[324] | 1 | // %flair:license{
|
---|
| 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
| 4 | // %flair:license}
|
---|
| 5 | // created: 2017/08/30
|
---|
| 6 | // filename: NeoM8N.cpp
|
---|
| 7 | //
|
---|
| 8 | // author: Guillaume Sanahuja
|
---|
| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 10 | //
|
---|
| 11 | // version: $Id: $
|
---|
| 12 | //
|
---|
| 13 | // purpose: objet integrant le recepteur gps ublox NeoM8N
|
---|
| 14 | //
|
---|
| 15 | //
|
---|
| 16 | /*********************************************************************/
|
---|
| 17 | #ifdef ARMV7A
|
---|
| 18 |
|
---|
| 19 | #include "NeoM8N.h"
|
---|
| 20 | #include <SerialPort.h>
|
---|
| 21 | #include <FrameworkManager.h>
|
---|
| 22 | #include <string.h>
|
---|
| 23 |
|
---|
| 24 | using std::string;
|
---|
| 25 | using namespace flair::core;
|
---|
| 26 |
|
---|
| 27 | namespace flair {
|
---|
| 28 | namespace sensor {
|
---|
| 29 |
|
---|
| 30 | NeoM8N::NeoM8N(string name,
|
---|
| 31 | SerialPort *serialport,NmeaGps::NMEAFlags_t NMEAFlags,uint8_t priority)
|
---|
| 32 | : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
|
---|
| 33 | this->serialport = serialport;
|
---|
| 34 | serialport->SetRxTimeout(100000000);
|
---|
| 35 |
|
---|
| 36 | SetIsReady(true);
|
---|
| 37 | }
|
---|
| 38 |
|
---|
| 39 | NeoM8N::~NeoM8N() {
|
---|
| 40 | SafeStop();
|
---|
| 41 | Join();
|
---|
| 42 | }
|
---|
| 43 |
|
---|
| 44 | void NeoM8N::Run(void) {
|
---|
| 45 |
|
---|
| 46 | //turn off all messages
|
---|
| 47 | {
|
---|
| 48 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0,0};
|
---|
| 49 | for(int i=0;i<0x100;i++) {
|
---|
| 50 | tx[5]=i;//msg id
|
---|
| 51 | SendUbx(tx,sizeof(tx));
|
---|
| 52 | }
|
---|
| 53 | }
|
---|
| 54 | //10Hz output
|
---|
| 55 | {
|
---|
| 56 | char tx[]={0x06, 0x08, 0x06, 0, 0x64, 0, 0x01, 0, 0, 0};
|
---|
| 57 | SendUbx(tx,sizeof(tx));
|
---|
| 58 | }
|
---|
| 59 |
|
---|
| 60 | if ((NMEAFlags & GGA) != 0) {
|
---|
| 61 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0,0x01};
|
---|
| 62 | SendUbx(tx,sizeof(tx));
|
---|
| 63 | }
|
---|
| 64 | if ((NMEAFlags & VTG) != 0) {
|
---|
| 65 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0x05,0x01};
|
---|
| 66 | SendUbx(tx,sizeof(tx));
|
---|
| 67 | }
|
---|
| 68 | if ((NMEAFlags & GST) != 0) {
|
---|
| 69 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0x07,0x01};
|
---|
| 70 | SendUbx(tx,sizeof(tx));
|
---|
| 71 | }
|
---|
| 72 | if ((NMEAFlags & GSA) != 0) {
|
---|
| 73 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0x02,0x01};
|
---|
| 74 | SendUbx(tx,sizeof(tx));
|
---|
| 75 | }
|
---|
| 76 |
|
---|
| 77 | /** Debut running loop **/
|
---|
| 78 | WarnUponSwitches(true);
|
---|
| 79 |
|
---|
| 80 | Sync();
|
---|
| 81 |
|
---|
| 82 | while (!ToBeStopped()) {
|
---|
| 83 | char response[1024] = {0};
|
---|
| 84 | int size = 0;
|
---|
| 85 | while (!ToBeStopped()) {
|
---|
| 86 | ssize_t read = serialport->Read(&response[size], 1);
|
---|
| 87 | if (read < 0) {
|
---|
| 88 | Thread::Err("erreur Read (%s)\n", strerror(-read));
|
---|
| 89 | }
|
---|
| 90 |
|
---|
| 91 | if (response[size] == 0x0a ) break;
|
---|
| 92 | size++;
|
---|
| 93 | if (size==sizeof(response)) break;
|
---|
| 94 | }
|
---|
| 95 | if (size!=sizeof(response)) {
|
---|
| 96 | size++;
|
---|
| 97 | parseFrame(response, size);
|
---|
| 98 | } else {
|
---|
| 99 | Thread::Warn("frame too long for buffer\n");
|
---|
| 100 | }
|
---|
| 101 | }
|
---|
| 102 | /** fin running loop **/
|
---|
| 103 | WarnUponSwitches(false);
|
---|
| 104 | }
|
---|
| 105 |
|
---|
| 106 | void NeoM8N::SendUbx(char* buf,size_t length) {
|
---|
| 107 | char header[2]={0xb5,0x62};
|
---|
| 108 | int written=serialport->Write(header, sizeof(header));
|
---|
| 109 | if (written< 0) {
|
---|
| 110 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
---|
| 111 | }
|
---|
| 112 |
|
---|
| 113 | written=serialport->Write(buf, length);
|
---|
| 114 | if (written< 0) {
|
---|
| 115 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
---|
| 116 | }
|
---|
| 117 |
|
---|
| 118 | unsigned char checksum[2]={0,0};
|
---|
| 119 | for(int i=0;i<length;i++) {
|
---|
| 120 | checksum[0] = checksum[0] + buf[i];
|
---|
| 121 | checksum[1] = checksum[1] + checksum[0];
|
---|
| 122 | }
|
---|
| 123 | written=serialport->Write(checksum, sizeof(checksum));
|
---|
| 124 | if (written< 0) {
|
---|
| 125 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
---|
| 126 | }
|
---|
| 127 | }
|
---|
| 128 |
|
---|
| 129 | void NeoM8N::Sync(void) {
|
---|
| 130 | char data = 0;
|
---|
| 131 | ssize_t read = 0;
|
---|
| 132 |
|
---|
| 133 | // attente fin trame
|
---|
| 134 | while (data != 0x0a && !ToBeStopped()) {
|
---|
| 135 | read = serialport->Read(&data, 1);
|
---|
| 136 | SleepMS(10);
|
---|
| 137 |
|
---|
| 138 | if (read < 0) {
|
---|
| 139 | Thread::Err("erreur Read (%s)\n", strerror(-read));
|
---|
| 140 | }
|
---|
| 141 | }
|
---|
| 142 | }
|
---|
| 143 |
|
---|
| 144 | } // end namespace sensor
|
---|
| 145 | } // end namespace flair
|
---|
| 146 |
|
---|
| 147 | #endif |
---|