Diff: main.cpp

Revision:

0:e0ec137da369

Child:

1:d1bb695fe3bc

diff -r 000000000000 -r e0ec137da369 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Dec 18 11:17:21 2010 +0000
@@ -0,0 +1,324 @@
+
+/*
+ * 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
+
+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, "sd");
+
+int logSW_state[2] = { 0 , 0 };
+int logSW_idx = 0;
+unsigned long jif = 0;
+void timer_handler()
+{
+    logSW_state[logSW_idx] = (LogSW != 0) ? 1 : 0;
+    logSW_idx = (logSW_idx + 1) & 1;
+    jif++;
+}
+
+int pps_count = 0;
+void pps_rise()
+{
+    pps_count++;
+    if(pps_count & 1)
+        PPSLED=0.20;
+    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;
+}
+
+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 ,NULL,"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****"}
+};
+
+char Skytraq_QUERY_SOFTWARE_VERSION[] = {0xA0,0xA1,0x00,0x02,0x02,0x00,0x02,0x0D,0x0A};
+
+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){
+        if(c == 0xa0){
+            info->cjobst = 1;
+        } else {
+            info->cjobst = 0;
+        }
+    } else if(info->cjobst == 1){
+        if(c == 0xa1){
+            info->cjobst = 2;
+        } else {
+            info->cjobst = 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);
+        }
+    }
+}
+
+unsigned char wbuf[512];
+int wcnt = 0;
+
+int main() {
+    Skytraq_bin_info_t bin_info;
+    int i;
+    unsigned long recv_count = 0;
+    unsigned long recv_bytes = 0;
+    FILE *fp = NULL;
+    int save_done = 0;
+    unsigned char c;
+    int do_log = 0;
+
+    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);
+
+    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);
+
+    timer.attach_us(timer_handler,1000*100);
+
+    while(1) {
+//    for(i = 0;i < sizeof(Skytraq_QUERY_SOFTWARE_VERSION);i++){
+//        gps.putc(Skytraq_QUERY_SOFTWARE_VERSION[i]);
+//    }
+        if((logSW_state[0] == 0) && (logSW_state[0] == 0)){
+            LOGLED=0;
+            do_log = 0;
+#if 0
+                if(recv_bytes >= (2024*1024)){
+                    fclose(fp);
+                    fp = NULL;
+                    debug.printf("FILE Close\n");
+                    save_done = 1;
+                }
+#endif
+        }
+        if((logSW_state[0] != 0) && (logSW_state[0] != 0)){
+            LOGLED=0.20;
+            do_log = 1;
+#if 0
+                        if(fp == NULL){
+                            fp = fopen("/sd/rawdata.dat","w+b");
+                            debug.printf("FILE Open=%p\n",fp);
+                            wcnt = 0;
+                        }
+#endif
+        }
+
+        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]),sizeof(wbuf)/sizeof(wbuf[0]),fp);
+                    wcnt = 0;
+                }
+            }
+            if(bin_info.cjobst == 6){
+                for(i = 0;Skytraq_ID_List[i].ID != 0xFF;i++){
+                    if(bin_info.ID == Skytraq_ID_List[i].ID){
+                        break;
+                    }
+                }
+                recv_count++;
+                lcd.locate(0,1);
+                lcd.printf("R:%-10lu %c",recv_bytes,(do_log) ? '*' : ' ');
+                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());
+        }
+    }
+}