File content as of revision 1:54d03a42740a:

#include "mbed.h"
#include "rtos/rtos.h"
#include "Teseo-LIV3F.h"
#include <cstdlib>
#include <vector>
#include "XNucleoIKS01A2.h"

/*cose per gps*/
static Thread t1;
static Thread t2;

static Mutex data_access;

static Timer system_timer;
static Serial usb_serial(USBTX, USBRX, 9600);
static Serial *serial_debug= &usb_serial;


static Teseo_LIV3F Teseo(D8,       D13,        D6,      PE_7,          PE_8,          &usb_serial);


struct gps_coordinate{
    float lat;
    char lat_cardinal;
    float longitud;
    char long_cardinal;
    bool valid;
    
    
    
    };
    
    gps_coordinate myPosition;



/*cose per sensori*/

static Thread t3;

static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);


/* Retrieve the composing elements of the expansion board */
static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;

void f1 (){
    
    enum nmea_msg_id id;
    
    
  


    Teseo.Reset(serial_debug);
    Teseo.startListener(serial_debug);

    while(1) {
        osEvent evt = Teseo.queue.get();
        if (evt.status == osEventMessage) {
            struct teseo_msg *message = (struct teseo_msg *)evt.value.p;
            if (message->len){
                id = Teseo.MsgDetect(message->buf, message->len, serial_debug);
                
           }
           
           if (id==1){
               
               
               
               
               //da qui converto il messaggio in coordinate//
               data_access.lock();
               
               vector<char> pos;
              
               
               //latitudine
             // printf ("latitudine=");
               
               int cursor;
               for (int i=7;;i++){
                   cursor=i;
                   if (message->buf[i] == ',')
                        break;
                   pos.push_back(message->buf[i]);
                  
                  
                }
            
       
                //ma quanto è cool? conversione da vector ad array e poi a float
                myPosition.lat=  atof (&pos[0]);
            //    printf ("%f",myPosition.lat);
             //   printf ("  ");
                
                myPosition.lat_cardinal= message->buf[cursor+1];
              //  printf ("%c   ",myPosition.lat_cardinal);
                
                pos.clear();
                
                
              //  printf ("longitudine=");
               
               
               for (int i=cursor+3;;i++){
                   cursor=i;
                   if (message->buf[i] == ',')
                        break;
                   pos.push_back(message->buf[i]);
                  
                  
                }
            
       
                
                myPosition.longitud=  atof (&pos[0]);
              //  printf ("%f",myPosition.longitud);
              //  printf ("  ");
                
                myPosition.long_cardinal= message->buf[cursor+1];
               // printf ("%c   ",myPosition.long_cardinal);
                
                for (int i=cursor+3;;i++){
                   cursor=i;
                   if (message->buf[i] == 'A' ){
                        myPosition.valid=true;
                        break;
                    }else if (message->buf[i] == 'V' ) {
                        myPosition.valid=false;
                        break;
                                                
                    }
                   
                  
                  
                }
                
                if (myPosition.valid==true){
                  // printf ("Valid");
                   }
                   
                   
                if (myPosition.valid==false){
                   //printf ("Not Valid");
                   }
               
               
               data_access.unlock();
               
              // printf ("\n\r");
               
               }
           

            Teseo.mpool.free(message);
        }

    }
    
}



void f2 (){
   Thread::wait (1000);
 
   Thread::wait (2000);
   while (true){ 
   Thread::wait (3000);
        data_access.lock();
    
        printf ("lat:%f %c, lon:%f %c, %d\n\r",myPosition.lat,myPosition.lat_cardinal, myPosition.longitud, myPosition.long_cardinal, myPosition.valid );
    
    
    
        data_access.unlock();
    }
    
}


void accgyro_thread(){
    
    uint8_t id;
  float value1, value2;
  char buffer1[32], buffer2[32];
  int32_t axes[3];
  int32_t axesOld[3];
  float odr =208.0f;
  
  
  /* Enable all sensors */
  
  accelerometer->enable();
  acc_gyro->enable_x();
  acc_gyro->enable_g();
  acc_gyro->set_g_odr (odr);
  
  while (true){
    
    Thread::wait (5000);
    
    
    acc_gyro->get_g_axes(axes);
    printf("LSM6DSL [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
    
    
    acc_gyro->get_x_axes(axes);
   printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);

    
    
    }
    
    
}




int main() {
    
    t1.start(f1);
   
    t2.start (f2);
    
    t3.start (accgyro_thread);
    
    
    
    
}