fahim alavi
/
gnss
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Diff: TESTS/unit_tests/default/main.cpp
- Revision:
- 1:ef70a58a6c98
- Child:
- 6:56eda66d585b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TESTS/unit_tests/default/main.cpp Mon Apr 10 11:28:24 2017 +0100
@@ -0,0 +1,224 @@
+#include "mbed.h"
+#include "greentea-client/test_env.h"
+#include "unity.h"
+#include "utest.h"
+#include "gnss.h"
+extern "C" {
+#include "c030_api.h"
+}
+
+using namespace utest::v1;
+
+// ----------------------------------------------------------------
+// COMPILE-TIME MACROS
+// ----------------------------------------------------------------
+
+// How long to wait for a GNSS result
+#define GNSS_WAIT_SECONDS 120
+
+// ----------------------------------------------------------------
+// PRIVATE VARIABLES
+// ----------------------------------------------------------------
+
+// ----------------------------------------------------------------
+// PRIVATE FUNCTIONS
+// ----------------------------------------------------------------
+
+static void printHex (char * pData, uint32_t lenData)
+{
+ char * pEnd = pData + lenData;
+ uint8_t x;
+
+ printf (" 0 1 2 3 4 5 6 7 8 9 A B C D E F\n");
+ while (pData < pEnd) {
+ for (x = 1; (x <= 32) && (pData < pEnd); x++) {
+ if (x % 16 == 8) {
+ printf ("%02x ", *pData);
+ } else if (x % 16 == 0) {
+ printf ("%02x\n", *pData);
+ } else {
+ printf ("%02x-", *pData);
+ }
+ pData++;
+ }
+
+
+ if (x % 16 != 1) {
+ printf("\n");
+ }
+ }
+}
+
+// ----------------------------------------------------------------
+// TESTS
+// ----------------------------------------------------------------
+
+// Test sending a u-blox command over serial
+void test_serial_ubx() {
+ char buffer[64];
+ int responseLength = 0;
+ int returnCode;
+
+ GnssSerial *pGnss = new GnssSerial();
+
+ // Initialise the GNSS chip and wait for it to start up
+ 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;
+ }
+ }
+ wait_ms (100);
+ }
+}
+
+// Test getting a response from GNSS using the serial interface
+void test_serial_time() {
+ GnssSerial *pGnss = new GnssSerial();
+
+ bool gotLatLong = false;
+ bool gotElevation = false;
+ bool gotSpeed = false;
+ bool gotTime = false;
+ char buffer[256];
+ int returnCode;
+ double latitude;
+ double longitude;
+ double elevation;
+ double speed;
+
+ printf("GNSS: powering up and waiting up to %d second(s) for something to happen.\n", GNSS_WAIT_SECONDS);
+ pGnss->init();
+
+ memset(buffer, 0, sizeof(buffer));
+ for (uint32_t x = 0; (x < GNSS_WAIT_SECONDS) && !gotTime; x++)
+ {
+ while (((returnCode = pGnss->getMessage(buffer, sizeof(buffer))) > 0) &&
+ !(gotLatLong && gotElevation && gotSpeed && gotTime))
+ {
+ int32_t length = LENGTH(returnCode);
+
+ if ((PROTOCOL(returnCode) == GnssParser::NMEA) && (length > 6))
+ {
+ printf(".");
+
+ // talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GNSS
+ if ((buffer[0] == '$') || buffer[1] == 'G')
+ {
+#define _CHECK_TALKER(s) ((buffer[3] == s[0]) && (buffer[4] == s[1]) && (buffer[5] == s[2]))
+ if (_CHECK_TALKER("GLL"))
+ {
+ char ch;
+
+ if (pGnss->getNmeaAngle(1, buffer, length, latitude) &&
+ pGnss->getNmeaAngle(3, buffer, length, longitude) &&
+ pGnss->getNmeaItem(6, buffer, length, ch) &&
+ ch == 'A')
+ {
+ gotLatLong = true;
+ latitude *= 60000;
+ longitude *= 60000;
+ printf("\nGNSS: location %.5f %.5f %c.\n", latitude, longitude, ch);
+ }
+ }
+ else if (_CHECK_TALKER("GGA") || _CHECK_TALKER("GNS"))
+ {
+ const char *pTimeString = NULL;
+
+ // Retrieve the time
+ pTimeString = pGnss->findNmeaItemPos(1, buffer, buffer + length);
+ if (pTimeString != NULL)
+ {
+ gotTime = true;
+ printf("\nGNSS: time is %.6s.", pTimeString);
+ }
+
+ if (pGnss->getNmeaItem(9, buffer, length, elevation)) // altitude msl [m]
+ {
+ gotElevation = true;
+ printf("\nGNSS: elevation: %.1f.", elevation);
+ }
+ }
+ else if (_CHECK_TALKER("VTG"))
+ {
+ if (pGnss->getNmeaItem(7, buffer, length, speed)) // speed [km/h]
+ {
+ gotSpeed = true;
+ printf("\nGNSS: speed: %.1f.", speed);
+ }
+ }
+ }
+ }
+ }
+
+ wait_ms(1000);
+ }
+
+ printf("\n");
+
+ // Depending on antenna positioning we may not be able to get a GNSS fix but we
+ // should at least be able to receive the time from a satellite
+ TEST_ASSERT(gotTime);
+}
+
+// ----------------------------------------------------------------
+// TEST ENVIRONMENT
+// ----------------------------------------------------------------
+
+// Setup the test environment
+utest::v1::status_t test_setup(const size_t number_of_cases) {
+ // Setup Greentea with a timeout
+ GREENTEA_SETUP(120, "default_auto");
+ return verbose_test_setup_handler(number_of_cases);
+}
+
+// Test cases
+Case cases[] = {
+ Case("Ubx command", test_serial_ubx),
+ Case("Get time", test_serial_time),
+};
+
+Specification specification(test_setup, cases);
+
+// ----------------------------------------------------------------
+// MAIN
+// ----------------------------------------------------------------
+
+int main() {
+
+ c030_init(); // HACK
+
+ return !Harness::run(specification);
+}
+
+// End Of File
