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@9:e7a5959ffae1, 2013-11-10 (annotated)

Committer:
mazgch
Date:
Sun Nov 10 16:39:42 2013 +0000
Revision:
9:e7a5959ffae1
Parent:
7:9aa830f5811e
Child:
10:3f1c13a8763d
update support library (tx pipe)

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 3:c7cd4887560d 122 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
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 3:c7cd4887560d 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 2:b6012cd91657 206 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 207
mazgch 2:b6012cd91657 208 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 209 // Serial Implementation
mazgch 2:b6012cd91657 210 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 211
mazgch 9:e7a5959ffae1 212 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 213 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 9:e7a5959ffae1 214 SerialPipe(tx, rx, rxSize, txSize, "gps")
mazgch 2:b6012cd91657 215 {
mazgch 2:b6012cd91657 216 baud(baudrate);
mazgch 2:b6012cd91657 217 }
mazgch 2:b6012cd91657 218
mazgch 2:b6012cd91657 219 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 220 {
mazgch 9:e7a5959ffae1 221 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 222 }
mazgch 2:b6012cd91657 223
mazgch 3:c7cd4887560d 224 char GPSSerial::next(void)
mazgch 3:c7cd4887560d 225 {
mazgch 9:e7a5959ffae1 226 return _pipeRx.next();
mazgch 3:c7cd4887560d 227 }
mazgch 3:c7cd4887560d 228
mazgch 4:c959dd4c5fe8 229 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 230 {
mazgch 9:e7a5959ffae1 231 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 232 }
mazgch 3:c7cd4887560d 233
mazgch 2:b6012cd91657 234 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 235 // I2C Implementation
mazgch 2:b6012cd91657 236 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 237
mazgch 9:e7a5959ffae1 238 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 9:e7a5959ffae1 239 int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 240 I2C(sda,scl),
mazgch 9:e7a5959ffae1 241 _pipe(rxSize)
mazgch 2:b6012cd91657 242 {
mazgch 2:b6012cd91657 243 found = false;
mazgch 2:b6012cd91657 244 }
mazgch 2:b6012cd91657 245
mazgch 2:b6012cd91657 246 bool GPSI2C::detect(void)
mazgch 2:b6012cd91657 247 {
mazgch 2:b6012cd91657 248 if (!found)
mazgch 2:b6012cd91657 249 {
mazgch 2:b6012cd91657 250 int w = I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 251 if (w == 0)
mazgch 2:b6012cd91657 252 found = true;
mazgch 2:b6012cd91657 253 }
mazgch 2:b6012cd91657 254 return found;
mazgch 2:b6012cd91657 255 }
mazgch 2:b6012cd91657 256
mazgch 2:b6012cd91657 257 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 258 {
mazgch 6:775aef3f1d1f 259 // fill the pipe
mazgch 6:775aef3f1d1f 260 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 261 if (sz)
mazgch 6:775aef3f1d1f 262 sz = _get(buf, sz);
mazgch 2:b6012cd91657 263 if (sz)
mazgch 2:b6012cd91657 264 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 265 // now parse it
mazgch 2:b6012cd91657 266 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 267 }
mazgch 2:b6012cd91657 268
mazgch 4:c959dd4c5fe8 269 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 270 {
mazgch 4:c959dd4c5fe8 271 int sent = 0;
mazgch 4:c959dd4c5fe8 272 if (len)
mazgch 4:c959dd4c5fe8 273 {
mazgch 4:c959dd4c5fe8 274 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 4:c959dd4c5fe8 275 sent = _send(buf, len);
mazgch 4:c959dd4c5fe8 276 found = len == sent;
mazgch 4:c959dd4c5fe8 277 stop();
mazgch 4:c959dd4c5fe8 278 }
mazgch 4:c959dd4c5fe8 279 return sent;
mazgch 4:c959dd4c5fe8 280 }
mazgch 4:c959dd4c5fe8 281
mazgch 3:c7cd4887560d 282 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 283 {
mazgch 3:c7cd4887560d 284 int sent = 0;
mazgch 3:c7cd4887560d 285 if (len)
mazgch 3:c7cd4887560d 286 {
mazgch 3:c7cd4887560d 287 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 3:c7cd4887560d 288 sent = GPSParser::sendNmea(buf, len);
mazgch 3:c7cd4887560d 289 found = len == sent;
mazgch 3:c7cd4887560d 290 stop();
mazgch 3:c7cd4887560d 291 }
mazgch 3:c7cd4887560d 292 return sent;
mazgch 3:c7cd4887560d 293 }
mazgch 3:c7cd4887560d 294
mazgch 3:c7cd4887560d 295 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 296 {
mazgch 3:c7cd4887560d 297 int sent = 0;
mazgch 3:c7cd4887560d 298 if (len)
mazgch 3:c7cd4887560d 299 {
mazgch 3:c7cd4887560d 300 if (!I2C::write(GPSADR,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 3:c7cd4887560d 301 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 3:c7cd4887560d 302 found = (len == sent);
mazgch 3:c7cd4887560d 303 stop();
mazgch 3:c7cd4887560d 304 }
mazgch 3:c7cd4887560d 305 return sent;
mazgch 3:c7cd4887560d 306 }
mazgch 3:c7cd4887560d 307
mazgch 2:b6012cd91657 308 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 309 {
mazgch 3:c7cd4887560d 310 int read = 0;
mazgch 2:b6012cd91657 311 unsigned char sz[2];
mazgch 2:b6012cd91657 312 if (!I2C::write(GPSADR,&REGLEN,sizeof(REGLEN),true) &&
mazgch 2:b6012cd91657 313 !I2C::read(GPSADR,(char*)sz,sizeof(sz),true))
mazgch 2:b6012cd91657 314 {
mazgch 2:b6012cd91657 315 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 316 if (size > len)
mazgch 2:b6012cd91657 317 size = len;
mazgch 2:b6012cd91657 318 if (size > 0)
mazgch 3:c7cd4887560d 319 read = !I2C::read(GPSADR,buf,size, true) ? size : 0;
mazgch 3:c7cd4887560d 320 stop();
mazgch 3:c7cd4887560d 321 found = read = size;
mazgch 2:b6012cd91657 322 }
mazgch 2:b6012cd91657 323 else
mazgch 2:b6012cd91657 324 found = false;
mazgch 2:b6012cd91657 325 I2C::stop();
mazgch 3:c7cd4887560d 326 return read;
mazgch 2:b6012cd91657 327 }
mazgch 2:b6012cd91657 328
mazgch 3:c7cd4887560d 329 char GPSI2C::next(void)
mazgch 3:c7cd4887560d 330 {
mazgch 3:c7cd4887560d 331 return _pipe.next();
mazgch 3:c7cd4887560d 332 }
mazgch 3:c7cd4887560d 333
mazgch 4:c959dd4c5fe8 334 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 335 {
mazgch 3:c7cd4887560d 336 return !I2C::write(GPSADR,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 337 }
mazgch 2:b6012cd91657 338
mazgch 2:b6012cd91657 339 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 340 const char GPSI2C::REGSTREAM = 0xFF;