fahim alavi
Example with new gnss libraries
Fork of
example-gnss
by 
u-blox
Revision 8:c8b7490c3fb0, committed 2018-07-20
- Comitter:
- fahim.alavi@u-blox.com
- Date:
- Fri Jul 20 14:38:50 2018 +0500
- Parent:
- 7:746ae478fdf7
- Commit message:
- New gnss library pass through enabled
Changed in this revision
--- a/gnss.lib Mon Jul 31 10:48:08 2017 +0100 +++ b/gnss.lib Fri Jul 20 14:38:50 2018 +0500 @@ -1,1 +1,1 @@ -https://mbed.org/teams/ublox/code/gnss/#56eda66d585b +https://os.mbed.com/users/fahimalavi/code/gnss/
--- a/main.cpp Mon Jul 31 10:48:08 2017 +0100
+++ b/main.cpp Fri Jul 20 14:38:50 2018 +0500
@@ -15,7 +15,7 @@
*/
#include "mbed.h"
-#include "gnss.h"
+#include "gnss_operations.h"
#define CHECK_TALKER(s) ((buffer[3] == s[0]) && (buffer[4] == s[1]) && (buffer[5] == s[2]))
@@ -35,74 +35,85 @@
* GNSS module will flash as the module achieves a fix.
*/
+GnssOperations gnss;
+Serial host_serial(USBTX, USBRX);
+
+bool print_hex_buffer(char *buffer, uint32_t length) {
+
+ char log[256] = "";
+
+ for (int i =0; i < length; i++) {
+ sprintf(log, "%s%02X ", log, buffer[i]);
+ }
+ printf(log);
+
+ return true;
+}
+
+void passThroughThreadHandler() {
+ while (1) {
+
+ gnss.send_to_gnss(host_serial.getc());
+
+ }
+}
+
+
int main()
{
- GnssSerial gnss;
int gnssReturnCode;
int length;
char buffer[256];
+ bool enable_pass_through = true;
+ Thread passThroughThread;
+ host_serial.baud(115200);
printf ("Starting up...\n");
if (gnss.init()) {
printf ("Waiting for GNSS to receive something...\n");
+ passThroughThread.start(callback(passThroughThreadHandler));
+ gnss.enable_ubx_odo();
+ gnss.enable_ubx_nav_odo();
+ gnss.enable_ubx_nav_pvt();
while (1) {
- gnssReturnCode = gnss.getMessage(buffer, sizeof(buffer));
- if (gnssReturnCode > 0) {
- ledGreen = 0;
- ledBlue = 1;
- ledRed = 1;
- length = LENGTH(gnssReturnCode);
+ double lat = 0.0, lon = 0.0;
- printf("NMEA: %.*s\n", length - 2, buffer);
+ gnssReturnCode = gnss.getMessage(buffer, sizeof(buffer));
- if ((PROTOCOL(gnssReturnCode) == GnssParser::NMEA) && (length > 6)) {
- // Talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GNSS
- if ((buffer[0] == '$') || buffer[1] == 'G') {
- if (CHECK_TALKER("GLL")) {
- double latitude = 0, longitude = 0;
- char ch;
+ if (gnssReturnCode > 0) {
+ length = LENGTH(gnssReturnCode);
- if (gnss.getNmeaAngle(1, buffer, length, latitude) &&
- gnss.getNmeaAngle(3, buffer, length, longitude) &&
- gnss.getNmeaItem(6, buffer, length, ch) && (ch == 'A')) {
- ledBlue = 0;
- ledRed = 0;
- ledGreen = 0;
+ if (enable_pass_through){
+ for (int i=0; i<length; i++)
+ printf("%c", buffer[i]);
+ }
+
+ if ((PROTOCOL(gnssReturnCode) == GnssParser::NMEA) && (length > 6)) {
- printf("\nGNSS: location is %.5f %.5f.\n\n", latitude, longitude);
- printf("I am here: https://maps.google.com/?q=%.5f,%.5f\n\n",
- latitude, longitude);
- }
- } else if (CHECK_TALKER("GGA") || CHECK_TALKER("GNS")) {
- double altitude = 0;
- const char *timeString = NULL;
-
- // Altitude
- if (gnss.getNmeaItem(9, buffer, length, altitude)) {
- printf("\nGNSS: altitude is %.1f m.\n", altitude);
- }
+ // Talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GNSS
+ if ((buffer[0] == '$') || buffer[1] == 'G') {
+ if (CHECK_TALKER("GLL")) {
+ char ch;
- // Time
- timeString = gnss.findNmeaItemPos(1, buffer, buffer + length);
- if (timeString != NULL) {
- ledBlue = 0;
- ledRed = 1;
- ledGreen = 1;
+ if (gnss.getNmeaAngle(1, buffer, length, lat) &&
+ gnss.getNmeaAngle(3, buffer, length, lon) &&
+ gnss.getNmeaItem(6, buffer, length, ch) && (ch == 'A')) {
+ }
+ }
+ }
+ buffer[length] = '\0';
- printf("\nGNSS: time is %.6s.\n\n", timeString);
- }
- } else if (CHECK_TALKER("VTG")) {
- double speed = 0;
+ printf(buffer);
+ }
+ else if ((PROTOCOL(gnssReturnCode) == GnssParser::UBX) && (length > 6)) {
+ eUBX_MESSAGE ubx_message_type = gnss.get_ubx_message(buffer);
- // Speed
- if (gnss.getNmeaItem(7, buffer, length, speed)) {
- printf("\nGNSS: speed is %.1f km/h.\n\n", speed);
- }
- }
- }
- }
- }
- }
+ uint16_t payload_length = buffer[4] | (buffer[5] << 8);
+
+ //print_hex_buffer(buffer, payload_length + UBX_FRAME_SIZE);
+ }
+ }
+ }
} else {
printf("Unable to initialise GNSS.\n");
}
@@ -114,4 +125,4 @@
MBED_ASSERT(false);
}
-// End Of File
\ No newline at end of file
+// End Of File
--- a/mbed-os.lib Mon Jul 31 10:48:08 2017 +0100 +++ b/mbed-os.lib Fri Jul 20 14:38:50 2018 +0500 @@ -1,1 +1,1 @@ -https://github.com/ARMmbed/mbed-os/#78a1eddf61efa705ef1e99fc597dcaa5e737fb4c +https://github.com/ARMmbed/mbed-os/