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@84:a05edb010176, 2014-06-05 (annotated)

Committer:
mazgch
Date:
Thu Jun 05 15:16:57 2014 +0000
Revision:
84:a05edb010176
Parent:
76:f7c3dd568dae
Child:
95:8282dbbe1492
added simple APN lookup table

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 #include "Relax.h"
mazgch 74:208e3e32d263 5 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 6 #include "C027_api.h"
mazgch 74:208e3e32d263 7 #endif
mazgch 74:208e3e32d263 8
mazgch 74:208e3e32d263 9 void GPSParser::powerOff(void)
mazgch 74:208e3e32d263 10 {
mazgch 74:208e3e32d263 11 // set the gps into backup mode using the command RMX-LPREQ
mazgch 74:208e3e32d263 12 struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
mazgch 74:208e3e32d263 13 sendUbx(0x02, 0x41, &msg, sizeof(msg));
mazgch 74:208e3e32d263 14 }
mazgch 2:b6012cd91657 15
mazgch 2:b6012cd91657 16 int GPSParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
mazgch 2:b6012cd91657 17 {
mazgch 2:b6012cd91657 18 int unkn = 0;
mazgch 2:b6012cd91657 19 int sz = pipe->size();
mazgch 9:e7a5959ffae1 20 int fr = pipe->free();
mazgch 2:b6012cd91657 21 if (len > sz)
mazgch 2:b6012cd91657 22 len = sz;
mazgch 2:b6012cd91657 23 while (len > 0)
mazgch 2:b6012cd91657 24 {
mazgch 2:b6012cd91657 25 // NMEA protocol
mazgch 21:c4d64830bf02 26 pipe->set(unkn);
mazgch 2:b6012cd91657 27 int nmea = _parseNmea(pipe,len);
mazgch 9:e7a5959ffae1 28 if ((nmea != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 29 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 30 if (nmea == WAIT && fr)
mazgch 9:e7a5959ffae1 31 return WAIT;
mazgch 9:e7a5959ffae1 32 if (nmea > 0)
mazgch 9:e7a5959ffae1 33 return NMEA | pipe->get(buf,nmea);
mazgch 2:b6012cd91657 34 // UBX protocol
mazgch 21:c4d64830bf02 35
mazgch 21:c4d64830bf02 36 pipe->set(unkn);
mazgch 2:b6012cd91657 37 int ubx = _parseUbx(pipe,len);
mazgch 9:e7a5959ffae1 38 if ((ubx != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 39 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 40 if (ubx == WAIT && fr)
mazgch 9:e7a5959ffae1 41 return WAIT;
mazgch 9:e7a5959ffae1 42 if (ubx > 0)
mazgch 9:e7a5959ffae1 43 return UBX | pipe->get(buf,ubx);
mazgch 21:c4d64830bf02 44
mazgch 2:b6012cd91657 45 // UNKNOWN
mazgch 2:b6012cd91657 46 unkn ++;
mazgch 2:b6012cd91657 47 len--;
mazgch 2:b6012cd91657 48 }
mazgch 21:c4d64830bf02 49 if (unkn > 0)
mazgch 31:a0bed6c1e05d 50 return UNKNOWN | pipe->get(buf,unkn);
mazgch 2:b6012cd91657 51 return WAIT;
mazgch 2:b6012cd91657 52 }
mazgch 2:b6012cd91657 53
mazgch 2:b6012cd91657 54 int GPSParser::_parseNmea(Pipe<char>* pipe, int len)
mazgch 2:b6012cd91657 55 {
mazgch 7:9aa830f5811e 56 int o = 0;
mazgch 7:9aa830f5811e 57 int c = 0;
mazgch 7:9aa830f5811e 58 char ch;
mazgch 7:9aa830f5811e 59 if (++o > len) return WAIT;
mazgch 2:b6012cd91657 60 if ('$' != pipe->next()) return NOT_FOUND;
mazgch 4:c959dd4c5fe8 61 // this needs to be extended by crc checking
mazgch 2:b6012cd91657 62 for (;;)
mazgch 2:b6012cd91657 63 {
mazgch 7:9aa830f5811e 64 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 65 ch = pipe->next();
mazgch 7:9aa830f5811e 66 if ('*' == ch) break; // crc delimiter
mazgch 7:9aa830f5811e 67 if (!isprint(ch)) return NOT_FOUND;
mazgch 7:9aa830f5811e 68 c ^= ch;
mazgch 2:b6012cd91657 69 }
mazgch 7:9aa830f5811e 70 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 71 ch = toHex[(c >> 4) & 0xF]; // high nibble
mazgch 7:9aa830f5811e 72 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 73 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 74 ch = toHex[(c >> 0) & 0xF]; // low nibble
mazgch 7:9aa830f5811e 75 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 76 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 77 if ('\r' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 78 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 79 if ('\n' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 80 return o;
mazgch 2:b6012cd91657 81 }
mazgch 2:b6012cd91657 82
mazgch 2:b6012cd91657 83 int GPSParser::_parseUbx(Pipe<char>* pipe, int l)
mazgch 2:b6012cd91657 84 {
mazgch 2:b6012cd91657 85 int o = 0;
mazgch 2:b6012cd91657 86 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 87 if ('\xB5' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 88 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 89 if ('\x62' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 90 o += 4;
mazgch 2:b6012cd91657 91 if (o > l) return WAIT;
mazgch 2:b6012cd91657 92 int i,j,ca,cb;
mazgch 2:b6012cd91657 93 i = pipe->next(); ca = i; cb = ca; // cls
mazgch 2:b6012cd91657 94 i = pipe->next(); ca += i; cb += ca; // id
mazgch 2:b6012cd91657 95 i = pipe->next(); ca += i; cb += ca; // len_lsb
mazgch 2:b6012cd91657 96 j = pipe->next(); ca += j; cb += ca; // len_msb
mazgch 2:b6012cd91657 97 j = i + (j << 8);
mazgch 2:b6012cd91657 98 while (j--)
mazgch 2:b6012cd91657 99 {
mazgch 2:b6012cd91657 100 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 101 i = pipe->next();
mazgch 2:b6012cd91657 102 ca += i;
mazgch 2:b6012cd91657 103 cb += ca;
mazgch 2:b6012cd91657 104 }
mazgch 2:b6012cd91657 105 ca &= 0xFF; cb &= 0xFF;
mazgch 2:b6012cd91657 106 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 107 if (ca != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 108 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 109 if (cb != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 110 return o;
mazgch 2:b6012cd91657 111 }
mazgch 2:b6012cd91657 112
mazgch 4:c959dd4c5fe8 113 int GPSParser::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 114 {
mazgch 4:c959dd4c5fe8 115 return _send(buf, len);
mazgch 4:c959dd4c5fe8 116 }
mazgch 4:c959dd4c5fe8 117
mazgch 3:c7cd4887560d 118 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 119 {
mazgch 3:c7cd4887560d 120 char head[1] = { '$' };
mazgch 3:c7cd4887560d 121 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 122 int i;
mazgch 3:c7cd4887560d 123 int crc = 0;
mazgch 3:c7cd4887560d 124 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 125 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 126 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 127 i += _send(buf, len);
mazgch 3:c7cd4887560d 128 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 129 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 130 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 131 return i;
mazgch 2:b6012cd91657 132 }
mazgch 2:b6012cd91657 133
mazgch 11:b084552b03fe 134 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
mazgch 2:b6012cd91657 135 {
mazgch 3:c7cd4887560d 136 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 137 char crc[2];
mazgch 3:c7cd4887560d 138 int i;
mazgch 3:c7cd4887560d 139 int ca = 0;
mazgch 3:c7cd4887560d 140 int cb = 0;
mazgch 3:c7cd4887560d 141 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 142 {
mazgch 3:c7cd4887560d 143 ca += head[i];
mazgch 3:c7cd4887560d 144 cb += ca;
mazgch 2:b6012cd91657 145 }
mazgch 3:c7cd4887560d 146 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 147 {
mazgch 3:c7cd4887560d 148 ca += ((char*)buf)[i];
mazgch 11:b084552b03fe 149 cb += ca;
mazgch 3:c7cd4887560d 150 }
mazgch 4:c959dd4c5fe8 151 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 152 i += _send(buf, len);
mazgch 3:c7cd4887560d 153 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 154 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 155 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 156 return i;
mazgch 2:b6012cd91657 157 }
mazgch 2:b6012cd91657 158
mazgch 2:b6012cd91657 159 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 160 {
mazgch 2:b6012cd91657 161 // find the start
mazgch 2:b6012cd91657 162 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 163 {
mazgch 2:b6012cd91657 164 if (*start == ',')
mazgch 2:b6012cd91657 165 ix --;
mazgch 2:b6012cd91657 166 }
mazgch 2:b6012cd91657 167 // found and check bounds
mazgch 2:b6012cd91657 168 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 169 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 170 return start;
mazgch 2:b6012cd91657 171 else
mazgch 2:b6012cd91657 172 return NULL;
mazgch 2:b6012cd91657 173 }
mazgch 2:b6012cd91657 174
mazgch 2:b6012cd91657 175 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
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 = strtod(pos, &end);
mazgch 2:b6012cd91657 183 // restore the last character
mazgch 2:b6012cd91657 184 return (end > pos);
mazgch 2:b6012cd91657 185 }
mazgch 2:b6012cd91657 186
mazgch 2:b6012cd91657 187 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
mazgch 2:b6012cd91657 188 {
mazgch 2:b6012cd91657 189 char* end = &buf[len];
mazgch 2:b6012cd91657 190 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 191 // find the start
mazgch 2:b6012cd91657 192 if (!pos)
mazgch 2:b6012cd91657 193 return false;
mazgch 2:b6012cd91657 194 val = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 195 return (end > pos);
mazgch 2:b6012cd91657 196 }
mazgch 2:b6012cd91657 197
mazgch 2:b6012cd91657 198 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 199 {
mazgch 2:b6012cd91657 200 const char* end = &buf[len];
mazgch 2:b6012cd91657 201 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 202 // find the start
mazgch 2:b6012cd91657 203 if (!pos)
mazgch 2:b6012cd91657 204 return false;
mazgch 2:b6012cd91657 205 // skip leading spaces
mazgch 2:b6012cd91657 206 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 207 pos++;
mazgch 2:b6012cd91657 208 // check bound
mazgch 2:b6012cd91657 209 if ((pos < end) &&
mazgch 2:b6012cd91657 210 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 211 {
mazgch 2:b6012cd91657 212 val = *pos;
mazgch 2:b6012cd91657 213 return true;
mazgch 2:b6012cd91657 214 }
mazgch 2:b6012cd91657 215 return false;
mazgch 2:b6012cd91657 216 }
mazgch 2:b6012cd91657 217
mazgch 20:535ef78655df 218 bool GPSParser::getNmeaAngle(int ix, char* buf, int len, double& val)
mazgch 18:e5697801df29 219 {
mazgch 18:e5697801df29 220 char ch;
mazgch 18:e5697801df29 221 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
mazgch 18:e5697801df29 222 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
mazgch 18:e5697801df29 223 {
mazgch 18:e5697801df29 224 val *= 0.01;
mazgch 20:535ef78655df 225 int i = (int)val;
mazgch 18:e5697801df29 226 val = (val - i) / 0.6 + i;
mazgch 18:e5697801df29 227 if (ch == 'S' || ch == 'W')
mazgch 18:e5697801df29 228 val = -val;
mazgch 18:e5697801df29 229 return true;
mazgch 18:e5697801df29 230 }
mazgch 18:e5697801df29 231 return false;
mazgch 18:e5697801df29 232 }
mazgch 18:e5697801df29 233
mazgch 2:b6012cd91657 234 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 235
mazgch 2:b6012cd91657 236 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 237 // Serial Implementation
mazgch 2:b6012cd91657 238 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 239
mazgch 9:e7a5959ffae1 240 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 241 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 15:5eda64e5b9d1 242 SerialPipe(tx, rx, rxSize, txSize)
mazgch 2:b6012cd91657 243 {
mazgch 2:b6012cd91657 244 baud(baudrate);
mazgch 74:208e3e32d263 245 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 246 _onboard = (tx == GPSTXD) || (rx == GPSRXD);
mazgch 74:208e3e32d263 247 if (_onboard)
mazgch 74:208e3e32d263 248 c027_gps_powerOn();
mazgch 74:208e3e32d263 249 #endif
mazgch 74:208e3e32d263 250 }
mazgch 74:208e3e32d263 251
mazgch 76:f7c3dd568dae 252 GPSSerial::~GPSSerial(void)
mazgch 76:f7c3dd568dae 253 {
mazgch 76:f7c3dd568dae 254 powerOff();
mazgch 76:f7c3dd568dae 255 #ifdef TARGET_UBLOX_C027
mazgch 76:f7c3dd568dae 256 if (_onboard)
mazgch 76:f7c3dd568dae 257 c027_gps_powerOff();
mazgch 76:f7c3dd568dae 258 #endif
mazgch 76:f7c3dd568dae 259 }
mazgch 76:f7c3dd568dae 260
mazgch 75:ce6e12067d0c 261 bool GPSSerial::init(PinName pn)
mazgch 74:208e3e32d263 262 {
mazgch 74:208e3e32d263 263 // send a byte to wakup the device again
mazgch 74:208e3e32d263 264 putc(0);
mazgch 74:208e3e32d263 265 // wait until we get some bytes
mazgch 74:208e3e32d263 266 int size = _pipeRx.size();
mazgch 74:208e3e32d263 267 int i = 30;
mazgch 74:208e3e32d263 268 while (i--) {
mazgch 74:208e3e32d263 269 RELAX_MS(10);
mazgch 74:208e3e32d263 270 if(size != _pipeRx.size())
mazgch 74:208e3e32d263 271 break;
mazgch 74:208e3e32d263 272 }
mazgch 74:208e3e32d263 273 return (i >= 0);
mazgch 2:b6012cd91657 274 }
mazgch 2:b6012cd91657 275
mazgch 2:b6012cd91657 276 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 277 {
mazgch 9:e7a5959ffae1 278 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 279 }
mazgch 2:b6012cd91657 280
mazgch 4:c959dd4c5fe8 281 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 282 {
mazgch 9:e7a5959ffae1 283 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 284 }
mazgch 3:c7cd4887560d 285
mazgch 2:b6012cd91657 286 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 287 // I2C Implementation
mazgch 2:b6012cd91657 288 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 289
mazgch 9:e7a5959ffae1 290 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 19:2b5d097ca15d 291 unsigned char i2cAdr /*=GPSADR*/, int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 292 I2C(sda,scl),
mazgch 19:2b5d097ca15d 293 _pipe(rxSize),
mazgch 19:2b5d097ca15d 294 _i2cAdr(i2cAdr)
mazgch 2:b6012cd91657 295 {
mazgch 45:ebc2fd8dcf21 296 frequency(100000);
mazgch 74:208e3e32d263 297 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 298 _onboard = (sda == GPSSDA) && (scl == GPSSCL);
mazgch 74:208e3e32d263 299 if (_onboard)
mazgch 74:208e3e32d263 300 c027_gps_powerOn();
mazgch 74:208e3e32d263 301 #endif
mazgch 2:b6012cd91657 302 }
mazgch 2:b6012cd91657 303
mazgch 76:f7c3dd568dae 304 GPSI2C::~GPSI2C(void)
mazgch 76:f7c3dd568dae 305 {
mazgch 76:f7c3dd568dae 306 powerOff();
mazgch 76:f7c3dd568dae 307 #ifdef TARGET_UBLOX_C027
mazgch 76:f7c3dd568dae 308 if (_onboard)
mazgch 76:f7c3dd568dae 309 c027_gps_powerOff();
mazgch 76:f7c3dd568dae 310 #endif
mazgch 76:f7c3dd568dae 311 }
mazgch 76:f7c3dd568dae 312
mazgch 75:ce6e12067d0c 313 bool GPSI2C::init(PinName pn)
mazgch 2:b6012cd91657 314 {
mazgch 75:ce6e12067d0c 315 if (pn != NC) {
mazgch 75:ce6e12067d0c 316 DigitalOut pin(pn, 0);
mazgch 75:ce6e12067d0c 317 wait_us(1);
mazgch 75:ce6e12067d0c 318 pin = 1;
mazgch 75:ce6e12067d0c 319 RELAX_MS(100);
mazgch 75:ce6e12067d0c 320 }
mazgch 74:208e3e32d263 321 return !I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 322 }
mazgch 2:b6012cd91657 323
mazgch 2:b6012cd91657 324 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 325 {
mazgch 6:775aef3f1d1f 326 // fill the pipe
mazgch 6:775aef3f1d1f 327 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 328 if (sz)
mazgch 6:775aef3f1d1f 329 sz = _get(buf, sz);
mazgch 2:b6012cd91657 330 if (sz)
mazgch 2:b6012cd91657 331 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 332 // now parse it
mazgch 2:b6012cd91657 333 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 334 }
mazgch 2:b6012cd91657 335
mazgch 4:c959dd4c5fe8 336 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 337 {
mazgch 4:c959dd4c5fe8 338 int sent = 0;
mazgch 4:c959dd4c5fe8 339 if (len)
mazgch 4:c959dd4c5fe8 340 {
mazgch 19:2b5d097ca15d 341 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 342 sent = send(buf, len);
mazgch 4:c959dd4c5fe8 343 stop();
mazgch 4:c959dd4c5fe8 344 }
mazgch 4:c959dd4c5fe8 345 return sent;
mazgch 4:c959dd4c5fe8 346 }
mazgch 4:c959dd4c5fe8 347
mazgch 3:c7cd4887560d 348 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 349 {
mazgch 3:c7cd4887560d 350 int sent = 0;
mazgch 19:2b5d097ca15d 351 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 352 sent = GPSParser::sendNmea(buf, len);
mazgch 11:b084552b03fe 353 stop();
mazgch 3:c7cd4887560d 354 return sent;
mazgch 3:c7cd4887560d 355 }
mazgch 3:c7cd4887560d 356
mazgch 3:c7cd4887560d 357 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 358 {
mazgch 3:c7cd4887560d 359 int sent = 0;
mazgch 19:2b5d097ca15d 360 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 361 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 15:5eda64e5b9d1 362 I2C::stop();
mazgch 3:c7cd4887560d 363 return sent;
mazgch 3:c7cd4887560d 364 }
mazgch 3:c7cd4887560d 365
mazgch 2:b6012cd91657 366 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 367 {
mazgch 3:c7cd4887560d 368 int read = 0;
mazgch 46:8ce9169e0747 369 unsigned char sz[2] = {0,0};
mazgch 19:2b5d097ca15d 370 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
mazgch 46:8ce9169e0747 371 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz)))
mazgch 2:b6012cd91657 372 {
mazgch 2:b6012cd91657 373 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 374 if (size > len)
mazgch 2:b6012cd91657 375 size = len;
mazgch 46:8ce9169e0747 376 if (size > 0)
mazgch 46:8ce9169e0747 377 {
mazgch 46:8ce9169e0747 378 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true) &&
mazgch 46:8ce9169e0747 379 !I2C::read(_i2cAdr,buf,size)) {
mazgch 46:8ce9169e0747 380 read = size;
mazgch 46:8ce9169e0747 381 }
mazgch 46:8ce9169e0747 382 }
mazgch 2:b6012cd91657 383 }
mazgch 3:c7cd4887560d 384 return read;
mazgch 2:b6012cd91657 385 }
mazgch 2:b6012cd91657 386
mazgch 4:c959dd4c5fe8 387 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 388 {
mazgch 19:2b5d097ca15d 389 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 390 }
mazgch 2:b6012cd91657 391
mazgch 2:b6012cd91657 392 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 393 const char GPSI2C::REGSTREAM = 0xFF;