aigamozu / C027_Support

for u-blox

Fork of C027_Support by u-blox

GPS.cpp@139:72b4265c91d1, 2017-01-04 (annotated)

Committer:
kityann
Date:
Wed Jan 04 11:28:57 2017 +0000
Revision:
139:72b4265c91d1
Parent:
95:8282dbbe1492 
for u-blox experimence;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazgch 2:b6012cd91657 1 #include "mbed.h"
mazgch 2:b6012cd91657 2 #include <ctype.h>
mazgch 2:b6012cd91657 3 #include "GPS.h"
mazgch 74:208e3e32d263 4 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 5 #include "C027_api.h"
mazgch 74:208e3e32d263 6 #endif
mazgch 74:208e3e32d263 7
mazgch 74:208e3e32d263 8 void GPSParser::powerOff(void)
mazgch 74:208e3e32d263 9 {
mazgch 74:208e3e32d263 10 // set the gps into backup mode using the command RMX-LPREQ
mazgch 74:208e3e32d263 11 struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
mazgch 74:208e3e32d263 12 sendUbx(0x02, 0x41, &msg, sizeof(msg));
mazgch 74:208e3e32d263 13 }
mazgch 2:b6012cd91657 14
mazgch 2:b6012cd91657 15 int GPSParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
mazgch 2:b6012cd91657 16 {
mazgch 2:b6012cd91657 17 int unkn = 0;
mazgch 2:b6012cd91657 18 int sz = pipe->size();
mazgch 9:e7a5959ffae1 19 int fr = pipe->free();
mazgch 2:b6012cd91657 20 if (len > sz)
mazgch 2:b6012cd91657 21 len = sz;
mazgch 2:b6012cd91657 22 while (len > 0)
mazgch 2:b6012cd91657 23 {
mazgch 2:b6012cd91657 24 // NMEA protocol
mazgch 21:c4d64830bf02 25 pipe->set(unkn);
mazgch 2:b6012cd91657 26 int nmea = _parseNmea(pipe,len);
mazgch 9:e7a5959ffae1 27 if ((nmea != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 28 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 29 if (nmea == WAIT && fr)
mazgch 9:e7a5959ffae1 30 return WAIT;
kityann 139:72b4265c91d1 31 if (nmea > 0){
mazgch 9:e7a5959ffae1 32 return NMEA | pipe->get(buf,nmea);
kityann 139:72b4265c91d1 33 }
mazgch 2:b6012cd91657 34 // UBX protocol
mazgch 21:c4d64830bf02 35
mazgch 21:c4d64830bf02 36 pipe->set(unkn);
mazgch 2:b6012cd91657 37 int ubx = _parseUbx(pipe,len);
mazgch 9:e7a5959ffae1 38 if ((ubx != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 39 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 40 if (ubx == WAIT && fr)
mazgch 9:e7a5959ffae1 41 return WAIT;
mazgch 9:e7a5959ffae1 42 if (ubx > 0)
mazgch 9:e7a5959ffae1 43 return UBX | pipe->get(buf,ubx);
mazgch 21:c4d64830bf02 44
mazgch 2:b6012cd91657 45 // UNKNOWN
mazgch 2:b6012cd91657 46 unkn ++;
mazgch 2:b6012cd91657 47 len--;
mazgch 2:b6012cd91657 48 }
mazgch 21:c4d64830bf02 49 if (unkn > 0)
mazgch 31:a0bed6c1e05d 50 return UNKNOWN | pipe->get(buf,unkn);
mazgch 2:b6012cd91657 51 return WAIT;
mazgch 2:b6012cd91657 52 }
mazgch 2:b6012cd91657 53
mazgch 2:b6012cd91657 54 int GPSParser::_parseNmea(Pipe<char>* pipe, int len)
mazgch 2:b6012cd91657 55 {
mazgch 7:9aa830f5811e 56 int o = 0;
mazgch 7:9aa830f5811e 57 int c = 0;
mazgch 7:9aa830f5811e 58 char ch;
mazgch 7:9aa830f5811e 59 if (++o > len) return WAIT;
mazgch 2:b6012cd91657 60 if ('$' != pipe->next()) return NOT_FOUND;
mazgch 4:c959dd4c5fe8 61 // this needs to be extended by crc checking
mazgch 2:b6012cd91657 62 for (;;)
mazgch 2:b6012cd91657 63 {
mazgch 7:9aa830f5811e 64 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 65 ch = pipe->next();
mazgch 7:9aa830f5811e 66 if ('*' == ch) break; // crc delimiter
mazgch 7:9aa830f5811e 67 if (!isprint(ch)) return NOT_FOUND;
mazgch 7:9aa830f5811e 68 c ^= ch;
mazgch 2:b6012cd91657 69 }
mazgch 7:9aa830f5811e 70 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 71 ch = toHex[(c >> 4) & 0xF]; // high nibble
mazgch 7:9aa830f5811e 72 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 73 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 74 ch = toHex[(c >> 0) & 0xF]; // low nibble
mazgch 7:9aa830f5811e 75 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 76 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 77 if ('\r' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 78 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 79 if ('\n' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 80 return o;
mazgch 2:b6012cd91657 81 }
mazgch 2:b6012cd91657 82
mazgch 2:b6012cd91657 83 int GPSParser::_parseUbx(Pipe<char>* pipe, int l)
mazgch 2:b6012cd91657 84 {
mazgch 2:b6012cd91657 85 int o = 0;
mazgch 2:b6012cd91657 86 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 87 if ('\xB5' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 88 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 89 if ('\x62' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 90 o += 4;
mazgch 2:b6012cd91657 91 if (o > l) return WAIT;
mazgch 2:b6012cd91657 92 int i,j,ca,cb;
mazgch 2:b6012cd91657 93 i = pipe->next(); ca = i; cb = ca; // cls
mazgch 2:b6012cd91657 94 i = pipe->next(); ca += i; cb += ca; // id
mazgch 2:b6012cd91657 95 i = pipe->next(); ca += i; cb += ca; // len_lsb
mazgch 2:b6012cd91657 96 j = pipe->next(); ca += j; cb += ca; // len_msb
mazgch 2:b6012cd91657 97 j = i + (j << 8);
mazgch 2:b6012cd91657 98 while (j--)
mazgch 2:b6012cd91657 99 {
mazgch 2:b6012cd91657 100 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 101 i = pipe->next();
mazgch 2:b6012cd91657 102 ca += i;
mazgch 2:b6012cd91657 103 cb += ca;
mazgch 2:b6012cd91657 104 }
mazgch 2:b6012cd91657 105 ca &= 0xFF; cb &= 0xFF;
mazgch 2:b6012cd91657 106 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 107 if (ca != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 108 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 109 if (cb != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 110 return o;
mazgch 2:b6012cd91657 111 }
mazgch 2:b6012cd91657 112
mazgch 4:c959dd4c5fe8 113 int GPSParser::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 114 {
mazgch 4:c959dd4c5fe8 115 return _send(buf, len);
mazgch 4:c959dd4c5fe8 116 }
mazgch 4:c959dd4c5fe8 117
mazgch 3:c7cd4887560d 118 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 119 {
mazgch 3:c7cd4887560d 120 char head[1] = { '$' };
mazgch 3:c7cd4887560d 121 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 122 int i;
mazgch 3:c7cd4887560d 123 int crc = 0;
mazgch 3:c7cd4887560d 124 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 125 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 126 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 127 i += _send(buf, len);
mazgch 3:c7cd4887560d 128 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 129 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 130 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 131 return i;
mazgch 2:b6012cd91657 132 }
mazgch 2:b6012cd91657 133
mazgch 11:b084552b03fe 134 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
mazgch 2:b6012cd91657 135 {
mazgch 3:c7cd4887560d 136 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 137 char crc[2];
mazgch 3:c7cd4887560d 138 int i;
mazgch 3:c7cd4887560d 139 int ca = 0;
mazgch 3:c7cd4887560d 140 int cb = 0;
mazgch 3:c7cd4887560d 141 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 142 {
mazgch 3:c7cd4887560d 143 ca += head[i];
mazgch 3:c7cd4887560d 144 cb += ca;
mazgch 2:b6012cd91657 145 }
mazgch 3:c7cd4887560d 146 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 147 {
mazgch 3:c7cd4887560d 148 ca += ((char*)buf)[i];
mazgch 11:b084552b03fe 149 cb += ca;
mazgch 3:c7cd4887560d 150 }
mazgch 4:c959dd4c5fe8 151 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 152 i += _send(buf, len);
mazgch 3:c7cd4887560d 153 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 154 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 155 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 156 return i;
mazgch 2:b6012cd91657 157 }
mazgch 2:b6012cd91657 158
mazgch 2:b6012cd91657 159 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 160 {
mazgch 2:b6012cd91657 161 // find the start
mazgch 2:b6012cd91657 162 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 163 {
mazgch 2:b6012cd91657 164 if (*start == ',')
mazgch 2:b6012cd91657 165 ix --;
mazgch 2:b6012cd91657 166 }
mazgch 2:b6012cd91657 167 // found and check bounds
mazgch 2:b6012cd91657 168 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 169 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 170 return start;
mazgch 2:b6012cd91657 171 else
mazgch 2:b6012cd91657 172 return NULL;
mazgch 2:b6012cd91657 173 }
mazgch 2:b6012cd91657 174
mazgch 2:b6012cd91657 175 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
mazgch 2:b6012cd91657 176 {
mazgch 2:b6012cd91657 177 char* end = &buf[len];
mazgch 2:b6012cd91657 178 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 179 // find the start
mazgch 2:b6012cd91657 180 if (!pos)
mazgch 2:b6012cd91657 181 return false;
mazgch 2:b6012cd91657 182 val = strtod(pos, &end);
mazgch 2:b6012cd91657 183 // restore the last character
mazgch 2:b6012cd91657 184 return (end > pos);
mazgch 2:b6012cd91657 185 }
mazgch 2:b6012cd91657 186
mazgch 2:b6012cd91657 187 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
mazgch 2:b6012cd91657 188 {
mazgch 2:b6012cd91657 189 char* end = &buf[len];
mazgch 2:b6012cd91657 190 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 191 // find the start
mazgch 2:b6012cd91657 192 if (!pos)
mazgch 2:b6012cd91657 193 return false;
mazgch 2:b6012cd91657 194 val = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 195 return (end > pos);
mazgch 2:b6012cd91657 196 }
mazgch 2:b6012cd91657 197
mazgch 2:b6012cd91657 198 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 199 {
mazgch 2:b6012cd91657 200 const char* end = &buf[len];
mazgch 2:b6012cd91657 201 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 202 // find the start
mazgch 2:b6012cd91657 203 if (!pos)
mazgch 2:b6012cd91657 204 return false;
mazgch 2:b6012cd91657 205 // skip leading spaces
mazgch 2:b6012cd91657 206 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 207 pos++;
mazgch 2:b6012cd91657 208 // check bound
mazgch 2:b6012cd91657 209 if ((pos < end) &&
mazgch 2:b6012cd91657 210 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 211 {
mazgch 2:b6012cd91657 212 val = *pos;
mazgch 2:b6012cd91657 213 return true;
mazgch 2:b6012cd91657 214 }
mazgch 2:b6012cd91657 215 return false;
mazgch 2:b6012cd91657 216 }
mazgch 2:b6012cd91657 217
mazgch 20:535ef78655df 218 bool GPSParser::getNmeaAngle(int ix, char* buf, int len, double& val)
mazgch 18:e5697801df29 219 {
mazgch 18:e5697801df29 220 char ch;
mazgch 18:e5697801df29 221 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
mazgch 18:e5697801df29 222 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
mazgch 18:e5697801df29 223 {
mazgch 18:e5697801df29 224 val *= 0.01;
mazgch 20:535ef78655df 225 int i = (int)val;
mazgch 18:e5697801df29 226 val = (val - i) / 0.6 + i;
mazgch 18:e5697801df29 227 if (ch == 'S' || ch == 'W')
mazgch 18:e5697801df29 228 val = -val;
kityann 139:72b4265c91d1 229
mazgch 18:e5697801df29 230 return true;
mazgch 18:e5697801df29 231 }
mazgch 18:e5697801df29 232 return false;
mazgch 18:e5697801df29 233 }
mazgch 18:e5697801df29 234
mazgch 2:b6012cd91657 235 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 236
mazgch 2:b6012cd91657 237 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 238 // Serial Implementation
mazgch 2:b6012cd91657 239 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 240
mazgch 9:e7a5959ffae1 241 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 242 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 15:5eda64e5b9d1 243 SerialPipe(tx, rx, rxSize, txSize)
mazgch 2:b6012cd91657 244 {
mazgch 2:b6012cd91657 245 baud(baudrate);
mazgch 74:208e3e32d263 246 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 247 _onboard = (tx == GPSTXD) || (rx == GPSRXD);
mazgch 74:208e3e32d263 248 if (_onboard)
mazgch 74:208e3e32d263 249 c027_gps_powerOn();
mazgch 74:208e3e32d263 250 #endif
mazgch 74:208e3e32d263 251 }
mazgch 74:208e3e32d263 252
mazgch 76:f7c3dd568dae 253 GPSSerial::~GPSSerial(void)
mazgch 76:f7c3dd568dae 254 {
mazgch 76:f7c3dd568dae 255 powerOff();
mazgch 76:f7c3dd568dae 256 #ifdef TARGET_UBLOX_C027
mazgch 76:f7c3dd568dae 257 if (_onboard)
mazgch 76:f7c3dd568dae 258 c027_gps_powerOff();
mazgch 76:f7c3dd568dae 259 #endif
mazgch 76:f7c3dd568dae 260 }
mazgch 76:f7c3dd568dae 261
mazgch 75:ce6e12067d0c 262 bool GPSSerial::init(PinName pn)
mazgch 74:208e3e32d263 263 {
mazgch 74:208e3e32d263 264 // send a byte to wakup the device again
mazgch 95:8282dbbe1492 265 putc(0xFF);
mazgch 74:208e3e32d263 266 // wait until we get some bytes
mazgch 74:208e3e32d263 267 int size = _pipeRx.size();
mazgch 95:8282dbbe1492 268 Timer timer;
mazgch 95:8282dbbe1492 269 timer.start();
mazgch 95:8282dbbe1492 270 while ((100 > timer.read_ms()) && (size == _pipeRx.size()))
mazgch 95:8282dbbe1492 271 /* nothing / just wait */;
mazgch 95:8282dbbe1492 272 return (size != _pipeRx.size());
mazgch 2:b6012cd91657 273 }
mazgch 2:b6012cd91657 274
mazgch 2:b6012cd91657 275 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 276 {
mazgch 9:e7a5959ffae1 277 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 278 }
mazgch 2:b6012cd91657 279
mazgch 4:c959dd4c5fe8 280 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 281 {
mazgch 9:e7a5959ffae1 282 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 283 }
mazgch 3:c7cd4887560d 284
mazgch 2:b6012cd91657 285 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 286 // I2C Implementation
mazgch 2:b6012cd91657 287 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 288
mazgch 9:e7a5959ffae1 289 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 19:2b5d097ca15d 290 unsigned char i2cAdr /*=GPSADR*/, int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 291 I2C(sda,scl),
mazgch 19:2b5d097ca15d 292 _pipe(rxSize),
mazgch 19:2b5d097ca15d 293 _i2cAdr(i2cAdr)
mazgch 2:b6012cd91657 294 {
mazgch 45:ebc2fd8dcf21 295 frequency(100000);
mazgch 74:208e3e32d263 296 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 297 _onboard = (sda == GPSSDA) && (scl == GPSSCL);
mazgch 74:208e3e32d263 298 if (_onboard)
mazgch 74:208e3e32d263 299 c027_gps_powerOn();
mazgch 74:208e3e32d263 300 #endif
mazgch 2:b6012cd91657 301 }
mazgch 2:b6012cd91657 302
mazgch 76:f7c3dd568dae 303 GPSI2C::~GPSI2C(void)
mazgch 76:f7c3dd568dae 304 {
mazgch 76:f7c3dd568dae 305 powerOff();
mazgch 76:f7c3dd568dae 306 #ifdef TARGET_UBLOX_C027
mazgch 76:f7c3dd568dae 307 if (_onboard)
mazgch 76:f7c3dd568dae 308 c027_gps_powerOff();
mazgch 76:f7c3dd568dae 309 #endif
mazgch 76:f7c3dd568dae 310 }
mazgch 76:f7c3dd568dae 311
mazgch 75:ce6e12067d0c 312 bool GPSI2C::init(PinName pn)
mazgch 2:b6012cd91657 313 {
mazgch 75:ce6e12067d0c 314 if (pn != NC) {
mazgch 75:ce6e12067d0c 315 DigitalOut pin(pn, 0);
mazgch 95:8282dbbe1492 316 ::wait_us(1);
mazgch 75:ce6e12067d0c 317 pin = 1;
mazgch 95:8282dbbe1492 318 ::wait_ms(100);
mazgch 75:ce6e12067d0c 319 }
mazgch 74:208e3e32d263 320 return !I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 321 }
mazgch 2:b6012cd91657 322
mazgch 2:b6012cd91657 323 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 324 {
mazgch 6:775aef3f1d1f 325 // fill the pipe
mazgch 6:775aef3f1d1f 326 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 327 if (sz)
mazgch 6:775aef3f1d1f 328 sz = _get(buf, sz);
mazgch 2:b6012cd91657 329 if (sz)
mazgch 2:b6012cd91657 330 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 331 // now parse it
mazgch 2:b6012cd91657 332 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 333 }
mazgch 2:b6012cd91657 334
mazgch 4:c959dd4c5fe8 335 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 336 {
mazgch 4:c959dd4c5fe8 337 int sent = 0;
mazgch 4:c959dd4c5fe8 338 if (len)
mazgch 4:c959dd4c5fe8 339 {
mazgch 19:2b5d097ca15d 340 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 341 sent = send(buf, len);
mazgch 4:c959dd4c5fe8 342 stop();
mazgch 4:c959dd4c5fe8 343 }
mazgch 4:c959dd4c5fe8 344 return sent;
mazgch 4:c959dd4c5fe8 345 }
mazgch 4:c959dd4c5fe8 346
mazgch 3:c7cd4887560d 347 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 348 {
mazgch 3:c7cd4887560d 349 int sent = 0;
mazgch 19:2b5d097ca15d 350 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 351 sent = GPSParser::sendNmea(buf, len);
mazgch 11:b084552b03fe 352 stop();
mazgch 3:c7cd4887560d 353 return sent;
mazgch 3:c7cd4887560d 354 }
mazgch 3:c7cd4887560d 355
mazgch 3:c7cd4887560d 356 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 357 {
mazgch 3:c7cd4887560d 358 int sent = 0;
mazgch 19:2b5d097ca15d 359 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 360 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 15:5eda64e5b9d1 361 I2C::stop();
mazgch 3:c7cd4887560d 362 return sent;
mazgch 3:c7cd4887560d 363 }
mazgch 3:c7cd4887560d 364
mazgch 2:b6012cd91657 365 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 366 {
mazgch 3:c7cd4887560d 367 int read = 0;
mazgch 46:8ce9169e0747 368 unsigned char sz[2] = {0,0};
mazgch 19:2b5d097ca15d 369 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
mazgch 46:8ce9169e0747 370 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz)))
mazgch 2:b6012cd91657 371 {
mazgch 2:b6012cd91657 372 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 373 if (size > len)
mazgch 2:b6012cd91657 374 size = len;
mazgch 46:8ce9169e0747 375 if (size > 0)
mazgch 46:8ce9169e0747 376 {
mazgch 46:8ce9169e0747 377 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true) &&
mazgch 46:8ce9169e0747 378 !I2C::read(_i2cAdr,buf,size)) {
mazgch 46:8ce9169e0747 379 read = size;
mazgch 46:8ce9169e0747 380 }
mazgch 46:8ce9169e0747 381 }
mazgch 2:b6012cd91657 382 }
mazgch 3:c7cd4887560d 383 return read;
mazgch 2:b6012cd91657 384 }
mazgch 2:b6012cd91657 385
mazgch 4:c959dd4c5fe8 386 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 387 {
mazgch 19:2b5d097ca15d 388 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 389 }
mazgch 2:b6012cd91657 390
mazgch 2:b6012cd91657 391 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 392 const char GPSI2C::REGSTREAM = 0xFF;