Michael Shimniok / Mbed 2 deprecated DataBus

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Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

Sensors/GPS/Venus638flpx.cpp@23:a34af501ea89, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 15:41:05 2018 +0000
Revision:
23:a34af501ea89
Parent:
2:fbc6e3cf3ed8 
Disabled PinDetect code (for now); fixed attach() calls in various functions to use new callback class.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #include "mbed.h"
shimniok 0:a6a169de725f 2 #include "Venus638flpx.h"
shimniok 0:a6a169de725f 3
shimniok 0:a6a169de725f 4 // TODO: parameterize LED
shimniok 0:a6a169de725f 5
shimniok 0:a6a169de725f 6 Venus638flpx::Venus638flpx(PinName tx, PinName rx):
shimniok 0:a6a169de725f 7 serial(tx, rx)
shimniok 0:a6a169de725f 8 {
shimniok 0:a6a169de725f 9 init();
shimniok 0:a6a169de725f 10 }
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12 void Venus638flpx::init()
shimniok 0:a6a169de725f 13 {
shimniok 0:a6a169de725f 14 setBaud(38400);
shimniok 0:a6a169de725f 15 enable();
shimniok 0:a6a169de725f 16 disableVerbose();
shimniok 0:a6a169de725f 17 setUpdateRate(10);
shimniok 0:a6a169de725f 18 }
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20 void Venus638flpx::setBaud(int baud)
shimniok 0:a6a169de725f 21 {
shimniok 0:a6a169de725f 22 serial.baud(baud);
shimniok 0:a6a169de725f 23 }
shimniok 0:a6a169de725f 24
shimniok 0:a6a169de725f 25 Serial *Venus638flpx::getSerial(void)
shimniok 0:a6a169de725f 26 {
shimniok 0:a6a169de725f 27 return &serial;
shimniok 0:a6a169de725f 28 }
shimniok 0:a6a169de725f 29
shimniok 0:a6a169de725f 30 void Venus638flpx::enable(void)
shimniok 0:a6a169de725f 31 {
shimniok 0:a6a169de725f 32 reset_available();
shimniok 23:a34af501ea89 33 serial.attach(callback(this, &Venus638flpx::recv_handler), Serial::RxIrq);
shimniok 0:a6a169de725f 34 }
shimniok 0:a6a169de725f 35
shimniok 0:a6a169de725f 36 void Venus638flpx::disable(void)
shimniok 0:a6a169de725f 37 {
shimniok 0:a6a169de725f 38 serial.attach(NULL, Serial::RxIrq);
shimniok 0:a6a169de725f 39 }
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 /**
shimniok 0:a6a169de725f 42 * Enable verbose messages for debugging
shimniok 0:a6a169de725f 43 */
shimniok 0:a6a169de725f 44 void Venus638flpx::enableVerbose(void)
shimniok 0:a6a169de725f 45 {
shimniok 0:a6a169de725f 46 setNmeaMessages(1,1,1,0,1,1);
shimniok 0:a6a169de725f 47 }
shimniok 0:a6a169de725f 48
shimniok 0:a6a169de725f 49 /**
shimniok 0:a6a169de725f 50 * Disable verbose messages for debugging
shimniok 0:a6a169de725f 51 */
shimniok 0:a6a169de725f 52 void Venus638flpx::disableVerbose(void)
shimniok 0:a6a169de725f 53 {
shimniok 0:a6a169de725f 54 setNmeaMessages(1,1,0,0,1,0);
shimniok 0:a6a169de725f 55 }
shimniok 0:a6a169de725f 56
shimniok 0:a6a169de725f 57 void Venus638flpx::setNmeaMessages(char gga, char gsa, char gsv, char gll, char rmc, char vtg)
shimniok 0:a6a169de725f 58 {
shimniok 0:a6a169de725f 59 // VENUS Binary MsgID=0x08
shimniok 0:a6a169de725f 60 // GGA interval
shimniok 0:a6a169de725f 61 // GSA interval
shimniok 0:a6a169de725f 62 // GSV interval
shimniok 0:a6a169de725f 63 // GLL interval
shimniok 0:a6a169de725f 64 // RMC interval
shimniok 0:a6a169de725f 65 // VTG interval
shimniok 0:a6a169de725f 66 // ZDA interval -- hardcode off
shimniok 0:a6a169de725f 67 char msg[15] = { 0xA0, 0xA1, 0x00, 0x09,
shimniok 0:a6a169de725f 68 0x08, gga, gsa, gsv, gll, rmc, vtg, 0,
shimniok 0:a6a169de725f 69 0, 0x0D, 0x0A
shimniok 0:a6a169de725f 70 };
shimniok 0:a6a169de725f 71 for (int i=4; i < 12; i++) {
shimniok 0:a6a169de725f 72 msg[12] ^= msg[i];
shimniok 0:a6a169de725f 73 }
shimniok 0:a6a169de725f 74 for (int i=0; i < 15; i++)
shimniok 0:a6a169de725f 75 serial.putc(msg[i]);
shimniok 0:a6a169de725f 76 }
shimniok 0:a6a169de725f 77
shimniok 0:a6a169de725f 78 void Venus638flpx::setUpdateRate(int rate)
shimniok 0:a6a169de725f 79 {
shimniok 0:a6a169de725f 80 char msg[10] = { 0xA0, 0xA1, 0x00, 0x03,
shimniok 0:a6a169de725f 81 0x0E, rate&0xFF, 01,
shimniok 0:a6a169de725f 82 0, 0x0D, 0x0A
shimniok 0:a6a169de725f 83 };
shimniok 0:a6a169de725f 84 for (int i=4; i < 7; i++) {
shimniok 0:a6a169de725f 85 msg[7] ^= msg[i];
shimniok 0:a6a169de725f 86 }
shimniok 0:a6a169de725f 87 switch (rate) {
shimniok 0:a6a169de725f 88 case 1 :
shimniok 0:a6a169de725f 89 case 2 :
shimniok 0:a6a169de725f 90 case 4 :
shimniok 0:a6a169de725f 91 case 5 :
shimniok 0:a6a169de725f 92 case 8 :
shimniok 0:a6a169de725f 93 case 10 :
shimniok 0:a6a169de725f 94 case 20 :
shimniok 0:a6a169de725f 95 for (int i=0; i < 10; i++)
shimniok 0:a6a169de725f 96 serial.putc(msg[i]);
shimniok 0:a6a169de725f 97 break;
shimniok 0:a6a169de725f 98 default :
shimniok 0:a6a169de725f 99 break;
shimniok 0:a6a169de725f 100 }
shimniok 0:a6a169de725f 101 }
shimniok 0:a6a169de725f 102
shimniok 0:a6a169de725f 103
shimniok 0:a6a169de725f 104 /*
shimniok 0:a6a169de725f 105 void Venus638flpx::position(GeoPosition &here)
shimniok 0:a6a169de725f 106 {
shimniok 0:a6a169de725f 107 double latitude, longitude;
shimniok 0:a6a169de725f 108 unsigned long age;
shimniok 0:a6a169de725f 109 nmea.f_get_position(&latitude, &longitude, &age);
shimniok 0:a6a169de725f 110 here.set(latitude, longitude);
shimniok 0:a6a169de725f 111 return;
shimniok 0:a6a169de725f 112 }
shimniok 0:a6a169de725f 113
shimniok 0:a6a169de725f 114 void Venus638flpx::position(double *latitude, double *longitude)
shimniok 0:a6a169de725f 115 {
shimniok 0:a6a169de725f 116 unsigned long age;
shimniok 0:a6a169de725f 117 nmea.f_get_position(latitude, longitude, &age);
shimniok 0:a6a169de725f 118 return;
shimniok 0:a6a169de725f 119 }
shimniok 0:a6a169de725f 120 */
shimniok 0:a6a169de725f 121
shimniok 0:a6a169de725f 122 double Venus638flpx::latitude(void)
shimniok 0:a6a169de725f 123 {
shimniok 0:a6a169de725f 124 double latitude, longitude;
shimniok 0:a6a169de725f 125 unsigned long age;
shimniok 0:a6a169de725f 126 nmea.f_get_position(&latitude, &longitude, &age);
shimniok 0:a6a169de725f 127 return latitude;
shimniok 0:a6a169de725f 128 }
shimniok 0:a6a169de725f 129
shimniok 0:a6a169de725f 130 double Venus638flpx::longitude(void)
shimniok 0:a6a169de725f 131 {
shimniok 0:a6a169de725f 132 double latitude, longitude;
shimniok 0:a6a169de725f 133 unsigned long age;
shimniok 0:a6a169de725f 134 nmea.f_get_position(&latitude, &longitude, &age);
shimniok 0:a6a169de725f 135 return longitude;
shimniok 0:a6a169de725f 136 }
shimniok 0:a6a169de725f 137
shimniok 0:a6a169de725f 138 float Venus638flpx::hdop(void)
shimniok 0:a6a169de725f 139 {
shimniok 0:a6a169de725f 140 return nmea.f_hdop();
shimniok 0:a6a169de725f 141 }
shimniok 0:a6a169de725f 142
shimniok 0:a6a169de725f 143 int Venus638flpx::sat_count(void)
shimniok 0:a6a169de725f 144 {
shimniok 0:a6a169de725f 145 return nmea.sat_count();
shimniok 0:a6a169de725f 146 }
shimniok 0:a6a169de725f 147
shimniok 0:a6a169de725f 148 float Venus638flpx::speed_mps(void)
shimniok 0:a6a169de725f 149 {
shimniok 0:a6a169de725f 150 return nmea.f_speed_mps();
shimniok 0:a6a169de725f 151 }
shimniok 0:a6a169de725f 152
shimniok 0:a6a169de725f 153 float Venus638flpx::heading_deg(void)
shimniok 0:a6a169de725f 154 {
shimniok 0:a6a169de725f 155 return nmea.f_course();
shimniok 0:a6a169de725f 156 }
shimniok 0:a6a169de725f 157
shimniok 0:a6a169de725f 158 bool Venus638flpx::available(void)
shimniok 0:a6a169de725f 159 {
shimniok 0:a6a169de725f 160 return nmea.ready();
shimniok 0:a6a169de725f 161 }
shimniok 0:a6a169de725f 162
shimniok 0:a6a169de725f 163 void Venus638flpx::reset_available(void)
shimniok 0:a6a169de725f 164 {
shimniok 0:a6a169de725f 165 nmea.reset_ready();
shimniok 0:a6a169de725f 166 }
shimniok 0:a6a169de725f 167
shimniok 0:a6a169de725f 168 int Venus638flpx::getAvailable(void)
shimniok 0:a6a169de725f 169 {
shimniok 2:fbc6e3cf3ed8 170 // TODO 2 not sure what to do here
shimniok 0:a6a169de725f 171 return 0xff;
shimniok 0:a6a169de725f 172 }
shimniok 0:a6a169de725f 173
shimniok 0:a6a169de725f 174 void Venus638flpx::recv_handler()
shimniok 0:a6a169de725f 175 {
shimniok 0:a6a169de725f 176 while (serial.readable()) {
shimniok 0:a6a169de725f 177 nmea.encode(serial.getc());
shimniok 0:a6a169de725f 178 }
shimniok 0:a6a169de725f 179 }