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Introduction
Read moreLocation based services are becoming increasingly widespread in many application areas. One such use case is managing livestock which can be challenging in environmentally-sensitive areas or when there is limited contact with and control over the animals. Virtual fences (built by GPS coordinates) represent the potential for animal guidance in locations where physical fences may be unfeasible. Counteractions can include deterrent sounds (i.e. dog barking), familiar to animals.By additionally combining data from an accelerometer one can also record the activity of animals or even transfer the applicability of the system to a different environment i.e. training assistant. The device will thus have two modes of operation:1. Virtual fencing, which will monitor the position of livestock and will react with pre-stored sounds, once the animal is outside the predetermined perimeter, 2. Training assistant, that can select a predefined distance for a person to run and provide info on the motion parameters (acceleration, remaining distance, steps etc.).
DevelopmentThe code is based on the GNSS tracker example application by SONY which is used to initialize the GPS, set various parameters, debug leds, manage SD files and read position data. The algorithm utilises a polygon fence as opposed to the less flexible circle from other examples, the coordinates of which can be obtained by online by apps such as Geofence generator https://codepen.io/bgus/full/dXxLjp/.
Sample Virtual Fence.
Subsequently the code is modified to read position data with appropriate controls that a fix has been achieved
Waiting for fix.
and call a test function to determine if the current fix is within a predefined polygon or not.
Fix obtained, position processed.
With slight additions the code can also be used, as mentioned in the introduction to provide info for preset target points (that can be set just outside the limits of the virtual fence), so that an alert signifies arrival at desired point (eg. for training).
/*
* gnss_tracker.ino - GNSS tracker example application
* Copyright 2018 Sony Semiconductor Solutions Corporation
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/**
* @file gnss_tracker.ino
* @author Sony Semiconductor Solutions Corporation
* @Modified by TASOS
* @brief GNSS tracker example application
* @details The gnss_tracker is a sample sketch that performs GPS positioning by
* intermittent operation.
*/
#include <GNSS.h>
#include <GNSSPositionData.h>
#include "gnss_tracker.h"
#include "gnss_nmea.h"
#include "gnss_file.h"
/* Config file */
#define CONFIG_FILE_NAME "tracker.ini" /**< Config file name */
#define CONFIG_FILE_SIZE 4096 /**< Config file size */
/* Index file */
#define INDEX_FILE_NAME "index.ini" /**< Index file name */
#define INDEX_FILE_SIZE 16 /**< Index file size */
#define STRING_BUFFER_SIZE 128 /**< %String buffer size */
#define NMEA_BUFFER_SIZE 128 /**< NMEA buffer size */
#define OUTPUT_FILENAME_LEN 16 /**< Output file name length */
/* Default parameter. */
#define DEFAULT_INTERVAL_SEC 1 /**< Default positioning interval in seconds*/
#define DEFAULT_ACTIVE_SEC 60 /**< Default positioning active in seconds */
#define DEFAULT_SEEP_SEC 240 /**< Default positioning sleep in seconds */
#define INITIAL_ACTIVE_TIME 300 /**< Initial positioning active in seconds */
#define IDLE_ACTIVE_TIME 600 /**< Idle positioning active in seconds */
#define SERIAL_BAUDRATE 115200 /**< Serial baud rate */
#define SEPARATOR 0x0A /**< Separator */
/**
* @enum LoopState
* @brief State of loop
*/
enum LoopState {
eStateSleep, /**< Loop is not activated */
eStateActive /**< Loop is activated */
};
/**
* @enum TrackerMode
* @brief Tracker mode
*/
enum TrackerMode {
eModeNormal = 0, /**< Run positioning. Output NMEA text. */
eModeShell /**< Run nsh to print and delete NMEA text. */
};
/**
* @enum ParamSat
* @brief Satellite system
*/
enum ParamSat {
eSatGps, /**< GPS */
eSatGlonass, /**< GLONASS */
eSatGpsSbas, /**< GPS+SBAS */
eSatGpsGlonass, /**< GPS+Glonass */
eSatGpsQz1c, /**< GPS+QZSS_L1CA */
eSatGpsGlonassQz1c, /**< GPS+Glonass+QZSS_L1CA */
eSatGpsQz1cQz1S, /**< GPS+QZSS_L1CA+QZSS_L1S */
};
/**
* @struct ConfigParam
* @brief Configuration parameters
*/
typedef struct
{
ParamSat SatelliteSystem; /**< Satellite system(GPS/GLONASS/ALL). */
boolean NmeaOutUart; /**< Output NMEA message to UART(TRUE/FALSE). */
boolean NmeaOutFile; /**< Output NMEA message to file(TRUE/FALSE). */
boolean BinaryOut; /**< Output binary data to file(TRUE/FALSE). */
unsigned long IntervalSec; /**< Positioning interval sec(1-300). */
unsigned long ActiveSec; /**< Positioning active sec(60-300). */
unsigned long SleepSec; /**< Positioning sleep sec(0-240). */
SpPrintLevel UartDebugMessage; /**< Uart debug message(NONE/ERROR/WARNING/INFO). */
} ConfigParam;
SpGnss Gnss; /**< SpGnss object */
ConfigParam Parameter; /**< Configuration parameters */
unsigned int Mode; /**< Tracker mode */
char FilenameTxt[OUTPUT_FILENAME_LEN]; /**< Output file name */
char FilenameBin[OUTPUT_FILENAME_LEN]; /**< Output binary file name */
AppPrintLevel AppDebugPrintLevel; /**< Print level */
unsigned long SetActiveSec; /**< Positioning active sec(60-300) */
/**
* @brief Compare parameter.
*
* @param [in] Input Parameter to compare
* @param [in] Refer Reference parameter
* @return 0 if equal
*/
//
//
// The function will return YES if the point x,y is inside the polygon, or
// NO if it is not.
bool pointInPolygon(float x, float y) {
// Globals which should be set before calling this function:
int polyCorners=0; // = how many corners the polygon has
float polyX[10]; //= horizontal coordinates of corners
float polyY[10]; //= vertical coordinates of corners
int ii, i, j=polyCorners-1 ;
bool oddNodes=0 ;
//Set for testing purposes ---------------------------------------
polyCorners=4;
polyX[0]=41.98833900019412;
polyY[0]=-87.80857295874023;
polyX[1]=41.968686701399996;
polyY[1]=-87.83363551977538;
polyX[2]=41.93574912976958;
polyY[2]=-87.79106349829101;
polyX[3]=41.985276703211895;
polyY[3]=-87.75089473608398;
if (polyCorners<=0)
{
APP_PRINT("Please specify the Number of GeoFence Corners: \n");
APP_PRINT("\n");
polyCorners = Serial.read();
sleep(5);
if (polyCorners>0 && polyCorners<11)
{
for (ii=0; ii<polyCorners; ii++) {
APP_PRINT("Please specify latitude of corner: ");
APP_PRINT(ii);
polyX[ii] = Serial.read();
sleep(7);
APP_PRINT("\n");
APP_PRINT("Please specify longtitude of corner: ");
APP_PRINT(ii);
APP_PRINT("\n");
polyY[ii] = Serial.read();
sleep(7);
}
}
else
{
APP_PRINT("Wrong Number of corners: ");
}
}
else if (polyCorners>0 && polyCorners<11)
{
for (i=0; i<polyCorners; i++) {
if ((polyY[i]< y && polyY[j]>=y
|| polyY[j]< y && polyY[i]>=y)
&& (polyX[i]<=x || polyX[j]<=x)) {
oddNodes^=(polyX[i]+(y-polyY[i])/(polyY[j]-polyY[i])*(polyX[j]-polyX[i])<x); }
j=i; }
}
return oddNodes; }
static int ParamCompare(const char *Input , const char *Refer)
{
/* Set argument. */
String InputStr = Input;
String ReferStr = Refer;
/* Convert to upper case. */
InputStr.toUpperCase();
ReferStr.toUpperCase();
/* Compare. */
return memcmp(InputStr.c_str(), ReferStr.c_str(), strlen(ReferStr.c_str()));
}
/**
* @brief Turn on / off the LED0 for CPU active notification.
*/
static void Led_isActive(void)
{
static int state = 1;
if (state == 1)
{
ledOn(PIN_LED0);
state = 0;
}
else
{
ledOff(PIN_LED0);
state = 1;
}
}
/**
* @brief Turn on / off the LED1 for positioning state notification.
*
* @param [in] state Positioning state
*/
static void Led_isPosfix(bool state)
{
if (state == 1)
{
ledOn(PIN_LED1);
}
else
{
ledOff(PIN_LED1);
}
}
/**
* @brief Turn on / off the LED2 for file SD access notification.
*
* @param [in] state SD access state
*/
static void Led_isSdAccess(bool state)
{
if (state == 1)
{
ledOn(PIN_LED2);
}
else
{
ledOff(PIN_LED2);
}
}
/**
* @brief Turn on / off the LED3 for error notification.
*
* @param [in] state Error state
*/
static void Led_isError(bool state)
{
if (state == 1)
{
ledOn(PIN_LED3);
}
else
{
ledOff(PIN_LED3);
}
}
/**
* @brief Convert configuration parameters to String
*
* @param [in] pConfigParam Configuration parameters
* @return Configuration parameters as String
*/
static String MakeParameterString(ConfigParam *pConfigParam)
{
const char *pComment;
const char *pParam;
const char *pData;
char StringBuffer[STRING_BUFFER_SIZE];
String ParamString;
/* Set SatelliteSystem. */
pComment = "; Satellite system(GPS/GLONASS/SBAS/QZSS_L1CA/QZSS_L1S)";
pParam = "SatelliteSystem=";
switch (pConfigParam->SatelliteSystem)
{
case eSatGps:
pData = "GPS";
break;
case eSatGpsSbas:
pData = "GPS+SBAS";
break;
case eSatGlonass:
pData = "GLONASS";
break;
case eSatGpsGlonass:
pData = "GPS+GLONASS";
break;
case eSatGpsQz1c:
pData = "GPS+QZSS_L1CA";
break;
case eSatGpsQz1cQz1S:
pData = "GPS+QZSS_L1CA+QZSS_L1S";
break;
case eSatGpsGlonassQz1c:
default:
pData = "GPS+GLONASS+QZSS_L1CA";
break;
}
snprintf(StringBuffer, STRING_BUFFER_SIZE, "%s\n%s%s\n", pComment, pParam, pData);
ParamString += StringBuffer;
/* Set NmeaOutUart. */
pComment = "; Output NMEA message to UART(TRUE/FALSE)";
pParam = "NmeaOutUart=";
if (pConfigParam->NmeaOutUart == FALSE)
{
pData = "FALSE";
}
else
{
pData = "TRUE";
}
snprintf(StringBuffer, STRING_BUFFER_SIZE, "%s\n%s%s\n", pComment, pParam, pData);
ParamString += StringBuffer;
/* Set NmeaOutFile. */
pComment = "; Output NMEA message to file(TRUE/FALSE)";
pParam = "NmeaOutFile=";
if (pConfigParam->NmeaOutFile == FALSE)
{
pData = "FALSE";
}
else
{
pData = "TRUE";
}
snprintf(StringBuffer, STRING_BUFFER_SIZE, "%s\n%s%s\n", pComment, pParam, pData);
ParamString += StringBuffer;
/* Set BinaryOut. */
pComment = "; Output binary data to file(TRUE/FALSE)";
pParam = "BinaryOut=";
if (pConfigParam->BinaryOut == FALSE)
{
pData = "FALSE";
}
else
{
pData = "TRUE";
}
snprintf(StringBuffer, STRING_BUFFER_SIZE, "%s\n%s%s\n", pComment, pParam, pData);
ParamString += StringBuffer;
/* Set IntervalSec. */
pComment = "; Positioning interval sec(1-300)";
pParam = "IntervalSec=";
snprintf(StringBuffer, STRING_BUFFER_SIZE, "%s\n%s%d\n", pComment, pParam, pConfigParam->IntervalSec);
ParamString += StringBuffer;
/* Set ActiveSec. */
pComment = "; Positioning active sec(60-300)";
pParam = "ActiveSec=";
snprintf(StringBuffer, STRING_BUFFER_SIZE, "%s\n%s%d\n", pComment, pParam, pConfigParam->ActiveSec);
ParamString += StringBuffer;
/* Set SleepSec. */
pComment = "; Positioning sleep sec(0-240)";
pParam = "SleepSec=";
snprintf(StringBuffer, STRING_BUFFER_SIZE, "%s\n%s%d\n", pComment, pParam, pConfigParam->SleepSec);
ParamString += StringBuffer;
/* Set UartDebugMessage. */
pComment = "; Uart debug message(NONE/ERROR/WARNING/INFO)";
pParam = "UartDebugMessage=";
switch (pConfigParam->UartDebugMessage)
{
case PrintError:
pData = "ERROR";
break;
case PrintWarning:
pData = "WARNING";
break;
case PrintInfo:
pData = "INFO";
break;
case PrintNone:
default:
pData = "NONE";
break;
}
snprintf(StringBuffer, STRING_BUFFER_SIZE, "%s\n%s%s\n", pComment, pParam, pData);
ParamString += StringBuffer;
/* End of file. */
snprintf(StringBuffer, STRING_BUFFER_SIZE, "; EOF");
ParamString += StringBuffer;
return ParamString;
}
/**
* @brief Read the ini file and set it as a parameter.
*
* @details If there is no description, it will be the default value.
* @param [out] pConfigParam Configuration parameters
* @return 0 if success, -1 if failure
*/
static int ReadParameter(ConfigParam *pConfigParam)
{
char *pReadBuff = NULL;
pReadBuff = (char*)malloc(CONFIG_FILE_SIZE);
if (pReadBuff == NULL)
{
APP_PRINT_E("alloc error:");
APP_PRINT_E(CONFIG_FILE_NAME);
APP_PRINT_E("\n");
return -1;
}
/* Read file. */
int ReadSize = 0;
ReadSize = ReadChar(pReadBuff, CONFIG_FILE_SIZE, CONFIG_FILE_NAME, FILE_READ);
if (ReadSize == 0)
{
APP_PRINT_E("read error:");
APP_PRINT_E(CONFIG_FILE_NAME);
APP_PRINT_E("\n");
return -1;
}
/* Set NULL at EOF. */
pReadBuff[ReadSize] = NULL;
/* Record the start position for each line. */
int CharCount;
int LineCount = 0;
boolean FindSeparator = true;
char *LineList[128] = {0,};
for (CharCount = 0; CharCount < ReadSize; CharCount++)
{
if (FindSeparator == true)
{
LineList[LineCount] = &pReadBuff[CharCount];
FindSeparator = false;
LineCount++;
if (LineCount >= 128)
{
break;
} else {
/* nop */
}
}
if (pReadBuff[CharCount] == SEPARATOR)
{
FindSeparator = true;
pReadBuff[CharCount] = NULL;
}
}
/* Parse each line. */
int MaxLine = LineCount;
char *pParamName;
char *pParamData;
int length;
int tmp;
for (LineCount = 0; LineCount < MaxLine; LineCount++)
{
pParamName = LineList[LineCount];
pParamData = NULL;
if (pParamName[0] != ';')
{
length = strlen(pParamName);
for (CharCount = 0; CharCount < length; CharCount++)
{
if (pParamName[CharCount] == '=')
{
pParamData = &(pParamName[CharCount + 1]);
break;
}
}
}
/* Parse start. */
if (pParamData == NULL)
{
/* nop */
}
else if (!ParamCompare(pParamName, "SatelliteSystem="))
{
if (!ParamCompare(pParamData, "GPS+GLONASS+QZSS_L1CA"))
{
pConfigParam->SatelliteSystem = eSatGpsGlonassQz1c;
}
else if (!ParamCompare(pParamData, "GPS+QZSS_L1CA+QZSS_L1S"))
{
pConfigParam->SatelliteSystem = eSatGpsQz1cQz1S;
}
else if (!ParamCompare(pParamData, "GPS+QZSS_L1CA"))
{
pConfigParam->SatelliteSystem = eSatGpsQz1c;
}
else if (!ParamCompare(pParamData, "GPS+GLONASS"))
{
pConfigParam->SatelliteSystem = eSatGpsGlonass;
}
else if (!ParamCompare(pParamData, "GLONASS"))
{
pConfigParam->SatelliteSystem = eSatGlonass;
}
else if (!ParamCompare(pParamData, "GPS+SBAS"))
{
pConfigParam->SatelliteSystem = eSatGpsSbas;
}
else if (!ParamCompare(pParamData, "GPS"))
{
pConfigParam->SatelliteSystem = eSatGps;
}
else
{
pConfigParam->SatelliteSystem = eSatGpsGlonassQz1c;
}
}
else if (!ParamCompare(pParamName, "NmeaOutUart="))
{
if (!ParamCompare(pParamData, "FALSE"))
{
pConfigParam->NmeaOutUart = false;
}
else
{
pConfigParam->NmeaOutUart = true;
}
}
else if (!ParamCompare(pParamName, "NmeaOutFile="))
{
if (!ParamCompare(pParamData, "FALSE"))
{
pConfigParam->NmeaOutFile = false;
}
else
{
pConfigParam->NmeaOutFile = true;
}
}
else if (!ParamCompare(pParamName, "BinaryOut="))
{
if (!ParamCompare(pParamData, "FALSE"))
{
pConfigParam->BinaryOut = false;
}
else
{
pConfigParam->BinaryOut = true;
}
}
else if (!ParamCompare(pParamName, "IntervalSec="))
{
tmp = strtoul(pParamData, NULL, 10);
pConfigParam->IntervalSec = max(1, min(tmp, 300));
}
else if (!ParamCompare(pParamName, "ActiveSec="))
{
tmp = strtoul(pParamData, NULL, 10);
pConfigParam->ActiveSec = max(60, min(tmp, 300));
}
else if (!ParamCompare(pParamName, "SleepSec="))
{
tmp = strtoul(pParamData, NULL, 10);
pConfigParam->SleepSec = max(0, min(tmp, 240));
}
else if (!ParamCompare(pParamName, "UartDebugMessage="))
{
if (!ParamCompare(pParamData, "NONE"))
{
pConfigParam->UartDebugMessage = PrintNone;
}
else if (!ParamCompare(pParamData, "ERROR"))
{
pConfigParam->UartDebugMessage = PrintError;
}
else if (!ParamCompare(pParamData, "WARNING"))
{
pConfigParam->UartDebugMessage = PrintWarning;
}
else if (!ParamCompare(pParamData, "INFO"))
{
pConfigParam->UartDebugMessage = PrintInfo;
}
}
}
return OK;
}
/**
* @brief Create an ini file based on the current parameters.
*
* @param [in] pConfigParam Configuration parameters
* @return 0 if success, -1 if failure
*/
static int WriteParameter(ConfigParam *pConfigParam)
{
String ParamString;
int ret = -1;
unsigned long write_size;
/* Make parameter data. */
ParamString = MakeParameterString(pConfigParam);
/* Write parameter data. */
if (strlen(ParamString.c_str()) != 0)
{
Led_isSdAccess(true);
write_size = WriteChar(ParamString.c_str(), CONFIG_FILE_NAME, FILE_WRITE);
Led_isSdAccess(false);
if (write_size == strlen(ParamString.c_str()))
{
ret = 0;
}
else
{
Led_isError(true);
}
}
return ret;
}
/**
* @brief Setup configuration parameters.
*
* @return 0 if success, -1 if failure
*/
static int SetupParameter(void)
{
int ret;
String ParamString;
/* Read parameter file. */
ret = ReadParameter(&Parameter);
if (ret != OK)
{
/* If there is no parameter file, create a new one. */
ret = WriteParameter(&Parameter);
}
/* Print parameter. */
ParamString = MakeParameterString(&Parameter);
APP_PRINT(ParamString.c_str());
APP_PRINT("\n\n");
return ret;
}
/**
* @brief Go to Sleep mode
*/
static void SleepIn(void)
{
/* Turn off the LED. */
APP_PRINT("Sleep ");
ledOff(PIN_LED0);
Gnss.stop();
Gnss.end();
// TBD:Further sleep processing will be implemented.
APP_PRINT("in.\n");
}
/**
* @brief Go to Active mode.
*/
static void SleepOut(void)
{
APP_PRINT("Sleep ");
// TBD:Further wakeup processing will be implemented.
/*----------------------------------------*/
APP_PRINT("STARTING DEVICE *************");
APP_PRINT("\n");
/*------------------------------------------*/
Gnss.begin();
Gnss.start(HOT_START);
APP_PRINT("out.\n");
}
/**
* @brief Get file number.
*
* @return File count
*/
unsigned long GetFileNumber(void)
{
int FileCount;
char IndexData[INDEX_FILE_SIZE];
int ReadSize = 0;
/* Open index file. */
ReadSize = ReadChar(IndexData, INDEX_FILE_SIZE, INDEX_FILE_NAME, FILE_READ);
if (ReadSize != 0)
{
/* Use index data. */
FileCount = strtoul(IndexData, NULL, 10);
FileCount++;
Remove(INDEX_FILE_NAME);
}
else
{
/* Init file count. */
FileCount = 1;
}
/* Update index.txt */
snprintf(IndexData, sizeof(IndexData), "%08d", FileCount);
WriteChar(IndexData, INDEX_FILE_NAME, FILE_WRITE);
return FileCount;
}
/**
* @brief Setup positioning.
*
* @return 0 if success, 1 if failure
*/
static int SetupPositioning(void)
{
int error_flag = 0;
/* Set default Parameter. */
Parameter.SatelliteSystem = eSatGpsGlonassQz1c;
Parameter.NmeaOutUart = true;
Parameter.NmeaOutFile = false; /*CHANGED */
Parameter.BinaryOut = false;
Parameter.IntervalSec = DEFAULT_INTERVAL_SEC;
Parameter.ActiveSec = DEFAULT_ACTIVE_SEC;
Parameter.SleepSec = DEFAULT_SEEP_SEC;
Parameter.UartDebugMessage = PrintNone;
/*------------------------------------------------------*/
APP_PRINT("\n");
APP_PRINT("Entered Setup Position -------------------");
APP_PRINT("\n");
/*--------------------------------------------------------*/
/* Mount SD card. */
if (BeginSDCard() != true)
{
/* Error case.*/
APP_PRINT_E("SD begin error!!\n");
error_flag = 1;
}
else
{
/* Setup Parameter. */
SetupParameter();
}
/* Set Gnss debug mode. */
Gnss.setDebugMode(Parameter.UartDebugMessage);
AppDebugPrintLevel = (AppPrintLevel)Parameter.UartDebugMessage;
if (Gnss.begin(Serial) != 0)
{
/* Error case. */
APP_PRINT_E("Gnss begin error!!\n");
error_flag = 1;
}
else
{
APP_PRINT_I("Gnss begin OK.\n");
switch (Parameter.SatelliteSystem)
{
case eSatGps:
Gnss.select(GPS);
break;
case eSatGpsSbas:
Gnss.select(GPS);
Gnss.select(SBAS);
break;
case eSatGlonass:
Gnss.select(GLONASS);
break;
case eSatGpsGlonass:
Gnss.select(GPS);
Gnss.select(GLONASS);
break;
case eSatGpsQz1c:
Gnss.select(GPS);
Gnss.select(QZ_L1CA);
break;
case eSatGpsQz1cQz1S:
Gnss.select(GPS);
Gnss.select(QZ_L1CA);
Gnss.select(QZ_L1S);
break;
case eSatGpsGlonassQz1c:
default:
Gnss.select(GPS);
Gnss.select(GLONASS);
Gnss.select(QZ_L1CA);
break;
}
Gnss.setInterval(Parameter.IntervalSec);
if (Gnss.start(HOT_START) != OK)
{
/* Error case. */
APP_PRINT_E("Gnss start error!!\n");
error_flag = 1;
}
}
/* Create output file name. */
FilenameTxt[0] = 0;
FilenameBin[0] = 0;
if ( (Parameter.NmeaOutFile == true) || (Parameter.BinaryOut == true) )
{
int FileCount = GetFileNumber();
if (Parameter.NmeaOutFile == true)
{
/* Create a file name to store NMEA data. */
snprintf(FilenameTxt, sizeof(FilenameTxt), "%08d.txt", FileCount);
}
if (Parameter.BinaryOut == true)
{
/* Create a file name to store binary data. */
snprintf(FilenameBin, sizeof(FilenameBin), "%08d.bin", FileCount);
}
}
return error_flag;
}
/**
* @brief Activate GNSS device and setup positioning
*/
void setup()
{
/* put your setup code here, to run once: */
int error_flag = 0;
char KeyRead[2] = {0, 0};
/* Initialize the serial first for debug messages. */
/* Set serial baudeate. */
Serial.begin(SERIAL_BAUDRATE);
APP_PRINT("Please specify the operation mode.\n");
APP_PRINT(" 0:Run positioning. Output NMEA text.\n");
APP_PRINT("\n");
/* Wait mode select. */
sleep(3);
/* Turn on all LED:Setup start. */
ledOn(PIN_LED0);
ledOn(PIN_LED1);
ledOn(PIN_LED2);
ledOn(PIN_LED3);
/* Read key input. */
KeyRead[0] = Serial.read();
/* Convet to mode value. */
Mode = strtoul(KeyRead, NULL, 10);
APP_PRINT("set mode : ");
APP_PRINT(Mode);
APP_PRINT("\n");
switch (Mode) {
//#if 0 // TBD:Not implemented
// case eModeShell:
/* nop */
// break;
//#endif
case eModeNormal:
default:
error_flag = SetupPositioning();
break;
}
SetActiveSec = INITIAL_ACTIVE_TIME;
/* Turn off all LED:Setup done. */
ledOff(PIN_LED0);
ledOff(PIN_LED1);
ledOff(PIN_LED2);
ledOff(PIN_LED3);
/* Set error LED. */
if (error_flag == 1)
{
Led_isError(true);
/*----------------------------------------*/
APP_PRINT("Error Flag has started LED 3: ");
APP_PRINT(error_flag);
APP_PRINT("\n");
/*------------------------------------------*/
sleep(6);
}
}
/**
* @brief GNSS tracker loop
*
* @details Positioning is performed for the first 300 seconds after setup.
* After that, in each loop processing, it sleeps for SleepSec
* seconds and performs positioning ActiveSec seconds.
* The gnss_tracker use SatelliteSystem sattelites for positioning.\n\n
*
* Positioning result is notificated in every IntervalSec second.
* The result formatted to NMEA will be saved on SD card if the
* parameter NmeaOutFile is TRUE, or/and output to UART if the
* parameter NmeaOutUart is TRUE. NMEA is buffered for each
* notification. Write at once when ActiveSec completes. If SleepSec
* is set to 0, positioning is performed continuously.
*/
void loop() {
static int State = eStateActive;
static int TimeOut = IDLE_ACTIVE_TIME;
static bool PosFixflag = false;
static int skipUnstableCount = 10;
static char *pNmeaBuff = NULL;
static char *pBinaryBuffer = NULL;
/* Check state. */
if (State == eStateSleep)
{
/* Sleep. */
TimeOut--;
sleep(1);
APP_PRINT(">");
/* Counter Check. */
if (TimeOut <= 0)
{
APP_PRINT("\n");
/* Set active timeout. */
TimeOut = IDLE_ACTIVE_TIME;
SetActiveSec = Parameter.ActiveSec;
/* Set new mode. */
State = eStateActive;
/* Reset unstable counter */
skipUnstableCount = 10;
/* Go to Active mode. */
...
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