| [3] | 1 | // %flair:license{
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| [15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| [3] | 4 | // %flair:license}
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| 5 | // created: 2013/08/23
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| 6 | // filename: Mb800.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet integrant le recepteur gps mb800
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| [268] | 17 | #ifdef ARMV7A
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| [3] | 18 |
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| 19 | #include "Mb800.h"
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| 20 | #include <SerialPort.h>
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| 21 | #include <FrameworkManager.h>
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| 22 | #include <string.h>
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| 23 |
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| 24 | using std::string;
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| 25 | using namespace flair::core;
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| 26 |
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| [15] | 27 | namespace flair {
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| 28 | namespace sensor {
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| [3] | 29 |
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| [137] | 30 | Mb800::Mb800(string name,
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| [51] | 31 | SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
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| [15] | 32 | uint8_t priority)
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| [137] | 33 | : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
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| [15] | 34 | this->serialport = serialport;
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| 35 | serialport->SetRxTimeout(100000000);
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| [157] | 36 |
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| 37 | SetIsReady(true);
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| [3] | 38 | }
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| 39 |
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| [15] | 40 | Mb800::~Mb800() {
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| 41 | SafeStop();
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| 42 | Join();
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| [3] | 43 | }
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| 44 |
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| [15] | 45 | void Mb800::Run(void) {
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| [196] | 46 | int written;
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| [3] | 47 |
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| [15] | 48 | /** Debut config **/
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| 49 | char to_send[] = "$PASHS,NME,ALL,A,OFF\r\n";
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| [41] | 50 | written=serialport->Write(to_send, sizeof(to_send));
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| 51 | if (written< 0) {
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| 52 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 53 | }
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| [42] | 54 |
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| [15] | 55 | {
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| 56 | char to_send[] = "$PASHS,CPD,AFP,95.0\r\n";
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| [41] | 57 | written=serialport->Write(to_send, sizeof(to_send));
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| 58 | if (written< 0) {
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| 59 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 60 | }
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| [15] | 61 | }
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| 62 | {
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| 63 | char to_send[] = "$PASHS,DIF,PRT,C,RT3\r\n";
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| [41] | 64 | written=serialport->Write(to_send, sizeof(to_send));
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| 65 | if (written< 0) {
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| 66 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 67 | }
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| [15] | 68 | }
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| [42] | 69 |
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| [15] | 70 | if ((NMEAFlags & GGA) != 0) {
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| 71 | char to_send[] = "$PASHS,NME,GGA,A,ON,0.05\r\n";
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| [41] | 72 | written = serialport->Write(to_send, sizeof(to_send));
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| 73 | if (written< 0) {
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| 74 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 75 | }
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| [15] | 76 | }
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| 77 | if ((NMEAFlags & VTG) != 0) {
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| 78 | char to_send[] = "$PASHS,NME,VTG,A,ON,0.05\r\n";
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| [41] | 79 | written = serialport->Write(to_send, sizeof(to_send));
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| 80 | if (written< 0) {
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| 81 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 82 | }
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| [15] | 83 | }
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| 84 | if ((NMEAFlags & GST) != 0) {
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| 85 | char to_send[] = "$PASHS,NME,GST,A,ON,0.05\r\n";
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| [41] | 86 | written = serialport->Write(to_send, sizeof(to_send));
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| 87 | if (written< 0) {
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| 88 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 89 | }
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| [15] | 90 | }
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| [180] | 91 | if ((NMEAFlags & GSA) != 0) {
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| 92 | char to_send[] = "$PASHS,NME,GSA,A,ON,0.1\r\n";
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| 93 | written = serialport->Write(to_send, sizeof(to_send));
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| 94 | if (written< 0) {
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| 95 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 96 | }
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| 97 | }
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| [3] | 98 |
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| [15] | 99 | Sync();
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| [3] | 100 |
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| [15] | 101 | /** Fin config **/
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| [3] | 102 |
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| [15] | 103 | /** Debut running loop **/
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| 104 | WarnUponSwitches(true);
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| [196] | 105 |
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| [15] | 106 | while (!ToBeStopped()) {
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| [196] | 107 | char response[1024] = {0};
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| 108 | int size = 0;
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| [15] | 109 | while (!ToBeStopped()) {
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| 110 | ssize_t read = serialport->Read(&response[size], 1);
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| 111 | if (read < 0) {
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| 112 | Thread::Err("erreur Read (%s)\n", strerror(-read));
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| 113 | }
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| [3] | 114 |
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| [196] | 115 | if (response[size] == 0x0a ) break;
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| [15] | 116 | size++;
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| [196] | 117 | if (size==sizeof(response)) break;
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| [42] | 118 | }
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| [196] | 119 | if (size!=sizeof(response)) {
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| 120 | size++;
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| 121 | parseFrame(response, size);
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| 122 | } else {
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| 123 | Thread::Warn("frame too long for buffer\n");
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| 124 | }
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| [15] | 125 | }
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| [196] | 126 |
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| [15] | 127 | /** fin running loop **/
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| 128 | WarnUponSwitches(false);
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| [3] | 129 | }
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| 130 |
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| [15] | 131 | void Mb800::Sync(void) {
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| 132 | char data = 0;
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| 133 | ssize_t read = 0;
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| [42] | 134 |
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| [15] | 135 | // attente fin trame
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| [41] | 136 | while (data != 0x0a && !ToBeStopped()) {
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| [15] | 137 | read = serialport->Read(&data, 1);
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| [41] | 138 | SleepMS(10);
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| [42] | 139 |
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| [15] | 140 | if (read < 0) {
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| 141 | Thread::Err("erreur Read (%s)\n", strerror(-read));
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| [3] | 142 | }
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| [15] | 143 | }
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| [3] | 144 | }
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| 145 |
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| 146 | } // end namespace sensor
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| [170] | 147 | } // end namespace flair
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| [268] | 148 |
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| 149 | #endif |
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