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@pilotak
pilotak committed Feb 28, 2020
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# UbxGpsI2C
Ublox GPS I2C async library for mbed. All config messages are sent in blocking mode while `poll()` is asynch menthod to get buffer with data from GPS.
Ublox GPS I2C async library for mbed.

## Example
```cpp
#include "mbed.h"
#include "UbxGpsI2C.h"

EventQueue eQueue(32 * EVENTS_EVENT_SIZE);
UbxGpsI2C gps(I2C_SDA, I2C_SCL);
#define GPS_READ_INTERVAL 1000

EventQueue eQueue(1 * EVENTS_EVENT_SIZE);
UbxGpsI2C gps(I2C_SDA, I2C_SCL, &eQueue);

struct gps_data_t {
uint32_t itow;
Expand Down Expand Up @@ -52,62 +54,38 @@ struct odo_data_t {
uint32_t distanceStd;
} odo_data;

void printPVT() {
void gpsPVT() {
memcpy(&gps_data, gps.data + UBX_HEADER_LEN, sizeof(gps_data_t));
printf("fix: %u lat: %li lon: %li\n", gps_data.fixType, gps_data.lat, gps_data.lon);
}

void printOdo() {
void gpsOdo() {
memcpy(&odo_data, gps.data + UBX_HEADER_LEN, sizeof(odo_data_t));
printf("Odo: %lu\n", odo_data.distance);
}

void data(int event) { // ISR
if (event > I2C_EVENT_ERROR_NO_SLAVE) {
for (uint16_t i = 0; i < MBED_CONF_UBXGPSI2C_RX_SIZE; i++) {
if (gps.buffer[i] == UBX_SYNC_CHAR1 && gps.buffer[i + 1] == UBX_SYNC_CHAR2) { // find index of header
uint16_t payload_len = ((gps.buffer[5 + i] << 8) | gps.buffer[4 + i]);

if (payload_len <= (i + payload_len)) { // fits into this buffer
if (gps.buffer[2 + i] == UbxGpsI2C::UBX_NAV) {
if (gps.buffer[3 + i] == UBX_NAV_PVT && payload_len == sizeof(gps_data_t)) {
memcpy(&gps_data, gps.buffer + i + UBX_HEADER_LEN, sizeof(gps_data_t));
eQueue.call(printPVT);

} else if (gps.buffer[3 + i] == UBX_NAV_ODO && payload_len == sizeof(odo_data_t)) {
memcpy(&odo_data, gps.buffer + i + UBX_HEADER_LEN, sizeof(odo_data_t));
eQueue.call(printOdo);
}
}

i += (payload_len + UBX_CHECKSUM_LEN + UBX_HEADER_LEN - 1);

if (gps.buffer[i + 1] != UBX_SYNC_CHAR1) { // no more valid data
break;
}
}
}
}
}
}

int main() {
Thread eQueueThread;;
Thread eQueueThread;

if (eQueueThread.start(callback(&eQueue, &EventQueue::dispatch_forever)) != osOK) {
printf("eQueueThread error\n");
}

// DO NOT try event queue for callback (eQeue.event(callback(data))) gps.buffer must be read in ISR due to DMA access
if (gps.init(&data)) {
if (gps.setOdometer(true, UbxGpsI2C::ODO_RUNNING)) {
if (gps.setOutputRate(1000)) {
if (gps.autoSend(UbxGpsI2C::UBX_NAV, UBX_NAV_ODO, 1)) {
if (gps.autoSend(UbxGpsI2C::UBX_NAV, UBX_NAV_PVT, 1)) {
if (gps.init()) {
if (gps.set_odometer(true, UbxGpsI2C::ODO_RUNNING)) {
if (gps.set_output_rate(GPS_READ_INTERVAL)) {
if (gps.auto_send(UbxGpsI2C::UBX_NAV, UBX_NAV_ODO, 1)) {
if (gps.auto_send(UbxGpsI2C::UBX_NAV, UBX_NAV_PVT, 1)) {

gps.oob(UbxGpsI2C::UBX_NAV, UBX_NAV_PVT, gpsPVT);
gps.oob(UbxGpsI2C::UBX_NAV, UBX_NAV_ODO, gpsOdo);

while (1) {
if (!gps.poll()) {
ThisThread::sleep_for(GPS_READ_INTERVAL);

if (!gps.read()) {
printf("Request failed\n");
}

ThisThread::sleep_for(1000);
}

} else {
Expand Down Expand Up @@ -139,9 +117,11 @@ int main() {
#include "mbed.h"
#include "UbxGpsI2C.h"
EventQueue eQueue(32 * EVENTS_EVENT_SIZE);
#define GPS_READ_INTERVAL 1000
EventQueue eQueue(1 * EVENTS_EVENT_SIZE);
I2C i2c(I2C_SDA, I2C_SCL);
UbxGpsI2C gps;
UbxGpsI2C gps(&eQueue);
struct gps_data_t {
uint32_t itow;
Expand Down Expand Up @@ -186,62 +166,149 @@ struct odo_data_t {
uint32_t distanceStd;
} odo_data;
void printPVT() {
void gpsPVT() {
memcpy(&gps_data, gps.data + UBX_HEADER_LEN, sizeof(gps_data_t));
printf("fix: %u lat: %li lon: %li\n", gps_data.fixType, gps_data.lat, gps_data.lon);
}
void printOdo() {
void gpsOdo() {
memcpy(&odo_data, gps.data + UBX_HEADER_LEN, sizeof(odo_data_t));
printf("Odo: %lu\n", odo_data.distance);
}
void data(int event) { // ISR
if (event > I2C_EVENT_ERROR_NO_SLAVE) {
for (uint16_t i = 0; i < MBED_CONF_UBXGPSI2C_RX_SIZE; i++) {
if (gps.buffer[i] == UBX_SYNC_CHAR1 && gps.buffer[i + 1] == UBX_SYNC_CHAR2) { // find index of header
uint16_t payload_len = ((gps.buffer[5 + i] << 8) | gps.buffer[4 + i]);
if (payload_len <= (i + payload_len)) { // fits into this buffer
if (gps.buffer[2 + i] == UbxGpsI2C::UBX_NAV) {
if (gps.buffer[3 + i] == UBX_NAV_PVT && payload_len == sizeof(gps_data_t)) {
memcpy(&gps_data, gps.buffer + i + UBX_HEADER_LEN, sizeof(gps_data_t));
eQueue.call(printPVT);
} else if (gps.buffer[3 + i] == UBX_NAV_ODO && payload_len == sizeof(odo_data_t)) {
memcpy(&odo_data, gps.buffer + i + UBX_HEADER_LEN, sizeof(odo_data_t));
eQueue.call(printOdo);
}
}
int main() {
Thread eQueueThread;
i += (payload_len + UBX_CHECKSUM_LEN + UBX_HEADER_LEN - 1);
if (eQueueThread.start(callback(&eQueue, &EventQueue::dispatch_forever)) != osOK) {
printf("eQueueThread error\n");
}
i2c.frequency(400000);
if (gps.init(&i2c)) {
if (gps.set_odometer(true, UbxGpsI2C::ODO_RUNNING)) {
if (gps.set_output_rate(GPS_READ_INTERVAL)) {
if (gps.auto_send(UbxGpsI2C::UBX_NAV, UBX_NAV_ODO, 1)) {
if (gps.auto_send(UbxGpsI2C::UBX_NAV, UBX_NAV_PVT, 1)) {
if (gps.buffer[i + 1] != UBX_SYNC_CHAR1) { // no more valid data
break;
gps.oob(UbxGpsI2C::UBX_NAV, UBX_NAV_PVT, gpsPVT);
gps.oob(UbxGpsI2C::UBX_NAV, UBX_NAV_ODO, gpsOdo);
while (1) {
ThisThread::sleep_for(GPS_READ_INTERVAL);
if (!gps.read()) {
printf("Request failed\n");
}
}
} else {
printf("Auto PVT FAILED\n");
}
} else {
printf("Auto odo FAILED\n");
}
} else {
printf("PVT rate FAILED\n");
}
} else {
printf("Odo FAILED\n");
}
} else {
printf("Cound not init\n");
}
MBED_ASSERT(false);
}
```

## Example with enabled debug
`mbed_app.json`
```json
{
"config": {
"trace-level": {
"help": "Options are TRACE_LEVEL_ERROR,TRACE_LEVEL_WARN,TRACE_LEVEL_INFO,TRACE_LEVEL_DEBUG",
"macro_name": "MBED_TRACE_MAX_LEVEL",
"value": "TRACE_LEVEL_DEBUG"
}
},
"target_overrides": {
"*": {
"mbed-trace.enable": true
}
}
}
```

```cpp
#include "mbed.h"
#include "UbxGpsI2C.h"

#if MBED_CONF_MBED_TRACE_ENABLE
#include "mbed-trace/mbed_trace.h"
static Mutex trace_mutex;

static void trace_wait() {
trace_mutex.lock();
}

static void trace_release() {
trace_mutex.unlock();
}

void trace_init() {
mbed_trace_init();
// mbed_trace_exclude_filters_set(const_cast<char*>("UBX "));

mbed_trace_mutex_wait_function_set(trace_wait);
mbed_trace_mutex_release_function_set(trace_release);
}
#endif

#define GPS_READ_INTERVAL 1000

EventQueue eQueue(1 * EVENTS_EVENT_SIZE);
UbxGpsI2C gps(I2C_SDA, I2C_SCL, &eQueue);

void gpsPVT() {
printf("PVT data\n");
}

void gpsOdo() {
printf("Odo data\n");
}

int main() {
Thread eQueueThread;;
#if MBED_CONF_MBED_TRACE_ENABLE
trace_init();
#endif

Thread eQueueThread;

if (eQueueThread.start(callback(&eQueue, &EventQueue::dispatch_forever)) != osOK) {
printf("eQueueThread error\n");
}

// DO NOT try event queue for callback (eQeue.event(callback(data))) gps.buffer must be read in ISR due to DMA access
if (gps.init(&data, &i2c)) {
if (gps.setOdometer(true, UbxGpsI2C::ODO_RUNNING)) {
if (gps.setOutputRate(1000)) {
if (gps.autoSend(UbxGpsI2C::UBX_NAV, UBX_NAV_ODO, 1)) {
if (gps.autoSend(UbxGpsI2C::UBX_NAV, UBX_NAV_PVT, 1)) {
if (gps.init()) {
if (gps.set_odometer(true, UbxGpsI2C::ODO_RUNNING)) {
if (gps.set_output_rate(GPS_READ_INTERVAL)) {
if (gps.auto_send(UbxGpsI2C::UBX_NAV, UBX_NAV_ODO, 1)) {
if (gps.auto_send(UbxGpsI2C::UBX_NAV, UBX_NAV_PVT, 1)) {

gps.oob(UbxGpsI2C::UBX_NAV, UBX_NAV_PVT, gpsPVT);
gps.oob(UbxGpsI2C::UBX_NAV, UBX_NAV_ODO, gpsOdo);

while (1) {
if (!gps.poll()) {
ThisThread::sleep_for(GPS_READ_INTERVAL);

if (!gps.read()) {
printf("Request failed\n");
}
ThisThread::sleep_for(1000);
}

} else {
Expand Down

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