Wajahat Abbas
gnss
Diff: TESTS/unit_tests/default/main.cpp
- Revision:
- 6:56eda66d585b
- Parent:
- 1:ef70a58a6c98
--- 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);
}