Revision 16:eb28d0f64a9b, committed 2018-12-13

Comitter:

shimniok

Date:

Thu Dec 13 17:35:29 2018 +0000

Parent:

15:35c40765f7c3

Child:

17:5c2af0904e87

Commit message:

Initial gps receive implementation

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.h	Thu Dec 13 17:35:29 2018 +0000
@@ -0,0 +1,102 @@
+// For SiRF III
+
+#ifndef __GPS_H
+#define __GPS_H
+
+/**
+ * GPS "interface" class
+ */
+
+#include "mbed.h"
+
+class GPS {
+public:
+    /**
+     * create a new instance of GPS
+     */
+    GPS(void) {}
+    GPS(PinName tx, PinName rx) {}
+
+    /**
+     * delete instance of GPS
+     */
+    virtual ~GPS(void) {}
+
+    /**
+     * Initalize everything necessary for the GPS to collect the required data
+     */
+    virtual void init(void) = 0;
+
+    /**
+     * Return serial object
+     */
+    virtual Serial *getSerial(void) = 0;
+
+    /**
+     * Set baud rate
+     */
+    virtual void setBaud(int baud) = 0;
+
+    /**
+     * Disable serial data collection
+     */
+    virtual void disable(void) = 0;
+     
+    /**
+     * Enable serial data collection
+     */
+    virtual void enable(void) = 0;
+
+    /**
+     * Enable verbose messages for debugging
+     */
+    virtual void enableVerbose(void) = 0;
+    
+    /**
+     * Disable verbose messages for debugging
+     */
+    virtual void disableVerbose(void) = 0;
+   
+    /**
+     * get latitude
+     */
+    virtual double latitude(void) = 0;
+         
+    /**
+     * get longitude
+     */
+    virtual double longitude(void) = 0;
+     
+    /**
+     * Get Horizontal Dilution of Precision
+     * @return float horizontal dilution of precision
+     */
+    virtual float hdop(void) = 0;
+    
+    /**
+     * get count of active satellites
+     */
+    virtual int sat_count(void) = 0;
+    
+    /**
+     * get speed in m/s
+     */
+    virtual float speed_mps(void) = 0;
+    
+    /**
+     * get heading in degrees
+     */
+    virtual float heading_deg(void) = 0;
+    
+    /**
+     * determine if data is available to be used
+     */
+    virtual bool available(void) = 0;
+    
+    /**
+     * reset the data available flag
+     */
+    virtual void reset_available(void) = 0;
+};
+
+#endif

--- a/SimpleShell.lib	Thu Dec 13 00:30:59 2018 +0000
+++ b/SimpleShell.lib	Thu Dec 13 17:35:29 2018 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/shimniok/code/SimpleShell/#b58450c94d32
+https://os.mbed.com/users/shimniok/code/SimpleShell/#ecf3fc049bca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ublox6.cpp	Thu Dec 13 17:35:29 2018 +0000
@@ -0,0 +1,188 @@
+#include "mbed.h"
+#include "Ublox6.h"
+
+#define MAX_LENGTH 512
+
+#define DOP_BIT     0x01
+#define POSLLH_BIT  0x02
+#define SOL_BIT     0x04
+#define VELNED_BIT  0x08
+#define SYNC1       0xB5
+#define SYNC2       0x62
+#define POSLLH_MSG  0x02
+#define SBAS_MSG    0x32
+#define VELNED_MSG  0x12
+#define STATUS_MSG  0x03
+#define SOL_MSG     0x06
+#define DOP_MSG     0x04
+#define DGPS_MSG    0x31
+#define SVINFO_MSG  0x30
+#define CFG         0x06
+#define NAV         0x01
+#define MSG         0x01
+
+#define LONG(X)    *(int32_t *)(&data[X])
+#define ULONG(X)   *(uint32_t *)(&data[X])
+#define INT(X)     *(int16_t *)(&data[X])
+#define UINT(X)    *(uint16_t *)(&data[X])
+
+// TODO 2: abstract LED/status to some kind of pub/sub thing
+
+void Ublox6::parse(unsigned char cc)
+{
+    //unsigned char cc = buf[out++];
+    //out &= (MAX_LENGTH-1);
+    static unsigned char ck1, ck2, state, code, id, idx, length, chk1, chk2;
+    static bool checkOk;
+    static unsigned char data[MAX_LENGTH];
+
+    switch (state) {
+        case 0:    // wait for sync 1 (0xB5)
+            ck1 = ck2 = 0;
+            checkOk = false;
+            if (cc == SYNC1)
+                state++;
+            break;
+        case 1:    // wait for sync 2 (0x62)
+            if (cc == SYNC2)
+                state++;
+            else
+                state = 0;
+            break;
+        case 2:    // wait for class code
+            code = cc;
+            ck1 += cc;
+            ck2 += ck1;
+            state++;
+            break;
+        case 3:    // wait for Id
+            id = cc;
+            ck1 += cc;
+            ck2 += ck1;
+            state++;
+            break;
+        case 4:    // wait for length uint8_t 1
+            length = cc;
+            ck1 += cc;
+            ck2 += ck1;
+            state++;
+            break;
+        case 5:    // wait for length uint8_t 2
+            length |= (unsigned int) cc << 8;
+            ck1 += cc;
+            ck2 += ck1;
+            idx = 0;
+            state++;
+            if (length > MAX_LENGTH)
+                state= 0;
+            break;
+        case 6:    // wait for <length> payload uint8_ts
+            data[idx++] = cc;
+            ck1 += cc;
+            ck2 += ck1;
+            if (idx >= length) {
+                state++;
+            }
+            break;
+        case 7:    // wait for checksum 1
+            chk1 = cc;
+            state++;
+            break;
+        case 8: {  // wait for checksum 2
+            chk2 = cc;
+            checkOk = ck1 == chk1  &&  ck2 == chk2;
+            if (!checkOk) {
+                // do something...?
+            } else {
+                switch (code) {
+                    case 0x01:      // NAV-
+                        switch (id) {
+                            case POSLLH_MSG:  // NAV-POSLLH
+                                _longitude = ((float)LONG(4))/10000000.0;
+                                _latitude = ((float)LONG(8))/10000000.0;
+                                // vAcc = ULONG(24); // mm
+                                // hAcc = ULONG(20); // mm
+                                _available |= POSLLH_BIT;
+                                break;
+                            case DOP_MSG:  // NAV-DOP
+                                //gDOP = ((float) UINT(4))/100.0;
+                                //tDOP = ((float) UINT(8))/100.0;
+                                //vDOP = ((float) UINT(10))/100.0;
+                                _hdop = ((float) UINT(12))/100.0;
+                                _available |= DOP_BIT;
+                                break;
+                            case SOL_MSG:  // NAV-SOL
+                                //week = UINT(8);
+                                //pDOP = ((float) UINT(44))/ 100.0;
+                                //pAcc = ULONG(24);
+                                _sat_count = data[47];
+                                _available |= SOL_BIT;
+                                break;
+                            case VELNED_MSG:  // NAV-VELNED
+                                _speed_mps = ULONG(20)/100.0;
+                                //sAcc = ULONG(28)/100.0;
+                                _course_deg = ((float) LONG(24))/100000.0;
+                                //cAcc = ((float) LONG(32))/100000.0;
+                                _available |= VELNED_BIT;                                
+                                break;
+                            default:
+                                break;
+                        }
+                        break;
+                    case 0x05:      // ACK-
+                        switch (id) {
+                            case 0x00:  // ACK-NAK
+                                break;
+                            case 0x01:  // ACK-ACK
+                                break;
+                        }
+                        break;
+                }
+            }
+            state = 0;
+            break;
+        }
+        default:
+            break;
+    }
+}
+
+bool Ublox6::available(void)
+{
+    return (_available & (DOP_BIT|POSLLH_BIT|SOL_BIT|VELNED_BIT));
+}
+
+void Ublox6::reset_available(void)
+{
+    _available = 0;
+}
+
+double Ublox6::latitude(void)
+{
+    return _latitude;
+}
+
+double Ublox6::longitude(void)
+{
+    return _longitude;
+}
+
+float Ublox6::speed_mps(void)
+{
+    return _speed_mps;
+}
+
+float Ublox6::heading_deg(void)
+{
+    return _course_deg;
+}
+
+float Ublox6::hdop(void)
+{
+    return _hdop;
+}
+
+int Ublox6::sat_count(void)
+{
+    return _sat_count;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ublox6.h	Thu Dec 13 17:35:29 2018 +0000
@@ -0,0 +1,75 @@
+#ifndef __UBLOX6_H
+#define __UBLOX6_H
+
+/** uBlox GPS UBX Protocol Reader
+ * Parses uBlox GPS binary protocol
+ * 
+ * @author Wayne Holder; Ported to mbed by Michael Shimniok
+ */
+#include "mbed.h"
+
+class Ublox6 {
+public:
+    // TODO 3 convert this to time units
+    static const int lag=40;        // number of updater steps by which gps output lags reality
+
+    /**
+     * UBX protocol parser (Wayne Holder)
+     * @param cc is the character to parse
+     * @note stores parsed gps data in member variables and sets _available
+     * to true to indicate gps data is waiting.
+     */    
+    void parse(unsigned char cc);
+
+    /**
+     * get latitude
+     */    
+    double latitude(void);   
+    
+    /**
+     * get longitude
+     */
+    double longitude(void);
+
+    /**
+     * Get Horizontal Dilution of Precision
+     * @return float horizontal dilution of precision
+     */
+    float hdop(void);
+
+    /**
+     * get count of active satellites
+     */
+    int sat_count(void);
+
+    /**
+     * get speed in m/s
+     */    
+    float speed_mps(void);
+    
+    /**
+     * get heading in degrees
+     */
+    float heading_deg(void);
+    
+    /**
+     * determine if data is available to be used
+     */
+    bool available(void);
+    
+    /**
+     * reset the data available flag
+     */
+    void reset_available(void);
+
+private:
+    int _available;     // is data available?
+    float _latitude;        // temp storage, latitude
+    float _longitude;       // temp storage, longitude
+    float _hdop;            // horiz dilution of precision
+    float _course_deg;      // course in degrees
+    float _speed_mps;       // speed in m/s
+    int _sat_count;         // satellite count
+};
+
+#endif

--- a/main.cpp	Thu Dec 13 00:30:59 2018 +0000
+++ b/main.cpp	Thu Dec 13 17:35:29 2018 +0000
@@ -6,12 +6,14 @@
 #include "mbed.h"
 #include <stdio.h>
 #include <errno.h>
+#include "pinouts.h"
 #include "stats_report.h"
 #include "SDBlockDevice.h"
 #include "FATFileSystem.h"
 #include "SimpleShell.h"
 #include "Config.h"
 #include "Updater.h"
+#include "Ublox6.h"
 
 Serial pc(USBTX, USBRX);
 //SDBlockDevice bd(p5, p6, p7, p8); // MOSI, MISO, CLK, CS
@@ -21,6 +23,19 @@
 SimpleShell sh;
 
 DigitalOut led1(LED1);
+DigitalOut led3(LED3);
+
+void do_gps() {
+    Ublox6 ublox;
+    RawSerial s(UART1TX, UART1RX, 38400);
+    while (1) {
+        int c = s.getc();
+        //int c = 'a';
+        ublox.parse(c);
+        led3 = !led3;
+    }
+}    
+
 
 /******** SHELL COMMANDS ********/
 
@@ -101,6 +116,10 @@
     Thread updaterThread;
     updaterThread.set_priority(osPriorityRealtime);
     updaterThread.start(callback(u, &Updater::start));
+
+    printf("Starting gps...\n");
+    Thread gpsThread;
+    gpsThread.start(&do_gps);
     
 /*
     FILE *fp;