[195] | 1 | // %flair:license{
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| 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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| 4 | // %flair:license}
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| 5 | // created: 2017/08/30
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| 6 | // filename: NeoM8N.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 ublox NeoM8N
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "NeoM8N.h"
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| 19 | #include <SerialPort.h>
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| 20 | #include <FrameworkManager.h>
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| 21 | #include <string.h>
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| 22 |
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| 23 | using std::string;
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| 24 | using namespace flair::core;
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| 25 |
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| 26 | namespace flair {
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| 27 | namespace sensor {
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| 28 |
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| 29 | NeoM8N::NeoM8N(string name,
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| 30 | SerialPort *serialport,NmeaGps::NMEAFlags_t NMEAFlags,uint8_t priority)
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| 31 | : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
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| 32 | this->serialport = serialport;
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| 33 | serialport->SetRxTimeout(100000000);
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| 34 |
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| 35 | SetIsReady(true);
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| 36 | }
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| 37 |
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| 38 | NeoM8N::~NeoM8N() {
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| 39 | SafeStop();
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| 40 | Join();
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| 41 | }
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| 42 |
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| 43 | void NeoM8N::Run(void) {
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[196] | 44 |
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| 45 | //turn off all messages
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[195] | 46 | {
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| 47 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0,0};
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| 48 | for(int i=0;i<0x100;i++) {
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| 49 | tx[5]=i;//msg id
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| 50 | SendUbx(tx,sizeof(tx));
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| 51 | }
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| 52 | }
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| 53 | //10Hz output
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| 54 | {
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| 55 | char tx[]={0x06, 0x08, 0x06, 0, 0x64, 0, 0x01, 0, 0, 0};
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| 56 | SendUbx(tx,sizeof(tx));
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| 57 | }
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| 58 |
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| 59 | if ((NMEAFlags & GGA) != 0) {
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| 60 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0,0x01};
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| 61 | SendUbx(tx,sizeof(tx));
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| 62 | }
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| 63 | if ((NMEAFlags & VTG) != 0) {
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| 64 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0x05,0x01};
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| 65 | SendUbx(tx,sizeof(tx));
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| 66 | }
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| 67 | if ((NMEAFlags & GST) != 0) {
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| 68 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0x07,0x01};
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| 69 | SendUbx(tx,sizeof(tx));
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| 70 | }
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| 71 | if ((NMEAFlags & GSA) != 0) {
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| 72 | char tx[]={0x06, 0x01, 0x03, 0, 0xf0, 0x02,0x01};
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| 73 | SendUbx(tx,sizeof(tx));
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| 74 | }
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| 75 |
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| 76 | /** Debut running loop **/
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| 77 | WarnUponSwitches(true);
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| 78 |
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| 79 | Sync();
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| 80 |
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| 81 | while (!ToBeStopped()) {
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[196] | 82 | char response[1024] = {0};
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| 83 | int size = 0;
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[195] | 84 | while (!ToBeStopped()) {
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| 85 | ssize_t read = serialport->Read(&response[size], 1);
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| 86 | if (read < 0) {
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| 87 | Thread::Err("erreur Read (%s)\n", strerror(-read));
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| 88 | }
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| 89 |
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[196] | 90 | if (response[size] == 0x0a ) break;
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[195] | 91 | size++;
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[196] | 92 | if (size==sizeof(response)) break;
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[195] | 93 | }
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[196] | 94 | if (size!=sizeof(response)) {
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| 95 | size++;
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| 96 | parseFrame(response, size);
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| 97 | } else {
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| 98 | Thread::Warn("frame too long for buffer\n");
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| 99 | }
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[195] | 100 | }
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| 101 | /** fin running loop **/
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| 102 | WarnUponSwitches(false);
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| 103 | }
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| 104 |
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| 105 | void NeoM8N::SendUbx(char* buf,size_t length) {
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| 106 | char header[2]={0xb5,0x62};
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| 107 | int written=serialport->Write(header, sizeof(header));
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| 108 | if (written< 0) {
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| 109 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 110 | }
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| 111 |
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| 112 | written=serialport->Write(buf, length);
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| 113 | if (written< 0) {
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| 114 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 115 | }
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| 116 |
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| 117 | unsigned char checksum[2]={0,0};
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| 118 | for(int i=0;i<length;i++) {
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| 119 | checksum[0] = checksum[0] + buf[i];
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| 120 | checksum[1] = checksum[1] + checksum[0];
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| 121 | }
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| 122 | written=serialport->Write(checksum, sizeof(checksum));
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| 123 | if (written< 0) {
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| 124 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 125 | }
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| 126 | }
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| 127 |
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| 128 | void NeoM8N::Sync(void) {
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| 129 | char data = 0;
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| 130 | ssize_t read = 0;
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| 131 |
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| 132 | // attente fin trame
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| 133 | while (data != 0x0a && !ToBeStopped()) {
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| 134 | read = serialport->Read(&data, 1);
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| 135 | SleepMS(10);
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| 136 |
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| 137 | if (read < 0) {
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| 138 | Thread::Err("erreur Read (%s)\n", strerror(-read));
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| 139 | }
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| 140 | }
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| 141 | }
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| 142 |
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| 143 | } // end namespace sensor
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| 144 | } // end namespace flair
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