From 36e04b35335de7a88ae334248faa947a827847f9 Mon Sep 17 00:00:00 2001 From: Alan Carvalho de Assis Date: Sat, 9 Jun 2018 17:54:18 -0600 Subject: [PATCH] apps/examples/gps: Add GPS example using MINMEA lib --- examples/gps/.gitignore | 12 +++ examples/gps/Kconfig | 32 ++++++++ examples/gps/Make.defs | 40 ++++++++++ examples/gps/Makefile | 57 +++++++++++++++ examples/gps/gps_main.c | 157 ++++++++++++++++++++++++++++++++++++++++ 5 files changed, 298 insertions(+) create mode 100644 examples/gps/.gitignore create mode 100644 examples/gps/Kconfig create mode 100644 examples/gps/Make.defs create mode 100644 examples/gps/Makefile create mode 100644 examples/gps/gps_main.c diff --git a/examples/gps/.gitignore b/examples/gps/.gitignore new file mode 100644 index 000000000..dc1606fa5 --- /dev/null +++ b/examples/gps/.gitignore @@ -0,0 +1,12 @@ +/Make.dep +/.depend +/.built +/*.asm +/*.obj +/*.rel +/*.lst +/*.sym +/*.adb +/*.lib +/*.src + diff --git a/examples/gps/Kconfig b/examples/gps/Kconfig new file mode 100644 index 000000000..0ef776911 --- /dev/null +++ b/examples/gps/Kconfig @@ -0,0 +1,32 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +config EXAMPLES_GPS + bool "GPS example" + default n + select GPSUTILS_MINMEA_LIB + ---help--- + Enable the gps test example + +if EXAMPLES_GPS + +config EXAMPLES_GPS_PROGNAME + string "Program name" + default "gps" + depends on BUILD_KERNEL + ---help--- + This is the name of the program that will be use when the NSH ELF + program is installed. + +config EXAMPLES_GPS_PRIORITY + int "GPS task priority" + default 100 + +config EXAMPLES_GPS_STACKSIZE + int "GPS stack size" + default 2048 + +endif + diff --git a/examples/gps/Make.defs b/examples/gps/Make.defs new file mode 100644 index 000000000..f78a1cc42 --- /dev/null +++ b/examples/gps/Make.defs @@ -0,0 +1,40 @@ +############################################################################ +# apps/examples/gps/Make.defs +# Adds selected applications to apps/ build +# +# Copyright (C) 2015 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name NuttX nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +ifeq ($(CONFIG_EXAMPLES_GPS),y) +CONFIGURED_APPS += examples/gps +endif + diff --git a/examples/gps/Makefile b/examples/gps/Makefile new file mode 100644 index 000000000..a405f1128 --- /dev/null +++ b/examples/gps/Makefile @@ -0,0 +1,57 @@ +############################################################################ +# apps/examples/gps/Makefile +# +# Copyright (C) 2008, 2010-2013 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name NuttX nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +# GPS built-in application info + +CONFIG_EXAMPLES_GPS_PRIORITY ?= SCHED_PRIORITY_DEFAULT +CONFIG_EXAMPLES_GPS_STACKSIZE ?= 2048 + +APPNAME = gps +PRIORITY = $(CONFIG_EXAMPLES_GPS_PRIORITY) +STACKSIZE = $(CONFIG_EXAMPLES_GPS_STACKSIZE) + +# GPS Example + +ASRCS = +CSRCS = +MAINSRC = gps_main.c + +CONFIG_EXAMPLES_GPS_PROGNAME ?= gps$(EXEEXT) +PROGNAME = $(CONFIG_EXAMPLES_GPS_PROGNAME) + +include $(APPDIR)/Application.mk + diff --git a/examples/gps/gps_main.c b/examples/gps/gps_main.c new file mode 100644 index 000000000..cbbc20109 --- /dev/null +++ b/examples/gps/gps_main.c @@ -0,0 +1,157 @@ +/**************************************************************************** + * examples/hello/gps_main.c + * + * Copyright (C) 2018 Gregory Nutt. All rights reserved. + * Author: Alan Carvalho de Assis + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include "gpsutils/minmea.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * gps_main + ****************************************************************************/ + +#ifdef CONFIG_BUILD_KERNEL +int main(int argc, FAR char *argv[]) +#else +int gps_main(int argc, char *argv[]) +#endif +{ + int fd; + int cnt; + char ch; + char line[MINMEA_MAX_LENGTH]; + + /* Open the GPS serial port */ + + fd = open("/dev/ttyS1", O_RDONLY); + if (fd < 0) + { + printf("Unable to open file /dev/ttyS1\n"); + } + + /* Run forever */ + + for (; ; ) + { + /* Read until we complete a line */ + + cnt = 0; + do + { + read(fd, &ch, 1); + if (ch != '\r' && ch != '\n') + { + line[cnt++] = ch; + } + } + while (ch != '\r' && ch != '\n'); + + line[cnt] = '\0'; + + switch (minmea_sentence_id(line, false)) + { + case MINMEA_SENTENCE_RMC: + { + struct minmea_sentence_rmc frame; + + if (minmea_parse_rmc(&frame, line)) + { + printf("Fixed-point Latitude...........: %d\n", + minmea_rescale(&frame.latitude, 1000)); + printf("Fixed-point Longitude..........: %d\n", + minmea_rescale(&frame.longitude, 1000)); + printf("Fixed-point Speed..............: %d\n", + minmea_rescale(&frame.speed, 1000)); + printf("Floating point degree latitude.: %2.6f\n", + minmea_tocoord(&frame.latitude)); + printf("Floating point degree longitute: %2.6f\n", + minmea_tocoord(&frame.longitude)); + printf("Floating point speed...........: %2.6f\n", + minmea_tocoord(&frame.speed)); + } + else + { + printf("$xxRMC sentence is not parsed\n"); + } + } + break; + + case MINMEA_SENTENCE_GGA: + { + struct minmea_sentence_gga frame; + + if (minmea_parse_gga(&frame, line)) + { + printf("Fix quality....................: %d\n", + frame.fix_quality); + printf("Altitude.......................: %d\n", + frame.altitude.value); + printf("Tracked satellites.............: %d\n", + frame.satellites_tracked); + } + else + { + printf("$xxGGA sentence is not parsed\n"); + } + } + break; + + case MINMEA_INVALID: + case MINMEA_UNKNOWN: + case MINMEA_SENTENCE_GSA: + case MINMEA_SENTENCE_GLL: + case MINMEA_SENTENCE_GST: + case MINMEA_SENTENCE_GSV: + { + } + break; + } + } + + return 0; +} +