File content as of revision 51:6a158dcc7457:

#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(PA_9, PA_10, 38400);

    // 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) && (std::chrono::duration_cast<std::chrono::milliseconds>(timer.elapsed_time()).count() < 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);
                }
            }
            thread_sleep_for(100); //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(PA_9, PA_10, 38400);

    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);
                        }
                    }
                }
            }
        }

        thread_sleep_for(1000); //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);
}

int main() {

    DigitalOut user_led(LED1);      // create DigitalOut object to command user led

   test_serial_time();

   while (true) {
       printf("   main ended\r\n");
       user_led = !user_led;
       thread_sleep_for(1000);
   }
}

// End Of File


/*
#include <mbed.h>

// GNSS and Compass test programm for Mateksys GNSS&Compass M9N-5883

// #include "Eigen/Dense.h"
#include "QMC5883L.h"
#include "LinearCharacteristics.h"
#include "NEOM9N.h"

// logical variable main task
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

// user button on nucleo board
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)
InterruptIn user_button(PC_13);     // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
void user_button_pressed_fcn();     // custom functions which gets executed when user button gets pressed and released, definition below
void user_button_released_fcn();

int main()
{
    // while loop gets executed every main_task_period_ms milliseconds
    const int main_task_period_ms = 100;  // 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
    DigitalOut user_led(LED1);      // create DigitalOut object to command user led

    // create QMC5883L compass object
    I2C i2c(PB_9, PB_8); // I2C1
    QMC5883L mag(i2c);
    LinearCharacteristics raw_mx2mx, raw_my2my, raw_mz2mz;
    raw_mx2mx.setup(0.9991f, 0.0088f);
    raw_my2my.setup(0.9982f, 0.2092f);
    raw_mz2mz.setup(1.0027f, -0.0903f);
    float mag_val[3] = {0.0f, 0.0f, 0.0f};
    
    // create object for GNSS Sensor NEO-M9N
    NEOM9N neom9n(PA_9, PA_10); // UART1
    //NEOM9N neom9n(PA_2, PA_3); // UART2

    // attach button fall and rise functions to user button object
    user_button.fall(&user_button_pressed_fcn);
    user_button.rise(&user_button_released_fcn);

    // start timer
    main_task_timer.start();

    while (true) { // this loop will run forever

        main_task_timer.reset();

        mag.readMag();

        if (do_execute_main_task) {

            mag_val[0] = raw_mx2mx.evaluate(mag.magX());
            mag_val[1] = raw_my2my.evaluate(mag.magY());
            mag_val[2] = raw_mz2mz.evaluate(mag.magZ());

        } else {

            for (uint8_t i = 0; i <= 3; i++) {
                mag_val[i] = 0;
            }

        }

        user_led = !user_led;

        // 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("GPS time: %d, num sat: %d, lat: %d, lon: %d, speed: %d, heading: %d\r\n", neom9n.actualPVT.itow, neom9n.actualPVT.numSV, neom9n.actualPVT.lat, neom9n.actualPVT.lon, neom9n.actualPVT.speed, neom9n.actualPVT.headMot);

        // 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();
        thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
    }
}

void user_button_pressed_fcn()
{
    user_button_timer.start();
    user_button_timer.reset();
}

void user_button_released_fcn()
{
    // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
    int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
    user_button_timer.stop();
    if (user_button_elapsed_time_ms > 200) {
        do_execute_main_task = !do_execute_main_task;
    }
}
*/