Diff: main.cpp

Revision:

50:84723ac07ea5

Parent:

49:76fcaffb92ef

Child:

51:6a158dcc7457

--- a/main.cpp	Thu Jun 02 09:42:26 2022 +0000
+++ b/main.cpp	Thu Jun 02 11:07:31 2022 +0000
@@ -1,3 +1,233 @@
+#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
+
+
+/*
 #include <mbed.h>
 
 // GNSS and Compass test programm for Mateksys GNSS&Compass M9N-5883
@@ -91,4 +321,5 @@
     if (user_button_elapsed_time_ms > 200) {
         do_execute_main_task = !do_execute_main_task;
     }
-}
\ No newline at end of file
+}
+*/
\ No newline at end of file