u-blox / gnss

This class provides an API to communicate with a u-blox GNSS chip. The files here were originally part of the C027_Support library (https://developer.mbed.org/teams/ublox/code/C027_Support/ at revision 138:dafbbf31bf76) but have been separated out, primarily for use on the u-blox C030 board where the cellular interace portion of the C027_Support library will instead be provided through the new mbed Cellular API.

Dependents:   example-ublox-at-cellular-interface-ext example-low-power-sleep example-C030-out-of-box-demo example-C030-out-of-box-demo ... more

gnss.h@4:82308d600690, 2017-06-06 (annotated)

Committer:
rob.meades@u-blox.com
Date:
Tue Jun 06 21:05:08 2017 +0100
Revision:
4:82308d600690
Parent:
3:2a1cd49ead85
Child:
5:af4baf3c67f3
Correct target #defines, start pin and remove unused Doxyfile.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rob.meades@u-blox.com 1:ef70a58a6c98 1 /* mbed Microcontroller Library
rob.meades@u-blox.com 1:ef70a58a6c98 2 * Copyright (c) 2017 u-blox
rob.meades@u-blox.com 1:ef70a58a6c98 3 *
rob.meades@u-blox.com 1:ef70a58a6c98 4 * Licensed under the Apache License, Version 2.0 (the "License");
rob.meades@u-blox.com 1:ef70a58a6c98 5 * you may not use this file except in compliance with the License.
rob.meades@u-blox.com 1:ef70a58a6c98 6 * You may obtain a copy of the License at
rob.meades@u-blox.com 1:ef70a58a6c98 7 *
rob.meades@u-blox.com 1:ef70a58a6c98 8 * http://www.apache.org/licenses/LICENSE-2.0
rob.meades@u-blox.com 1:ef70a58a6c98 9 *
rob.meades@u-blox.com 1:ef70a58a6c98 10 * Unless required by applicable law or agreed to in writing, software
rob.meades@u-blox.com 1:ef70a58a6c98 11 * distributed under the License is distributed on an "AS IS" BASIS,
rob.meades@u-blox.com 1:ef70a58a6c98 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
rob.meades@u-blox.com 1:ef70a58a6c98 13 * See the License for the specific language governing permissions and
rob.meades@u-blox.com 1:ef70a58a6c98 14 * limitations under the License.
rob.meades@u-blox.com 1:ef70a58a6c98 15 */
rob.meades@u-blox.com 1:ef70a58a6c98 16
rob.meades@u-blox.com 1:ef70a58a6c98 17 #ifndef GNSS_H
rob.meades@u-blox.com 1:ef70a58a6c98 18 #define GNSS_H
rob.meades@u-blox.com 1:ef70a58a6c98 19
rob.meades@u-blox.com 1:ef70a58a6c98 20 /**
rob.meades@u-blox.com 1:ef70a58a6c98 21 * @file gnss.h
rob.meades@u-blox.com 1:ef70a58a6c98 22 * This file defines a class that communicates with a u-blox GNSS chip.
rob.meades@u-blox.com 1:ef70a58a6c98 23 */
rob.meades@u-blox.com 1:ef70a58a6c98 24
rob.meades@u-blox.com 1:ef70a58a6c98 25 #include "mbed.h"
rob.meades@u-blox.com 1:ef70a58a6c98 26 #include "pipe.h"
rob.meades@u-blox.com 1:ef70a58a6c98 27 #include "serial_pipe.h"
rob.meades@u-blox.com 1:ef70a58a6c98 28
rob.meades@u-blox.com 4:82308d600690 29 #if defined (TARGET_UBLOX_C030) || defined (TARGET_UBLOX_C027)
RobMeades 2:b10ca4aa2e5e 30 # define GNSS_IF(onboard, shield) onboard
rob.meades@u-blox.com 1:ef70a58a6c98 31 #else
RobMeades 2:b10ca4aa2e5e 32 # define GNSS_IF(onboard, shield) shield
rob.meades@u-blox.com 1:ef70a58a6c98 33 #endif
rob.meades@u-blox.com 1:ef70a58a6c98 34
rob.meades@u-blox.com 4:82308d600690 35 /** Basic GNSS parser class.
rob.meades@u-blox.com 1:ef70a58a6c98 36 */
rob.meades@u-blox.com 1:ef70a58a6c98 37 class GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 38 {
rob.meades@u-blox.com 1:ef70a58a6c98 39 public:
rob.meades@u-blox.com 4:82308d600690 40 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 41 */
rob.meades@u-blox.com 1:ef70a58a6c98 42 GnssParser();
rob.meades@u-blox.com 4:82308d600690 43 /** Destructor.
rob.meades@u-blox.com 4:82308d600690 44 */
rob.meades@u-blox.com 1:ef70a58a6c98 45 virtual ~GnssParser(void);
rob.meades@u-blox.com 1:ef70a58a6c98 46
rob.meades@u-blox.com 4:82308d600690 47 /** Power-on/wake-up the GNSS.
rob.meades@u-blox.com 1:ef70a58a6c98 48 */
rob.meades@u-blox.com 1:ef70a58a6c98 49 virtual bool init(PinName pn) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 50
rob.meades@u-blox.com 1:ef70a58a6c98 51 enum {
rob.meades@u-blox.com 1:ef70a58a6c98 52 // getLine Responses
rob.meades@u-blox.com 1:ef70a58a6c98 53 WAIT = -1, //!< wait for more incoming data (the start of a message was found, or no data available)
rob.meades@u-blox.com 1:ef70a58a6c98 54 NOT_FOUND = 0, //!< a parser concluded the the current offset of the pipe doe not contain a valid message
rob.meades@u-blox.com 1:ef70a58a6c98 55
rob.meades@u-blox.com 1:ef70a58a6c98 56 #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length
rob.meades@u-blox.com 1:ef70a58a6c98 57 #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type
rob.meades@u-blox.com 1:ef70a58a6c98 58
rob.meades@u-blox.com 1:ef70a58a6c98 59 UNKNOWN = 0x000000, //!< message type is unknown
rob.meades@u-blox.com 1:ef70a58a6c98 60 UBX = 0x100000, //!< message if of protocol NMEA
rob.meades@u-blox.com 1:ef70a58a6c98 61 NMEA = 0x200000 //!< message if of protocol UBX
rob.meades@u-blox.com 1:ef70a58a6c98 62 };
rob.meades@u-blox.com 1:ef70a58a6c98 63
rob.meades@u-blox.com 1:ef70a58a6c98 64 /** Get a line from the physical interface. This function
rob.meades@u-blox.com 4:82308d600690 65 * needs to be implemented in the inherited class.
rob.meades@u-blox.com 4:82308d600690 66 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 67 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 68 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 69 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 70 * NOT_FOUND if nothing was found
rob.meades@u-blox.com 4:82308d600690 71 */
rob.meades@u-blox.com 1:ef70a58a6c98 72 virtual int getMessage(char* buf, int len) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 73
rob.meades@u-blox.com 4:82308d600690 74 /** Send a buffer.
rob.meades@u-blox.com 4:82308d600690 75 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 76 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 77 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 78 */
rob.meades@u-blox.com 1:ef70a58a6c98 79 virtual int send(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 80
rob.meades@u-blox.com 1:ef70a58a6c98 81 /** send a NMEA message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 82 * payload and calculates and adds checksum. ($ and *XX\r\n will be added).
rob.meades@u-blox.com 4:82308d600690 83 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 84 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 85 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 86 */
rob.meades@u-blox.com 1:ef70a58a6c98 87 virtual int sendNmea(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 88
rob.meades@u-blox.com 4:82308d600690 89 /** Send a UBX message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 90 * payload and calculates and adds checksum.
rob.meades@u-blox.com 4:82308d600690 91 * @param cls the UBX class id.
rob.meades@u-blox.com 4:82308d600690 92 * @param id the UBX message id.
rob.meades@u-blox.com 4:82308d600690 93 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 94 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 95 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 96 */
rob.meades@u-blox.com 1:ef70a58a6c98 97 virtual int sendUbx(unsigned char cls, unsigned char id,
rob.meades@u-blox.com 1:ef70a58a6c98 98 const void* buf = NULL, int len = 0);
rob.meades@u-blox.com 1:ef70a58a6c98 99
rob.meades@u-blox.com 1:ef70a58a6c98 100 /** Power off the GNSS, it can be again woken up by an
rob.meades@u-blox.com 4:82308d600690 101 * edge on the serial port on the external interrupt pin.
rob.meades@u-blox.com 1:ef70a58a6c98 102 */
rob.meades@u-blox.com 1:ef70a58a6c98 103 void powerOff(void);
rob.meades@u-blox.com 1:ef70a58a6c98 104
rob.meades@u-blox.com 4:82308d600690 105 /** get the first character of a NMEA field.
rob.meades@u-blox.com 4:82308d600690 106 * @param ix the index of the field to find.
rob.meades@u-blox.com 4:82308d600690 107 * @param start the start of the buffer.
rob.meades@u-blox.com 4:82308d600690 108 * @param end the end of the buffer.
rob.meades@u-blox.com 4:82308d600690 109 * @return the pointer to the first character of the field.
rob.meades@u-blox.com 4:82308d600690 110 */
rob.meades@u-blox.com 1:ef70a58a6c98 111 static const char* findNmeaItemPos(int ix, const char* start, const char* end);
rob.meades@u-blox.com 1:ef70a58a6c98 112
rob.meades@u-blox.com 4:82308d600690 113 /** Extract a double value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 114 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 115 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 116 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 117 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 118 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 119 */
rob.meades@u-blox.com 1:ef70a58a6c98 120 static bool getNmeaItem(int ix, char* buf, int len, double& val);
rob.meades@u-blox.com 1:ef70a58a6c98 121
rob.meades@u-blox.com 4:82308d600690 122 /** Extract a interger value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 123 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 124 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 125 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 126 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 127 * @param base the numeric base to be used (e.g. 8, 10 or 16).
rob.meades@u-blox.com 4:82308d600690 128 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 129 */
rob.meades@u-blox.com 1:ef70a58a6c98 130 static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
rob.meades@u-blox.com 1:ef70a58a6c98 131
rob.meades@u-blox.com 4:82308d600690 132 /** Extract a char value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 133 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 134 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 135 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 136 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 137 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 138 */
rob.meades@u-blox.com 1:ef70a58a6c98 139 static bool getNmeaItem(int ix, char* buf, int len, char& val);
rob.meades@u-blox.com 1:ef70a58a6c98 140
rob.meades@u-blox.com 4:82308d600690 141 /** Extract a latitude/longitude value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 142 * @param ix the index of the field to extract (will extract ix and ix + 1),
rob.meades@u-blox.com 4:82308d600690 143 * @param buf the NMEA message,
rob.meades@u-blox.com 4:82308d600690 144 * @param len the size of the NMEA message,
rob.meades@u-blox.com 4:82308d600690 145 * @param val the extracted latitude or longitude,
rob.meades@u-blox.com 4:82308d600690 146 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 147 */
rob.meades@u-blox.com 1:ef70a58a6c98 148 static bool getNmeaAngle(int ix, char* buf, int len, double& val);
rob.meades@u-blox.com 1:ef70a58a6c98 149
rob.meades@u-blox.com 1:ef70a58a6c98 150 protected:
rob.meades@u-blox.com 1:ef70a58a6c98 151 /** Power on the GNSS module.
rob.meades@u-blox.com 1:ef70a58a6c98 152 */
rob.meades@u-blox.com 1:ef70a58a6c98 153 void _powerOn(void);
rob.meades@u-blox.com 1:ef70a58a6c98 154
rob.meades@u-blox.com 4:82308d600690 155 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 156 * @param pipe the receiveing pipe to parse messages .
rob.meades@u-blox.com 4:82308d600690 157 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 158 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 159 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 160 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 161 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 162 */
rob.meades@u-blox.com 1:ef70a58a6c98 163 static int _getMessage(Pipe<char>* pipe, char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 164
rob.meades@u-blox.com 1:ef70a58a6c98 165 /** Check if the current offset of the pipe contains a NMEA message.
rob.meades@u-blox.com 4:82308d600690 166 * @param pipe the receiveing pipe to parse messages.
rob.meades@u-blox.com 4:82308d600690 167 * @param len numer of bytes to parse at maximum.
rob.meades@u-blox.com 4:82308d600690 168 * @return length if something was found (including the NMEA frame),
rob.meades@u-blox.com 4:82308d600690 169 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 170 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 171 */
rob.meades@u-blox.com 1:ef70a58a6c98 172 static int _parseNmea(Pipe<char>* pipe, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 173
rob.meades@u-blox.com 1:ef70a58a6c98 174 /** Check if the current offset of the pipe contains a UBX message.
rob.meades@u-blox.com 4:82308d600690 175 * @param pipe the receiveing pipe to parse messages.
rob.meades@u-blox.com 4:82308d600690 176 * @param len numer of bytes to parse at maximum.
rob.meades@u-blox.com 4:82308d600690 177 * @return length if something was found (including the UBX frame),
rob.meades@u-blox.com 4:82308d600690 178 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 179 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 180 */
rob.meades@u-blox.com 1:ef70a58a6c98 181 static int _parseUbx(Pipe<char>* pipe, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 182
rob.meades@u-blox.com 1:ef70a58a6c98 183 /** Write bytes to the physical interface. This function
rob.meades@u-blox.com 4:82308d600690 184 * needs to be implemented by the inherited class.
rob.meades@u-blox.com 4:82308d600690 185 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 186 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 187 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 188 */
rob.meades@u-blox.com 1:ef70a58a6c98 189 virtual int _send(const void* buf, int len) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 190
rob.meades@u-blox.com 1:ef70a58a6c98 191 static const char _toHex[16]; //!< num to hex conversion
rob.meades@u-blox.com 4:82308d600690 192 DigitalInOut *_gnssEnable; //!< IO pin that enables GNSS
rob.meades@u-blox.com 1:ef70a58a6c98 193 };
rob.meades@u-blox.com 1:ef70a58a6c98 194
rob.meades@u-blox.com 4:82308d600690 195 /** GNSS class which uses a serial port as physical interface.
rob.meades@u-blox.com 4:82308d600690 196 */
rob.meades@u-blox.com 1:ef70a58a6c98 197 class GnssSerial : public SerialPipe, public GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 198 {
rob.meades@u-blox.com 1:ef70a58a6c98 199 public:
rob.meades@u-blox.com 4:82308d600690 200 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 201 * @param tx is the serial ports transmit pin (GNSS to CPU).
rob.meades@u-blox.com 4:82308d600690 202 * @param rx is the serial ports receive pin (CPU to GNSS).
rob.meades@u-blox.com 4:82308d600690 203 * @param baudrate the baudrate of the GNSS use 9600.
rob.meades@u-blox.com 4:82308d600690 204 * @param rxSize the size of the serial rx buffer.
rob.meades@u-blox.com 4:82308d600690 205 * @param txSize the size of the serial tx buffer.
rob.meades@u-blox.com 4:82308d600690 206 */
RobMeades 2:b10ca4aa2e5e 207 GnssSerial(PinName tx GNSS_IF( = GNSSTXD, = D8 /* = D8 */), // resistor on shield not populated
RobMeades 2:b10ca4aa2e5e 208 PinName rx GNSS_IF( = GNSSRXD, = D9 /* = D9 */), // resistor on shield not populated
rob.meades@u-blox.com 1:ef70a58a6c98 209 int baudrate GNSS_IF( = GNSSBAUD, = 9600 ),
rob.meades@u-blox.com 1:ef70a58a6c98 210 int rxSize = 256 ,
rob.meades@u-blox.com 1:ef70a58a6c98 211 int txSize = 128 );
rob.meades@u-blox.com 1:ef70a58a6c98 212
rob.meades@u-blox.com 4:82308d600690 213 /** Destructor.
rob.meades@u-blox.com 4:82308d600690 214 */
rob.meades@u-blox.com 1:ef70a58a6c98 215 virtual ~GnssSerial(void);
rob.meades@u-blox.com 1:ef70a58a6c98 216
rob.meades@u-blox.com 4:82308d600690 217 /** Initialise the GNSS device.
rob.meades@u-blox.com 4:82308d600690 218 * @param pn NOT USED.
rob.meades@u-blox.com 4:82308d600690 219 * @return true if successful, otherwise false.
rob.meades@u-blox.com 4:82308d600690 220 */
rob.meades@u-blox.com 1:ef70a58a6c98 221 virtual bool init(PinName pn = NC);
rob.meades@u-blox.com 1:ef70a58a6c98 222
rob.meades@u-blox.com 1:ef70a58a6c98 223 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 224 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 225 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 226 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 227 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 228 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 229 */
rob.meades@u-blox.com 1:ef70a58a6c98 230 virtual int getMessage(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 231
rob.meades@u-blox.com 1:ef70a58a6c98 232 protected:
rob.meades@u-blox.com 1:ef70a58a6c98 233 /** Write bytes to the physical interface.
rob.meades@u-blox.com 4:82308d600690 234 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 235 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 236 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 237 */
rob.meades@u-blox.com 1:ef70a58a6c98 238 virtual int _send(const void* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 239 };
rob.meades@u-blox.com 1:ef70a58a6c98 240
rob.meades@u-blox.com 1:ef70a58a6c98 241 /** GNSS class which uses a i2c as physical interface.
rob.meades@u-blox.com 1:ef70a58a6c98 242 */
rob.meades@u-blox.com 1:ef70a58a6c98 243 class GnssI2C : public I2C, public GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 244 {
rob.meades@u-blox.com 1:ef70a58a6c98 245 public:
rob.meades@u-blox.com 4:82308d600690 246 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 247 * @param sda is the I2C SDA pin (between CPU and GNSS).
rob.meades@u-blox.com 4:82308d600690 248 * @param scl is the I2C SCL pin (CPU to GNSS).
rob.meades@u-blox.com 4:82308d600690 249 * @param adr the I2C address of the GNSS set to (66<<1).
rob.meades@u-blox.com 4:82308d600690 250 * @param rxSize the size of the serial rx buffer.
rob.meades@u-blox.com 4:82308d600690 251 */
RobMeades 2:b10ca4aa2e5e 252 GnssI2C(PinName sda GNSS_IF( = NC, = /* D16 TODO */ NC ),
RobMeades 2:b10ca4aa2e5e 253 PinName scl GNSS_IF( = NC, = /* D17 TODO */ NC ),
RobMeades 2:b10ca4aa2e5e 254 unsigned char i2cAdr GNSS_IF( = (66<<1), = (66<<1) ),
RobMeades 2:b10ca4aa2e5e 255 int rxSize = 256 );
rob.meades@u-blox.com 4:82308d600690 256 /** Destructor
rob.meades@u-blox.com 4:82308d600690 257 */
rob.meades@u-blox.com 1:ef70a58a6c98 258 virtual ~GnssI2C(void);
rob.meades@u-blox.com 1:ef70a58a6c98 259
rob.meades@u-blox.com 4:82308d600690 260 /** Helper function to probe the i2c device.
rob.meades@u-blox.com 4:82308d600690 261 * @param pn the power-on pin for the chip.
rob.meades@u-blox.com 4:82308d600690 262 * @return true if successfully detected the GNSS chip.
rob.meades@u-blox.com 4:82308d600690 263 */
rob.meades@u-blox.com 1:ef70a58a6c98 264 virtual bool init(PinName pn = GNSS_IF( NC, NC /* D7 resistor R67 on shield not mounted */));
rob.meades@u-blox.com 1:ef70a58a6c98 265
rob.meades@u-blox.com 1:ef70a58a6c98 266 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 267 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 268 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 269 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 270 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 271 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 272 */
rob.meades@u-blox.com 1:ef70a58a6c98 273 virtual int getMessage(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 274
rob.meades@u-blox.com 4:82308d600690 275 /** Send a buffer.
rob.meades@u-blox.com 4:82308d600690 276 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 277 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 278 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 279 */
rob.meades@u-blox.com 1:ef70a58a6c98 280 virtual int send(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 281
rob.meades@u-blox.com 4:82308d600690 282 /** Send an NMEA message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 283 * payload and calculates and adds checksum ($ and *XX\r\n will be added).
rob.meades@u-blox.com 4:82308d600690 284 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 285 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 286 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 287 */
rob.meades@u-blox.com 1:ef70a58a6c98 288 virtual int sendNmea(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 289
rob.meades@u-blox.com 4:82308d600690 290 /** Send a UBX message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 291 * payload and calculates and adds checksum.
rob.meades@u-blox.com 4:82308d600690 292 * @param cls the UBX class id.
rob.meades@u-blox.com 4:82308d600690 293 * @param id the UBX message id.
rob.meades@u-blox.com 4:82308d600690 294 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 295 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 296 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 297 */
rob.meades@u-blox.com 1:ef70a58a6c98 298 virtual int sendUbx(unsigned char cls, unsigned char id,
rob.meades@u-blox.com 1:ef70a58a6c98 299 const void* buf = NULL, int len = 0);
rob.meades@u-blox.com 1:ef70a58a6c98 300
rob.meades@u-blox.com 1:ef70a58a6c98 301 protected:
rob.meades@u-blox.com 4:82308d600690 302 /** Check if the port is writeable (like SerialPipe)
rob.meades@u-blox.com 4:82308d600690 303 * @return true if writeable
rob.meades@u-blox.com 4:82308d600690 304 */
rob.meades@u-blox.com 4:82308d600690 305 bool writeable(void) {return true;}
rob.meades@u-blox.com 1:ef70a58a6c98 306
rob.meades@u-blox.com 4:82308d600690 307 /** Write a character (like SerialPipe).
rob.meades@u-blox.com 4:82308d600690 308 * @param c the character to write.
rob.meades@u-blox.com 4:82308d600690 309 * @return true if succesffully written .
rob.meades@u-blox.com 4:82308d600690 310 */
rob.meades@u-blox.com 4:82308d600690 311 bool putc(int c) {char ch = c; return send(&ch, 1);}
rob.meades@u-blox.com 1:ef70a58a6c98 312
rob.meades@u-blox.com 1:ef70a58a6c98 313 /** Write bytes to the physical interface.
rob.meades@u-blox.com 4:82308d600690 314 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 315 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 316 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 317 */
rob.meades@u-blox.com 1:ef70a58a6c98 318 virtual int _send(const void* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 319
rob.meades@u-blox.com 4:82308d600690 320 /** Read bytes from the physical interface.
rob.meades@u-blox.com 4:82308d600690 321 * @param buf the buffer to read into.
rob.meades@u-blox.com 4:82308d600690 322 * @param len size of the read buffer .
rob.meades@u-blox.com 4:82308d600690 323 * @return bytes read.
rob.meades@u-blox.com 4:82308d600690 324 */
rob.meades@u-blox.com 1:ef70a58a6c98 325 int _get(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 326
rob.meades@u-blox.com 4:82308d600690 327 Pipe<char> _pipe; //!< the rx pipe.
rob.meades@u-blox.com 4:82308d600690 328 unsigned char _i2cAdr; //!< the i2c address.
rob.meades@u-blox.com 4:82308d600690 329 static const char REGLEN; //!< the length i2c register address.
rob.meades@u-blox.com 4:82308d600690 330 static const char REGSTREAM;//!< the stream i2c register address.
rob.meades@u-blox.com 1:ef70a58a6c98 331 };
rob.meades@u-blox.com 1:ef70a58a6c98 332
rob.meades@u-blox.com 1:ef70a58a6c98 333 #endif
rob.meades@u-blox.com 1:ef70a58a6c98 334
rob.meades@u-blox.com 1:ef70a58a6c98 335 // End Of File