Diff: main.cpp

Revision:

18:3f8a8f6e3cc1

Parent:

16:eb28d0f64a9b

Child:

19:0d1728091519

--- a/main.cpp	Thu Dec 13 23:27:04 2018 +0000
+++ b/main.cpp	Fri Dec 14 00:36:06 2018 +0000
@@ -21,12 +21,12 @@
 LocalFileSystem lfs("etc");
 Config config;
 SimpleShell sh;
+Ublox6 ublox;
 
 DigitalOut led1(LED1);
 DigitalOut led3(LED3);
 
 void do_gps() {
-    Ublox6 ublox;
     RawSerial s(UART1TX, UART1RX, 38400);
     while (1) {
         int c = s.getc();
@@ -43,6 +43,21 @@
     printf("Hello world!\n");
 }
 
+void read_gps()
+{
+    double lat=0;
+    double lon=0;
+    float course=0;
+    float speed=0;
+    float hdop=0.0;
+    int svcount=0;
+    
+    ublox.read(lat, lon, course, speed, hdop, svcount);
+    printf("%3.7f %3.7f\n", lat, lon);
+    printf("hdg=%03.1f deg spd=%3.1f m/s\n", course, speed);
+    printf("%d %f\n", svcount, hdop);
+}
+
 void read_gyro() 
 {
     int g[3];
@@ -106,6 +121,7 @@
     sh.attach(test, "test");
     sh.attach(read_gyro, "gyro");
     sh.attach(read_enc, "enc");
+    sh.attach(read_gps, "gps");
     sh.attach(reset, "reset");
     Thread shellThread;
     shellThread.start(callback(&sh, &SimpleShell::run));