Teensy4.1 ArduinoIDE 3GNSSBoards F9P+F9H+M9N recieving test Program

STA22_IPsystemDebug_221106_00.ino

//STA22 のIP用システムの初期動作チェック
//
//-----SD log parameters----------------------
//#include <SD.h>
#include "SdFat.h"
//#include <SPI.h>
#ifdef USE_EXTERNAL_SD
const uint8_t SD_CS_PIN = SS;
#define SPI_CLOCK SD_SCK_MHZ(10)
#define SD_CONFIG SdSpiConfig(SD_CS_PIN, SHARED_SPI, SPI_CLOCK)
#else // Use built in SD card.
// Why does this #ifdef have to be here? I do not understand. If it is defined
// then why does the compiler give this error without the #ifdef/#endif:
// "ReadWrite:39: error: 'SDCARD_SS_PIN' was not declared in this scope"
// Either it is defined previously or it is not right???
// This one has me stumped. Uncomment the #ifdef and #endif and you will see what
// happens. I am probably missing something again! 
#ifdef SDCARD_SS_PIN
const uint8_t SD_CS_PIN = SDCARD_SS_PIN;
#endif // SDCARD_SS_PIN
// Setup for built in SD card.
#define SPI_CLOCK SD_SCK_MHZ(50)
#define SD_CONFIG SdioConfig(FIFO_SDIO)
#endif // USE_EXTERNAL_SD
SdFs sd;
FsFile myFile;//UBX_base pvt relposned
FsFile myFileR;//UBX_rover pvt relposned
FsFile myFileT;//TXT_rtk status statics
FsFile myFileI;//TXT_imu & pvt
int epNosd,epNosd_1;
int n;//counter
int i, j,jj, k,l,m;
//Data------------
uint8_t baseNo;//USb 0 or 1
uint8_t Buf172[172];
static uint8_t dBuf0[172], dBuf4[172],dBuf5[100];//バッファなので32の倍数でないといけない
int PVT1startNo;
uint8_t PVTdata[172];//userialb0 PVT
uint8_t RELPOSdata[172];//userialb0 RELPOS
uint8_t PVT1data[172];//userialb1 PVT
uint8_t RELPOS1data[172];//userialb1 RELPOS
long PVTval[33];
long PVT1val[33];
long RELPOSval[21];
long RELPOS1val[21];
//USB0-USB1=> base-rover
long PVTBval[33];
long PVTRval[33];
long RELPOSBval[21];
long RELPOSRval[21];
uint8_t RELPOSBdata[172];//base line RELPOS
volatile uint8_t RELPOS1Bdata[172];//base line RELPOS
uint8_t epflag0,epflag1;
uint8_t fdata[4];
int Num0, Num0_1, Num1, Num1_1;
int flag0, flag1;
char keyin;
//int time0, time0_1, time1, time1_1;
int trcv0,trcv1,tsdbin0,tsdbin1,tsdtxt0,tsdtxt1,timu0,timu1;
int starttime;
//----Hardware Serial Set---------------
//32の倍数でバッファ定義
int dcount;
static uint8_t serialbuffer1[192];//Base PVT+RELPOS172bytes
static uint8_t serialbuffer2[256];//BlueTooth
static uint8_t serialbuffer4[192];//Rover PVT+RELPOS172bytes
static uint8_t serialbuffer5[128];//M9N  PVT100bytes
const int ledPin = 13;
void setup() {
   Serial.begin(115200);
  if (!sd.begin(SD_CONFIG)) {
    Serial.println("SD CARD initialization failed!");
    return;
  }
 Serial.println("SD initialization done.");
 //Serial1 def  Base
  Serial1.begin(115200);//RX1(p0)-TX1(p1)  PVT+RELPOS from Base UART2  rcv=ubx ,tx=RTCM3
  Serial1.addMemoryForRead(serialbuffer1, sizeof(serialbuffer1));
 //Serial2 def  Bluetooth
  Serial2.begin(115200);//Rx2(p7)-Tx2(p8)  from BlueTooth
  Serial2.addMemoryForRead(serialbuffer2, sizeof(serialbuffer2));
 //Serial4 def Rover
  Serial4.begin(115200);//Rx4(p16)-Tx4(p17)  PVT+RELPOS from RoverF9P uart1 
  Serial4.addMemoryForRead(serialbuffer4, sizeof(serialbuffer4));
 //Serial5 def  m9N
  Serial5.begin(115200);//Rx5(p21)-Tx5(p20) PVT from M9N uart1 
  Serial5.addMemoryForRead(serialbuffer5, sizeof(serialbuffer5));
  while (!Serial && (millis() < 5000)) ; // wait for Arduino Serial Monitor
  
  Serial1.begin(115200);  // We will echo stuff Through Serial1...
 pinMode(ledPin, OUTPUT);
}

void loop() {
//===Serial1Base data  read=========================================================
         
         if(Serial1.available()>171){ //バッファ１が172バイトになるまで処理しない
                i=0;
                while(i<172){
                   digitalWrite(ledPin, HIGH);   // set the LED on
                  Serial.printf("Base:%d,",millis());
                  while(Serial1.available()){
                  dBuf0[i]=Serial1.read();//read from serialbuffer1[]
                  //Serial.printf("dBuf0[%d]=%x\n\r",i,dBuf0[i]); 
                  //Serial.print(dBuf0[i],HEX);  
                         i++;
                     }
                      Serial.println(millis());
                     digitalWrite(ledPin, LOW);   // set the LED on
               }
         }
         
       //delay(3);
 //===Serial4 Rover read=========================================================     
         //Serial.printf("Serial4.available=%d\n\r",Serial4.available());
        if(Serial4.available()>171){  //バッファ４が172バイトになるまで処理しない    
                //Serial.println();
                j=0;//Rover Serial4 counter
                while(j<172){   
                      digitalWrite(ledPin, HIGH);   // set the LED on
                      Serial.printf("Rover:%d,",millis());
                      while(Serial4.available()){
                            dBuf4[j]=Serial4.read();
                                
                                //Serial.print(dBuf4[j],HEX);
                            
                          j++;
                      }
                }
                 
            //delay(3);
              Serial.println(millis());
              digitalWrite(ledPin, LOW);   // set the LED on
        }//

  //===Serial5 M9N read=========================================================     
        // Serial.printf("Serial5.available=%d\n\r",Serial5.available());
        if(Serial5.available()>99){  //バッファ5が100バイトになるまで処理しない    
                //Serial.println();
               k=0;//Rover Serial5 counter
                while(k<100){   
                     // digitalWrite(ledPin, HIGH);   // set the LED on
                      Serial.printf("M9N:%d,",millis());
                      while(Serial5.available()){
                            dBuf5[k]=Serial5.read();
                                
                               //Serial.print(dBuf5[k],HEX);
                            
                          k++;
                      }
                }
                 
            //delay(3);
              Serial.println(millis());
              //digitalWrite(ledPin, LOW);   // set the LED on
        }//
   

}