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@18:e5697801df29, 2014-03-14 (annotated)

Committer:
mazgch
Date:
Fri Mar 14 13:07:48 2014 +0000
Revision:
18:e5697801df29
Parent:
15:5eda64e5b9d1
Child:
19:2b5d097ca15d
Child:
20:535ef78655df
extend Api for GPS and GNSS

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 9:e7a5959ffae1 9 int fr = pipe->free();
mazgch 2:b6012cd91657 10 if (len > sz)
mazgch 2:b6012cd91657 11 len = sz;
mazgch 2:b6012cd91657 12 while (len > 0)
mazgch 2:b6012cd91657 13 {
mazgch 2:b6012cd91657 14 // NMEA protocol
mazgch 2:b6012cd91657 15 int nmea = _parseNmea(pipe,len);
mazgch 9:e7a5959ffae1 16 if ((nmea != NOT_FOUND) && (unkn > 0))
mazgch 9:e7a5959ffae1 17 return unkn;
mazgch 9:e7a5959ffae1 18 if (nmea == WAIT && fr)
mazgch 9:e7a5959ffae1 19 return WAIT;
mazgch 9:e7a5959ffae1 20 if (nmea > 0)
mazgch 9:e7a5959ffae1 21 return NMEA | pipe->get(buf,nmea);
mazgch 2:b6012cd91657 22 // UBX protocol
mazgch 2:b6012cd91657 23 int ubx = _parseUbx(pipe,len);
mazgch 9:e7a5959ffae1 24 if ((ubx != NOT_FOUND) && (unkn > 0))
mazgch 9:e7a5959ffae1 25 return unkn;
mazgch 9:e7a5959ffae1 26 if (ubx == WAIT && fr)
mazgch 9:e7a5959ffae1 27 return WAIT;
mazgch 9:e7a5959ffae1 28 if (ubx > 0)
mazgch 9:e7a5959ffae1 29 return UBX | pipe->get(buf,ubx);
mazgch 2:b6012cd91657 30 // UNKNOWN
mazgch 2:b6012cd91657 31 *buf++ = pipe->getc();
mazgch 2:b6012cd91657 32 unkn ++;
mazgch 2:b6012cd91657 33 len--;
mazgch 2:b6012cd91657 34 }
mazgch 9:e7a5959ffae1 35 if (unkn != NOT_FOUND)
mazgch 9:e7a5959ffae1 36 return unkn;
mazgch 2:b6012cd91657 37 return WAIT;
mazgch 2:b6012cd91657 38 }
mazgch 2:b6012cd91657 39
mazgch 2:b6012cd91657 40 int GPSParser::_parseNmea(Pipe<char>* pipe, int len)
mazgch 2:b6012cd91657 41 {
mazgch 7:9aa830f5811e 42 int o = 0;
mazgch 7:9aa830f5811e 43 int c = 0;
mazgch 7:9aa830f5811e 44 char ch;
mazgch 2:b6012cd91657 45 pipe->start();
mazgch 7:9aa830f5811e 46 if (++o > len) return WAIT;
mazgch 2:b6012cd91657 47 if ('$' != pipe->next()) return NOT_FOUND;
mazgch 4:c959dd4c5fe8 48 // this needs to be extended by crc checking
mazgch 2:b6012cd91657 49 for (;;)
mazgch 2:b6012cd91657 50 {
mazgch 7:9aa830f5811e 51 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 52 ch = pipe->next();
mazgch 7:9aa830f5811e 53 if ('*' == ch) break; // crc delimiter
mazgch 7:9aa830f5811e 54 if (!isprint(ch)) return NOT_FOUND;
mazgch 7:9aa830f5811e 55 c ^= ch;
mazgch 2:b6012cd91657 56 }
mazgch 7:9aa830f5811e 57 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 58 ch = toHex[(c >> 4) & 0xF]; // high nibble
mazgch 7:9aa830f5811e 59 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 60 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 61 ch = toHex[(c >> 0) & 0xF]; // low nibble
mazgch 7:9aa830f5811e 62 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 63 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 64 if ('\r' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 65 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 66 if ('\n' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 67 return o;
mazgch 2:b6012cd91657 68 }
mazgch 2:b6012cd91657 69
mazgch 2:b6012cd91657 70 int GPSParser::_parseUbx(Pipe<char>* pipe, int l)
mazgch 2:b6012cd91657 71 {
mazgch 2:b6012cd91657 72 int o = 0;
mazgch 2:b6012cd91657 73 pipe->start();
mazgch 2:b6012cd91657 74 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 75 if ('\xB5' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 76 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 77 if ('\x62' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 78 o += 4;
mazgch 2:b6012cd91657 79 if (o > l) return WAIT;
mazgch 2:b6012cd91657 80 int i,j,ca,cb;
mazgch 2:b6012cd91657 81 i = pipe->next(); ca = i; cb = ca; // cls
mazgch 2:b6012cd91657 82 i = pipe->next(); ca += i; cb += ca; // id
mazgch 2:b6012cd91657 83 i = pipe->next(); ca += i; cb += ca; // len_lsb
mazgch 2:b6012cd91657 84 j = pipe->next(); ca += j; cb += ca; // len_msb
mazgch 2:b6012cd91657 85 j = i + (j << 8);
mazgch 2:b6012cd91657 86 while (j--)
mazgch 2:b6012cd91657 87 {
mazgch 2:b6012cd91657 88 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 89 i = pipe->next();
mazgch 2:b6012cd91657 90 ca += i;
mazgch 2:b6012cd91657 91 cb += ca;
mazgch 2:b6012cd91657 92 }
mazgch 2:b6012cd91657 93 ca &= 0xFF; cb &= 0xFF;
mazgch 2:b6012cd91657 94 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 95 if (ca != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 96 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 97 if (cb != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 98 return o;
mazgch 2:b6012cd91657 99 }
mazgch 2:b6012cd91657 100
mazgch 4:c959dd4c5fe8 101 int GPSParser::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 102 {
mazgch 4:c959dd4c5fe8 103 return _send(buf, len);
mazgch 4:c959dd4c5fe8 104 }
mazgch 4:c959dd4c5fe8 105
mazgch 3:c7cd4887560d 106 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 107 {
mazgch 3:c7cd4887560d 108 char head[1] = { '$' };
mazgch 3:c7cd4887560d 109 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 110 int i;
mazgch 3:c7cd4887560d 111 int crc = 0;
mazgch 3:c7cd4887560d 112 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 113 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 114 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 115 i += _send(buf, len);
mazgch 3:c7cd4887560d 116 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 117 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 118 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 119 return i;
mazgch 2:b6012cd91657 120 }
mazgch 2:b6012cd91657 121
mazgch 11:b084552b03fe 122 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
mazgch 2:b6012cd91657 123 {
mazgch 3:c7cd4887560d 124 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 125 char crc[2];
mazgch 3:c7cd4887560d 126 int i;
mazgch 3:c7cd4887560d 127 int ca = 0;
mazgch 3:c7cd4887560d 128 int cb = 0;
mazgch 3:c7cd4887560d 129 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 130 {
mazgch 3:c7cd4887560d 131 ca += head[i];
mazgch 3:c7cd4887560d 132 cb += ca;
mazgch 2:b6012cd91657 133 }
mazgch 3:c7cd4887560d 134 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 135 {
mazgch 3:c7cd4887560d 136 ca += ((char*)buf)[i];
mazgch 11:b084552b03fe 137 cb += ca;
mazgch 3:c7cd4887560d 138 }
mazgch 4:c959dd4c5fe8 139 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 140 i += _send(buf, len);
mazgch 3:c7cd4887560d 141 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 142 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 143 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 144 return i;
mazgch 2:b6012cd91657 145 }
mazgch 2:b6012cd91657 146
mazgch 2:b6012cd91657 147 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 148 {
mazgch 2:b6012cd91657 149 // find the start
mazgch 2:b6012cd91657 150 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 151 {
mazgch 2:b6012cd91657 152 if (*start == ',')
mazgch 2:b6012cd91657 153 ix --;
mazgch 2:b6012cd91657 154 }
mazgch 2:b6012cd91657 155 // found and check bounds
mazgch 2:b6012cd91657 156 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 157 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 158 return start;
mazgch 2:b6012cd91657 159 else
mazgch 2:b6012cd91657 160 return NULL;
mazgch 2:b6012cd91657 161 }
mazgch 2:b6012cd91657 162
mazgch 2:b6012cd91657 163 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
mazgch 2:b6012cd91657 164 {
mazgch 2:b6012cd91657 165 char* end = &buf[len];
mazgch 2:b6012cd91657 166 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 167 // find the start
mazgch 2:b6012cd91657 168 if (!pos)
mazgch 2:b6012cd91657 169 return false;
mazgch 2:b6012cd91657 170 val = strtod(pos, &end);
mazgch 2:b6012cd91657 171 // restore the last character
mazgch 2:b6012cd91657 172 return (end > pos);
mazgch 2:b6012cd91657 173 }
mazgch 2:b6012cd91657 174
mazgch 2:b6012cd91657 175 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
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 = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 183 return (end > pos);
mazgch 2:b6012cd91657 184 }
mazgch 2:b6012cd91657 185
mazgch 2:b6012cd91657 186 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 187 {
mazgch 2:b6012cd91657 188 const char* end = &buf[len];
mazgch 2:b6012cd91657 189 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 190 // find the start
mazgch 2:b6012cd91657 191 if (!pos)
mazgch 2:b6012cd91657 192 return false;
mazgch 2:b6012cd91657 193 // skip leading spaces
mazgch 2:b6012cd91657 194 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 195 pos++;
mazgch 2:b6012cd91657 196 // check bound
mazgch 2:b6012cd91657 197 if ((pos < end) &&
mazgch 2:b6012cd91657 198 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 199 {
mazgch 2:b6012cd91657 200 val = *pos;
mazgch 2:b6012cd91657 201 return true;
mazgch 2:b6012cd91657 202 }
mazgch 2:b6012cd91657 203 return false;
mazgch 2:b6012cd91657 204 }
mazgch 2:b6012cd91657 205
mazgch 18:e5697801df29 206 bool GPSParser::getNmeaAngle(int ix, char* buf, int len, double& d)
mazgch 18:e5697801df29 207 {
mazgch 18:e5697801df29 208 char ch;
mazgch 18:e5697801df29 209 char val;
mazgch 18:e5697801df29 210 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
mazgch 18:e5697801df29 211 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
mazgch 18:e5697801df29 212 {
mazgch 18:e5697801df29 213 val *= 0.01;
mazgch 18:e5697801df29 214 int i = (int)d;
mazgch 18:e5697801df29 215 val = (val - i) / 0.6 + i;
mazgch 18:e5697801df29 216 if (ch == 'S' || ch == 'W')
mazgch 18:e5697801df29 217 val = -val;
mazgch 18:e5697801df29 218 d = val;
mazgch 18:e5697801df29 219 return true;
mazgch 18:e5697801df29 220 }
mazgch 18:e5697801df29 221 return false;
mazgch 18:e5697801df29 222 }
mazgch 18:e5697801df29 223
mazgch 2:b6012cd91657 224 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 225
mazgch 2:b6012cd91657 226 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 227 // Serial Implementation
mazgch 2:b6012cd91657 228 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 229
mazgch 9:e7a5959ffae1 230 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 231 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 15:5eda64e5b9d1 232 SerialPipe(tx, rx, rxSize, txSize)
mazgch 2:b6012cd91657 233 {
mazgch 2:b6012cd91657 234 baud(baudrate);
mazgch 2:b6012cd91657 235 }
mazgch 2:b6012cd91657 236
mazgch 2:b6012cd91657 237 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 238 {
mazgch 9:e7a5959ffae1 239 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 240 }
mazgch 2:b6012cd91657 241
mazgch 4:c959dd4c5fe8 242 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 243 {
mazgch 9:e7a5959ffae1 244 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 245 }
mazgch 3:c7cd4887560d 246
mazgch 2:b6012cd91657 247 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 248 // I2C Implementation
mazgch 2:b6012cd91657 249 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 250
mazgch 9:e7a5959ffae1 251 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 9:e7a5959ffae1 252 int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 253 I2C(sda,scl),
mazgch 9:e7a5959ffae1 254 _pipe(rxSize)
mazgch 2:b6012cd91657 255 {
mazgch 2:b6012cd91657 256 found = false;
mazgch 2:b6012cd91657 257 }
mazgch 2:b6012cd91657 258
mazgch 2:b6012cd91657 259 bool GPSI2C::detect(void)
mazgch 2:b6012cd91657 260 {
mazgch 2:b6012cd91657 261 if (!found)
mazgch 2:b6012cd91657 262 {
mazgch 2:b6012cd91657 263 int w = I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 264 if (w == 0)
mazgch 2:b6012cd91657 265 found = true;
mazgch 2:b6012cd91657 266 }
mazgch 2:b6012cd91657 267 return found;
mazgch 2:b6012cd91657 268 }
mazgch 2:b6012cd91657 269
mazgch 2:b6012cd91657 270 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 271 {
mazgch 6:775aef3f1d1f 272 // fill the pipe
mazgch 6:775aef3f1d1f 273 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 274 if (sz)
mazgch 6:775aef3f1d1f 275 sz = _get(buf, sz);
mazgch 2:b6012cd91657 276 if (sz)
mazgch 2:b6012cd91657 277 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 278 // now parse it
mazgch 2:b6012cd91657 279 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 280 }
mazgch 2:b6012cd91657 281
mazgch 4:c959dd4c5fe8 282 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 283 {
mazgch 4:c959dd4c5fe8 284 int sent = 0;
mazgch 4:c959dd4c5fe8 285 if (len)
mazgch 4:c959dd4c5fe8 286 {
mazgch 4:c959dd4c5fe8 287 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 288 sent = send(buf, len);
mazgch 10:3f1c13a8763d 289 found = (len == sent);
mazgch 4:c959dd4c5fe8 290 stop();
mazgch 4:c959dd4c5fe8 291 }
mazgch 4:c959dd4c5fe8 292 return sent;
mazgch 4:c959dd4c5fe8 293 }
mazgch 4:c959dd4c5fe8 294
mazgch 3:c7cd4887560d 295 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 296 {
mazgch 3:c7cd4887560d 297 int sent = 0;
mazgch 11:b084552b03fe 298 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 299 sent = GPSParser::sendNmea(buf, len);
mazgch 11:b084552b03fe 300 found = (len == sent);
mazgch 11:b084552b03fe 301 stop();
mazgch 3:c7cd4887560d 302 return sent;
mazgch 3:c7cd4887560d 303 }
mazgch 3:c7cd4887560d 304
mazgch 3:c7cd4887560d 305 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 306 {
mazgch 3:c7cd4887560d 307 int sent = 0;
mazgch 11:b084552b03fe 308 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 309 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 11:b084552b03fe 310 found = (len == sent);
mazgch 15:5eda64e5b9d1 311 I2C::stop();
mazgch 3:c7cd4887560d 312 return sent;
mazgch 3:c7cd4887560d 313 }
mazgch 3:c7cd4887560d 314
mazgch 2:b6012cd91657 315 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 316 {
mazgch 3:c7cd4887560d 317 int read = 0;
mazgch 2:b6012cd91657 318 unsigned char sz[2];
mazgch 2:b6012cd91657 319 if (!I2C::write(GPSADR,&REGLEN,sizeof(REGLEN),true) &&
mazgch 2:b6012cd91657 320 !I2C::read(GPSADR,(char*)sz,sizeof(sz),true))
mazgch 2:b6012cd91657 321 {
mazgch 2:b6012cd91657 322 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 323 if (size > len)
mazgch 2:b6012cd91657 324 size = len;
mazgch 2:b6012cd91657 325 if (size > 0)
mazgch 3:c7cd4887560d 326 read = !I2C::read(GPSADR,buf,size, true) ? size : 0;
mazgch 10:3f1c13a8763d 327 found = (read == size);
mazgch 2:b6012cd91657 328 }
mazgch 2:b6012cd91657 329 else
mazgch 2:b6012cd91657 330 found = false;
mazgch 2:b6012cd91657 331 I2C::stop();
mazgch 3:c7cd4887560d 332 return read;
mazgch 2:b6012cd91657 333 }
mazgch 2:b6012cd91657 334
mazgch 4:c959dd4c5fe8 335 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 336 {
mazgch 3:c7cd4887560d 337 return !I2C::write(GPSADR,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 338 }
mazgch 2:b6012cd91657 339
mazgch 2:b6012cd91657 340 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 341 const char GPSI2C::REGSTREAM = 0xFF;