55 lines
1.2 KiB
C++
55 lines
1.2 KiB
C++
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#include "esp32-hal.h"
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#include "esp_log.h"
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#include <cmath>
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#include <cstdio>
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#include "freertos/idf_additions.h"
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#include "freertos/projdefs.h"
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#include "gps.h"
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static const constexpr char *TAG = "Main";
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SemaphoreHandle_t gps_mutex;
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GPS *gps = nullptr;
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void gps_poll_task(void *_) {
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while (true) {
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if (xSemaphoreTake(gps_mutex, (TickType_t)10) == pdTRUE) {
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gps->poll();
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xSemaphoreGive(gps_mutex);
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}
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vTaskDelay(pdMS_TO_TICKS(50));
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}
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}
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void gps_poll_init() {
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gps_mutex = xSemaphoreCreateMutex();
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if (gps_mutex != NULL) {
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xTaskCreate(gps_poll_task, "Writer", 2048, NULL, 1, NULL);
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}
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}
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extern "C" void app_main(void) {
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initArduino();
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gps = new GPS();
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while (true) {
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if (xSemaphoreTake(gps_mutex, (TickType_t)10) == pdTRUE) {
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ESP_LOGI(TAG, "loc -> lat: %f, long: %f, height: %f",
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gps->gps.latitudeDegrees, gps->gps.longitudeDegrees,
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gps->gps.altitude);
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if (gps->gps_avaliable()) {
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auto D_pos = gps->get_coordinates().value();
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ESP_LOGI(TAG, " -> D(pos): (%f, %f, %f)", D_pos[0], D_pos[1],
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D_pos[2]);
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}
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xSemaphoreGive(gps_mutex);
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}
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vTaskDelay(pdMS_TO_TICKS(250));
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}
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}
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