Revision 7:d8ecabe16c9e, committed 2012-12-07

Comitter:

tylerjw

Date:

Fri Dec 07 19:19:00 2012 +0000

Parent:

6:204487243310

Child:

8:13360ec824a7

Commit message:

rtos, MODSERIAL implementation demo

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.lib	Fri Dec 07 19:19:00 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/tylerjw/code/GPS/#465354a08ff8

--- a/GPS/.lib	Fri Feb 24 21:28:33 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/simon/programs/GPS/5zv5x
\ No newline at end of file

--- a/GPS/GPS.cpp	Fri Feb 24 21:28:33 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,218 +0,0 @@
-#include "GPS.h"
-
-GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
-    _gps.baud(4800);
-    nmea_longitude = 0.0;
-    nmea_latitude = 0.0;
-    utc_time = 0;
-    ns = ' ';
-    ew = ' ';
-    lock = 0;
-    satelites = 0;
-    hdop = 0.0;
-    msl_altitude = 0.0;
-    msl_units = ' ';
-
-    rmc_status = ' ';
-    speed_k = 0.0;
-    course_d = 0.0;
-    date = 0;
-
-    dec_longitude = 0.0;
-    dec_latitude = 0.0;
-
-    gll_status = ' ';
-
-    course_t = 0.0; // ground speed true
-    course_t_unit = ' ';
-    course_m = 0.0; // magnetic
-    course_m_unit = ' ';
-    speed_k_unit = ' ';
-    speed_km = 0.0; // speek km/hr
-    speed_km_unit = ' ';
-
-    altitude_ft = 0.0;
-#ifdef OPEN_LOG
-    is_logging = false;
-#endif
-}
-
-#ifdef OPEN_LOG
-void GPS::start_log() {
-    is_logging = true;
-}
-
-void GPS::new_file(void) {
-    _openLog.newFile();
-}
-
-void GPS::stop_log(void) {
-    is_logging = false;
-}
-#endif
-
-float GPS::nmea_to_dec(float deg_coord, char nsew) {
-    int degree = (int)(deg_coord/100);
-    float minutes = deg_coord - degree*100;
-    float dec_deg = minutes / 60;
-    float decimal = degree + dec_deg;
-    if (nsew == 'S' || nsew == 'W') { // return negative
-        decimal *= -1;
-    }
-    return decimal;
-}
-
-int GPS::sample() {
-    int line_parsed = 0;
-
-    if (_gps.readable()) {
-        getline();
-    
-#ifdef OPEN_LOG
-        if (is_logging && lock) {
-            format_for_log();
-            _openLog.write(bfr);
-        }
-#endif
-
-        // Check if it is a GPGGA msg (matches both locked and non-locked msg)
-        if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
-            line_parsed = GGA;
-        }
-        // Check if it is a GPRMC msg
-        else if (sscanf(msg, "GPRMC,%f,%c,%f,%c,%f,%c,%f,%f,%d", &utc_time, &rmc_status, &nmea_latitude, &ns, &nmea_longitude, &ew, &speed_k, &course_d, &date) >= 1) {
-            line_parsed = RMC;
-        }
-        // GLL - Geographic Position-Lat/Lon
-        else if (sscanf(msg, "GPGLL,%f,%c,%f,%c,%f,%c", &nmea_latitude, &ns, &nmea_longitude, &ew, &utc_time, &gll_status) >= 1) {
-            line_parsed = GLL;
-        }
-        // VTG-Course Over Ground and Ground Speed
-        else if (sscanf(msg, "GPVTG,%f,%c,%f,%c,%f,%c,%f,%c", &course_t, &course_t_unit, &course_m, &course_m_unit, &speed_k, &speed_k_unit, &speed_km, &speed_km_unit) >= 1) {
-            line_parsed = VTG;
-        }
-    }
-    if (!lock) {
-        return NO_LOCK;
-    } else if (line_parsed) {
-        return line_parsed;
-    } else {
-        return NOT_PARSED;
-    }
-}
-
-float GPS::trunc(float v) {
-    if (v < 0.0) {
-        v*= -1.0;
-        v = floor(v);
-        v*=-1.0;
-    } else {
-        v = floor(v);
-    }
-    return v;
-}
-
-void GPS::getline() {
-    while (_gps.getc() != '$');   // wait for the start of a line
-    for (int i=0; i<1022; i++) {
-        msg[i] = _gps.getc();
-        if (msg[i] == '\r') {
-            msg[i] = 0;
-            return;
-        }
-    }
-    error("Overflow in getline");
-}
-
-void GPS::format_for_log() {
-    bfr[0] = '$';
-    for (int i = 0; i < 1022; i++) {
-        bfr[i+1] = msg[i];
-        if (msg[i] == 0) {
-            bfr[i+1] = '\r';
-            bfr[i+2] = '\n';
-            bfr[i+3] = 0;
-            return;
-        }
-    }
-    error("Overflow in format");
-}
-
-float GPS::get_msl_altitude() {
-    if (!lock)
-        return 0.0;
-    else
-        return msl_altitude;
-}
-
-int GPS::get_satelites() {
-    if (!lock)
-        return 0;
-    else
-        return satelites;
-}
-
-float GPS::get_nmea_longitude() {
-    if (!lock)
-        return 0.0;
-    else
-        return nmea_longitude;
-}
-
-float GPS::get_dec_longitude() {
-    dec_longitude = nmea_to_dec(nmea_longitude, ew);
-    if (!lock)
-        return 0.0;
-    else
-        return dec_longitude;
-}
-
-float GPS::get_nmea_latitude() {
-    if (!lock)
-        return 0.0;
-    else
-        return nmea_latitude;
-}
-
-float GPS::get_dec_latitude() {
-    dec_latitude = nmea_to_dec(nmea_latitude, ns);
-    if (!lock)
-        return 0.0;
-    else
-        return dec_latitude;
-}
-
-float GPS::get_course_t() {
-    if (!lock)
-        return 0.0;
-    else
-        return course_t;
-}
-
-float GPS::get_course_m() {
-    if (!lock)
-        return 0.0;
-    else
-        return course_m;
-}
-
-float GPS::get_speed_k() {
-    if (!lock)
-        return 0.0;
-    else
-        return speed_k;
-}
-
-float GPS::get_speed_km() {
-    if (!lock)
-        return 0.0;
-    else
-        return speed_km;
-}
-
-float GPS::get_altitude_ft() {
-    if (!lock)
-        return 0.0;
-    else
-        return 3.280839895*msl_altitude;
-}
\ No newline at end of file

--- a/GPS/GPS.h	Fri Feb 24 21:28:33 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,96 +0,0 @@
-#include "mbed.h"
-#include "openLog.h"
-
-#ifndef MBED_GPS_H
-#define MBED_GPS_H
-
-#define NO_LOCK     1
-#define NOT_PARSED  2
-#define GGA         3
-#define GLL         4
-#define RMC         5
-#define VTG         6
-
-/**  A GPS interface for reading from a Globalsat EM-406 GPS Module */
-class GPS {
-public:
-
-    /** Create the GPS interface, connected to the specified serial port
-     */    
-    GPS(PinName tx, PinName rx);
-    
-    /** Sample the incoming GPS data, returning whether there is a lock
-     * 
-     * @return 1 if there was a lock when the sample was taken (and therefore .longitude and .latitude are valid), else 0
-     */
-    int sample();
-    float get_nmea_longitude();
-    float get_nmea_latitude();
-    float get_dec_longitude();
-    float get_dec_latitude();
-    float get_msl_altitude();
-    float get_course_t();
-    float get_course_m();
-    float get_speed_k();
-    float get_speed_km();
-    int get_satelites();
-    float get_altitude_ft();
-    
-    //float calc_course_to(float, float);
-    //float calc_dist_to(float, float);
-    
-#ifdef OPEN_LOG
-    void start_log(void);
-    void new_file(void);
-    void stop_log(void);
-#endif    
-    
-private:
-    float nmea_to_dec(float, char);
-    float trunc(float v);
-    void getline();
-    void format_for_log(void);
-    
-    Serial _gps;
-    char msg[1024];
-    char bfr[1030];
-    bool is_logging;
-#ifdef OPEN_LOG
-    Logger _openLog;
-#endif
-    // calculated values
-    float dec_longitude;
-    float dec_latitude;
-    float altitude_ft;
-    
-    // GGA - Global Positioning System Fixed Data
-    float nmea_longitude;
-    float nmea_latitude;    
-    float utc_time;
-    char ns, ew;
-    int lock;
-    int satelites;
-    float hdop;
-    float msl_altitude;
-    char msl_units;
-    
-    // RMC - Recommended Minimmum Specific GNS Data
-    char rmc_status;
-    float speed_k;
-    float course_d;
-    int date;
-    
-    // GLL
-    char gll_status;
-    
-    // VTG - Course over ground, ground speed
-    float course_t; // ground speed true
-    char course_t_unit;
-    float course_m; // magnetic
-    char course_m_unit;
-    char speed_k_unit;
-    float speed_km; // speek km/hr
-    char speed_km_unit;
-};
-
-#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Fri Dec 07 19:19:00 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Sissors/code/MODSERIAL/#a69083fab43f

--- a/main.cpp	Fri Feb 24 21:28:33 2012 +0000
+++ b/main.cpp	Fri Dec 07 19:19:00 2012 +0000
@@ -1,40 +1,56 @@
 #include "mbed.h"
-#include "openLog.h"
-#include "GPS.h"
+#include "rtos.h"
+#include "MODSERIAL.h"
 
 Serial pc(USBTX, USBRX);
-GPS gps(p9, p10);
+
+float test_lat =  39.943039;
+float test_long = -104.978226;
+
+// Connect the TX of the GPS module to p10 RX input
+MODSERIAL gps(NC, p14);
+
+DigitalOut irq_led(LED1);
+
+bool newline_detected = false;
 
-int main() {
+// Called everytime a new character goes into
+// the RX buffer. Test that character for \n
+// Note, rxGetLastChar() gets the last char that
+// we received but it does NOT remove it from
+// the RX buffer.
+void rxCallback(MODSERIAL_IRQ_INFO *q)
+{
+    newline_detected = true;
+    irq_led = !irq_led;
+}
+
+void gps_thread(void const *args)
+{
+    char buffer[512];
+
+    gps.baud(4800);
     pc.baud(9600);
-    int gps_message;
-    gps.start_log();
-    while (1) {
-        gps_message = gps.sample();
-        if (gps_message == GGA) {
-            pc.printf("Responding to GGA message.\n");
-            pc.printf("I'm at %f, %f\n", gps.get_dec_latitude(), gps.get_dec_longitude());
-            pc.printf("%d satelites used\n", gps.get_satelites());
-            pc.printf("altitude = %f ft\n", gps.get_altitude_ft());
-            pc.printf("altitude = %f M\n\n", gps.get_msl_altitude());
-        } else if (gps_message == VTG) {
-            pc.printf("Responding to VTG message.\n");
-            pc.printf("True heading = %f deg\n", gps.get_course_t());
-            pc.printf("Magnetic heading = %f deg\n", gps.get_course_m());
-            pc.printf("Speed = %f knots\n", gps.get_speed_k());
-            pc.printf("Speed = %f Km/hr\n\n", gps.get_speed_km());
-        } else if (gps_message == GLL) {
-            pc.printf("Responding to GLL message.\n");
-            pc.printf("I'm at %f, %f\n", gps.get_dec_latitude(), gps.get_dec_longitude());
-        } else if (gps_message == RMC) {
-            pc.printf("Responding to RMC message.\n");
-            pc.printf("I'm at %f, %f\n", gps.get_dec_latitude(), gps.get_dec_longitude());
-            pc.printf("True heading = %f deg\n", gps.get_course_t());
-            pc.printf("Speed = %f knots\n\n", gps.get_speed_k());
-        } else if (gps_message == NOT_PARSED) {
-            pc.printf("Message not parsed!\n");
-        } else if (gps_message == NO_LOCK) {
-            pc.printf("Oh Dear! No lock :(\n");
-        }
+    gps.autoDetectChar('\n');
+    gps.attach(&rxCallback, MODSERIAL::RxAutoDetect);
+
+    while(true) {
+        // Wait here until we detect the \n going into the buffer.
+        while (! newline_detected ) ;
+
+        // When we get here the RX buffer now contains a NMEA sentence.
+        // ...
+        memset(buffer, 0, 512);
+        gps.move(buffer, 512);
+        pc.puts(buffer);
     }
+
+}
+
+
+int main()
+{
+    Thread thread(gps_thread);
+    
+    while(true);
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Fri Dec 07 19:19:00 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-rtos/#88a1a9c26ae3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Dec 07 19:19:00 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ed12d17f06
\ No newline at end of file

--- a/mbed.lib	Fri Feb 24 21:28:33 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/projects/libraries/svn/mbed/trunk@22
\ No newline at end of file

--- a/openLog/.lib	Fri Feb 24 21:28:33 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
- 
\ No newline at end of file

--- a/openLog/openLog.cpp	Fri Feb 24 21:28:33 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,22 +0,0 @@
-#include "openLog.h"
-
-Logger::Logger(): _openLog(DEF_TX, DEF_RX), _reset_pin(DEF_RESET) {
-    _openLog.baud(9600);
-    _reset_pin.write(1);
-}
-
-Logger::Logger(PinName tx, PinName rx, PinName reset) : _openLog(tx, rx), _reset_pin(reset) {
-    _openLog.baud(9600);
-    _reset_pin.write(1);
-}
-
-void Logger::newFile(void) {
-    _reset_pin = 0;
-}
-
-void Logger::write(char* data) {
-    if(_reset_pin == 0) // if reset pin was just set
-        _reset_pin = 1;
-    
-    _openLog.printf(data);
-}
\ No newline at end of file

--- a/openLog/openLog.h	Fri Feb 24 21:28:33 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,22 +0,0 @@
-#ifndef OPEN_LOG
-#define OPEN_LOG
-
-#include "mbed.h"
-
-#define DEF_TX     p13
-#define DEF_RX     p14
-#define DEF_RESET  p12
-
-class Logger {
-public:
-    Logger();
-    Logger(PinName tx, PinName rx, PinName reset);
-
-    void newFile(void);
-    void write(char*);
-
-private:
-    Serial _openLog;
-    DigitalOut _reset_pin;
-};
-#endif
\ No newline at end of file