Revision 20:043987d06f8d, committed 2018-12-16

Comitter:

shimniok

Date:

Sun Dec 16 04:18:42 2018 +0000

Parent:

19:0d1728091519

Child:

21:020f4ebbb13a

Commit message:

Added gps interrupt handler, fixed command line gps query

Changed in this revision

--- a/Ublox6.cpp	Sat Dec 15 21:38:11 2018 +0000
+++ b/Ublox6.cpp	Sun Dec 16 04:18:42 2018 +0000
@@ -46,7 +46,7 @@
     latest = tmp;
 }
 
-int Ublox6::parse(unsigned char cc)
+int Ublox6::parse(int cc)
 {
     //unsigned char cc = buf[out++];
     //out &= (MAX_LENGTH-1);
@@ -61,16 +61,13 @@
             checkOk = false;
             if (cc == SYNC1) {
                 state++;
-                puts("SYNC1");
             }
             break;
         case 1:    // wait for sync 2 (0x62)
             if (cc == SYNC2) {
                 state++;
-                puts("SYNC2");
             } else {
                 state = 0;
-                puts("NO SYNC2");
             }
             break;
         case 2:    // wait for class code
@@ -92,9 +89,7 @@
             state++;
             break;
         case 5:    // wait for length uint8_t 2
-            length |= (unsigned int) cc << 8;
-            printf("len=%d\n", length);
-            ck1 += cc;
+            length |= (unsigned int) cc << 8;            ck1 += cc;
             ck2 += ck1;
             idx = 0;
             state++;
@@ -116,9 +111,7 @@
         case 8: {  // wait for checksum 2
             chk2 = cc;
             checkOk = ck1 == chk1  &&  ck2 == chk2;
-            if (!checkOk) {
-                puts("BAD CHKSUM\n");
-            } else {
+            if (checkOk) {
                 switch (code) {
                 case 0x01:      // NAV-
                     switch (id) {
@@ -128,14 +121,12 @@
                         // vAcc = ULONG(24); // mm
                         // hAcc = ULONG(20); // mm
                         _ready |= POSLLH_BIT;
-                        puts("LAT/LON");
                         break;
                     case DOP_MSG:  // NAV-DOP
                         //gDOP = ((float) UINT(4))/100.0;
                         //tDOP = ((float) UINT(8))/100.0;
                         //vDOP = ((float) UINT(10))/100.0;
                         tmp.hdop = ((float) UINT(12))/100.0;
-                        puts("HDOP");
                         _ready |= DOP_BIT;
                         break;
                     case SOL_MSG:  // NAV-SOL
@@ -144,7 +135,6 @@
                         //pAcc = ULONG(24);
                         tmp.svcount = data[47];
                         _ready |= SOL_BIT;
-                        puts("SVCOUNT");
                         break;
                     case VELNED_MSG:  // NAV-VELNED
                         tmp.speed = ULONG(20)/100.0;
@@ -152,14 +142,10 @@
                         tmp.course = ((float) LONG(24))/100000.0;
                         //cAcc = ((float) LONG(32))/100000.0;
                         _ready |= VELNED_BIT;                                
-                        puts("SPD/COURSE");
                         break;
                     default:
-                        printf("OTHER=0x%04x\n", id);
                         break;
                     }
-                    if (_ready)
-                        printf("_ready = 0x%04x 0x%04x\n", _ready, READY_BITS);
                     break;
                 case 0x05:      // ACK-
                     switch (id) {
@@ -180,15 +166,16 @@
 
     if ((_ready & READY_BITS) == READY_BITS) {
         latest = tmp;
+        _ready = 0;
+        status = 1;
+
+        // clear tmp
         tmp.lat = 0;
         tmp.lon = 0;
         tmp.speed = 0;
         tmp.course = 0;
         tmp.hdop = 0;
         tmp.svcount = 0;
-        _ready = 0;
-        status = 1;
-        _available = true;
     }
 
     return status;

--- a/Ublox6.h	Sat Dec 15 21:38:11 2018 +0000
+++ b/Ublox6.h	Sun Dec 16 04:18:42 2018 +0000
@@ -21,7 +21,7 @@
      * @param cc is the character to parse
      * @return 1 when entire packet of data obtained, 0  otherwise
      */    
-    int parse(unsigned char cc);
+    int parse(int cc);
 
     /** Read the latest data from GPS
      * @param lat latitude in degrees

--- a/main.cpp	Sat Dec 15 21:38:11 2018 +0000
+++ b/main.cpp	Sun Dec 16 04:18:42 2018 +0000
@@ -26,20 +26,18 @@
 DigitalOut led1(LED1);
 DigitalOut led3(LED3);
 
+RawSerial s(UART1TX, UART1RX, 38400);
+
 void read_gps();
 
-void do_gps() {
-    RawSerial s(UART1TX, UART1RX, 38400);
-    while (1) {
-        int c = s.getc();
-        if (ublox.parse(c)) {
+void gps_handler() {
+    if (s.readable()) {
+        if (ublox.parse(s.getc())) {
             led3 = !led3;
-            read_gps();
         }
     }
 }
 
-
 /******** SHELL COMMANDS ********/
 
 void test() {
@@ -80,6 +78,15 @@
     printf("Encoder: %d\n", u->encoder());
 }
 
+void bridge_uart1() {
+    RawSerial s(UART1TX, UART1RX, 38400);
+    while (1) {
+        if (pc.readable()) s.putc(pc.getc());
+        if (s.readable()) pc.putc(s.getc());
+    }
+}
+
+
 void reset()
 {
     NVIC_SystemReset();
@@ -90,12 +97,11 @@
 // main() runs in its own thread in the OS
 int main()
 {   
+    //bridge_uart1();
+    
     printf("Bootup...\n");
     fflush(stdout);
     
-    do_gps();
-    while(1);
-    
     printf("Loading config...\n");
     config.add("intercept_distance", Config::DOUBLE);
     config.add("waypoint_threshold", Config::DOUBLE);
@@ -140,11 +146,15 @@
     updaterThread.start(callback(u, &Updater::start));
 
     printf("Starting gps...\n");
+    s.attach(&gps_handler);
+
+    /*
     Thread gpsThread;
     gpsThread.set_priority(osPriorityHigh);
     gpsThread.start(&do_gps);
+    */
     
-/*
+    /*
     FILE *fp;
     char buf[128];
     printf("Initializing the block device... ");