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@3:c7cd4887560d, 2013-10-25 (annotated)

Committer:
mazgch
Date:
Fri Oct 25 09:45:55 2013 +0000
Revision:
3:c7cd4887560d
Parent:
2:b6012cd91657
Child:
4:c959dd4c5fe8
added sending of msgs

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