Jurica Resetar
aconno gnss simple example for U-blox gnss dev board.
Diff: TESTS/unit_tests/default/main.cpp
- Revision:
- 8:ca4d0ae32c93
- Parent:
- 7:bfbe9d5d6f56
--- a/TESTS/unit_tests/default/main.cpp Tue Aug 14 13:26:18 2018 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,227 +0,0 @@
-#include "mbed.h"
-#include "greentea-client/test_env.h"
-#include "unity.h"
-#include "utest.h"
-#include "gnss.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;
- bool gotAck = false;
- Timer timer;
-
- GnssSerial *pGnss = new GnssSerial();
-
- // Initialise the GNSS chip
- pGnss->init(NC);
-
- // Try this a few times as we might get no response
- // if the GNSS chip is busy
- for (int x = 0; (x < 3) && !gotAck; x++) {
- // 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; // Mask: set dynamic config only
- buffer[2] = 0x04; // Dynamic platform model: 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));
- printf ("CFG_NAV5 command sent, try %d.\n", x);
- timer.start();
- while ((!gotAck) && (timer.read_ms() < 1000)) {
- // 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]);
- gotAck = true;
- } else if ((PROTOCOL(returnCode) == GnssSerial::NMEA)) {
- printf ("%.*s", responseLength, buffer);
- } else {
- printHex(buffer, responseLength);
- }
- }
- wait_ms (100);
- }
- timer.stop();
- timer.reset();
- }
-}
-
-// 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() {
-
- return !Harness::run(specification);
-}
-
-// End Of File