Diff: main.cpp

Revision:

55:fbd59767e175

Parent:

53:50ecf1240eba

Child:

57:6c87f4989616

--- a/main.cpp	Fri Jun 03 14:35:01 2022 +0200
+++ b/main.cpp	Fri Jun 03 16:52:19 2022 +0200
@@ -19,7 +19,7 @@
 int main()
 {
     // while loop gets executed every main_task_period_ms milliseconds
-    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
+    const int main_task_period_ms = 40;  // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
     Timer main_task_timer;               // create Timer object which we use to run the main task every main task period time in ms
 
     // led on nucleo board
@@ -36,9 +36,7 @@
     
     // create object for GNSS Sensor NEO-M9N
     NEOM9N neom9n(PA_9, PA_10); // UART1
-    //NEOM9N neom9n(PA_2, PA_3); // UART2
-    //Timer neom9n_timer;
-
+    
     // attach button fall and rise functions to user button object
     user_button.fall(&user_button_pressed_fcn);
     user_button.rise(&user_button_released_fcn);
@@ -46,20 +44,18 @@
     // start timer
     main_task_timer.start();
 
-    //neom9n_timer.start();
-
     while (true) { // this loop will run forever
 
         main_task_timer.reset();
 
+        // update magnetometer
         mag.readMag(); // this needs approx 2450 mus
-        mag_val[0] = raw_mx2mx.evaluate(mag.magX());
-        mag_val[1] = raw_my2my.evaluate(mag.magY());
-        mag_val[2] = raw_mz2mz.evaluate(mag.magZ());
+        mag_val[0] = raw_mx2mx.evaluate( mag.magX() );
+        mag_val[1] = raw_my2my.evaluate( mag.magY() );
+        mag_val[2] = raw_mz2mz.evaluate( mag.magZ() );
 
-        //neom9n_timer.reset();
+        // update GNSS
         neom9n.update();
-        //int neom9n_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(neom9n_timer.elapsed_time()).count();
 
         if (do_execute_main_task) {
 
@@ -69,11 +65,33 @@
 
         user_led = !user_led;
 
-        int main_task_elapsed_time_mus = std::chrono::duration_cast<std::chrono::microseconds>(main_task_timer.elapsed_time()).count();
+        //int main_task_elapsed_time_mus = std::chrono::duration_cast<std::chrono::microseconds>(main_task_timer.elapsed_time()).count();
 
         // do only output via serial what's really necessary (this makes your code slow)
-        printf("%f, %f, %f\r\n", mag_val[0], mag_val[1], mag_val[2]);
-        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);
+        printf("%0.3f, %0.3f, %0.3f, ",        //  1: 3 : scaled with 10.0f
+            mag_val[0] * 10.0f,
+            mag_val[1] * 10.0f,
+            mag_val[2] * 10.0f);
+        printf("%0.3f, %0.3f, %0.3f, ",        //  4: 6 : scaled with 10.0f
+            neom9n.getVelN() * 10.0f,
+            neom9n.getVelE() * 10.0f,
+            neom9n.getVelD() * 10.0f);
+        printf("%0.3f, %0.3f, %0.3f, %0.3f, ", //  7:10 : scaled with 10.0f
+            neom9n.getGroundSpeed() * 10.0f,
+            neom9n.getSpeedAcc() * 10.0f,
+            neom9n.getHeading() * 10.0f,
+            neom9n.getHeadAcc() * 10.0f);
+        printf("%0.6f, %0.6f, %0.3f, %0.3f, ", // 11:14 : scaled with 10.0f
+            neom9n.getLon() * 10.0f,
+            neom9n.getLat() * 10.0f,
+            neom9n.getHeight() * 10.0f,
+            neom9n.getHeightMSL() * 10.0f);
+        printf("%0.3f, %d",                    // 15:16 : no scaling
+            neom9n.getSatTime(),
+            neom9n.getNumSat());
+
+        printf("\r\n");
+        //printf("Update time: %d\r\n", main_task_elapsed_time_mus);
 
         // read timer and make the main thread sleep for the remaining time span (non blocking)
         int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();