File content as of revision 1:d1bb695fe3bc:

/*
 * S1315F-RAW-EVK Logger
 * (c) @tosihisa http://twitter.com/tosihisa
 */

#include "mbed.h"
#include "TextLCD.h"
#include "SDFileSystem.h"
#include "libT/mbed/tserialbuffer.h"

#define OUTPUT_RATE_1HZ

#define FSNAME "sd"

using namespace libT;

Serial debug(USBTX,USBRX);
InterruptIn PPS(p15);
PwmOut PPSLED(LED1);
PwmOut LOGLED(LED4);
tSerialBuffer gps(p13,p14);
DigitalIn LogSW(p22);
Ticker timer;

TextLCD lcd(p24, p26, p27, p28, p29, p30); // rs, e, d4-d7
SDFileSystem sd(p5, p6, p7, p8, FSNAME);

int logSW_state[2] = { 0 , 0 };
int logSW_idx = 0;
unsigned long jif = 0;
int do_disp = 0;
void timer_handler()
{
    logSW_state[logSW_idx] = (LogSW == 0) ? 1 : 0;
    logSW_idx = (logSW_idx + 1) & 1;
    jif++;
    do_disp++;
}

int pps_count = 0;
void pps_rise()
{
    pps_count++;
    if(pps_count & 1)
        PPSLED=0.80;
    else
        PPSLED=0.0;
}

typedef struct Skytraq_bin_info_s {
    int cjobst;
    unsigned short len;
    unsigned short recv;
    unsigned char sum;
    unsigned char ID;
    unsigned char body[2048];
    void *work;

    unsigned long KERNEL_ver;
    unsigned long ODM_ver;
    unsigned long Revision;
} Skytraq_bin_info_t;

typedef struct Skytraq_ID_s {
    unsigned char ID;
    int (*func)(Skytraq_bin_info_t *info);
    char *name;
} Skytraq_ID_t;

int Skytraq_0x80(Skytraq_bin_info_t *info)
{
    int idx = 1;

    info->KERNEL_ver = 0;
    info->KERNEL_ver = (info->KERNEL_ver << 8) | info->body[idx]; idx++;
    info->KERNEL_ver = (info->KERNEL_ver << 8) | info->body[idx]; idx++;
    info->KERNEL_ver = (info->KERNEL_ver << 8) | info->body[idx]; idx++;
    info->KERNEL_ver = (info->KERNEL_ver << 8) | info->body[idx]; idx++;

    info->ODM_ver = 0;
    info->ODM_ver = (info->ODM_ver << 8) | info->body[idx]; idx++;
    info->ODM_ver = (info->ODM_ver << 8) | info->body[idx]; idx++;
    info->ODM_ver = (info->ODM_ver << 8) | info->body[idx]; idx++;
    info->ODM_ver = (info->ODM_ver << 8) | info->body[idx]; idx++;

    info->Revision = 0;
    info->Revision = (info->Revision << 8) | info->body[idx]; idx++;
    info->Revision = (info->Revision << 8) | info->body[idx]; idx++;
    info->Revision = (info->Revision << 8) | info->body[idx]; idx++;
    info->Revision = (info->Revision << 8) | info->body[idx]; idx++;

    for(idx = 0;idx < 14;idx++){
        debug.printf("%02x ",info->body[idx]);
    }
    debug.printf("\n");
    debug.printf("KERNEL:0x%08x , ODM:0x%08x , Rev:0x%08x\n",info->KERNEL_ver,info->ODM_ver,info->Revision);

    return 0;
}

int Skytraq_0x83(Skytraq_bin_info_t *info)
{
    debug.printf("\n");
    debug.printf("ACK ID:0x%02x\n",info->body[0]);
    return 0;
}

Skytraq_ID_t Skytraq_ID_List[] = {
    { 0x01 ,NULL,"Input System Restart Force system to restart"},
    { 0x02 ,NULL,"Input Query Software version Query revision information of software"},
    { 0x03 ,NULL,"Input Query Software CRC Query the CRC of the software"},
    { 0x04 ,NULL,"Input Set Factory Defaults Set system to factory default values"},
    { 0x05 ,NULL,"Input Configure Serial Port Set up serial port COM, baud rate, data bits, stop bits and parity"},
    { 0x06 ,NULL,"Input Reserved Reserved"},
    { 0x07 ,NULL,"Input Reserved Reserved"},
    { 0x08 ,NULL,"Input Configure NMEA Configure NMEA output message"},
    { 0x09 ,NULL,"Input Configure Output Message Format Configure the output message format from GPS receiver" },
    { 0x0C ,NULL,"Input Configure Power Mode Set system power mode" },
    { 0x0E ,NULL,"Input Configure position update rate Configure the position update rate of GPS system" },
    { 0x10 ,NULL,"Input Query position update rate Query the position update rate of GPS system" },
    { 0x11 ,NULL,"Input Get Almanac Retrieve almanac data of the GPS receiver" },
    { 0x12 ,NULL,"Input Configure binary measurement output rates Configure the output rates of the binary measurement outputs Input GPS Messages" },
    { 0x29 ,NULL,"Input Configure Datum Configure Datum of the GPS receiver" },
    { 0x2D ,NULL,"Input Query Datum Query datum used by the GPS receiver" },
    { 0x30 ,NULL,"Input Get Ephemeris Retrieve ephemeris data of the GPS receiver Output System Messages" },
    { 0x31 ,NULL,"Input Set ephemeris Set ephemeris data to the GPS receiver" },
    { 0x37 ,NULL,"Input Configure WAAS Configure the enable or disable of WAAS" },
    { 0x38 ,NULL,"Input Query WAAS status Query WAAS status of GPS receiver" },
    { 0x39 ,NULL,"Input Configure position pinning Enable or disable position pinning of GPS receiver" },
    { 0x3A ,NULL,"Input Query position pinning Query position pinning status of the GPS receiver" },
    { 0x3B ,NULL,"Input Configure position pinning parameters Set position pinning parameters of GPS receiver" },
    { 0x3C ,NULL,"Input Configuration navigation mode Configure the navigation mode of GPS system" },
    { 0x3D ,NULL,"Input Query navigation mode Query the navigation mode of GPS receiver" },
    { 0x3E ,NULL,"Input Configure 1PPS mode Set 1PPS mode to the GPS receiver" },
    { 0x3F ,NULL,"Input Query 1PPS mode Query 1PPS mode of the GPS receiver" },
    { 0x80 ,Skytraq_0x80,"Output Software version Software revision of the receiver" },
    { 0x81 ,NULL,"Output Software CRC Software CRC of the receiver" },
    { 0x82 ,NULL,"Output Reserved Reserved" },
    { 0x83 ,Skytraq_0x83,"Output ACK ACK to a successful input message" },
    { 0x84 ,NULL,"Output NACK Response to an unsuccessful input message" },
    { 0x86 ,NULL,"Output Position update rate Position update rate of GPS system" },
    { 0x87 ,NULL,"Output GPS Almanac Data Outputting the GPS Almanac Data of GPS receiver"},
    { 0xAE ,NULL,"Output GPS Datum Datum used by the GPS receiver"},
    { 0xB1 ,NULL,"Output GPS Ephemeris Data Outputting the GPS Ephemeris Data of GPS receiver"},
    { 0xB3 ,NULL,"Output GPS WAAS status WAAS status of the GPS receiver"},
    { 0xB4 ,NULL,"Output GPS Position pinning status Position pinning status of the GPS receiver"},
    { 0xB5 ,NULL,"Output GPS navigation mode Navigation mode of the GPS receiver"},
    { 0xB6 ,NULL,"Output GPS 1PPS mode 1PPS mode of GPS receiver"},
    { 0xDC ,NULL,"Output MEAS_TIME Measurement time information"},
    { 0xDD ,NULL,"Output RAW_MEAS Raw channel measurements"},
    { 0xDE ,NULL,"Output SV_CH_STATUS SV and Channel status information"},
    { 0xDF ,NULL,"Output RCV_STATE GPS receiver navigation state"},
    { 0xE0 ,NULL,"Output SUBFRAME Subframe buffer data"},
    { 0xFF ,NULL,"****UNKNOWN****"}
};

unsigned char Skytraq_QUERY_SOFTWARE_VERSION[] = {0x02,0x01};
unsigned char Skytraq_set_rate[] = {
    0x12,   /* ID */
    0x00,   /* 00: 1Hz / 01: 2Hz / 02: 4Hz / 03: 5Hz / 04: 10Hz / 05: 20Hz / Others: 20Hz */
    0x01,   /* Meas_time Enabling */
    0x01,   /* Raw_meas Enabling */
    0x00,   /* SV_CH_Staus Enabling */
    0x00,   /* RCV_State Enabling */
    0x00,   /* Subframe Enabling */
    0x00    /* Attributes */
};

void Skytraq_bin_send(unsigned short LEN,unsigned char *body)
{
    unsigned short i;
    unsigned char sum;
    gps.putc(0xA0);
    gps.putc(0xA1);
    gps.putc((LEN >> 8) & 0x00ff);
    gps.putc(LEN & 0x00ff);
    sum = 0;
    for(i = 0;i < LEN;i++){
        gps.putc((char)(*(body+i)));
        sum = sum ^ *(body+i);
    }
    gps.putc(sum);
    gps.putc(0x0D);
    gps.putc(0x0A);
}

void Skytraq_bin_parse(unsigned char c,Skytraq_bin_info_t *info)
{
    if(info->cjobst == 0){
        info->cjobst = (c == 0xA0) ? 1 : 0;
    } else if(info->cjobst == 1){
        info->cjobst = (c == 0xA1) ? 2 : 0;
    } else if(info->cjobst == 2){
        info->len = c;
        info->cjobst = 3;
    } else if(info->cjobst == 3){
        info->len = (info->len << 8) | c;
        info->cjobst = 4;
        info->sum = 0;
        info->recv = 0;
        if(info->len >= sizeof(info->body)){
            info->cjobst = 0;
        }
    } else if(info->cjobst == 4){
        if(info->recv == 0){
            info->ID = c;
        } else {
            info->body[info->recv - 1] = c;
        }
        info->sum = info->sum ^ c;
        info->recv++;
        if(info->recv >= info->len){
            info->cjobst = 5;
        }
    } else if(info->cjobst == 5){
        //debug.printf("sum[%02x][%02x]\n",info->sum,c);
        if(info->sum == c){
            info->cjobst = 6;
        } else {
            info->cjobst = 0;
            debug.printf("\nSUMERROR[%02x][%02x]\n",info->sum,c);
        }
    } else if(info->cjobst == 6){
        info->cjobst = (c == 0x0D) ? 7 : 0;
    } else if(info->cjobst == 7){
        info->cjobst = (c == 0x0A) ? 8 : 0;
    }
}

char *logDir = "/" FSNAME "/GPSLOG";
unsigned short logNextCount = 0;
int UseLogMemory = 0;

char *logFile_getName(int addDir) {
    static char fname[32];
    if (addDir) {
        snprintf(fname,sizeof(fname)-1,"%s/RAW%05d.STQ",logDir,logNextCount);
    } else {
        snprintf(fname,sizeof(fname)-1,"RAW%05d.STQ",logNextCount);
    }
    return fname;
}

void logFile_Init() {
    DIR *d;
    struct dirent *p;
    unsigned short countCandidate;
    char *endptr;
    int sts;

    UseLogMemory = 0;

    sts = mkdir(logDir,0777);
    debug.printf("mkdir(\"%s\") - %d\n",logDir,sts);
    d = opendir(logDir);
    if ( d != NULL ) {
        while ( (p = readdir(d)) != NULL ) {
            debug.printf("FILE - %s\x0d\x0a", p->d_name);
            if (strlen(p->d_name) == (sizeof("RAWxxxxx.stq")-1)) {
                if (    ((p->d_name[0] == 'R') || (p->d_name[0] == 'r'))
                        && ((p->d_name[1] == 'A') || (p->d_name[1] == 'a'))
                        && ((p->d_name[2] == 'W') || (p->d_name[2] == 'w'))) {
                }
                countCandidate = (unsigned short)strtoul(&(p->d_name[3]),&endptr,10);
                if (strcasecmp(endptr,".STQ") == 0) {
                    if (countCandidate > logNextCount) {
                        logNextCount = countCandidate;
                    }
                }
            }
        }
        closedir(d);
        logNextCount++;
        UseLogMemory = 1;
    }
}

unsigned char wbuf[512];
int wcnt = 0;

int main() {
    Skytraq_bin_info_t bin_info;
    int i;
    unsigned long recv_bytes = 0;
    FILE *fp = NULL;
    unsigned char c;

    bin_info.cjobst = 0;

    debug.format(8,Serial::None,1);
    debug.baud(115200);
    debug.printf("GPS Logger \"__S1315F__1\" Start (BUILD:[" __DATE__ "/" __TIME__ "])\x0d\x0a");

    PPS.rise(pps_rise);

    lcd.cls();
    lcd.locate(0,0);
    lcd.printf("S1315F Logger");

    lcd.locate(0,1);
    lcd.printf("Please wait");
    wait(1.0);

    logFile_Init();

    lcd.cls();

    gps.format(8,Serial::None,1);
    gps.baud(115200);
    gps.recvStart();

    Skytraq_set_rate[1] = 0x05;
#ifdef OUTPUT_RATE_1HZ
    Skytraq_set_rate[1] = 0x00;
#endif
    Skytraq_bin_send(sizeof(Skytraq_set_rate),Skytraq_set_rate);

    //Skytraq_bin_send(sizeof(Skytraq_QUERY_SOFTWARE_VERSION),Skytraq_QUERY_SOFTWARE_VERSION);

    timer.attach_us(timer_handler,1000*50);

    while(1) {
        if(do_disp){
            do_disp = 0;
            lcd.locate(0,0);
            if(UseLogMemory){
                lcd.printf("LOG:%s",logFile_getName(0));
            } else {
                lcd.printf("NO SD Card");
            }
            lcd.locate(0,1);
            lcd.printf("R:%-10lu",recv_bytes);
        }
        if((logSW_state[0] == 0) && (logSW_state[1] == 0)){
            if((fp != NULL) && (bin_info.cjobst == 0)){
                if(wcnt > 0){
                    fwrite(wbuf,sizeof(wbuf[0]),wcnt,fp);
                    wcnt = 0;
                }
                fclose(fp);
                fp = NULL;
                logNextCount++;
                recv_bytes=0;
                LOGLED=0;
            }
        } else if((logSW_state[0] != 0) && (logSW_state[1] != 0)){
            if((fp == NULL) && (bin_info.cjobst == 0)){
                if((fp = fopen(logFile_getName(1),"w+b")) != NULL){
                    recv_bytes=0;
                    LOGLED=0.80;
                }
            }
        }

        if (gps.readable()) {
            c = (unsigned char)(gps.getc());
            Skytraq_bin_parse(c,&bin_info);
            recv_bytes++;
            if(fp != NULL){
                wbuf[wcnt] = c;
                wcnt++;
                if(wcnt >= sizeof(wbuf)){
                    fwrite(wbuf,sizeof(wbuf[0]),wcnt,fp);
                    wcnt = 0;
                }
            }
            if(bin_info.cjobst == 8){
                for(i = 0;Skytraq_ID_List[i].ID != 0xFF;i++){
                    if(bin_info.ID == Skytraq_ID_List[i].ID){
                        break;
                    }
                }
                debug.printf("ID=%02x len=%5d [%s]\n",bin_info.ID,bin_info.len,Skytraq_ID_List[i].name);
                if(Skytraq_ID_List[i].func != NULL){
                    (*Skytraq_ID_List[i].func)(&bin_info);
                }
                bin_info.cjobst = 0;
            }
            //debug.printf("[%02x]",gps.getc());
        }
    }
}