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?
User | Revision | Line number | New 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,®STREAM,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,®STREAM,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,®STREAM,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,®STREAM,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,®LEN,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; |