Michael Ernst Peter / Mbed OS Test_GPS

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Dependencies:   Eigen

main.cpp@53:50ecf1240eba, 2022-06-03 (annotated)

Committer:
pmic
Date:
Fri Jun 03 14:26:31 2022 +0200
Revision:
53:50ecf1240eba
Parent:
52:4c282feb57eb
Child:
55:fbd59767e175
Commit before final testing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 36:8c75783c1eca 1 #include <mbed.h>
pmic 36:8c75783c1eca 2
pmic 41:1627f3e4640d 3 // GNSS and Compass test programm for Mateksys GNSS&Compass M9N-5883
pmic 40:1581715116a8 4
pmic 43:f459f6efaf5c 5 // #include "Eigen/Dense.h"
pmic 43:f459f6efaf5c 6 #include "QMC5883L.h"
pmic 43:f459f6efaf5c 7 #include "LinearCharacteristics.h"
pmic 49:76fcaffb92ef 8 #include "NEOM9N.h"
pmic 6:e1fa1a2d7483 9
pmic 24:86f1a63e35a0 10 // logical variable main task
pmic 45:5d65b27c9293 11 bool do_execute_main_task = true; // this variable will be toggled via the user button (blue button) to or not to execute the main task
pmic 17:c19b471f05cb 12
pmic 24:86f1a63e35a0 13 // user button on nucleo board
pmic 24:86f1a63e35a0 14 Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
pmic 24:86f1a63e35a0 15 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
pmic 24:86f1a63e35a0 16 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 17 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 18
pmic 1:93d997d6b232 19 int main()
pmic 23:26b3a25fc637 20 {
pmic 36:8c75783c1eca 21 // while loop gets executed every main_task_period_ms milliseconds
pmic 53:50ecf1240eba 22 const int main_task_period_ms = 50; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
pmic 53:50ecf1240eba 23 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
pmic 36:8c75783c1eca 24
pmic 36:8c75783c1eca 25 // led on nucleo board
pmic 36:8c75783c1eca 26 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 36:8c75783c1eca 27
pmic 43:f459f6efaf5c 28 // create QMC5883L compass object
pmic 47:c74d09a252d4 29 I2C i2c(PB_9, PB_8); // I2C1
pmic 43:f459f6efaf5c 30 QMC5883L mag(i2c);
pmic 43:f459f6efaf5c 31 LinearCharacteristics raw_mx2mx, raw_my2my, raw_mz2mz;
pmic 43:f459f6efaf5c 32 raw_mx2mx.setup(0.9991f, 0.0088f);
pmic 43:f459f6efaf5c 33 raw_my2my.setup(0.9982f, 0.2092f);
pmic 43:f459f6efaf5c 34 raw_mz2mz.setup(1.0027f, -0.0903f);
pmic 43:f459f6efaf5c 35 float mag_val[3] = {0.0f, 0.0f, 0.0f};
pmic 47:c74d09a252d4 36
pmic 47:c74d09a252d4 37 // create object for GNSS Sensor NEO-M9N
pmic 49:76fcaffb92ef 38 NEOM9N neom9n(PA_9, PA_10); // UART1
pmic 48:77009dca23a8 39 //NEOM9N neom9n(PA_2, PA_3); // UART2
pmic 52:4c282feb57eb 40 //Timer neom9n_timer;
pmic 36:8c75783c1eca 41
pmic 24:86f1a63e35a0 42 // attach button fall and rise functions to user button object
pmic 24:86f1a63e35a0 43 user_button.fall(&user_button_pressed_fcn);
pmic 24:86f1a63e35a0 44 user_button.rise(&user_button_released_fcn);
pmic 17:c19b471f05cb 45
pmic 29:d6f1ccf42a31 46 // start timer
pmic 24:86f1a63e35a0 47 main_task_timer.start();
pmic 6:e1fa1a2d7483 48
pmic 52:4c282feb57eb 49 //neom9n_timer.start();
pmic 52:4c282feb57eb 50
pmic 24:86f1a63e35a0 51 while (true) { // this loop will run forever
pmic 6:e1fa1a2d7483 52
pmic 24:86f1a63e35a0 53 main_task_timer.reset();
pmic 6:e1fa1a2d7483 54
pmic 52:4c282feb57eb 55 mag.readMag(); // this needs approx 2450 mus
pmic 52:4c282feb57eb 56 mag_val[0] = raw_mx2mx.evaluate(mag.magX());
pmic 52:4c282feb57eb 57 mag_val[1] = raw_my2my.evaluate(mag.magY());
pmic 52:4c282feb57eb 58 mag_val[2] = raw_mz2mz.evaluate(mag.magZ());
pmic 52:4c282feb57eb 59
pmic 52:4c282feb57eb 60 //neom9n_timer.reset();
pmic 52:4c282feb57eb 61 neom9n.update();
pmic 52:4c282feb57eb 62 //int neom9n_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(neom9n_timer.elapsed_time()).count();
pmic 43:f459f6efaf5c 63
pmic 24:86f1a63e35a0 64 if (do_execute_main_task) {
pmic 17:c19b471f05cb 65
pmic 1:93d997d6b232 66 } else {
pmic 6:e1fa1a2d7483 67
pmic 1:93d997d6b232 68 }
pmic 6:e1fa1a2d7483 69
pmic 24:86f1a63e35a0 70 user_led = !user_led;
pmic 24:86f1a63e35a0 71
pmic 52:4c282feb57eb 72 int main_task_elapsed_time_mus = std::chrono::duration_cast<std::chrono::microseconds>(main_task_timer.elapsed_time()).count();
pmic 52:4c282feb57eb 73
pmic 24:86f1a63e35a0 74 // do only output via serial what's really necessary (this makes your code slow)
pmic 53:50ecf1240eba 75 printf("%f, %f, %f\r\n", mag_val[0], mag_val[1], mag_val[2]);
pmic 52:4c282feb57eb 76 printf("Update time: %d, GPS time: %d, num sat: %d, lat: %d, lon: %d, speed: %d, heading: %d\r\n", main_task_elapsed_time_mus, neom9n.actualPVT.itow, neom9n.actualPVT.numSV, neom9n.actualPVT.lat, neom9n.actualPVT.lon, neom9n.actualPVT.speed, neom9n.actualPVT.headMot);
pmic 17:c19b471f05cb 77
pmic 24:86f1a63e35a0 78 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 79 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 80 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
pmic 1:93d997d6b232 81 }
pmic 1:93d997d6b232 82 }
pmic 6:e1fa1a2d7483 83
pmic 24:86f1a63e35a0 84 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 85 {
pmic 26:28693b369945 86 user_button_timer.start();
pmic 6:e1fa1a2d7483 87 user_button_timer.reset();
pmic 6:e1fa1a2d7483 88 }
pmic 6:e1fa1a2d7483 89
pmic 24:86f1a63e35a0 90 void user_button_released_fcn()
pmic 6:e1fa1a2d7483 91 {
pmic 24:86f1a63e35a0 92 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 93 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 94 user_button_timer.stop();
pmic 24:86f1a63e35a0 95 if (user_button_elapsed_time_ms > 200) {
pmic 24:86f1a63e35a0 96 do_execute_main_task = !do_execute_main_task;
pmic 8:9bb806a7f585 97 }
pmic 52:4c282feb57eb 98 }