Diff: main.cpp

Revision:

8:c8b7490c3fb0

Parent:

7:746ae478fdf7

--- a/main.cpp	Mon Jul 31 10:48:08 2017 +0100
+++ b/main.cpp	Fri Jul 20 14:38:50 2018 +0500
@@ -15,7 +15,7 @@
  */
 
 #include "mbed.h"
-#include "gnss.h"
+#include "gnss_operations.h"
 
 #define CHECK_TALKER(s) ((buffer[3] == s[0]) && (buffer[4] == s[1]) && (buffer[5] == s[2]))
 
@@ -35,74 +35,85 @@
  * GNSS module will flash as the module achieves a fix.
  */
 
+GnssOperations gnss;
+Serial host_serial(USBTX, USBRX);
+
+bool print_hex_buffer(char *buffer, uint32_t length) {
+
+	char log[256] = "";
+
+	for (int i =0; i < length; i++) {
+		sprintf(log, "%s%02X ", log, buffer[i]);
+	}
+	printf(log);
+
+	return true;
+}
+
+void passThroughThreadHandler() {
+	while (1) {
+
+		gnss.send_to_gnss(host_serial.getc());
+
+	}
+}
+
+
 int main()
 {
-    GnssSerial gnss;
     int gnssReturnCode;
     int length;
     char buffer[256];
+    bool enable_pass_through = true;
+    Thread passThroughThread;
+    host_serial.baud(115200);
     
     printf ("Starting up...\n");
     if (gnss.init()) {
         printf ("Waiting for GNSS to receive something...\n");
+        passThroughThread.start(callback(passThroughThreadHandler));
+        gnss.enable_ubx_odo();
+        gnss.enable_ubx_nav_odo();
+        gnss.enable_ubx_nav_pvt();
         while (1) {
-            gnssReturnCode = gnss.getMessage(buffer, sizeof(buffer));
-            if (gnssReturnCode > 0) {
-                ledGreen = 0;
-                ledBlue = 1;
-                ledRed = 1;
-                length = LENGTH(gnssReturnCode);
+    		double lat = 0.0, lon = 0.0;
 
-                printf("NMEA: %.*s\n", length - 2, buffer);
+    		gnssReturnCode = gnss.getMessage(buffer, sizeof(buffer));
 
-                if ((PROTOCOL(gnssReturnCode) == GnssParser::NMEA) && (length > 6)) {
-                    // Talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GNSS
-                    if ((buffer[0] == '$') || buffer[1] == 'G') {
-                      if (CHECK_TALKER("GLL")) {
-                            double latitude = 0, longitude = 0;
-                            char ch;
+    		if (gnssReturnCode > 0) {
+    			length = LENGTH(gnssReturnCode);
 
-                            if (gnss.getNmeaAngle(1, buffer, length, latitude) && 
-                                gnss.getNmeaAngle(3, buffer, length, longitude) && 
-                                gnss.getNmeaItem(6, buffer, length, ch) && (ch == 'A')) {
-                                ledBlue = 0;
-                                ledRed = 0;
-                                ledGreen = 0;
+    			if (enable_pass_through){
+    				for (int i=0; i<length; i++)
+    					printf("%c", buffer[i]);
+    			}
+
+    			if ((PROTOCOL(gnssReturnCode) == GnssParser::NMEA) && (length > 6)) {
 
-                                printf("\nGNSS: location is %.5f %.5f.\n\n", latitude, longitude); 
-                                printf("I am here: https://maps.google.com/?q=%.5f,%.5f\n\n",
-                                       latitude, longitude); 
-                            }
-                        } else if (CHECK_TALKER("GGA") || CHECK_TALKER("GNS")) {
-                            double altitude = 0; 
-                            const char *timeString = NULL;
-
-                            // Altitude
-                            if (gnss.getNmeaItem(9, buffer, length, altitude)) {
-                                printf("\nGNSS: altitude is %.1f m.\n", altitude); 
-                            }
+    				// Talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GNSS
+    				if ((buffer[0] == '$') || buffer[1] == 'G') {
+    				  if (CHECK_TALKER("GLL")) {
+    						char ch;
 
-                            // Time
-                            timeString = gnss.findNmeaItemPos(1, buffer, buffer + length);
-                            if (timeString != NULL) {
-                                ledBlue = 0;
-                                ledRed = 1;
-                                ledGreen = 1;
+    						if (gnss.getNmeaAngle(1, buffer, length, lat) &&
+    							gnss.getNmeaAngle(3, buffer, length, lon) &&
+    							gnss.getNmeaItem(6, buffer, length, ch) && (ch == 'A')) {
+    						}
+    					}
+    				}
+    				buffer[length] = '\0';
 
-                                printf("\nGNSS: time is %.6s.\n\n", timeString);
-                            }
-                        } else if (CHECK_TALKER("VTG")) {
-                            double speed = 0; 
+    				printf(buffer);
+    			}
+    			else if ((PROTOCOL(gnssReturnCode) == GnssParser::UBX) && (length > 6)) {
+    				eUBX_MESSAGE ubx_message_type = gnss.get_ubx_message(buffer);
 
-                            // Speed
-                            if (gnss.getNmeaItem(7, buffer, length, speed)) {
-                                printf("\nGNSS: speed is %.1f km/h.\n\n", speed);
-                            }
-                        }
-                    }
-                }
-            }
-        }
+    				uint16_t payload_length = buffer[4] | (buffer[5] << 8);
+
+    				//print_hex_buffer(buffer, payload_length + UBX_FRAME_SIZE);
+    			}
+    		}
+         }
     } else {
         printf("Unable to initialise GNSS.\n");
     }
@@ -114,4 +125,4 @@
     MBED_ASSERT(false);
 }
 
-// End Of File
\ No newline at end of file
+// End Of File