void System::Publish::position(void *arg) {
gpsCustom _mode(_gps, "GPGSA", 1);
gpsCustom _fixtype(_gps, "GPGSA", 2);
gpsCustom _pdop(_gps, "GPGSA", 15);
gpsCustom _vdop(_gps, "GPGSA", 17);
gpsCustom _nummessages(_gps, "GPGSV", 1);
gpsCustom _messagenum(_gps, "GPGSV", 2);
gpsCustom _numsatsinview(_gps, "GPGSV", 3);
gpsCustom _prn(_gps, "GPGSV", 4);
gpsCustom _elevation(_gps, "GPGSV", 5);
gpsCustom _azimuth(_gps, "GPGSV", 6);
gpsCustom _snr(_gps, "GPGSV", 7);
gpsCustom _cog(_gps, "GPRMC", 8);
gpsCustom _timestamp(_gps, "GPRMC", 1);
for (;; ) {
unsigned long start = millis();
do
{
while (Serial2.available())
_gps.encode(Serial2.read());
} while (millis() - start < 100);
positionBox.latitude = _gps.location.lat();
positionBox.longitude = _gps.location.lng();
positionBox.cog = _cog.value();
gpsInfoBox.mode = _mode.value();
gpsInfoBox.fixtype = _fixtype.value();
gpsInfoBox.pdop = _pdop.value();
gpsInfoBox.hdop = _gps.hdop.value();
gpsInfoBox.vdop = _vdop.value();
gpsInfoBox.numbers_of_gpgsv_messages = _nummessages.value();
gpsInfoBox.index_number_of_gpgsv_message = _messagenum.value();
gpsInfoBox.numbers_of_sats_inview = _numsatsinview.value();
gpsInfoBox.prn = _prn.value();
gpsInfoBox.snr = _snr.value();
gpsInfoBox.elevation = _elevation.value();
gpsInfoBox.azimuth = _azimuth.value();
gpsInfoBox.timestamp = _timestamp.value();
gpsInfoBox.number_of_satellites = _gps.satellites.value();
}
}
void Debug_HexDump(const char *Prefix, const void *Data, size_t Length)
{
const uint8_t *data = Data;
size_t ofs;
LOG_LOCK_ACQUIRE();
fprintf(stderr, "[HexDump ]d %s: %i bytes\n", Prefix, (int)Length);
for( ofs = 0; ofs + 16 <= Length; ofs += 16 )
{
const uint8_t *d = data + ofs;
fprintf(stderr, "[HexDump ]d %s:", Prefix);
fprintf(stderr, " %02x %02x %02x %02x %02x %02x %02x %02x",
d[0], d[1], d[2], d[3], d[4], d[5], d[6], d[7]);
fprintf(stderr, " %02x %02x %02x %02x %02x %02x %02x %02x",
d[8], d[9], d[10], d[11], d[12], d[13], d[14], d[15]);
fprintf(stderr, " |%c%c%c%c""%c%c%c%c %c%c%c%c""%c%c%c%c",
_prn(d[ 0]), _prn(d[ 1]), _prn(d[ 2]), _prn(d[ 3]),
_prn(d[ 4]), _prn(d[ 5]), _prn(d[ 6]), _prn(d[ 7]),
_prn(d[ 8]), _prn(d[ 9]), _prn(d[10]), _prn(d[11]),
_prn(d[12]), _prn(d[13]), _prn(d[14]), _prn(d[15])
);
fprintf(stderr, "\n");
}
if( ofs < Length )
{
const uint8_t *d = data + ofs;
fprintf(stderr, "[HexDump ]d %s: ", Prefix);
for( int i = 0; i < Length - ofs; i ++ )
{
if( i == 8 ) fprintf(stderr, " ");
fprintf(stderr, " %02x", d[i]);
}
for( int i = Length - ofs; i < 16; i ++ )
{
if( i == 8 ) fprintf(stderr, " ");
fprintf(stderr, " ");
}
fprintf(stderr, " |");
for( int i = 0; i < Length - ofs; i ++ )
{
if( i == 8 ) fprintf(stderr, " ");
fprintf(stderr, "%c", _prn(d[i]));
}
fprintf(stderr, "\n");
}
LOG_LOCK_RELEASE();
}
uint32_t
CoreModule::getPseudorandom()
{
return _prn();
}
