airbourne/airbourne/examples/gnss/main.cpp
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1 /*
2  * Copyright (c) 2017, James Jackson
3  *
4  * All rights reserved.
5  *
6  * Redistribution and use in source and binary forms, with or without
7  * modification, are permitted provided that the following conditions are met:
8  *
9  * * Redistributions of source code must retain the above copyright notice, this
10  * list of conditions and the following disclaimer.
11  *
12  * * Redistributions in binary form must reproduce the above copyright notice,
13  * this list of conditions and the following disclaimer in the documentation
14  * and/or other materials provided with the distribution.
15  *
16  * * Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived from
18  * this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30  */
31 
32 #include "led.h"
33 #include "printf.h"
34 #include "revo_f4.h"
35 #include "system.h"
36 #include "uart.h"
37 #include "ublox.h"
38 #include "vcp.h"
39 
40 #define printf ::nanoprintf::tfp_printf
41 
43 
44 static void _putc(void *p, char c)
45 {
46  (void)p; // avoid compiler warning about unused variable
47  serPtr->put_byte(c);
48 }
49 
50 int main()
51 {
52  systemInit();
53 
54  VCP vcp;
55  vcp.init();
56  serPtr = &vcp;
57 
58  UART uart;
59  uart.init(&uart_config[UART1], 115200);
60 
62 
63  UBLOX gnss;
64  gnss.init(&uart);
65 
66  while (!gnss.present())
67  {
68  printf("GNSS not initialized");
69  delay(200);
71  }
72 
73  LED led1;
74  led1.init(LED1_GPIO, LED1_PIN);
75 
76  delay(5000); // Wait for the UBX to boot up
77 
78  while (1)
79  {
80  UBLOX::NAV_PVT_t full = gnss.read_full();
81  printf("fix: %s\tt: %d\tlla: %d, %d, %d\tvel: %d, %d, %d\n", fix_names[full.fixType].c_str(), full.iTOW, full.lat,
82  full.lon, full.height, full.velN, full.velE, full.velD);
83  led1.toggle();
84  delay(1000);
85  }
86 }
void systemInit(void)
Definition: system.c:55
void init(const uart_hardware_struct_t *conf, uint32_t baudrate_, uart_mode_t mode=MODE_8N1)
Definition: uart.cpp:39
void toggle(void)
Definition: gpio.cpp:52
#define UART1
Definition: revo_f4.h:61
void init(GPIO_TypeDef *gpio_port, uint16_t pin)
Definition: led.cpp:34
Definition: ublox.h:14
void init()
Definition: vcp.cpp:24
Definition: led.h:38
void init(UART *uart)
Definition: ublox.cpp:16
#define LED1_GPIO
Definition: revo_f4.h:126
virtual void put_byte(uint8_t ch)=0
#define LED1_PIN
Definition: revo_f4.h:127
const std::string fix_names[6]
Definition: ublox.h:523
const uart_hardware_struct_t uart_config[NUM_UART]
Definition: revo_f4.h:64
Definition: uart.h:42
static void _putc(void *p, char c)
Definition: vcp.h:19
bool present()
Definition: ublox.cpp:133
Definition: serial.h:44
#define NULL
Definition: usbd_def.h:50
const NAV_PVT_t & read_full()
Definition: ublox.cpp:322
void check_connection_status()
Definition: ublox.cpp:71
void init_printf(void *putp, void(*putf)(void *, char))
Definition: printf.cpp:264
void delay(uint32_t ms)
Definition: system.c:101


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Sat May 9 2020 03:16:52