fahim alavi
/
example-gnss
Example with new gnss libraries
Fork of example-gnss by
main.cpp@0:5eb7846b73b4, 2017-06-06 (annotated)
- Committer:
- RobMeades
- Date:
- Tue Jun 06 08:30:05 2017 +0000
- Revision:
- 0:5eb7846b73b4
- Child:
- 1:3c41bde6d0bc
Initial revision.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RobMeades | 0:5eb7846b73b4 | 1 | /* mbed Microcontroller Library |
RobMeades | 0:5eb7846b73b4 | 2 | * Copyright (c) 2017 u-blox |
RobMeades | 0:5eb7846b73b4 | 3 | * |
RobMeades | 0:5eb7846b73b4 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
RobMeades | 0:5eb7846b73b4 | 5 | * you may not use this file except in compliance with the License. |
RobMeades | 0:5eb7846b73b4 | 6 | * You may obtain a copy of the License at |
RobMeades | 0:5eb7846b73b4 | 7 | * |
RobMeades | 0:5eb7846b73b4 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
RobMeades | 0:5eb7846b73b4 | 9 | * |
RobMeades | 0:5eb7846b73b4 | 10 | * Unless required by applicable law or agreed to in writing, software |
RobMeades | 0:5eb7846b73b4 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
RobMeades | 0:5eb7846b73b4 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
RobMeades | 0:5eb7846b73b4 | 13 | * See the License for the specific language governing permissions and |
RobMeades | 0:5eb7846b73b4 | 14 | * limitations under the License. |
RobMeades | 0:5eb7846b73b4 | 15 | */ |
RobMeades | 0:5eb7846b73b4 | 16 | |
RobMeades | 0:5eb7846b73b4 | 17 | #include "mbed.h" |
RobMeades | 0:5eb7846b73b4 | 18 | #include "gnss.h" |
RobMeades | 0:5eb7846b73b4 | 19 | |
RobMeades | 0:5eb7846b73b4 | 20 | #define _CHECK_TALKER(s) ((buffer[3] == s[0]) && (buffer[4] == s[1]) && (buffer[5] == s[2])) |
RobMeades | 0:5eb7846b73b4 | 21 | |
RobMeades | 0:5eb7846b73b4 | 22 | // LEDs |
RobMeades | 0:5eb7846b73b4 | 23 | DigitalOut ledRed(LED1, 1); |
RobMeades | 0:5eb7846b73b4 | 24 | DigitalOut ledGreen(LED2, 1); |
RobMeades | 0:5eb7846b73b4 | 25 | DigitalOut ledBlue(LED3, 1); |
RobMeades | 0:5eb7846b73b4 | 26 | |
RobMeades | 0:5eb7846b73b4 | 27 | /* This example program for the u-blox C030 board instantiates |
RobMeades | 0:5eb7846b73b4 | 28 | * the gnss interface and waits for time/position to be received from a satellite. |
RobMeades | 0:5eb7846b73b4 | 29 | * Progress may be monitored with a serial terminal running at 9600 baud. |
RobMeades | 0:5eb7846b73b4 | 30 | * The LED on the C030 board will turn green when this program is |
RobMeades | 0:5eb7846b73b4 | 31 | * operating correctly, pulse blue when a time reading has been received, |
RobMeades | 0:5eb7846b73b4 | 32 | * pulse white when GNSS position has been received or turn red if there is |
RobMeades | 0:5eb7846b73b4 | 33 | * a failure. |
RobMeades | 0:5eb7846b73b4 | 34 | */ |
RobMeades | 0:5eb7846b73b4 | 35 | |
RobMeades | 0:5eb7846b73b4 | 36 | int main() |
RobMeades | 0:5eb7846b73b4 | 37 | { |
RobMeades | 0:5eb7846b73b4 | 38 | GnssSerial gnss; |
RobMeades | 0:5eb7846b73b4 | 39 | int gnssReturnCode; |
RobMeades | 0:5eb7846b73b4 | 40 | int length; |
RobMeades | 0:5eb7846b73b4 | 41 | char buffer[256]; |
RobMeades | 0:5eb7846b73b4 | 42 | char link[128] = ""; |
RobMeades | 0:5eb7846b73b4 | 43 | |
RobMeades | 0:5eb7846b73b4 | 44 | // Initialise GNSS |
RobMeades | 0:5eb7846b73b4 | 45 | gnss.init(); |
RobMeades | 0:5eb7846b73b4 | 46 | |
RobMeades | 0:5eb7846b73b4 | 47 | printf ("Waiting for GNSS to receive...\n"); |
RobMeades | 0:5eb7846b73b4 | 48 | while (1) { |
RobMeades | 0:5eb7846b73b4 | 49 | ledGreen = 1; |
RobMeades | 0:5eb7846b73b4 | 50 | ledRed = 1; |
RobMeades | 0:5eb7846b73b4 | 51 | ledBlue = 1; |
RobMeades | 0:5eb7846b73b4 | 52 | |
RobMeades | 0:5eb7846b73b4 | 53 | gnssReturnCode = gnss.getMessage(buffer, sizeof(buffer)); |
RobMeades | 0:5eb7846b73b4 | 54 | if (gnssReturnCode > 0) { |
RobMeades | 0:5eb7846b73b4 | 55 | ledGreen = 0; |
RobMeades | 0:5eb7846b73b4 | 56 | length = LENGTH(gnssReturnCode); |
RobMeades | 0:5eb7846b73b4 | 57 | |
RobMeades | 0:5eb7846b73b4 | 58 | printf("NMEA: %.*s\n", length - 2, buffer); |
RobMeades | 0:5eb7846b73b4 | 59 | |
RobMeades | 0:5eb7846b73b4 | 60 | if ((PROTOCOL(gnssReturnCode) == GnssParser::NMEA) && (length > 6)) { |
RobMeades | 0:5eb7846b73b4 | 61 | // talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GNSS |
RobMeades | 0:5eb7846b73b4 | 62 | if ((buffer[0] == '$') || buffer[1] == 'G') { |
RobMeades | 0:5eb7846b73b4 | 63 | if (_CHECK_TALKER("GLL")) { |
RobMeades | 0:5eb7846b73b4 | 64 | double latitude = 0, longitude = 0; |
RobMeades | 0:5eb7846b73b4 | 65 | char ch; |
RobMeades | 0:5eb7846b73b4 | 66 | |
RobMeades | 0:5eb7846b73b4 | 67 | if (gnss.getNmeaAngle(1, buffer, length, latitude) && |
RobMeades | 0:5eb7846b73b4 | 68 | gnss.getNmeaAngle(3, buffer, length, longitude) && |
RobMeades | 0:5eb7846b73b4 | 69 | gnss.getNmeaItem(6, buffer, length, ch) && ch == 'A') |
RobMeades | 0:5eb7846b73b4 | 70 | { |
RobMeades | 0:5eb7846b73b4 | 71 | ledBlue = 0; |
RobMeades | 0:5eb7846b73b4 | 72 | ledRed = 0; |
RobMeades | 0:5eb7846b73b4 | 73 | ledGreen = 0; |
RobMeades | 0:5eb7846b73b4 | 74 | |
RobMeades | 0:5eb7846b73b4 | 75 | printf("GNSS: location is %.5f %.5f.\n", latitude, |
RobMeades | 0:5eb7846b73b4 | 76 | longitude); |
RobMeades | 0:5eb7846b73b4 | 77 | sprintf(link, "I am here!\n" |
RobMeades | 0:5eb7846b73b4 | 78 | "https://maps.google.com/?q=%.5f,%.5f\n", |
RobMeades | 0:5eb7846b73b4 | 79 | latitude, longitude); |
RobMeades | 0:5eb7846b73b4 | 80 | } |
RobMeades | 0:5eb7846b73b4 | 81 | } else if (_CHECK_TALKER("GGA") || _CHECK_TALKER("GNS") ) { |
RobMeades | 0:5eb7846b73b4 | 82 | double altitude = 0; |
RobMeades | 0:5eb7846b73b4 | 83 | const char *timeString = NULL; |
RobMeades | 0:5eb7846b73b4 | 84 | |
RobMeades | 0:5eb7846b73b4 | 85 | // altitude msl [m] |
RobMeades | 0:5eb7846b73b4 | 86 | if (gnss.getNmeaItem(9, buffer, length, altitude)) { |
RobMeades | 0:5eb7846b73b4 | 87 | printf("GNSS: altitude is %.1f m.\n", altitude); |
RobMeades | 0:5eb7846b73b4 | 88 | } |
RobMeades | 0:5eb7846b73b4 | 89 | |
RobMeades | 0:5eb7846b73b4 | 90 | // Retrieve the time |
RobMeades | 0:5eb7846b73b4 | 91 | timeString = gnss.findNmeaItemPos(1, buffer, buffer + |
RobMeades | 0:5eb7846b73b4 | 92 | length); |
RobMeades | 0:5eb7846b73b4 | 93 | if (timeString != NULL) { |
RobMeades | 0:5eb7846b73b4 | 94 | ledBlue = 0; |
RobMeades | 0:5eb7846b73b4 | 95 | ledRed = 1; |
RobMeades | 0:5eb7846b73b4 | 96 | ledGreen = 1; |
RobMeades | 0:5eb7846b73b4 | 97 | |
RobMeades | 0:5eb7846b73b4 | 98 | printf("GNSS: time is %.6s.\n", timeString); |
RobMeades | 0:5eb7846b73b4 | 99 | } |
RobMeades | 0:5eb7846b73b4 | 100 | } else if (_CHECK_TALKER("VTG")) { |
RobMeades | 0:5eb7846b73b4 | 101 | double speed = 0; |
RobMeades | 0:5eb7846b73b4 | 102 | |
RobMeades | 0:5eb7846b73b4 | 103 | // speed [km/h] |
RobMeades | 0:5eb7846b73b4 | 104 | if (gnss.getNmeaItem(7, buffer, length, speed)) { |
RobMeades | 0:5eb7846b73b4 | 105 | printf("GNSS: speed is %.1f km/h.\n", speed); |
RobMeades | 0:5eb7846b73b4 | 106 | } |
RobMeades | 0:5eb7846b73b4 | 107 | } |
RobMeades | 0:5eb7846b73b4 | 108 | } |
RobMeades | 0:5eb7846b73b4 | 109 | } |
RobMeades | 0:5eb7846b73b4 | 110 | } |
RobMeades | 0:5eb7846b73b4 | 111 | } |
RobMeades | 0:5eb7846b73b4 | 112 | } |
RobMeades | 0:5eb7846b73b4 | 113 | |
RobMeades | 0:5eb7846b73b4 | 114 | // End Of File |