5-62-05-00-02-00-msgclass-msgid-crcA-crcB
-                // Nack is 0xb5-62-05-01-02-00-msgclass-msgid-crcA-crcB
-                TEST_ASSERT_EQUAL_UINT8(0xb5, buffer[0]);
-                TEST_ASSERT_EQUAL_UINT8(0x62, buffer[1]);
-                TEST_ASSERT_EQUAL_UINT8(0x05, buffer[2]);
-                TEST_ASSERT_EQUAL_UINT8(0x00, buffer[3]);
-                TEST_ASSERT_EQUAL_UINT8(0x02, buffer[4]);
-                TEST_ASSERT_EQUAL_UINT8(0x00, buffer[5]);
-                TEST_ASSERT_EQUAL_UINT8(0x06, buffer[6]);
-                TEST_ASSERT_EQUAL_UINT8(0x24, buffer[7]);
-            } else if ((PROTOCOL(returnCode) == GnssSerial::NMEA)) {
-                printf ("%.*s", responseLength, buffer);
-                responseLength = 0;
-            } else {
-                printHex(buffer, responseLength);
-                responseLength = 0;
+    // Try this a few times as we might get no response
+    // if the GNSS chip is busy
+    for (int x = 0; (x < 3) && !gotAck; x++) {
+        // See ublox7-V14_ReceiverDescrProtSpec section 30.11.15 (CFG-NAV5)
+        // Set automotive mode, which should be acknowledged
+        memset (buffer, 0, sizeof (buffer));
+        buffer[0] = 0x00;
+        buffer[1] = 0x01; // Mask: set dynamic config only
+        buffer[2] = 0x04; // Dynamic platform model: automotive
+        // Send length is 32 bytes of payload + 6 bytes header + 2 bytes CRC
+        TEST_ASSERT_EQUAL_INT (40, pGnss->sendUbx(0x06, 0x24, buffer, 32));
+        printf ("CFG_NAV5 command sent, try %d.\n", x);
+        timer.start();
+        while ((!gotAck) && (timer.read_ms() < 1000)) {
+            // Wait for the required Ack
+            returnCode = pGnss->getMessage(buffer, sizeof(buffer));
+            if ((returnCode != GnssSerial::WAIT) && (returnCode != GnssSerial::NOT_FOUND)) {
+                responseLength = LENGTH(returnCode);
+                if ((PROTOCOL(returnCode) == GnssSerial::UBX)) {
+                    printHex(buffer, responseLength);
+                    // Ack is  0xb5-62-05-00-02-00-msgclass-msgid-crcA-crcB
+                    // Nack is 0xb5-62-05-01-02-00-msgclass-msgid-crcA-crcB
+                    TEST_ASSERT_EQUAL_UINT8(0xb5, buffer[0]);
+                    TEST_ASSERT_EQUAL_UINT8(0x62, buffer[1]);
+                    TEST_ASSERT_EQUAL_UINT8(0x05, buffer[2]);
+                    TEST_ASSERT_EQUAL_UINT8(0x00, buffer[3]);
+                    TEST_ASSERT_EQUAL_UINT8(0x02, buffer[4]);
+                    TEST_ASSERT_EQUAL_UINT8(0x00, buffer[5]);
+                    TEST_ASSERT_EQUAL_UINT8(0x06, buffer[6]);
+                    TEST_ASSERT_EQUAL_UINT8(0x24, buffer[7]);
+                    gotAck = true;
+                } else if ((PROTOCOL(returnCode) == GnssSerial::NMEA)) {
+                    printf ("%.*s", responseLength, buffer);
+                } else {
+                    printHex(buffer, responseLength);
+                }
             }
+            wait_ms (100);
         }
-        wait_ms (100);
+        timer.stop();
+        timer.reset();
     }
 }
 
@@ -216,8 +221,6 @@
 
 int main() {
 
-    c030_init(); // HACK
-
     return !Harness::run(specification);
 }
 

--- a/gnss.cpp	Sun Jun 11 13:45:56 2017 +0000
+++ b/gnss.cpp	Wed Jun 14 20:44:42 2017 +0100
@@ -45,7 +45,7 @@
 
 void GnssParser::powerOff(void)
 {
-    // set the GNSS into backup mode using the command RMX-LPREQ
+    // Set the GNSS into backup mode using the command RMX-LPREQ
     struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
     sendUbx(0x02, 0x41, &msg, sizeof(msg));
 }
@@ -103,7 +103,7 @@
     char ch;
     if (++o > len)                      return WAIT;
     if ('$' != pipe->next())            return NOT_FOUND;
-    // this needs to be extended by crc checking 
+    // This needs to be extended by crc checking 
     for (;;)
     {
         if (++o > len)                  return WAIT;
@@ -203,13 +203,13 @@
 
 const char* GnssParser::findNmeaItemPos(int ix, const char* start, const char* end)
 {
-    // find the start
+    // Find the start
     for (; (start < end) && (ix > 0); start ++)
     {
         if (*start == ',')
             ix --;
     }
-    // found and check bounds
+    // Found and check bounds
     if ((ix == 0) && (start < end) && 
         (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
         return start;
@@ -221,11 +221,11 @@
 {
     char* end = &buf[len];
     const char* pos = findNmeaItemPos(ix, buf, end);
-    // find the start
+    // Find the start
     if (!pos)
         return false;
     val = strtod(pos, &end);
-    // restore the last character
+    // Restore the last character
     return (end > pos);
 }
 
@@ -233,7 +233,7 @@
 {
     char* end = &buf[len];
     const char* pos = findNmeaItemPos(ix, buf, end);
-    // find the start
+    // Find the start
     if (!pos)
         return false;
     val = (int)strtol(pos, &end, base);
@@ -244,13 +244,13 @@
 {
     const char* end = &buf[len];
     const char* pos = findNmeaItemPos(ix, buf, end);
-    // find the start
+    // Find the start
     if (!pos)
         return false;
-    // skip leading spaces
+    // Skip leading spaces
     while ((pos < end) && isspace(*pos))
         pos++;
-    // check bound
+    // Check bound
     if ((pos < end) && 
         (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
     {
@@ -296,20 +296,25 @@
 
 bool GnssSerial::init(PinName pn)
 {
+    Timer timer;
+    int size;
+    
     // Unused (kept only for compatibility with the I2C version)
     (void)pn;
     
     // Power up and enable the module
     _powerOn();
 
-    // send a byte to wakup the device again
+    // Send a byte to wakup the device again
     putc(0xFF);
-    // wait until we get some bytes
-    int size = _pipeRx.size();
-    Timer timer;
+    // Wait until we get some bytes
+    size = _pipeRx.size();
     timer.start();
-    while ((100 > timer.read_ms()) && (size == _pipeRx.size()))
-        /* nothing / just wait */;
+    while ((timer.read_ms() < 1000) && (size == _pipeRx.size())) {
+        /* Nothing, just wait */
+    }
+    timer.stop();
+    
     return (size != _pipeRx.size());
 }
 
@@ -357,13 +362,13 @@
 
 int GnssI2C::getMessage(char* buf, int len)
 {
-    // fill the pipe
+    // Fill the pipe
     int sz = _pipe.free();
     if (sz) 
         sz = _get(buf, sz);
     if (sz) 
         _pipe.put(buf, sz);
-    // now parse it
+    // Now parse it
     return _getMessage(&_pipe, buf, len);   
 }
 

--- a/gnss.h	Sun Jun 11 13:45:56 2017 +0000
+++ b/gnss.h	Wed Jun 14 20:44:42 2017 +0100
@@ -33,10 +33,10 @@
 #endif
 
 #ifdef TARGET_UBLOX_C027
-#define GNSSEN   GPSEN
-#define GNSSTXD  GPSTXD
-#define GNSSRXD  GPSRXD
-#define GNSSBAUD GPSBAUD
+# define GNSSEN   GPSEN
+# define GNSSTXD  GPSTXD
+# define GNSSRXD  GPSRXD
+# define GNSSBAUD GPSBAUD
 #endif
 
 /** Basic GNSS parser class.