LeonardoMbos - A porting of a GPS decoding and presenting progra…

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Guido Ottaviani / Mbed 2 deprecated LeonardoMbos

A porting of a GPS decoding and presenting program within the mbos RTOS. It is not a definitive application but a study program to test NMEA full decoding library and a first approach to an RTOS. Many thanks to Andrew Levido for his support and his patience on teaching me the RTOS principles from the other side of the Earth. It uses NMEA library by Tim (xtimor@gmail.com) ported by Ken Todotani (http://mbed.org/users/todotani/) on public mbed library (http://mbed.org/users/todotani/programs/GPS_nmeaLib/5yo4h) also available, as original universal C library, on http://nmea.sourceforge.net

Dependencies: mbos Watchdog TextLCD mbed ConfigFile

LeonardoMbos.cpp@3:a2f9eb3b8a16, 2012-02-03 (annotated)

Committer:: guiott
Date:: Fri Feb 03 16:29:52 2012 +0000
Revision:: 3:a2f9eb3b8a16
Parent:: 2:8917036cbf69

Who changed what in which revision?

User	Revision	Line number	New contents of line
guiott	0:d177c0087d1f	1	/* ////////////////////////////////////////////////////////////////////////////
guiott	0:d177c0087d1f	2	** File: LeonardoMbos.cpp
guiott	0:d177c0087d1f	3	*/
guiott	0:d177c0087d1f	4	/* 12345678901234567890 */
guiott	0:d177c0087d1f	5	char Ver1[] = "Leonardo's GPS 0.1.0";
guiott	0:d177c0087d1f	6	char Ver2[] = " by Guiott 01-12";
guiott	0:d177c0087d1f	7	/**
guiott	3:a2f9eb3b8a16	8	* @mainpage Leonardo.cpp
guiott	3:a2f9eb3b8a16	9	* @author Guido Ottaviani-->guido@guiott.com<--
guiott	3:a2f9eb3b8a16	10	* @version 0.1.0
guiott	3:a2f9eb3b8a16	11	* @date 01/2012
guiott	3:a2f9eb3b8a16	12	* @details This is a test program to study the capability of a GPS module to
guiott	0:d177c0087d1f	13	control navigation of a robot in an outdoor environment.
guiott	0:d177c0087d1f	14
guiott	0:d177c0087d1f	15	This version is developed within the mbos RTOS:
guiott	0:d177c0087d1f	16	http://mbed.org/users/AndrewL/libraries/mbos/lqn3ca
guiott	0:d177c0087d1f	17
guiott	0:d177c0087d1f	18	It uses NMEA library by Tim (xtimor@gmail.com)
guiott	0:d177c0087d1f	19	available on public mbed library or http://nmea.sourceforge.net
guiott	0:d177c0087d1f	20
guiott	0:d177c0087d1f	21	The original gmath.c has been modified to fix a bug in nmea_distance_ellipsoid() function
guiott	0:d177c0087d1f	22	according to bug report ID: 2945855
guiott	0:d177c0087d1f	23
guiott	0:d177c0087d1f	24	http://sourceforge.net/tracker/?func=detail&aid=2945855&group_id=192054&atid=939854
guiott	0:d177c0087d1f	25
guiott	0:d177c0087d1f	26	// while ((delta_lambda > 1e-12) && (remaining_steps > 0)) original by xtimor
guiott	0:d177c0087d1f	27	while (( remaining_steps == 20 ) \|\| ((fabs(delta_lambda) > 1e-12) && (remaining_steps > 0)))
guiott	0:d177c0087d1f	28
guiott	0:d177c0087d1f	29	the original code always returns a zero distance if the arrival point longitude
guiott	0:d177c0087d1f	30	is equal or smaller than the starting point one.
guiott	0:d177c0087d1f	31
guiott	0:d177c0087d1f	32	The mbed module is interfaced with a Garmin GPS sensor (used in standard mode)
guiott	0:d177c0087d1f	33	with an external antenna, a 20x4 LCD text display and a 5 keys keypad.
guiott	0:d177c0087d1f	34	A curiosity:
guiott	0:d177c0087d1f	35	All the hardware components of the test set are mounted on the top of a wooden
guiott	0:d177c0087d1f	36	box, looking like a kind of a steampunk navigator. When my daughter looked at
guiott	0:d177c0087d1f	37	the box she said: "it looks alike the navigator of the da Vinci car".
guiott	0:d177c0087d1f	38	This is the reason why the name of this project is "Leonardo".
guiott	0:d177c0087d1f	39	**
guiott	0:d177c0087d1f	40	-------------------------------------------------------------------------------
guiott	3:a2f9eb3b8a16	41	* @copyright 2012 Guido Ottaviani
guiott	0:d177c0087d1f	42	guido@guiott.com
guiott	0:d177c0087d1f	43
guiott	0:d177c0087d1f	44	LeonardoMbos is free software: you can redistribute it and/or modify
guiott	0:d177c0087d1f	45	it under the terms of the GNU General Public License as published by
guiott	0:d177c0087d1f	46	the Free Software Foundation, either version 3 of the License, or
guiott	0:d177c0087d1f	47	(at your option) any later version.
guiott	0:d177c0087d1f	48
guiott	1:360c4a23cb1d	49	LeonardoMbos is distributed in the hope that it will be useful,
guiott	0:d177c0087d1f	50	but WITHOUT ANY WARRANTY; without even the implied warranty of
guiott	0:d177c0087d1f	51	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
guiott	0:d177c0087d1f	52	GNU General Public License for more details.
guiott	0:d177c0087d1f	53
guiott	0:d177c0087d1f	54	You should have received a copy of the GNU General Public License
guiott	0:d177c0087d1f	55	along with LeonardoMbos.cpp. If not, see <http://www.gnu.org/licenses/>.
guiott	0:d177c0087d1f	56
guiott	0:d177c0087d1f	57	-------------------------------------------------------------------------------
guiott	0:d177c0087d1f	58	*/
guiott	0:d177c0087d1f	59	#include "Common.h"
guiott	0:d177c0087d1f	60	#include "mbed.h"
guiott	0:d177c0087d1f	61	#include <string>
guiott	0:d177c0087d1f	62	#include "TextLCD.h"
guiott	0:d177c0087d1f	63	#include "nmea/nmea.h"
guiott	2:8917036cbf69	64	#include <Watchdog.h>
guiott	3:a2f9eb3b8a16	65	#include "ConfigFile.h"
guiott	0:d177c0087d1f	66	#include "Init.h"
guiott	0:d177c0087d1f	67	#include "Prototype.h"
guiott	0:d177c0087d1f	68	#include "mbos.h"
guiott	0:d177c0087d1f	69	#include "Tasks.h"
guiott	0:d177c0087d1f	70
guiott	0:d177c0087d1f	71	// Set up RTOS;
guiott	0:d177c0087d1f	72	mbos os(NUM_TASKS, NUM_TIMERS, NUM_RESOURCES);
guiott	0:d177c0087d1f	73
guiott	0:d177c0087d1f	74	int main()
guiott	0:d177c0087d1f	75	{
guiott	0:d177c0087d1f	76	Initialize();
guiott	0:d177c0087d1f	77	if (wd.WatchdogCausedReset())
guiott	0:d177c0087d1f	78	{
guiott	0:d177c0087d1f	79	pc.printf("Watchdog caused reset**********************************\r\n");
guiott	0:d177c0087d1f	80	}
guiott	2:8917036cbf69	81	wd.Configure(WDT_TIMEOUT); // sets the timeout interval
guiott	0:d177c0087d1f	82
guiott	0:d177c0087d1f	83	os.Start(); // the RTOS starts now
guiott	0:d177c0087d1f	84	}
guiott	0:d177c0087d1f	85
guiott	0:d177c0087d1f	86	//functions =====================================================================
guiott	0:d177c0087d1f	87
guiott	2:8917036cbf69	88	void mbosIdleTask(void)
guiott	2:8917036cbf69	89	{/**
guiott	3:a2f9eb3b8a16	90	*@brief TASK 0 watchdog kick
guiott	2:8917036cbf69	91	*/
guiott	2:8917036cbf69	92	while(1)
guiott	2:8917036cbf69	93	{
guiott	2:8917036cbf69	94
guiott	2:8917036cbf69	95	}
guiott	2:8917036cbf69	96	}
guiott	2:8917036cbf69	97
guiott	0:d177c0087d1f	98	int CmpRead(void)
guiott	0:d177c0087d1f	99	{/**
guiott	3:a2f9eb3b8a16	100	*@brief Magnetic Compass reading
guiott	0:d177c0087d1f	101	*/
guiott	0:d177c0087d1f	102	int Cmp;
guiott	0:d177c0087d1f	103
guiott	0:d177c0087d1f	104	// To Be Done
guiott	0:d177c0087d1f	105	Cmp = 0; // ************debug
guiott	0:d177c0087d1f	106	return(Cmp);
guiott	0:d177c0087d1f	107	}
guiott	0:d177c0087d1f	108
guiott	3:a2f9eb3b8a16	109	void ReadCfg(char *Config[])
guiott	3:a2f9eb3b8a16	110	{/**
guiott	3:a2f9eb3b8a16	111	*@brief Read a configuration file from a mbed filesystem
guiott	3:a2f9eb3b8a16	112	*/
guiott	3:a2f9eb3b8a16	113	char value[BUFSIZ];
guiott	3:a2f9eb3b8a16	114
guiott	3:a2f9eb3b8a16	115	if (!cfg.read("/local/input.cfg"))
guiott	3:a2f9eb3b8a16	116	{
guiott	3:a2f9eb3b8a16	117	pc.printf("Failure to read a configuration file.\n");
guiott	3:a2f9eb3b8a16	118	}
guiott	3:a2f9eb3b8a16	119
guiott	3:a2f9eb3b8a16	120	if (cfg.getValue(Config[0], &value[0], sizeof(value)))
guiott	3:a2f9eb3b8a16	121	{
guiott	3:a2f9eb3b8a16	122	pc.printf("'%s'='%s'\n", Config[0], value);
guiott	3:a2f9eb3b8a16	123	}
guiott	3:a2f9eb3b8a16	124
guiott	3:a2f9eb3b8a16	125	if (cfg.getValue(Config[1], &value[0], sizeof(value)))
guiott	3:a2f9eb3b8a16	126	{
guiott	3:a2f9eb3b8a16	127	pc.printf("'%s'='%s'\n", Config[1], value);
guiott	3:a2f9eb3b8a16	128	}
guiott	3:a2f9eb3b8a16	129	}
guiott	3:a2f9eb3b8a16	130
guiott	3:a2f9eb3b8a16	131	void WriteCfg()
guiott	3:a2f9eb3b8a16	132	{/**
guiott	3:a2f9eb3b8a16	133	*@brief Write configurations to mbed filesystem
guiott	3:a2f9eb3b8a16	134	*/
guiott	3:a2f9eb3b8a16	135	cfg.setValue("LonStart", "lon");
guiott	3:a2f9eb3b8a16	136	cfg.setValue("LatStart", "lat");
guiott	3:a2f9eb3b8a16	137
guiott	3:a2f9eb3b8a16	138	cfg.write("/local/input.cfg", "# Configuration file for LeonardoGps.");
guiott	3:a2f9eb3b8a16	139	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	29 Jan 2012
Imports:	51
Forks:	0
Commits:	4
Dependents:	0
Dependencies:	5
Followers:	4

LeonardoMbos.cpp@3:a2f9eb3b8a16, 2012-02-03 (annotated)

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