Diff: utt_foobar.h

Revision:

2:5e2336b52d0a

Parent:

0:f4fdca2c4c67

Child:

4:22b4462fcb26

--- a/utt_foobar.h	Tue Oct 03 08:36:40 2017 +0000
+++ b/utt_foobar.h	Tue Feb 12 08:30:30 2019 +0000
@@ -2,6 +2,65 @@
 #define __UTT_FOOBAR_H__
 
 #include "StateMachine.h"
+#include "Logger.h"
+
+
+// different commands to set the update rate from once a second (1 Hz) to 10 times a second (10Hz)
+// Note that these only control the rate at which the position is echoed, to actually speed up the
+// position fix you must also send one of the position fix rate commands below too.
+#define PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ  "$PMTK220,10000*2F" // Once every 10 seconds, 100 millihertz.
+#define PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ  "$PMTK220,5000*1B"  // Once every 5 seconds, 200 millihertz.
+#define PMTK_SET_NMEA_UPDATE_1HZ  "$PMTK220,1000*1F"
+#define PMTK_SET_NMEA_UPDATE_5HZ  "$PMTK220,200*2C"
+#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F"
+// Position fix update rate commands.
+#define PMTK_API_SET_FIX_CTL_100_MILLIHERTZ  "$PMTK300,10000,0,0,0,0*2C" // Once every 10 seconds, 100 millihertz.
+#define PMTK_API_SET_FIX_CTL_200_MILLIHERTZ  "$PMTK300,5000,0,0,0,0*18"  // Once every 5 seconds, 200 millihertz.
+#define PMTK_API_SET_FIX_CTL_1HZ  "$PMTK300,1000,0,0,0,0*1C"
+#define PMTK_API_SET_FIX_CTL_5HZ  "$PMTK300,200,0,0,0,0*2F"
+// Can't fix position faster than 5 times a second!
+
+
+#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C"
+#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17"
+
+// turn on only the second sentence (GPRMC)
+#define PMTK_SET_NMEA_OUTPUT_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"
+// turn on GPRMC and GGA
+#define PMTK_SET_NMEA_OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
+// turn on ALL THE DATA
+#define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
+// turn off output
+#define PMTK_SET_NMEA_OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
+
+// to generate your own sentences, check out the MTK command datasheet and use a checksum calculator
+// such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html
+
+#define PMTK_LOCUS_STARTLOG  "$PMTK185,0*22"
+#define PMTK_LOCUS_STOPLOG "$PMTK185,1*23"
+#define PMTK_LOCUS_STARTSTOPACK "$PMTK001,185,3*3C"
+#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38"
+#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22"
+#define LOCUS_OVERLAP 0
+#define LOCUS_FULLSTOP 1
+
+#define PMTK_ENABLE_SBAS "$PMTK313,1*2E"
+#define PMTK_ENABLE_WAAS "$PMTK301,2*2E"
+
+// standby command & boot successful message
+#define PMTK_STANDBY "$PMTK161,0*28"
+#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36"  // Not needed currently
+#define PMTK_AWAKE "$PMTK010,002*2D"
+
+// ask for the release and version
+#define PMTK_Q_RELEASE "$PMTK605*31"
+
+// request for updates on antenna status 
+#define PGCMD_ANTENNA "$PGCMD,33,1*6C" 
+#define PGCMD_NOANTENNA "$PGCMD,33,0*6D" 
+
+// how long to wait when we're looking for a response
+#define MAXWAITSENTENCE 5
 
 class Foo : public State{
 
@@ -12,6 +71,19 @@
     Foo(const char* uuid, UserData *ud): 
       State(uuid){ 
         /* Capture UserData, see in utt_foobar_with_ud.h example. */ 
+        
+        gps_Serial = new RawSerial(D10, D2);
+        gps_Serial->baud(9600);
+        nnema = new char[129];
+        
+        sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
+        sendCommand(PMTK_SET_NMEA_UPDATE_5HZ);
+        sendCommand(PMTK_API_SET_FIX_CTL_5HZ);
+        sendCommand(PGCMD_ANTENNA);
+    }
+    
+    void sendCommand(const char *str) {
+        gps_Serial->printf(str);
     }
     
     virtual void onEntry(){ 
@@ -20,12 +92,31 @@
     
     virtual const char* onExecute(){
         /* Do something */
+        
+        int offset = 0;
+        memset(nnema,'x',129);
+        
+        
+        while(gps_Serial->readable()){
+            
+            char c = gps_Serial->getc();
+            //Logger::info("%c",c);
+            nnema[offset++] = c;
+        }      
+        //nnema[++offset] = '\0';
+        
+        Logger::info("%i = %s",offset, nnema);
+        
         return OUTCOME_BAR;
     }
     
     virtual void onExit(){
         /* Do something before exit state */
     }
+    
+private:
+    RawSerial *gps_Serial;
+    char* nnema;
 };
 
 const char* Foo::OUTCOME_BAR = "OUTCOME_BAR";
@@ -47,6 +138,7 @@
     
     virtual const char* onExecute(){
         /* Do something */
+        wait(1);
         return OUTCOME_FOO;
     }