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@100:5e8b69232ea2, 2014-07-01 (annotated)

Committer:
mazgch
Date:
Tue Jul 01 05:46:06 2014 +0000
Revision:
100:5e8b69232ea2
Parent:
95:8282dbbe1492
Child:
139:fd9fe498f142
detect more devices and fix APN test loop

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