Simone Mentasti / Mbed 2 deprecated AcquisizioneGPS

Acquisition for GNSS1A1

Dependencies:   F7_Ethernet X_NUCLEO_IKS01A2 mbed-rtos mbed

Fork of Test2Boards by Simone Mentasti

main.cpp@1:ef1bbf9b6205, 2018-01-26 (annotated)

Committer:
nirnakern
Date:
Fri Jan 26 09:52:12 2018 +0000
Revision:
1:ef1bbf9b6205
Parent:
0:4e088cbb2dbf
Child:
2:1eb73fe8ab8f
First commit of GPS acquisition program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nirnakern 1:ef1bbf9b6205 1 /*QUESTA è LA VERSIONE PER IL GPS SU UART*/
nirnakern 1:ef1bbf9b6205 2
nirnakern 0:4e088cbb2dbf 3 #include "mbed.h"
nirnakern 0:4e088cbb2dbf 4 #include "rtos/rtos.h"
nirnakern 0:4e088cbb2dbf 5 #include "Teseo-LIV3F.h"
nirnakern 0:4e088cbb2dbf 6 #include <cstdlib>
nirnakern 0:4e088cbb2dbf 7 #include <vector>
nirnakern 0:4e088cbb2dbf 8 #include "XNucleoIKS01A2.h"
nirnakern 1:ef1bbf9b6205 9 #include <algorithm>
nirnakern 1:ef1bbf9b6205 10 #include "EthernetInterface.h"
nirnakern 1:ef1bbf9b6205 11 #include "NTPClient.h"
nirnakern 1:ef1bbf9b6205 12
nirnakern 1:ef1bbf9b6205 13
nirnakern 1:ef1bbf9b6205 14 /*IP E AFFINI*/
nirnakern 1:ef1bbf9b6205 15
nirnakern 1:ef1bbf9b6205 16 const char * IP = "169.254.112.125";
nirnakern 1:ef1bbf9b6205 17 const char * MASK = "255.255.255.0";
nirnakern 1:ef1bbf9b6205 18 const char * GATEWAY = "169.254.112.1";
nirnakern 1:ef1bbf9b6205 19
nirnakern 1:ef1bbf9b6205 20
nirnakern 1:ef1bbf9b6205 21
nirnakern 1:ef1bbf9b6205 22 /*cose imu*/
nirnakern 1:ef1bbf9b6205 23
nirnakern 1:ef1bbf9b6205 24 #define ECHO_SERVER_PORT 7
nirnakern 1:ef1bbf9b6205 25
nirnakern 1:ef1bbf9b6205 26 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
nirnakern 1:ef1bbf9b6205 27 Timer t;
nirnakern 1:ef1bbf9b6205 28
nirnakern 1:ef1bbf9b6205 29 DigitalOut myled1(LED1);
nirnakern 1:ef1bbf9b6205 30 DigitalOut myled2(LED2);
nirnakern 1:ef1bbf9b6205 31 DigitalOut myled3(LED3);
nirnakern 1:ef1bbf9b6205 32
nirnakern 1:ef1bbf9b6205 33
nirnakern 0:4e088cbb2dbf 34
nirnakern 0:4e088cbb2dbf 35 /*cose per gps*/
nirnakern 0:4e088cbb2dbf 36 static Thread t1;
nirnakern 0:4e088cbb2dbf 37 static Thread t2;
nirnakern 0:4e088cbb2dbf 38
nirnakern 1:ef1bbf9b6205 39 static Mutex message_access;
nirnakern 0:4e088cbb2dbf 40
nirnakern 0:4e088cbb2dbf 41 static Timer system_timer;
nirnakern 0:4e088cbb2dbf 42 static Serial usb_serial(USBTX, USBRX, 9600);
nirnakern 0:4e088cbb2dbf 43 static Serial *serial_debug= &usb_serial;
nirnakern 0:4e088cbb2dbf 44
nirnakern 1:ef1bbf9b6205 45 static std::vector<int> ids;
nirnakern 1:ef1bbf9b6205 46
nirnakern 1:ef1bbf9b6205 47
nirnakern 0:4e088cbb2dbf 48
nirnakern 0:4e088cbb2dbf 49 static Teseo_LIV3F Teseo(D8, D13, D6, PE_7, PE_8, &usb_serial);
nirnakern 0:4e088cbb2dbf 50
nirnakern 0:4e088cbb2dbf 51
nirnakern 0:4e088cbb2dbf 52 struct gps_coordinate{
nirnakern 0:4e088cbb2dbf 53 float lat;
nirnakern 0:4e088cbb2dbf 54 char lat_cardinal;
nirnakern 0:4e088cbb2dbf 55 float longitud;
nirnakern 0:4e088cbb2dbf 56 char long_cardinal;
nirnakern 0:4e088cbb2dbf 57 bool valid;
nirnakern 0:4e088cbb2dbf 58
nirnakern 0:4e088cbb2dbf 59
nirnakern 0:4e088cbb2dbf 60
nirnakern 0:4e088cbb2dbf 61 };
nirnakern 0:4e088cbb2dbf 62
nirnakern 0:4e088cbb2dbf 63 gps_coordinate myPosition;
nirnakern 0:4e088cbb2dbf 64
nirnakern 0:4e088cbb2dbf 65
nirnakern 0:4e088cbb2dbf 66
nirnakern 0:4e088cbb2dbf 67 /*cose per sensori*/
nirnakern 0:4e088cbb2dbf 68
nirnakern 0:4e088cbb2dbf 69 static Thread t3;
nirnakern 0:4e088cbb2dbf 70
nirnakern 1:ef1bbf9b6205 71
nirnakern 0:4e088cbb2dbf 72
nirnakern 0:4e088cbb2dbf 73
nirnakern 0:4e088cbb2dbf 74 /* Retrieve the composing elements of the expansion board */
nirnakern 1:ef1bbf9b6205 75
nirnakern 1:ef1bbf9b6205 76
nirnakern 1:ef1bbf9b6205 77 /*THIS FUNCTION IS SIMPLY USED TO PRINT ON SERIAL THE NMEA MSG*/
nirnakern 1:ef1bbf9b6205 78 /*
nirnakern 1:ef1bbf9b6205 79 void print_function (enum nmea_msg_id id, char *buf, int len){
nirnakern 1:ef1bbf9b6205 80
nirnakern 1:ef1bbf9b6205 81 if (id == NMEA_END__) {
nirnakern 1:ef1bbf9b6205 82 puts("Not found\n\r");
nirnakern 1:ef1bbf9b6205 83 return;
nirnakern 1:ef1bbf9b6205 84 }
nirnakern 0:4e088cbb2dbf 85
nirnakern 1:ef1bbf9b6205 86 if (!len) {
nirnakern 1:ef1bbf9b6205 87 puts("Not valid\n\r");
nirnakern 1:ef1bbf9b6205 88 return;
nirnakern 1:ef1bbf9b6205 89 }
nirnakern 1:ef1bbf9b6205 90 printf("notify: %d " , id);
nirnakern 1:ef1bbf9b6205 91 for (int i = 0; i < len; ++i)
nirnakern 1:ef1bbf9b6205 92 printf("%c",buf[i]);
nirnakern 1:ef1bbf9b6205 93 puts("\n\r");
nirnakern 1:ef1bbf9b6205 94
nirnakern 1:ef1bbf9b6205 95
nirnakern 1:ef1bbf9b6205 96
nirnakern 1:ef1bbf9b6205 97 }
nirnakern 1:ef1bbf9b6205 98 */
nirnakern 1:ef1bbf9b6205 99 /*THIS FUNCTION PRINT ONLY THE MESSAGE WITH ID SAVED IN STATIC VARIALBE ids*/
nirnakern 1:ef1bbf9b6205 100 /*
nirnakern 1:ef1bbf9b6205 101 void getSpectificMsg (){
nirnakern 0:4e088cbb2dbf 102
nirnakern 0:4e088cbb2dbf 103 enum nmea_msg_id id;
nirnakern 0:4e088cbb2dbf 104
nirnakern 0:4e088cbb2dbf 105 Teseo.Reset(serial_debug);
nirnakern 0:4e088cbb2dbf 106 Teseo.startListener(serial_debug);
nirnakern 0:4e088cbb2dbf 107
nirnakern 0:4e088cbb2dbf 108 while(1) {
nirnakern 1:ef1bbf9b6205 109
nirnakern 0:4e088cbb2dbf 110 osEvent evt = Teseo.queue.get();
nirnakern 1:ef1bbf9b6205 111 if (evt.status == osEventMessage){
nirnakern 1:ef1bbf9b6205 112
nirnakern 1:ef1bbf9b6205 113
nirnakern 0:4e088cbb2dbf 114 struct teseo_msg *message = (struct teseo_msg *)evt.value.p;
nirnakern 0:4e088cbb2dbf 115 if (message->len){
nirnakern 0:4e088cbb2dbf 116 id = Teseo.MsgDetect(message->buf, message->len, serial_debug);
nirnakern 1:ef1bbf9b6205 117 }
nirnakern 1:ef1bbf9b6205 118
nirnakern 1:ef1bbf9b6205 119 if ( find(ids.begin(), ids.end(), id) != ids.end() ){
nirnakern 1:ef1bbf9b6205 120 print_function (id, message->buf, message->len);
nirnakern 1:ef1bbf9b6205 121 }
nirnakern 0:4e088cbb2dbf 122
nirnakern 1:ef1bbf9b6205 123
nirnakern 1:ef1bbf9b6205 124
nirnakern 1:ef1bbf9b6205 125
nirnakern 0:4e088cbb2dbf 126
nirnakern 1:ef1bbf9b6205 127 Teseo.mpool.free(message);
nirnakern 1:ef1bbf9b6205 128
nirnakern 1:ef1bbf9b6205 129 }
nirnakern 0:4e088cbb2dbf 130
nirnakern 0:4e088cbb2dbf 131
nirnakern 1:ef1bbf9b6205 132
nirnakern 0:4e088cbb2dbf 133
nirnakern 1:ef1bbf9b6205 134
nirnakern 0:4e088cbb2dbf 135
nirnakern 0:4e088cbb2dbf 136 }
nirnakern 0:4e088cbb2dbf 137
nirnakern 0:4e088cbb2dbf 138 }
nirnakern 0:4e088cbb2dbf 139
nirnakern 0:4e088cbb2dbf 140
nirnakern 0:4e088cbb2dbf 141
nirnakern 0:4e088cbb2dbf 142
nirnakern 1:ef1bbf9b6205 143 */
nirnakern 0:4e088cbb2dbf 144
nirnakern 0:4e088cbb2dbf 145
nirnakern 0:4e088cbb2dbf 146 int main() {
nirnakern 0:4e088cbb2dbf 147
nirnakern 1:ef1bbf9b6205 148
nirnakern 1:ef1bbf9b6205 149
nirnakern 1:ef1bbf9b6205 150 //cpose per comunicazioni
nirnakern 1:ef1bbf9b6205 151
nirnakern 1:ef1bbf9b6205 152
nirnakern 1:ef1bbf9b6205 153
nirnakern 1:ef1bbf9b6205 154
nirnakern 1:ef1bbf9b6205 155 EthernetInterface eth;
nirnakern 1:ef1bbf9b6205 156 eth.init(IP,MASK,GATEWAY); //Use DHCP
nirnakern 1:ef1bbf9b6205 157 eth.connect();
nirnakern 1:ef1bbf9b6205 158 printf("IP Address is %s\n", eth.getIPAddress());
nirnakern 1:ef1bbf9b6205 159
nirnakern 0:4e088cbb2dbf 160
nirnakern 1:ef1bbf9b6205 161
nirnakern 1:ef1bbf9b6205 162
nirnakern 1:ef1bbf9b6205 163 UDPSocket server;
nirnakern 1:ef1bbf9b6205 164 server.bind(ECHO_SERVER_PORT);
nirnakern 1:ef1bbf9b6205 165
nirnakern 1:ef1bbf9b6205 166
nirnakern 1:ef1bbf9b6205 167 Endpoint client;
nirnakern 1:ef1bbf9b6205 168 char buffer[256];
nirnakern 1:ef1bbf9b6205 169 char outBuffer[256];
nirnakern 1:ef1bbf9b6205 170 int32_t packetnumber =0;
nirnakern 1:ef1bbf9b6205 171
nirnakern 1:ef1bbf9b6205 172
nirnakern 1:ef1bbf9b6205 173 NTPClient ntp;
nirnakern 1:ef1bbf9b6205 174 ntp.setTime("169.254.92.70", 123);
nirnakern 1:ef1bbf9b6205 175
nirnakern 1:ef1bbf9b6205 176
nirnakern 1:ef1bbf9b6205 177 time_t ctTime;
nirnakern 1:ef1bbf9b6205 178 ctTime = time(NULL);
nirnakern 1:ef1bbf9b6205 179 printf("Time is set to (UTC): %s\r", ctime(&ctTime));
nirnakern 1:ef1bbf9b6205 180
nirnakern 1:ef1bbf9b6205 181 while(1) {
nirnakern 1:ef1bbf9b6205 182
nirnakern 1:ef1bbf9b6205 183 printf("\nWaiting for UDP packet...\n");
nirnakern 1:ef1bbf9b6205 184
nirnakern 1:ef1bbf9b6205 185 myled1=1;
nirnakern 1:ef1bbf9b6205 186 int n = server.receiveFrom(client, buffer, sizeof(buffer));
nirnakern 1:ef1bbf9b6205 187 buffer[n] = '\0';
nirnakern 1:ef1bbf9b6205 188
nirnakern 1:ef1bbf9b6205 189 printf("Received packet from: %s\n", client.get_address());
nirnakern 1:ef1bbf9b6205 190 printf("Packet contents : '%s'\n",buffer);
nirnakern 1:ef1bbf9b6205 191
nirnakern 1:ef1bbf9b6205 192
nirnakern 1:ef1bbf9b6205 193 //set time
nirnakern 1:ef1bbf9b6205 194 NTPClient ntp;
nirnakern 1:ef1bbf9b6205 195 ntp.setTime(client.get_address(), 123,10000);
nirnakern 0:4e088cbb2dbf 196
nirnakern 1:ef1bbf9b6205 197
nirnakern 1:ef1bbf9b6205 198 time_t ctTime;
nirnakern 1:ef1bbf9b6205 199 ctTime = time(NULL);
nirnakern 1:ef1bbf9b6205 200 printf("Time is set to (UTC): %s\r", ctime(&ctTime));
nirnakern 1:ef1bbf9b6205 201 time_t offset = time(NULL);
nirnakern 1:ef1bbf9b6205 202 t.start();
nirnakern 1:ef1bbf9b6205 203
nirnakern 1:ef1bbf9b6205 204
nirnakern 1:ef1bbf9b6205 205 printf("Start Sending GPS messages\n");
nirnakern 1:ef1bbf9b6205 206
nirnakern 1:ef1bbf9b6205 207 myled2=1;
nirnakern 1:ef1bbf9b6205 208
nirnakern 1:ef1bbf9b6205 209 myled3=1;
nirnakern 1:ef1bbf9b6205 210 server.sendTo(client, buffer, n);
nirnakern 1:ef1bbf9b6205 211
nirnakern 1:ef1bbf9b6205 212
nirnakern 1:ef1bbf9b6205 213 memset (&buffer[0], '\0', sizeof(buffer));
nirnakern 1:ef1bbf9b6205 214 while (1){
nirnakern 1:ef1bbf9b6205 215 packetnumber =packetnumber+1;
nirnakern 1:ef1bbf9b6205 216 //send imu
nirnakern 1:ef1bbf9b6205 217
nirnakern 1:ef1bbf9b6205 218 if (Teseo._uart.readable()) {
nirnakern 1:ef1bbf9b6205 219 int c = Teseo._uart.getc();
nirnakern 1:ef1bbf9b6205 220 sprintf (buffer + strlen(buffer), "%c", c);
nirnakern 1:ef1bbf9b6205 221 serial_debug->putc(c);
nirnakern 1:ef1bbf9b6205 222 if (c =='\n'){
nirnakern 1:ef1bbf9b6205 223 // sprintf (outBuffer , "%d,%s",(t.read_ms()+(offset*1000)),buffer);
nirnakern 1:ef1bbf9b6205 224 sprintf (outBuffer , "%s",buffer);
nirnakern 1:ef1bbf9b6205 225
nirnakern 1:ef1bbf9b6205 226 n =sizeof (outBuffer);
nirnakern 1:ef1bbf9b6205 227 server.sendTo(client, outBuffer, n);
nirnakern 1:ef1bbf9b6205 228 memset (&buffer[0], '\0', sizeof(buffer));
nirnakern 1:ef1bbf9b6205 229 memset (&outBuffer[0], '\0', sizeof(outBuffer));
nirnakern 1:ef1bbf9b6205 230
nirnakern 1:ef1bbf9b6205 231
nirnakern 1:ef1bbf9b6205 232 }
nirnakern 1:ef1bbf9b6205 233 }
nirnakern 1:ef1bbf9b6205 234
nirnakern 1:ef1bbf9b6205 235
nirnakern 1:ef1bbf9b6205 236
nirnakern 1:ef1bbf9b6205 237
nirnakern 1:ef1bbf9b6205 238 //printf (buffer);
nirnakern 1:ef1bbf9b6205 239
nirnakern 1:ef1bbf9b6205 240 //wait (1);
nirnakern 1:ef1bbf9b6205 241 }
nirnakern 1:ef1bbf9b6205 242
nirnakern 1:ef1bbf9b6205 243
nirnakern 0:4e088cbb2dbf 244
nirnakern 1:ef1bbf9b6205 245
nirnakern 1:ef1bbf9b6205 246 }
nirnakern 0:4e088cbb2dbf 247 }