Robert Linn-Moran / Mbed 2 deprecated GPS_6Axis_DataLogger_SD_UDP

K64F based data logger for GPS (ublox MAX M8Q) & 6 Axis Sensor (FXOS8700Q) - Outputs to SD + UDP - Uses FRDM K64F + ublox "Cellular and positioning shield" (3G version)

Dependencies:   MAX_M8Q_Capture EthernetInterface FXOS8700Q SDFileSystem eCompass_FPU_Lib mbed-rtos mbed

MAX_M8Q.cpp@2:bcd60a69583f, 2015-04-02 (annotated)

Committer:
rlinnmoran
Date:
Thu Apr 02 20:09:44 2015 +0000
Revision:
2:bcd60a69583f
Parent:
0:77857a36b4ff 
Add/Updated; - SD Card logging; - UDP logging; - Status LED; - Error handling; ; To do:; - Recover from error; - Documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rlinnmoran 0:77857a36b4ff 1 #include "mbed.h"
rlinnmoran 0:77857a36b4ff 2 #include "MAX_M8Q.h"
rlinnmoran 0:77857a36b4ff 3 #include "GPS.h"
rlinnmoran 2:bcd60a69583f 4 #include "debug.h"
rlinnmoran 0:77857a36b4ff 5
rlinnmoran 0:77857a36b4ff 6 //------------------------------------------------------------------------------------
rlinnmoran 0:77857a36b4ff 7 /* This example was tested on C027-U20 and C027-G35 with the on board modem.
rlinnmoran 0:77857a36b4ff 8
rlinnmoran 0:77857a36b4ff 9 Additionally it was tested with a shield where the SARA-G350/U260/U270 RX/TX/PWRON
rlinnmoran 0:77857a36b4ff 10 is connected to D0/D1/D4 and the GPS SCL/SDA is connected D15/D15. In this
rlinnmoran 0:77857a36b4ff 11 configuration the following platforms were tested (it is likely that others
rlinnmoran 0:77857a36b4ff 12 will work as well)
rlinnmoran 0:77857a36b4ff 13 - U-BLOX: C027-G35, C027-U20, C027-C20 (for shield set define C027_FORCE_SHIELD)
rlinnmoran 0:77857a36b4ff 14 - NXP: LPC1549v2, LPC4088qsb
rlinnmoran 0:77857a36b4ff 15 - Freescale: FRDM-KL05Z, FRDM-KL25Z, FRDM-KL46Z, FRDM-K64F
rlinnmoran 0:77857a36b4ff 16 - STM: NUCLEO-F401RE, NUCLEO-F030R8
rlinnmoran 0:77857a36b4ff 17 mount resistors SB13/14 1k, SB62/63 0R
rlinnmoran 0:77857a36b4ff 18
rlinnmoran 0:77857a36b4ff 19 ### RLM - MODIFIED TO REMOVE MODEM FUNCTIONALITY
rlinnmoran 0:77857a36b4ff 20 */
rlinnmoran 0:77857a36b4ff 21
rlinnmoran 0:77857a36b4ff 22 gpsinfo_t gpsinfo; // Structure to store GPS data
rlinnmoran 0:77857a36b4ff 23 int captureMAX_M8Q(void); // Prototype
rlinnmoran 0:77857a36b4ff 24
rlinnmoran 0:77857a36b4ff 25 int captureMAX_M8Q(void)
rlinnmoran 0:77857a36b4ff 26 {
rlinnmoran 0:77857a36b4ff 27 int ret;
rlinnmoran 0:77857a36b4ff 28 #ifdef LARGE_DATA
rlinnmoran 0:77857a36b4ff 29 char buf[2048] = "";
rlinnmoran 0:77857a36b4ff 30 #else
rlinnmoran 0:77857a36b4ff 31 char buf[512] = "";
rlinnmoran 0:77857a36b4ff 32 #endif
rlinnmoran 0:77857a36b4ff 33
rlinnmoran 0:77857a36b4ff 34 // Create the GPS object
rlinnmoran 0:77857a36b4ff 35 GPSI2C gps;
rlinnmoran 0:77857a36b4ff 36
rlinnmoran 0:77857a36b4ff 37
rlinnmoran 2:bcd60a69583f 38 D(printf("GPS Loop\r\n"));
rlinnmoran 0:77857a36b4ff 39
rlinnmoran 0:77857a36b4ff 40
rlinnmoran 0:77857a36b4ff 41 bool GGA_done = false;
rlinnmoran 0:77857a36b4ff 42 bool RMC_done = false;
rlinnmoran 0:77857a36b4ff 43 bool VTG_done = false;
rlinnmoran 0:77857a36b4ff 44
rlinnmoran 0:77857a36b4ff 45 // While required messages are not yet processed
rlinnmoran 0:77857a36b4ff 46 while(!(GGA_done & RMC_done & VTG_done))
rlinnmoran 0:77857a36b4ff 47 {
rlinnmoran 0:77857a36b4ff 48 // Debug - comment normally
rlinnmoran 0:77857a36b4ff 49 //printf("GGA/RMC/VTG_done:%d\r\n", !(GGA_done & RMC_done & VTG_done));
rlinnmoran 0:77857a36b4ff 50
rlinnmoran 0:77857a36b4ff 51 // Test for valid message from GPS
rlinnmoran 0:77857a36b4ff 52 if ((ret = gps.getMessage(buf, sizeof(buf))) > 0)
rlinnmoran 0:77857a36b4ff 53 {
rlinnmoran 0:77857a36b4ff 54 int len = LENGTH(ret); //message length
rlinnmoran 0:77857a36b4ff 55
rlinnmoran 0:77857a36b4ff 56 //### Debug - comment normally
rlinnmoran 0:77857a36b4ff 57 //printf("NMEA: %.*s\r\n", len-2, buf);
rlinnmoran 0:77857a36b4ff 58
rlinnmoran 0:77857a36b4ff 59 // Test is valid NMEA message
rlinnmoran 0:77857a36b4ff 60 if ((PROTOCOL(ret) == GPSParser::NMEA) && (len > 6))
rlinnmoran 0:77857a36b4ff 61 {
rlinnmoran 0:77857a36b4ff 62 // Test if this is a valid GPS talker
rlinnmoran 0:77857a36b4ff 63 // talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GPS
rlinnmoran 0:77857a36b4ff 64 if ((buf[0] == '$') || buf[1] == 'G') {
rlinnmoran 0:77857a36b4ff 65
rlinnmoran 0:77857a36b4ff 66 // Assign the 3 letter NMEA message acronym to 's'
rlinnmoran 0:77857a36b4ff 67 #define _CHECK_TALKER(s) ((buf[3] == s[0]) && (buf[4] == s[1]) && (buf[5] == s[2]))
rlinnmoran 0:77857a36b4ff 68
rlinnmoran 0:77857a36b4ff 69 // Test for GGA NMEA Message
rlinnmoran 0:77857a36b4ff 70 if (_CHECK_TALKER("GGA")) {
rlinnmoran 0:77857a36b4ff 71 // GGA Message Detected
rlinnmoran 2:bcd60a69583f 72 D(printf("GGA NMEA Message Detected:%.*s\r\n",len-2, buf));
rlinnmoran 0:77857a36b4ff 73
rlinnmoran 0:77857a36b4ff 74 // Extract NS (GGA, field 3)
rlinnmoran 0:77857a36b4ff 75 if(gps.getNmeaItem(3,buf,len,gpsinfo.NS))
rlinnmoran 2:bcd60a69583f 76 D(printf("NS: %c\r\n", gpsinfo.NS));
rlinnmoran 0:77857a36b4ff 77
rlinnmoran 0:77857a36b4ff 78 // Extract EW (GGA, field 5)
rlinnmoran 0:77857a36b4ff 79 if(gps.getNmeaItem(5,buf,len,gpsinfo.EW))
rlinnmoran 2:bcd60a69583f 80 D(printf("EW: %c\r\n", gpsinfo.EW));
rlinnmoran 0:77857a36b4ff 81
rlinnmoran 0:77857a36b4ff 82 // Extract Altitude (GGA, field 9)
rlinnmoran 0:77857a36b4ff 83 if(gps.getNmeaItem(9,buf,len,gpsinfo.alt))
rlinnmoran 2:bcd60a69583f 84 D(printf("Altitude: %.1f\r\n", gpsinfo.alt));
rlinnmoran 0:77857a36b4ff 85
rlinnmoran 0:77857a36b4ff 86 // Set flag indicating GGA processing complete
rlinnmoran 0:77857a36b4ff 87 GGA_done = true;
rlinnmoran 0:77857a36b4ff 88
rlinnmoran 0:77857a36b4ff 89 } // end GGA NMEA Test
rlinnmoran 0:77857a36b4ff 90
rlinnmoran 0:77857a36b4ff 91 // Test for RMC NMEA Message
rlinnmoran 0:77857a36b4ff 92 if (_CHECK_TALKER("RMC")) {
rlinnmoran 0:77857a36b4ff 93 // RMC Message Detected
rlinnmoran 2:bcd60a69583f 94 D(printf("RMC NMEA Message Detected:%.*s\r\n",len-2, buf));
rlinnmoran 0:77857a36b4ff 95
rlinnmoran 0:77857a36b4ff 96 // Extract Time (RMC, field 1)
rlinnmoran 0:77857a36b4ff 97 if(gps.getNmeaItem(1,buf,len,gpsinfo.utc))
rlinnmoran 2:bcd60a69583f 98 D(printf("Time: %.2f\r\n", gpsinfo.utc));
rlinnmoran 0:77857a36b4ff 99
rlinnmoran 0:77857a36b4ff 100 // Extract Latitude (RMC, field 3)
rlinnmoran 0:77857a36b4ff 101 if(gps.getNmeaAngle(3,buf,len,gpsinfo.lat))
rlinnmoran 2:bcd60a69583f 102 D(printf("Latitude: %.5f\r\n", gpsinfo.lat));
rlinnmoran 0:77857a36b4ff 103
rlinnmoran 0:77857a36b4ff 104 // Extract Longtitude (RMC, field 5)
rlinnmoran 0:77857a36b4ff 105 if(gps.getNmeaAngle(5,buf,len,gpsinfo.lng))
rlinnmoran 2:bcd60a69583f 106 D(printf("Longtitude: %.5f\r\n", gpsinfo.lng));
rlinnmoran 0:77857a36b4ff 107
rlinnmoran 0:77857a36b4ff 108 // Extract Date (RMC, field 9)
rlinnmoran 0:77857a36b4ff 109 if(gps.getNmeaItem(9,buf,len,gpsinfo.dte,10))
rlinnmoran 2:bcd60a69583f 110 D(printf("Date: %d\r\n", gpsinfo.dte));
rlinnmoran 0:77857a36b4ff 111
rlinnmoran 0:77857a36b4ff 112 // Set flag indicating RMC processing complete
rlinnmoran 0:77857a36b4ff 113 RMC_done = true;
rlinnmoran 0:77857a36b4ff 114
rlinnmoran 0:77857a36b4ff 115 } // end RMC NMEA Test
rlinnmoran 0:77857a36b4ff 116
rlinnmoran 0:77857a36b4ff 117 // Test for VTG NMEA Message
rlinnmoran 0:77857a36b4ff 118 if (_CHECK_TALKER("VTG")) {
rlinnmoran 0:77857a36b4ff 119 // VTG Message Detected
rlinnmoran 2:bcd60a69583f 120 D(printf("VTG NMEA Message Detected:%.*s\r\n",len-2, buf));
rlinnmoran 0:77857a36b4ff 121
rlinnmoran 0:77857a36b4ff 122 // Extract Speed_kmph (VTG, field 7)
rlinnmoran 0:77857a36b4ff 123 if(gps.getNmeaItem(7,buf,len,gpsinfo.spd))
rlinnmoran 2:bcd60a69583f 124 D(printf("Speed: %.3f\r\n", gpsinfo.spd));
rlinnmoran 0:77857a36b4ff 125
rlinnmoran 0:77857a36b4ff 126 // Set flag indicating VTG processing complete
rlinnmoran 0:77857a36b4ff 127 VTG_done = true;
rlinnmoran 0:77857a36b4ff 128
rlinnmoran 0:77857a36b4ff 129 } // end VTG NMEA Test
rlinnmoran 0:77857a36b4ff 130 } // end GPS Talker Test
rlinnmoran 0:77857a36b4ff 131 } // end NMEA Test
rlinnmoran 0:77857a36b4ff 132 } // end Message Test
rlinnmoran 0:77857a36b4ff 133 } // restart while loop
rlinnmoran 0:77857a36b4ff 134
rlinnmoran 0:77857a36b4ff 135 // All GPS Data has been collected, power off receiver
rlinnmoran 2:bcd60a69583f 136 D(printf("GPS Data Collected\r\n"));
rlinnmoran 0:77857a36b4ff 137
rlinnmoran 0:77857a36b4ff 138 return(0);
rlinnmoran 0:77857a36b4ff 139 }