u-blox / C027_Support

support library for C027 helper functions for Buffer Pipes, Buffered Serial Port (rtos capable) and GPS parsing. It includes modem APIs for USSD, SMS and Sockets.

Dependents:   HTTPClient_Cellular_HelloWorld Cellular_HelloMQTT MbedSmartRestMain Car_Bon_car_module ... more

This library is intended to be used with u-blox products such as the C027 or a shield with u-blox cellular and GPS modules like the cellular and positioning shield from Embedded Artist.

For 2G/GSM and 3G/UMTS you need to:

  • have a SIM card and know its PIN number
  • need to know you network operators APN setting These setting should be passed to the connect or init and join functions. You can also extend the APN database in MDMAPN.h.

For CDMA products you need to make sure that you have provisioned and activated the modem with either Sprint or Verizon.

GPS.cpp@7:9aa830f5811e, 2013-11-09 (annotated)

Committer:
mazgch
Date:
Sat Nov 09 13:31:01 2013 +0000
Revision:
7:9aa830f5811e
Parent:
6:775aef3f1d1f
Child:
9:e7a5959ffae1
fix parsing problems in pipe

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 2:b6012cd91657 4
mazgch 2:b6012cd91657 5 int GPSParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
mazgch 2:b6012cd91657 6 {
mazgch 2:b6012cd91657 7 int unkn = 0;
mazgch 2:b6012cd91657 8 int sz = pipe->size();
mazgch 2:b6012cd91657 9 if (len > sz)
mazgch 2:b6012cd91657 10 len = sz;
mazgch 2:b6012cd91657 11 while (len > 0)
mazgch 2:b6012cd91657 12 {
mazgch 2:b6012cd91657 13 // NMEA protocol
mazgch 2:b6012cd91657 14 int nmea = _parseNmea(pipe,len);
mazgch 2:b6012cd91657 15 if ((nmea != NOT_FOUND) && (unkn > 0)) return unkn;
mazgch 2:b6012cd91657 16 if (nmea == WAIT) return WAIT;
mazgch 2:b6012cd91657 17 if (nmea > 0) return NMEA | pipe->get(buf,nmea);
mazgch 2:b6012cd91657 18 // UBX protocol
mazgch 2:b6012cd91657 19 int ubx = _parseUbx(pipe,len);
mazgch 2:b6012cd91657 20 if ((ubx != NOT_FOUND) && (unkn > 0)) return unkn;
mazgch 2:b6012cd91657 21 if (ubx == WAIT) return WAIT;
mazgch 2:b6012cd91657 22 if (ubx > 0) return UBX | pipe->get(buf,ubx);
mazgch 2:b6012cd91657 23 // UNKNOWN
mazgch 2:b6012cd91657 24 *buf++ = pipe->getc();
mazgch 2:b6012cd91657 25 unkn ++;
mazgch 2:b6012cd91657 26 len--;
mazgch 2:b6012cd91657 27 }
mazgch 2:b6012cd91657 28 if (unkn != NOT_FOUND) return unkn;
mazgch 2:b6012cd91657 29 return WAIT;
mazgch 2:b6012cd91657 30 }
mazgch 2:b6012cd91657 31
mazgch 2:b6012cd91657 32 int GPSParser::_parseNmea(Pipe<char>* pipe, int len)
mazgch 2:b6012cd91657 33 {
mazgch 7:9aa830f5811e 34 int o = 0;
mazgch 7:9aa830f5811e 35 int c = 0;
mazgch 7:9aa830f5811e 36 char ch;
mazgch 2:b6012cd91657 37 pipe->start();
mazgch 7:9aa830f5811e 38 if (++o > len) return WAIT;
mazgch 2:b6012cd91657 39 if ('$' != pipe->next()) return NOT_FOUND;
mazgch 4:c959dd4c5fe8 40 // this needs to be extended by crc checking
mazgch 2:b6012cd91657 41 for (;;)
mazgch 2:b6012cd91657 42 {
mazgch 7:9aa830f5811e 43 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 44 ch = pipe->next();
mazgch 7:9aa830f5811e 45 if ('*' == ch) break; // crc delimiter
mazgch 7:9aa830f5811e 46 if (!isprint(ch)) return NOT_FOUND;
mazgch 7:9aa830f5811e 47 c ^= ch;
mazgch 2:b6012cd91657 48 }
mazgch 7:9aa830f5811e 49 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 50 ch = toHex[(c >> 4) & 0xF]; // high nibble
mazgch 7:9aa830f5811e 51 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 52 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 53 ch = toHex[(c >> 0) & 0xF]; // low nibble
mazgch 7:9aa830f5811e 54 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 55 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 56 if ('\r' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 57 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 58 if ('\n' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 59 return o;
mazgch 2:b6012cd91657 60 }
mazgch 2:b6012cd91657 61
mazgch 2:b6012cd91657 62 int GPSParser::_parseUbx(Pipe<char>* pipe, int l)
mazgch 2:b6012cd91657 63 {
mazgch 2:b6012cd91657 64 int o = 0;
mazgch 2:b6012cd91657 65 pipe->start();
mazgch 2:b6012cd91657 66 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 67 if ('\xB5' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 68 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 69 if ('\x62' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 70 o += 4;
mazgch 2:b6012cd91657 71 if (o > l) return WAIT;
mazgch 2:b6012cd91657 72 int i,j,ca,cb;
mazgch 2:b6012cd91657 73 i = pipe->next(); ca = i; cb = ca; // cls
mazgch 2:b6012cd91657 74 i = pipe->next(); ca += i; cb += ca; // id
mazgch 2:b6012cd91657 75 i = pipe->next(); ca += i; cb += ca; // len_lsb
mazgch 2:b6012cd91657 76 j = pipe->next(); ca += j; cb += ca; // len_msb
mazgch 2:b6012cd91657 77 j = i + (j << 8);
mazgch 2:b6012cd91657 78 while (j--)
mazgch 2:b6012cd91657 79 {
mazgch 2:b6012cd91657 80 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 81 i = pipe->next();
mazgch 2:b6012cd91657 82 ca += i;
mazgch 2:b6012cd91657 83 cb += ca;
mazgch 2:b6012cd91657 84 }
mazgch 2:b6012cd91657 85 ca &= 0xFF; cb &= 0xFF;
mazgch 2:b6012cd91657 86 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 87 if (ca != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 88 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 89 if (cb != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 90 return o;
mazgch 2:b6012cd91657 91 }
mazgch 2:b6012cd91657 92
mazgch 4:c959dd4c5fe8 93 int GPSParser::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 94 {
mazgch 4:c959dd4c5fe8 95 return _send(buf, len);
mazgch 4:c959dd4c5fe8 96 }
mazgch 4:c959dd4c5fe8 97
mazgch 3:c7cd4887560d 98 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 99 {
mazgch 3:c7cd4887560d 100 char head[1] = { '$' };
mazgch 3:c7cd4887560d 101 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 102 int i;
mazgch 3:c7cd4887560d 103 int crc = 0;
mazgch 3:c7cd4887560d 104 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 105 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 106 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 107 i += _send(buf, len);
mazgch 3:c7cd4887560d 108 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 109 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 110 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 111 return i;
mazgch 2:b6012cd91657 112 }
mazgch 2:b6012cd91657 113
mazgch 3:c7cd4887560d 114 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 2:b6012cd91657 115 {
mazgch 3:c7cd4887560d 116 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 117 char crc[2];
mazgch 3:c7cd4887560d 118 int i;
mazgch 3:c7cd4887560d 119 int ca = 0;
mazgch 3:c7cd4887560d 120 int cb = 0;
mazgch 3:c7cd4887560d 121 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 122 {
mazgch 3:c7cd4887560d 123 ca += head[i];
mazgch 3:c7cd4887560d 124 cb += ca;
mazgch 2:b6012cd91657 125 }
mazgch 3:c7cd4887560d 126 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 127 {
mazgch 3:c7cd4887560d 128 ca += ((char*)buf)[i];
mazgch 3:c7cd4887560d 129 cb += ca;
mazgch 3:c7cd4887560d 130 }
mazgch 4:c959dd4c5fe8 131 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 132 i += _send(buf, len);
mazgch 3:c7cd4887560d 133 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 134 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 135 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 136 return i;
mazgch 2:b6012cd91657 137 }
mazgch 2:b6012cd91657 138
mazgch 2:b6012cd91657 139 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 140 {
mazgch 2:b6012cd91657 141 // find the start
mazgch 2:b6012cd91657 142 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 143 {
mazgch 2:b6012cd91657 144 if (*start == ',')
mazgch 2:b6012cd91657 145 ix --;
mazgch 2:b6012cd91657 146 }
mazgch 2:b6012cd91657 147 // found and check bounds
mazgch 2:b6012cd91657 148 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 149 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 150 return start;
mazgch 2:b6012cd91657 151 else
mazgch 2:b6012cd91657 152 return NULL;
mazgch 2:b6012cd91657 153 }
mazgch 2:b6012cd91657 154
mazgch 2:b6012cd91657 155 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
mazgch 2:b6012cd91657 156 {
mazgch 2:b6012cd91657 157 char* end = &buf[len];
mazgch 2:b6012cd91657 158 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 159 // find the start
mazgch 2:b6012cd91657 160 if (!pos)
mazgch 2:b6012cd91657 161 return false;
mazgch 2:b6012cd91657 162 val = strtod(pos, &end);
mazgch 2:b6012cd91657 163 // restore the last character
mazgch 2:b6012cd91657 164 return (end > pos);
mazgch 2:b6012cd91657 165 }
mazgch 2:b6012cd91657 166
mazgch 2:b6012cd91657 167 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
mazgch 2:b6012cd91657 168 {
mazgch 2:b6012cd91657 169 char* end = &buf[len];
mazgch 2:b6012cd91657 170 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 171 // find the start
mazgch 2:b6012cd91657 172 if (!pos)
mazgch 2:b6012cd91657 173 return false;
mazgch 2:b6012cd91657 174 val = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 175 return (end > pos);
mazgch 2:b6012cd91657 176 }
mazgch 2:b6012cd91657 177
mazgch 2:b6012cd91657 178 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 179 {
mazgch 2:b6012cd91657 180 const char* end = &buf[len];
mazgch 2:b6012cd91657 181 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 182 // find the start
mazgch 2:b6012cd91657 183 if (!pos)
mazgch 2:b6012cd91657 184 return false;
mazgch 2:b6012cd91657 185 // skip leading spaces
mazgch 2:b6012cd91657 186 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 187 pos++;
mazgch 2:b6012cd91657 188 // check bound
mazgch 2:b6012cd91657 189 if ((pos < end) &&
mazgch 2:b6012cd91657 190 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 191 {
mazgch 2:b6012cd91657 192 val = *pos;
mazgch 2:b6012cd91657 193 return true;
mazgch 2:b6012cd91657 194 }
mazgch 2:b6012cd91657 195 return false;
mazgch 2:b6012cd91657 196 }
mazgch 2:b6012cd91657 197
mazgch 2:b6012cd91657 198 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 199
mazgch 2:b6012cd91657 200 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 201 // Serial Implementation
mazgch 2:b6012cd91657 202 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 203
mazgch 2:b6012cd91657 204 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/) :
mazgch 2:b6012cd91657 205 Serial(tx, rx, "gps"), _pipe(256)
mazgch 2:b6012cd91657 206 {
mazgch 2:b6012cd91657 207 attach(this, &GPSSerial::serialRxIrq, RxIrq);
mazgch 2:b6012cd91657 208 baud(baudrate);
mazgch 2:b6012cd91657 209 }
mazgch 2:b6012cd91657 210
mazgch 2:b6012cd91657 211 GPSSerial::~GPSSerial(void)
mazgch 2:b6012cd91657 212 {
mazgch 2:b6012cd91657 213 attach(NULL, RxIrq);
mazgch 2:b6012cd91657 214 }
mazgch 2:b6012cd91657 215
mazgch 2:b6012cd91657 216 void GPSSerial::serialRxIrq(void)
mazgch 2:b6012cd91657 217 {
mazgch 2:b6012cd91657 218 while (serial_readable(&_serial))
mazgch 2:b6012cd91657 219 _pipe.putc(serial_getc(&_serial));
mazgch 2:b6012cd91657 220 }
mazgch 2:b6012cd91657 221
mazgch 2:b6012cd91657 222 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 223 {
mazgch 2:b6012cd91657 224 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 225 }
mazgch 2:b6012cd91657 226
mazgch 3:c7cd4887560d 227 char GPSSerial::next(void)
mazgch 3:c7cd4887560d 228 {
mazgch 3:c7cd4887560d 229 return _pipe.next();
mazgch 3:c7cd4887560d 230 }
mazgch 3:c7cd4887560d 231
mazgch 4:c959dd4c5fe8 232 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 233 {
mazgch 3:c7cd4887560d 234 for (int i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 235 putc(((char*)buf)[i]);
mazgch 3:c7cd4887560d 236 return len;
mazgch 3:c7cd4887560d 237 }
mazgch 3:c7cd4887560d 238
mazgch 2:b6012cd91657 239 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 240 // I2C Implementation
mazgch 2:b6012cd91657 241 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 242
mazgch 2:b6012cd91657 243 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/) :
mazgch 2:b6012cd91657 244 I2C(sda,scl),
mazgch 2:b6012cd91657 245 _pipe(256)
mazgch 2:b6012cd91657 246 {
mazgch 2:b6012cd91657 247 found = false;
mazgch 2:b6012cd91657 248 }
mazgch 2:b6012cd91657 249
mazgch 2:b6012cd91657 250 bool GPSI2C::detect(void)
mazgch 2:b6012cd91657 251 {
mazgch 2:b6012cd91657 252 if (!found)
mazgch 2:b6012cd91657 253 {
mazgch 2:b6012cd91657 254 int w = I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 255 if (w == 0)
mazgch 2:b6012cd91657 256 found = true;
mazgch 2:b6012cd91657 257 }
mazgch 2:b6012cd91657 258 return found;
mazgch 2:b6012cd91657 259 }
mazgch 2:b6012cd91657 260
mazgch 2:b6012cd91657 261 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 262 {
mazgch 6:775aef3f1d1f 263 // fill the pipe
mazgch 6:775aef3f1d1f 264 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 265 if (sz)
mazgch 6:775aef3f1d1f 266 sz = _get(buf, sz);
mazgch 2:b6012cd91657 267 if (sz)
mazgch 2:b6012cd91657 268 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 269 // now parse it
mazgch 2:b6012cd91657 270 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 271 }
mazgch 2:b6012cd91657 272
mazgch 4:c959dd4c5fe8 273 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 274 {
mazgch 4:c959dd4c5fe8 275 int sent = 0;
mazgch 4:c959dd4c5fe8 276 if (len)
mazgch 4:c959dd4c5fe8 277 {
mazgch 4:c959dd4c5fe8 278 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 4:c959dd4c5fe8 279 sent = _send(buf, len);
mazgch 4:c959dd4c5fe8 280 found = len == sent;
mazgch 4:c959dd4c5fe8 281 stop();
mazgch 4:c959dd4c5fe8 282 }
mazgch 4:c959dd4c5fe8 283 return sent;
mazgch 4:c959dd4c5fe8 284 }
mazgch 4:c959dd4c5fe8 285
mazgch 3:c7cd4887560d 286 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 287 {
mazgch 3:c7cd4887560d 288 int sent = 0;
mazgch 3:c7cd4887560d 289 if (len)
mazgch 3:c7cd4887560d 290 {
mazgch 3:c7cd4887560d 291 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 3:c7cd4887560d 292 sent = GPSParser::sendNmea(buf, len);
mazgch 3:c7cd4887560d 293 found = len == sent;
mazgch 3:c7cd4887560d 294 stop();
mazgch 3:c7cd4887560d 295 }
mazgch 3:c7cd4887560d 296 return sent;
mazgch 3:c7cd4887560d 297 }
mazgch 3:c7cd4887560d 298
mazgch 3:c7cd4887560d 299 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 300 {
mazgch 3:c7cd4887560d 301 int sent = 0;
mazgch 3:c7cd4887560d 302 if (len)
mazgch 3:c7cd4887560d 303 {
mazgch 3:c7cd4887560d 304 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 3:c7cd4887560d 305 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 3:c7cd4887560d 306 found = (len == sent);
mazgch 3:c7cd4887560d 307 stop();
mazgch 3:c7cd4887560d 308 }
mazgch 3:c7cd4887560d 309 return sent;
mazgch 3:c7cd4887560d 310 }
mazgch 3:c7cd4887560d 311
mazgch 2:b6012cd91657 312 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 313 {
mazgch 3:c7cd4887560d 314 int read = 0;
mazgch 2:b6012cd91657 315 unsigned char sz[2];
mazgch 2:b6012cd91657 316 if (!I2C::write(GPSADR,&REGLEN,sizeof(REGLEN),true) &&
mazgch 2:b6012cd91657 317 !I2C::read(GPSADR,(char*)sz,sizeof(sz),true))
mazgch 2:b6012cd91657 318 {
mazgch 2:b6012cd91657 319 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 320 if (size > len)
mazgch 2:b6012cd91657 321 size = len;
mazgch 2:b6012cd91657 322 if (size > 0)
mazgch 3:c7cd4887560d 323 read = !I2C::read(GPSADR,buf,size, true) ? size : 0;
mazgch 3:c7cd4887560d 324 stop();
mazgch 3:c7cd4887560d 325 found = read = size;
mazgch 2:b6012cd91657 326 }
mazgch 2:b6012cd91657 327 else
mazgch 2:b6012cd91657 328 found = false;
mazgch 2:b6012cd91657 329 I2C::stop();
mazgch 3:c7cd4887560d 330 return read;
mazgch 2:b6012cd91657 331 }
mazgch 2:b6012cd91657 332
mazgch 3:c7cd4887560d 333 char GPSI2C::next(void)
mazgch 3:c7cd4887560d 334 {
mazgch 3:c7cd4887560d 335 return _pipe.next();
mazgch 3:c7cd4887560d 336 }
mazgch 3:c7cd4887560d 337
mazgch 4:c959dd4c5fe8 338 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 339 {
mazgch 3:c7cd4887560d 340 return !I2C::write(GPSADR,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 341 }
mazgch 2:b6012cd91657 342
mazgch 2:b6012cd91657 343 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 344 const char GPSI2C::REGSTREAM = 0xFF;