Toshihisa T / Mbed 2 deprecated S1315FLogger

Skytraq S1315F-RAW-EVK Logger

Dependencies:   TextLCD mbed

main.cpp@0:e0ec137da369, 2010-12-18 (annotated)

Committer:
tosihisa
Date:
Sat Dec 18 11:17:21 2010 +0000
Revision:
0:e0ec137da369
Child:
1:d1bb695fe3bc
1st release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tosihisa 0:e0ec137da369 1
tosihisa 0:e0ec137da369 2 /*
tosihisa 0:e0ec137da369 3 * S1315F-RAW-EVK Logger
tosihisa 0:e0ec137da369 4 * (c) @tosihisa http://twitter.com/tosihisa
tosihisa 0:e0ec137da369 5 */
tosihisa 0:e0ec137da369 6
tosihisa 0:e0ec137da369 7 #include "mbed.h"
tosihisa 0:e0ec137da369 8 #include "TextLCD.h"
tosihisa 0:e0ec137da369 9 #include "SDFileSystem.h"
tosihisa 0:e0ec137da369 10 #include "libT/mbed/tserialbuffer.h"
tosihisa 0:e0ec137da369 11
tosihisa 0:e0ec137da369 12 #define OUTPUT_RATE_1HZ
tosihisa 0:e0ec137da369 13
tosihisa 0:e0ec137da369 14 using namespace libT;
tosihisa 0:e0ec137da369 15
tosihisa 0:e0ec137da369 16 Serial debug(USBTX,USBRX);
tosihisa 0:e0ec137da369 17 InterruptIn PPS(p15);
tosihisa 0:e0ec137da369 18 PwmOut PPSLED(LED1);
tosihisa 0:e0ec137da369 19 PwmOut LOGLED(LED4);
tosihisa 0:e0ec137da369 20 tSerialBuffer gps(p13,p14);
tosihisa 0:e0ec137da369 21 DigitalIn LogSW(p22);
tosihisa 0:e0ec137da369 22 Ticker timer;
tosihisa 0:e0ec137da369 23
tosihisa 0:e0ec137da369 24 TextLCD lcd(p24, p26, p27, p28, p29, p30); // rs, e, d4-d7
tosihisa 0:e0ec137da369 25 SDFileSystem sd(p5, p6, p7, p8, "sd");
tosihisa 0:e0ec137da369 26
tosihisa 0:e0ec137da369 27 int logSW_state[2] = { 0 , 0 };
tosihisa 0:e0ec137da369 28 int logSW_idx = 0;
tosihisa 0:e0ec137da369 29 unsigned long jif = 0;
tosihisa 0:e0ec137da369 30 void timer_handler()
tosihisa 0:e0ec137da369 31 {
tosihisa 0:e0ec137da369 32 logSW_state[logSW_idx] = (LogSW != 0) ? 1 : 0;
tosihisa 0:e0ec137da369 33 logSW_idx = (logSW_idx + 1) & 1;
tosihisa 0:e0ec137da369 34 jif++;
tosihisa 0:e0ec137da369 35 }
tosihisa 0:e0ec137da369 36
tosihisa 0:e0ec137da369 37 int pps_count = 0;
tosihisa 0:e0ec137da369 38 void pps_rise()
tosihisa 0:e0ec137da369 39 {
tosihisa 0:e0ec137da369 40 pps_count++;
tosihisa 0:e0ec137da369 41 if(pps_count & 1)
tosihisa 0:e0ec137da369 42 PPSLED=0.20;
tosihisa 0:e0ec137da369 43 else
tosihisa 0:e0ec137da369 44 PPSLED=0.0;
tosihisa 0:e0ec137da369 45 }
tosihisa 0:e0ec137da369 46
tosihisa 0:e0ec137da369 47 typedef struct Skytraq_bin_info_s {
tosihisa 0:e0ec137da369 48 int cjobst;
tosihisa 0:e0ec137da369 49 unsigned short len;
tosihisa 0:e0ec137da369 50 unsigned short recv;
tosihisa 0:e0ec137da369 51 unsigned char sum;
tosihisa 0:e0ec137da369 52 unsigned char ID;
tosihisa 0:e0ec137da369 53 unsigned char body[2048];
tosihisa 0:e0ec137da369 54 void *work;
tosihisa 0:e0ec137da369 55
tosihisa 0:e0ec137da369 56 unsigned long KERNEL_ver;
tosihisa 0:e0ec137da369 57 unsigned long ODM_ver;
tosihisa 0:e0ec137da369 58 unsigned long Revision;
tosihisa 0:e0ec137da369 59 } Skytraq_bin_info_t;
tosihisa 0:e0ec137da369 60
tosihisa 0:e0ec137da369 61 typedef struct Skytraq_ID_s {
tosihisa 0:e0ec137da369 62 unsigned char ID;
tosihisa 0:e0ec137da369 63 int (*func)(Skytraq_bin_info_t *info);
tosihisa 0:e0ec137da369 64 char *name;
tosihisa 0:e0ec137da369 65 } Skytraq_ID_t;
tosihisa 0:e0ec137da369 66
tosihisa 0:e0ec137da369 67 int Skytraq_0x80(Skytraq_bin_info_t *info)
tosihisa 0:e0ec137da369 68 {
tosihisa 0:e0ec137da369 69 int idx = 1;
tosihisa 0:e0ec137da369 70
tosihisa 0:e0ec137da369 71 info->KERNEL_ver = 0;
tosihisa 0:e0ec137da369 72 info->KERNEL_ver = (info->KERNEL_ver << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 73 info->KERNEL_ver = (info->KERNEL_ver << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 74 info->KERNEL_ver = (info->KERNEL_ver << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 75 info->KERNEL_ver = (info->KERNEL_ver << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 76
tosihisa 0:e0ec137da369 77 info->ODM_ver = 0;
tosihisa 0:e0ec137da369 78 info->ODM_ver = (info->ODM_ver << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 79 info->ODM_ver = (info->ODM_ver << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 80 info->ODM_ver = (info->ODM_ver << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 81 info->ODM_ver = (info->ODM_ver << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 82
tosihisa 0:e0ec137da369 83 info->Revision = 0;
tosihisa 0:e0ec137da369 84 info->Revision = (info->Revision << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 85 info->Revision = (info->Revision << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 86 info->Revision = (info->Revision << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 87 info->Revision = (info->Revision << 8) | info->body[idx]; idx++;
tosihisa 0:e0ec137da369 88
tosihisa 0:e0ec137da369 89 for(idx = 0;idx < 14;idx++){
tosihisa 0:e0ec137da369 90 debug.printf("%02x ",info->body[idx]);
tosihisa 0:e0ec137da369 91 }
tosihisa 0:e0ec137da369 92 debug.printf("\n");
tosihisa 0:e0ec137da369 93 debug.printf("KERNEL:0x%08x , ODM:0x%08x , Rev:0x%08x\n",info->KERNEL_ver,info->ODM_ver,info->Revision);
tosihisa 0:e0ec137da369 94
tosihisa 0:e0ec137da369 95 return 0;
tosihisa 0:e0ec137da369 96 }
tosihisa 0:e0ec137da369 97
tosihisa 0:e0ec137da369 98 Skytraq_ID_t Skytraq_ID_List[] = {
tosihisa 0:e0ec137da369 99 { 0x01 ,NULL,"Input System Restart Force system to restart"},
tosihisa 0:e0ec137da369 100 { 0x02 ,NULL,"Input Query Software version Query revision information of software"},
tosihisa 0:e0ec137da369 101 { 0x03 ,NULL,"Input Query Software CRC Query the CRC of the software"},
tosihisa 0:e0ec137da369 102 { 0x04 ,NULL,"Input Set Factory Defaults Set system to factory default values"},
tosihisa 0:e0ec137da369 103 { 0x05 ,NULL,"Input Configure Serial Port Set up serial port COM, baud rate, data bits, stop bits and parity"},
tosihisa 0:e0ec137da369 104 { 0x06 ,NULL,"Input Reserved Reserved"},
tosihisa 0:e0ec137da369 105 { 0x07 ,NULL,"Input Reserved Reserved"},
tosihisa 0:e0ec137da369 106 { 0x08 ,NULL,"Input Configure NMEA Configure NMEA output message"},
tosihisa 0:e0ec137da369 107 { 0x09 ,NULL,"Input Configure Output Message Format Configure the output message format from GPS receiver" },
tosihisa 0:e0ec137da369 108 { 0x0C ,NULL,"Input Configure Power Mode Set system power mode" },
tosihisa 0:e0ec137da369 109 { 0x0E ,NULL,"Input Configure position update rate Configure the position update rate of GPS system" },
tosihisa 0:e0ec137da369 110 { 0x10 ,NULL,"Input Query position update rate Query the position update rate of GPS system" },
tosihisa 0:e0ec137da369 111 { 0x11 ,NULL,"Input Get Almanac Retrieve almanac data of the GPS receiver" },
tosihisa 0:e0ec137da369 112 { 0x12 ,NULL,"Input Configure binary measurement output rates Configure the output rates of the binary measurement outputs Input GPS Messages" },
tosihisa 0:e0ec137da369 113 { 0x29 ,NULL,"Input Configure Datum Configure Datum of the GPS receiver" },
tosihisa 0:e0ec137da369 114 { 0x2D ,NULL,"Input Query Datum Query datum used by the GPS receiver" },
tosihisa 0:e0ec137da369 115 { 0x30 ,NULL,"Input Get Ephemeris Retrieve ephemeris data of the GPS receiver Output System Messages" },
tosihisa 0:e0ec137da369 116 { 0x31 ,NULL,"Input Set ephemeris Set ephemeris data to the GPS receiver" },
tosihisa 0:e0ec137da369 117 { 0x37 ,NULL,"Input Configure WAAS Configure the enable or disable of WAAS" },
tosihisa 0:e0ec137da369 118 { 0x38 ,NULL,"Input Query WAAS status Query WAAS status of GPS receiver" },
tosihisa 0:e0ec137da369 119 { 0x39 ,NULL,"Input Configure position pinning Enable or disable position pinning of GPS receiver" },
tosihisa 0:e0ec137da369 120 { 0x3A ,NULL,"Input Query position pinning Query position pinning status of the GPS receiver" },
tosihisa 0:e0ec137da369 121 { 0x3B ,NULL,"Input Configure position pinning parameters Set position pinning parameters of GPS receiver" },
tosihisa 0:e0ec137da369 122 { 0x3C ,NULL,"Input Configuration navigation mode Configure the navigation mode of GPS system" },
tosihisa 0:e0ec137da369 123 { 0x3D ,NULL,"Input Query navigation mode Query the navigation mode of GPS receiver" },
tosihisa 0:e0ec137da369 124 { 0x3E ,NULL,"Input Configure 1PPS mode Set 1PPS mode to the GPS receiver" },
tosihisa 0:e0ec137da369 125 { 0x3F ,NULL,"Input Query 1PPS mode Query 1PPS mode of the GPS receiver" },
tosihisa 0:e0ec137da369 126 { 0x80 ,Skytraq_0x80,"Output Software version Software revision of the receiver" },
tosihisa 0:e0ec137da369 127 { 0x81 ,NULL,"Output Software CRC Software CRC of the receiver" },
tosihisa 0:e0ec137da369 128 { 0x82 ,NULL,"Output Reserved Reserved" },
tosihisa 0:e0ec137da369 129 { 0x83 ,NULL,"Output ACK ACK to a successful input message" },
tosihisa 0:e0ec137da369 130 { 0x84 ,NULL,"Output NACK Response to an unsuccessful input message" },
tosihisa 0:e0ec137da369 131 { 0x86 ,NULL,"Output Position update rate Position update rate of GPS system" },
tosihisa 0:e0ec137da369 132 { 0x87 ,NULL,"Output GPS Almanac Data Outputting the GPS Almanac Data of GPS receiver"},
tosihisa 0:e0ec137da369 133 { 0xAE ,NULL,"Output GPS Datum Datum used by the GPS receiver"},
tosihisa 0:e0ec137da369 134 { 0xB1 ,NULL,"Output GPS Ephemeris Data Outputting the GPS Ephemeris Data of GPS receiver"},
tosihisa 0:e0ec137da369 135 { 0xB3 ,NULL,"Output GPS WAAS status WAAS status of the GPS receiver"},
tosihisa 0:e0ec137da369 136 { 0xB4 ,NULL,"Output GPS Position pinning status Position pinning status of the GPS receiver"},
tosihisa 0:e0ec137da369 137 { 0xB5 ,NULL,"Output GPS navigation mode Navigation mode of the GPS receiver"},
tosihisa 0:e0ec137da369 138 { 0xB6 ,NULL,"Output GPS 1PPS mode 1PPS mode of GPS receiver"},
tosihisa 0:e0ec137da369 139 { 0xDC ,NULL,"Output MEAS_TIME Measurement time information"},
tosihisa 0:e0ec137da369 140 { 0xDD ,NULL,"Output RAW_MEAS Raw channel measurements"},
tosihisa 0:e0ec137da369 141 { 0xDE ,NULL,"Output SV_CH_STATUS SV and Channel status information"},
tosihisa 0:e0ec137da369 142 { 0xDF ,NULL,"Output RCV_STATE GPS receiver navigation state"},
tosihisa 0:e0ec137da369 143 { 0xE0 ,NULL,"Output SUBFRAME Subframe buffer data"},
tosihisa 0:e0ec137da369 144 { 0xFF ,NULL,"****UNKNOWN****"}
tosihisa 0:e0ec137da369 145 };
tosihisa 0:e0ec137da369 146
tosihisa 0:e0ec137da369 147 char Skytraq_QUERY_SOFTWARE_VERSION[] = {0xA0,0xA1,0x00,0x02,0x02,0x00,0x02,0x0D,0x0A};
tosihisa 0:e0ec137da369 148
tosihisa 0:e0ec137da369 149 unsigned char Skytraq_set_rate[] = {
tosihisa 0:e0ec137da369 150 0x12, /* ID */
tosihisa 0:e0ec137da369 151 0x00, /* 00: 1Hz / 01: 2Hz / 02: 4Hz / 03: 5Hz / 04: 10Hz / 05: 20Hz / Others: 20Hz */
tosihisa 0:e0ec137da369 152 0x01, /* Meas_time Enabling */
tosihisa 0:e0ec137da369 153 0x01, /* Raw_meas Enabling */
tosihisa 0:e0ec137da369 154 0x00, /* SV_CH_Staus Enabling */
tosihisa 0:e0ec137da369 155 0x00, /* RCV_State Enabling */
tosihisa 0:e0ec137da369 156 0x00, /* Subframe Enabling */
tosihisa 0:e0ec137da369 157 0x00 /* Attributes */
tosihisa 0:e0ec137da369 158 };
tosihisa 0:e0ec137da369 159
tosihisa 0:e0ec137da369 160 void Skytraq_bin_send(unsigned short LEN,unsigned char *body)
tosihisa 0:e0ec137da369 161 {
tosihisa 0:e0ec137da369 162 unsigned short i;
tosihisa 0:e0ec137da369 163 unsigned char sum;
tosihisa 0:e0ec137da369 164 gps.putc(0xA0);
tosihisa 0:e0ec137da369 165 gps.putc(0xA1);
tosihisa 0:e0ec137da369 166 gps.putc((LEN >> 8) & 0x00ff);
tosihisa 0:e0ec137da369 167 gps.putc(LEN & 0x00ff);
tosihisa 0:e0ec137da369 168 sum = 0;
tosihisa 0:e0ec137da369 169 for(i = 0;i < LEN;i++){
tosihisa 0:e0ec137da369 170 gps.putc((char)(*(body+i)));
tosihisa 0:e0ec137da369 171 sum = sum ^ *(body+i);
tosihisa 0:e0ec137da369 172 }
tosihisa 0:e0ec137da369 173 gps.putc(sum);
tosihisa 0:e0ec137da369 174 gps.putc(0x0D);
tosihisa 0:e0ec137da369 175 gps.putc(0x0A);
tosihisa 0:e0ec137da369 176 }
tosihisa 0:e0ec137da369 177
tosihisa 0:e0ec137da369 178 void Skytraq_bin_parse(unsigned char c,Skytraq_bin_info_t *info)
tosihisa 0:e0ec137da369 179 {
tosihisa 0:e0ec137da369 180 if(info->cjobst == 0){
tosihisa 0:e0ec137da369 181 if(c == 0xa0){
tosihisa 0:e0ec137da369 182 info->cjobst = 1;
tosihisa 0:e0ec137da369 183 } else {
tosihisa 0:e0ec137da369 184 info->cjobst = 0;
tosihisa 0:e0ec137da369 185 }
tosihisa 0:e0ec137da369 186 } else if(info->cjobst == 1){
tosihisa 0:e0ec137da369 187 if(c == 0xa1){
tosihisa 0:e0ec137da369 188 info->cjobst = 2;
tosihisa 0:e0ec137da369 189 } else {
tosihisa 0:e0ec137da369 190 info->cjobst = 0;
tosihisa 0:e0ec137da369 191 }
tosihisa 0:e0ec137da369 192 } else if(info->cjobst == 2){
tosihisa 0:e0ec137da369 193 info->len = c;
tosihisa 0:e0ec137da369 194 info->cjobst = 3;
tosihisa 0:e0ec137da369 195 } else if(info->cjobst == 3){
tosihisa 0:e0ec137da369 196 info->len = (info->len << 8) | c;
tosihisa 0:e0ec137da369 197 info->cjobst = 4;
tosihisa 0:e0ec137da369 198 info->sum = 0;
tosihisa 0:e0ec137da369 199 info->recv = 0;
tosihisa 0:e0ec137da369 200 if(info->len >= sizeof(info->body)){
tosihisa 0:e0ec137da369 201 info->cjobst = 0;
tosihisa 0:e0ec137da369 202 }
tosihisa 0:e0ec137da369 203 } else if(info->cjobst == 4){
tosihisa 0:e0ec137da369 204 if(info->recv == 0){
tosihisa 0:e0ec137da369 205 info->ID = c;
tosihisa 0:e0ec137da369 206 } else {
tosihisa 0:e0ec137da369 207 info->body[info->recv - 1] = c;
tosihisa 0:e0ec137da369 208 }
tosihisa 0:e0ec137da369 209 info->sum = info->sum ^ c;
tosihisa 0:e0ec137da369 210 info->recv++;
tosihisa 0:e0ec137da369 211 if(info->recv >= info->len){
tosihisa 0:e0ec137da369 212 info->cjobst = 5;
tosihisa 0:e0ec137da369 213 }
tosihisa 0:e0ec137da369 214 } else if(info->cjobst == 5){
tosihisa 0:e0ec137da369 215 //debug.printf("sum[%02x][%02x]\n",info->sum,c);
tosihisa 0:e0ec137da369 216 if(info->sum == c){
tosihisa 0:e0ec137da369 217 info->cjobst = 6;
tosihisa 0:e0ec137da369 218 } else {
tosihisa 0:e0ec137da369 219 info->cjobst = 0;
tosihisa 0:e0ec137da369 220 debug.printf("\nSUMERROR[%02x][%02x]\n",info->sum,c);
tosihisa 0:e0ec137da369 221 }
tosihisa 0:e0ec137da369 222 }
tosihisa 0:e0ec137da369 223 }
tosihisa 0:e0ec137da369 224
tosihisa 0:e0ec137da369 225 unsigned char wbuf[512];
tosihisa 0:e0ec137da369 226 int wcnt = 0;
tosihisa 0:e0ec137da369 227
tosihisa 0:e0ec137da369 228 int main() {
tosihisa 0:e0ec137da369 229 Skytraq_bin_info_t bin_info;
tosihisa 0:e0ec137da369 230 int i;
tosihisa 0:e0ec137da369 231 unsigned long recv_count = 0;
tosihisa 0:e0ec137da369 232 unsigned long recv_bytes = 0;
tosihisa 0:e0ec137da369 233 FILE *fp = NULL;
tosihisa 0:e0ec137da369 234 int save_done = 0;
tosihisa 0:e0ec137da369 235 unsigned char c;
tosihisa 0:e0ec137da369 236 int do_log = 0;
tosihisa 0:e0ec137da369 237
tosihisa 0:e0ec137da369 238 bin_info.cjobst = 0;
tosihisa 0:e0ec137da369 239
tosihisa 0:e0ec137da369 240 debug.format(8,Serial::None,1);
tosihisa 0:e0ec137da369 241 debug.baud(115200);
tosihisa 0:e0ec137da369 242 debug.printf("GPS Logger \"__S1315F__1\" Start (BUILD:[" __DATE__ "/" __TIME__ "])\x0d\x0a");
tosihisa 0:e0ec137da369 243
tosihisa 0:e0ec137da369 244 PPS.rise(pps_rise);
tosihisa 0:e0ec137da369 245
tosihisa 0:e0ec137da369 246 lcd.cls();
tosihisa 0:e0ec137da369 247 lcd.locate(0,0);
tosihisa 0:e0ec137da369 248 lcd.printf("S1315F Logger");
tosihisa 0:e0ec137da369 249
tosihisa 0:e0ec137da369 250 lcd.locate(0,1);
tosihisa 0:e0ec137da369 251 lcd.printf("Please wait");
tosihisa 0:e0ec137da369 252 wait(1.0);
tosihisa 0:e0ec137da369 253
tosihisa 0:e0ec137da369 254 gps.format(8,Serial::None,1);
tosihisa 0:e0ec137da369 255 gps.baud(115200);
tosihisa 0:e0ec137da369 256 gps.recvStart();
tosihisa 0:e0ec137da369 257
tosihisa 0:e0ec137da369 258 Skytraq_set_rate[1] = 0x05;
tosihisa 0:e0ec137da369 259 #ifdef OUTPUT_RATE_1HZ
tosihisa 0:e0ec137da369 260 Skytraq_set_rate[1] = 0x00;
tosihisa 0:e0ec137da369 261 #endif
tosihisa 0:e0ec137da369 262 Skytraq_bin_send(sizeof(Skytraq_set_rate),Skytraq_set_rate);
tosihisa 0:e0ec137da369 263
tosihisa 0:e0ec137da369 264 timer.attach_us(timer_handler,1000*100);
tosihisa 0:e0ec137da369 265
tosihisa 0:e0ec137da369 266 while(1) {
tosihisa 0:e0ec137da369 267 // for(i = 0;i < sizeof(Skytraq_QUERY_SOFTWARE_VERSION);i++){
tosihisa 0:e0ec137da369 268 // gps.putc(Skytraq_QUERY_SOFTWARE_VERSION[i]);
tosihisa 0:e0ec137da369 269 // }
tosihisa 0:e0ec137da369 270 if((logSW_state[0] == 0) && (logSW_state[0] == 0)){
tosihisa 0:e0ec137da369 271 LOGLED=0;
tosihisa 0:e0ec137da369 272 do_log = 0;
tosihisa 0:e0ec137da369 273 #if 0
tosihisa 0:e0ec137da369 274 if(recv_bytes >= (2024*1024)){
tosihisa 0:e0ec137da369 275 fclose(fp);
tosihisa 0:e0ec137da369 276 fp = NULL;
tosihisa 0:e0ec137da369 277 debug.printf("FILE Close\n");
tosihisa 0:e0ec137da369 278 save_done = 1;
tosihisa 0:e0ec137da369 279 }
tosihisa 0:e0ec137da369 280 #endif
tosihisa 0:e0ec137da369 281 }
tosihisa 0:e0ec137da369 282 if((logSW_state[0] != 0) && (logSW_state[0] != 0)){
tosihisa 0:e0ec137da369 283 LOGLED=0.20;
tosihisa 0:e0ec137da369 284 do_log = 1;
tosihisa 0:e0ec137da369 285 #if 0
tosihisa 0:e0ec137da369 286 if(fp == NULL){
tosihisa 0:e0ec137da369 287 fp = fopen("/sd/rawdata.dat","w+b");
tosihisa 0:e0ec137da369 288 debug.printf("FILE Open=%p\n",fp);
tosihisa 0:e0ec137da369 289 wcnt = 0;
tosihisa 0:e0ec137da369 290 }
tosihisa 0:e0ec137da369 291 #endif
tosihisa 0:e0ec137da369 292 }
tosihisa 0:e0ec137da369 293
tosihisa 0:e0ec137da369 294 if (gps.readable()) {
tosihisa 0:e0ec137da369 295 c = (unsigned char)(gps.getc());
tosihisa 0:e0ec137da369 296 Skytraq_bin_parse(c,&bin_info);
tosihisa 0:e0ec137da369 297 recv_bytes++;
tosihisa 0:e0ec137da369 298 if(fp != NULL){
tosihisa 0:e0ec137da369 299 wbuf[wcnt] = c;
tosihisa 0:e0ec137da369 300 wcnt++;
tosihisa 0:e0ec137da369 301 if(wcnt >= sizeof(wbuf)){
tosihisa 0:e0ec137da369 302 fwrite(wbuf,sizeof(wbuf[0]),sizeof(wbuf)/sizeof(wbuf[0]),fp);
tosihisa 0:e0ec137da369 303 wcnt = 0;
tosihisa 0:e0ec137da369 304 }
tosihisa 0:e0ec137da369 305 }
tosihisa 0:e0ec137da369 306 if(bin_info.cjobst == 6){
tosihisa 0:e0ec137da369 307 for(i = 0;Skytraq_ID_List[i].ID != 0xFF;i++){
tosihisa 0:e0ec137da369 308 if(bin_info.ID == Skytraq_ID_List[i].ID){
tosihisa 0:e0ec137da369 309 break;
tosihisa 0:e0ec137da369 310 }
tosihisa 0:e0ec137da369 311 }
tosihisa 0:e0ec137da369 312 recv_count++;
tosihisa 0:e0ec137da369 313 lcd.locate(0,1);
tosihisa 0:e0ec137da369 314 lcd.printf("R:%-10lu %c",recv_bytes,(do_log) ? '*' : ' ');
tosihisa 0:e0ec137da369 315 debug.printf("ID=%02x len=%5d [%s]\n",bin_info.ID,bin_info.len,Skytraq_ID_List[i].name);
tosihisa 0:e0ec137da369 316 //if(Skytraq_ID_List[i].func != NULL){
tosihisa 0:e0ec137da369 317 // (*Skytraq_ID_List[i].func)(&bin_info);
tosihisa 0:e0ec137da369 318 //}
tosihisa 0:e0ec137da369 319 bin_info.cjobst = 0;
tosihisa 0:e0ec137da369 320 }
tosihisa 0:e0ec137da369 321 //debug.printf("[%02x]",gps.getc());
tosihisa 0:e0ec137da369 322 }
tosihisa 0:e0ec137da369 323 }
tosihisa 0:e0ec137da369 324 }