fahim alavi / Mbed OS example-gnss

Example with new gnss libraries

Dependencies:   gnss

Fork of example-gnss by u-blox

main.cpp@8:c8b7490c3fb0, 2018-07-20 (annotated)

Committer:
fahim.alavi@u-blox.com
Date:
Fri Jul 20 14:38:50 2018 +0500
Revision:
8:c8b7490c3fb0
Parent:
7:746ae478fdf7 
New gnss library pass through enabled

Who changed what in which revision?

UserRevisionLine numberNew 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"
fahim.alavi@u-blox.com 8:c8b7490c3fb0 18 #include "gnss_operations.h"
RobMeades 0:5eb7846b73b4 19
rob.meades@u-blox.com 1:3c41bde6d0bc 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
rob.meades@u-blox.com 1:3c41bde6d0bc 27 /* This example program for the u-blox C030 and C027 boards 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.
rob.meades@u-blox.com 6:881e2bbf29e4 34 * On the C027 and C030 boards the green/red (respectively) LED near the
rob.meades@u-blox.com 6:881e2bbf29e4 35 * GNSS module will flash as the module achieves a fix.
RobMeades 0:5eb7846b73b4 36 */
RobMeades 0:5eb7846b73b4 37
fahim.alavi@u-blox.com 8:c8b7490c3fb0 38 GnssOperations gnss;
fahim.alavi@u-blox.com 8:c8b7490c3fb0 39 Serial host_serial(USBTX, USBRX);
fahim.alavi@u-blox.com 8:c8b7490c3fb0 40
fahim.alavi@u-blox.com 8:c8b7490c3fb0 41 bool print_hex_buffer(char *buffer, uint32_t length) {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 42
fahim.alavi@u-blox.com 8:c8b7490c3fb0 43 char log[256] = "";
fahim.alavi@u-blox.com 8:c8b7490c3fb0 44
fahim.alavi@u-blox.com 8:c8b7490c3fb0 45 for (int i =0; i < length; i++) {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 46 sprintf(log, "%s%02X ", log, buffer[i]);
fahim.alavi@u-blox.com 8:c8b7490c3fb0 47 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 48 printf(log);
fahim.alavi@u-blox.com 8:c8b7490c3fb0 49
fahim.alavi@u-blox.com 8:c8b7490c3fb0 50 return true;
fahim.alavi@u-blox.com 8:c8b7490c3fb0 51 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 52
fahim.alavi@u-blox.com 8:c8b7490c3fb0 53 void passThroughThreadHandler() {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 54 while (1) {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 55
fahim.alavi@u-blox.com 8:c8b7490c3fb0 56 gnss.send_to_gnss(host_serial.getc());
fahim.alavi@u-blox.com 8:c8b7490c3fb0 57
fahim.alavi@u-blox.com 8:c8b7490c3fb0 58 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 59 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 60
fahim.alavi@u-blox.com 8:c8b7490c3fb0 61
RobMeades 0:5eb7846b73b4 62 int main()
RobMeades 0:5eb7846b73b4 63 {
RobMeades 0:5eb7846b73b4 64 int gnssReturnCode;
RobMeades 0:5eb7846b73b4 65 int length;
RobMeades 0:5eb7846b73b4 66 char buffer[256];
fahim.alavi@u-blox.com 8:c8b7490c3fb0 67 bool enable_pass_through = true;
fahim.alavi@u-blox.com 8:c8b7490c3fb0 68 Thread passThroughThread;
fahim.alavi@u-blox.com 8:c8b7490c3fb0 69 host_serial.baud(115200);
RobMeades 0:5eb7846b73b4 70
rob.meades@u-blox.com 1:3c41bde6d0bc 71 printf ("Starting up...\n");
rob.meades@u-blox.com 1:3c41bde6d0bc 72 if (gnss.init()) {
rob.meades@u-blox.com 1:3c41bde6d0bc 73 printf ("Waiting for GNSS to receive something...\n");
fahim.alavi@u-blox.com 8:c8b7490c3fb0 74 passThroughThread.start(callback(passThroughThreadHandler));
fahim.alavi@u-blox.com 8:c8b7490c3fb0 75 gnss.enable_ubx_odo();
fahim.alavi@u-blox.com 8:c8b7490c3fb0 76 gnss.enable_ubx_nav_odo();
fahim.alavi@u-blox.com 8:c8b7490c3fb0 77 gnss.enable_ubx_nav_pvt();
rob.meades@u-blox.com 7:746ae478fdf7 78 while (1) {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 79 double lat = 0.0, lon = 0.0;
rob.meades@u-blox.com 7:746ae478fdf7 80
fahim.alavi@u-blox.com 8:c8b7490c3fb0 81 gnssReturnCode = gnss.getMessage(buffer, sizeof(buffer));
rob.meades@u-blox.com 7:746ae478fdf7 82
fahim.alavi@u-blox.com 8:c8b7490c3fb0 83 if (gnssReturnCode > 0) {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 84 length = LENGTH(gnssReturnCode);
rob.meades@u-blox.com 7:746ae478fdf7 85
fahim.alavi@u-blox.com 8:c8b7490c3fb0 86 if (enable_pass_through){
fahim.alavi@u-blox.com 8:c8b7490c3fb0 87 for (int i=0; i<length; i++)
fahim.alavi@u-blox.com 8:c8b7490c3fb0 88 printf("%c", buffer[i]);
fahim.alavi@u-blox.com 8:c8b7490c3fb0 89 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 90
fahim.alavi@u-blox.com 8:c8b7490c3fb0 91 if ((PROTOCOL(gnssReturnCode) == GnssParser::NMEA) && (length > 6)) {
rob.meades@u-blox.com 7:746ae478fdf7 92
fahim.alavi@u-blox.com 8:c8b7490c3fb0 93 // Talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GNSS
fahim.alavi@u-blox.com 8:c8b7490c3fb0 94 if ((buffer[0] == '$') || buffer[1] == 'G') {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 95 if (CHECK_TALKER("GLL")) {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 96 char ch;
rob.meades@u-blox.com 7:746ae478fdf7 97
fahim.alavi@u-blox.com 8:c8b7490c3fb0 98 if (gnss.getNmeaAngle(1, buffer, length, lat) &&
fahim.alavi@u-blox.com 8:c8b7490c3fb0 99 gnss.getNmeaAngle(3, buffer, length, lon) &&
fahim.alavi@u-blox.com 8:c8b7490c3fb0 100 gnss.getNmeaItem(6, buffer, length, ch) && (ch == 'A')) {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 101 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 102 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 103 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 104 buffer[length] = '\0';
rob.meades@u-blox.com 7:746ae478fdf7 105
fahim.alavi@u-blox.com 8:c8b7490c3fb0 106 printf(buffer);
fahim.alavi@u-blox.com 8:c8b7490c3fb0 107 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 108 else if ((PROTOCOL(gnssReturnCode) == GnssParser::UBX) && (length > 6)) {
fahim.alavi@u-blox.com 8:c8b7490c3fb0 109 eUBX_MESSAGE ubx_message_type = gnss.get_ubx_message(buffer);
rob.meades@u-blox.com 7:746ae478fdf7 110
fahim.alavi@u-blox.com 8:c8b7490c3fb0 111 uint16_t payload_length = buffer[4] | (buffer[5] << 8);
fahim.alavi@u-blox.com 8:c8b7490c3fb0 112
fahim.alavi@u-blox.com 8:c8b7490c3fb0 113 //print_hex_buffer(buffer, payload_length + UBX_FRAME_SIZE);
fahim.alavi@u-blox.com 8:c8b7490c3fb0 114 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 115 }
fahim.alavi@u-blox.com 8:c8b7490c3fb0 116 }
rob.meades@u-blox.com 1:3c41bde6d0bc 117 } else {
rob.meades@u-blox.com 1:3c41bde6d0bc 118 printf("Unable to initialise GNSS.\n");
RobMeades 0:5eb7846b73b4 119 }
rob.meades@u-blox.com 7:746ae478fdf7 120
rob.meades@u-blox.com 1:3c41bde6d0bc 121 ledRed = 0;
rob.meades@u-blox.com 1:3c41bde6d0bc 122 ledGreen = 1;
rob.meades@u-blox.com 1:3c41bde6d0bc 123 ledBlue = 1;
rob.meades@u-blox.com 1:3c41bde6d0bc 124 printf("Should never get here.\n");
rob.meades@u-blox.com 1:3c41bde6d0bc 125 MBED_ASSERT(false);
RobMeades 0:5eb7846b73b4 126 }
RobMeades 0:5eb7846b73b4 127
fahim.alavi@u-blox.com 8:c8b7490c3fb0 128 // End Of File