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.cpp@10:bfa9081e1d14, 2018-05-21 (annotated)

Committer:
fahim.alavi@u-blox.com
Date:
Mon May 21 17:18:35 2018 +0500
Revision:
10:bfa9081e1d14
Parent:
9:cff83b9f5093
Child:
12:a04f7eeece23
Retrieve log batch added

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 /**
rob.meades@u-blox.com 1:ef70a58a6c98 18 * @file gnss.cpp
rob.meades@u-blox.com 1:ef70a58a6c98 19 * This file defines a class that communicates with a u-blox GNSS chip.
rob.meades@u-blox.com 1:ef70a58a6c98 20 */
rob.meades@u-blox.com 1:ef70a58a6c98 21
rob.meades@u-blox.com 1:ef70a58a6c98 22 #include "mbed.h"
rob.meades@u-blox.com 1:ef70a58a6c98 23 #include "ctype.h"
rob.meades@u-blox.com 1:ef70a58a6c98 24 #include "gnss.h"
rob.meades@u-blox.com 1:ef70a58a6c98 25
rob.meades@u-blox.com 1:ef70a58a6c98 26 GnssParser::GnssParser(void)
rob.meades@u-blox.com 1:ef70a58a6c98 27 {
RobMeades 3:2a1cd49ead85 28 // Create the enable pin but set everything to disabled
RobMeades 2:b10ca4aa2e5e 29 _gnssEnable = NULL;
RobMeades 2:b10ca4aa2e5e 30
rob.meades@u-blox.com 4:82308d600690 31 #ifdef TARGET_UBLOX_C030
rob.meades@u-blox.com 1:ef70a58a6c98 32 _gnssEnable = new DigitalInOut(GNSSEN, PIN_OUTPUT, PushPullNoPull, 0);
RobMeades 5:af4baf3c67f3 33 #else
RobMeades 5:af4baf3c67f3 34 _gnssEnable = new DigitalInOut(GNSSEN, PIN_OUTPUT, PullNone, 1);
RobMeades 2:b10ca4aa2e5e 35 #endif
rob.meades@u-blox.com 1:ef70a58a6c98 36 }
rob.meades@u-blox.com 1:ef70a58a6c98 37
rob.meades@u-blox.com 1:ef70a58a6c98 38 GnssParser::~GnssParser(void)
rob.meades@u-blox.com 1:ef70a58a6c98 39 {
RobMeades 2:b10ca4aa2e5e 40 if (_gnssEnable != NULL) {
RobMeades 2:b10ca4aa2e5e 41 *_gnssEnable = 0;
RobMeades 2:b10ca4aa2e5e 42 delete _gnssEnable;
RobMeades 2:b10ca4aa2e5e 43 }
rob.meades@u-blox.com 1:ef70a58a6c98 44 }
rob.meades@u-blox.com 1:ef70a58a6c98 45
rob.meades@u-blox.com 1:ef70a58a6c98 46 void GnssParser::powerOff(void)
rob.meades@u-blox.com 1:ef70a58a6c98 47 {
rob.meades@u-blox.com 6:56eda66d585b 48 // Set the GNSS into backup mode using the command RMX-LPREQ
rob.meades@u-blox.com 1:ef70a58a6c98 49 struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
rob.meades@u-blox.com 1:ef70a58a6c98 50 sendUbx(0x02, 0x41, &msg, sizeof(msg));
rob.meades@u-blox.com 1:ef70a58a6c98 51 }
rob.meades@u-blox.com 1:ef70a58a6c98 52
rob.meades@u-blox.com 1:ef70a58a6c98 53 void GnssParser::_powerOn(void)
rob.meades@u-blox.com 1:ef70a58a6c98 54 {
RobMeades 2:b10ca4aa2e5e 55 if (_gnssEnable != NULL) {
RobMeades 2:b10ca4aa2e5e 56 *_gnssEnable = 1;
RobMeades 2:b10ca4aa2e5e 57 }
rob.meades@u-blox.com 1:ef70a58a6c98 58 wait_ms (1);
rob.meades@u-blox.com 1:ef70a58a6c98 59 }
rob.meades@u-blox.com 1:ef70a58a6c98 60
rob.meades@u-blox.com 1:ef70a58a6c98 61 int GnssParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 62 {
rob.meades@u-blox.com 1:ef70a58a6c98 63 int unkn = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 64 int sz = pipe->size();
rob.meades@u-blox.com 1:ef70a58a6c98 65 int fr = pipe->free();
rob.meades@u-blox.com 1:ef70a58a6c98 66 if (len > sz)
rob.meades@u-blox.com 1:ef70a58a6c98 67 len = sz;
rob.meades@u-blox.com 1:ef70a58a6c98 68 while (len > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 69 {
rob.meades@u-blox.com 1:ef70a58a6c98 70 // NMEA protocol
rob.meades@u-blox.com 1:ef70a58a6c98 71 pipe->set(unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 72 int nmea = _parseNmea(pipe,len);
rob.meades@u-blox.com 1:ef70a58a6c98 73 if ((nmea != NOT_FOUND) && (unkn > 0))
rob.meades@u-blox.com 1:ef70a58a6c98 74 return UNKNOWN | pipe->get(buf,unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 75 if (nmea == WAIT && fr)
rob.meades@u-blox.com 1:ef70a58a6c98 76 return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 77 if (nmea > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 78 return NMEA | pipe->get(buf,nmea);
rob.meades@u-blox.com 1:ef70a58a6c98 79 // UBX protocol
rob.meades@u-blox.com 1:ef70a58a6c98 80
rob.meades@u-blox.com 1:ef70a58a6c98 81 pipe->set(unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 82 int ubx = _parseUbx(pipe,len);
rob.meades@u-blox.com 1:ef70a58a6c98 83 if ((ubx != NOT_FOUND) && (unkn > 0))
rob.meades@u-blox.com 1:ef70a58a6c98 84 return UNKNOWN | pipe->get(buf,unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 85 if (ubx == WAIT && fr)
rob.meades@u-blox.com 1:ef70a58a6c98 86 return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 87 if (ubx > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 88 return UBX | pipe->get(buf,ubx);
rob.meades@u-blox.com 1:ef70a58a6c98 89
rob.meades@u-blox.com 1:ef70a58a6c98 90 // UNKNOWN
rob.meades@u-blox.com 1:ef70a58a6c98 91 unkn ++;
rob.meades@u-blox.com 1:ef70a58a6c98 92 len--;
rob.meades@u-blox.com 1:ef70a58a6c98 93 }
rob.meades@u-blox.com 1:ef70a58a6c98 94 if (unkn > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 95 return UNKNOWN | pipe->get(buf,unkn);
rob.meades@u-blox.com 1:ef70a58a6c98 96 return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 97 }
rob.meades@u-blox.com 1:ef70a58a6c98 98
rob.meades@u-blox.com 1:ef70a58a6c98 99 int GnssParser::_parseNmea(Pipe<char>* pipe, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 100 {
rob.meades@u-blox.com 1:ef70a58a6c98 101 int o = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 102 int c = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 103 char ch;
rob.meades@u-blox.com 1:ef70a58a6c98 104 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 105 if ('$' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 6:56eda66d585b 106 // This needs to be extended by crc checking
rob.meades@u-blox.com 1:ef70a58a6c98 107 for (;;)
rob.meades@u-blox.com 1:ef70a58a6c98 108 {
rob.meades@u-blox.com 1:ef70a58a6c98 109 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 110 ch = pipe->next();
rob.meades@u-blox.com 1:ef70a58a6c98 111 if ('*' == ch) break; // crc delimiter
rob.meades@u-blox.com 1:ef70a58a6c98 112 if (!isprint(ch)) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 113 c ^= ch;
rob.meades@u-blox.com 1:ef70a58a6c98 114 }
rob.meades@u-blox.com 1:ef70a58a6c98 115 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 116 ch = _toHex[(c >> 4) & 0xF]; // high nibble
rob.meades@u-blox.com 1:ef70a58a6c98 117 if (ch != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 118 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 119 ch = _toHex[(c >> 0) & 0xF]; // low nibble
rob.meades@u-blox.com 1:ef70a58a6c98 120 if (ch != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 121 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 122 if ('\r' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 123 if (++o > len) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 124 if ('\n' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 125 return o;
rob.meades@u-blox.com 1:ef70a58a6c98 126 }
rob.meades@u-blox.com 1:ef70a58a6c98 127
rob.meades@u-blox.com 1:ef70a58a6c98 128 int GnssParser::_parseUbx(Pipe<char>* pipe, int l)
rob.meades@u-blox.com 1:ef70a58a6c98 129 {
rob.meades@u-blox.com 1:ef70a58a6c98 130 int o = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 131 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 132 if ('\xB5' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 133 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 134 if ('\x62' != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 135 o += 4;
rob.meades@u-blox.com 1:ef70a58a6c98 136 if (o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 137 int i,j,ca,cb;
rob.meades@u-blox.com 1:ef70a58a6c98 138 i = pipe->next(); ca = i; cb = ca; // cls
rob.meades@u-blox.com 1:ef70a58a6c98 139 i = pipe->next(); ca += i; cb += ca; // id
rob.meades@u-blox.com 1:ef70a58a6c98 140 i = pipe->next(); ca += i; cb += ca; // len_lsb
rob.meades@u-blox.com 1:ef70a58a6c98 141 j = pipe->next(); ca += j; cb += ca; // len_msb
rob.meades@u-blox.com 1:ef70a58a6c98 142 j = i + (j << 8);
rob.meades@u-blox.com 1:ef70a58a6c98 143 while (j--)
rob.meades@u-blox.com 1:ef70a58a6c98 144 {
rob.meades@u-blox.com 1:ef70a58a6c98 145 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 146 i = pipe->next();
rob.meades@u-blox.com 1:ef70a58a6c98 147 ca += i;
rob.meades@u-blox.com 1:ef70a58a6c98 148 cb += ca;
rob.meades@u-blox.com 1:ef70a58a6c98 149 }
rob.meades@u-blox.com 1:ef70a58a6c98 150 ca &= 0xFF; cb &= 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 151 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 152 if (ca != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 153 if (++o > l) return WAIT;
rob.meades@u-blox.com 1:ef70a58a6c98 154 if (cb != pipe->next()) return NOT_FOUND;
rob.meades@u-blox.com 1:ef70a58a6c98 155 return o;
rob.meades@u-blox.com 1:ef70a58a6c98 156 }
rob.meades@u-blox.com 1:ef70a58a6c98 157
rob.meades@u-blox.com 1:ef70a58a6c98 158 int GnssParser::send(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 159 {
rob.meades@u-blox.com 1:ef70a58a6c98 160 return _send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 161 }
rob.meades@u-blox.com 1:ef70a58a6c98 162
rob.meades@u-blox.com 1:ef70a58a6c98 163 int GnssParser::sendNmea(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 164 {
rob.meades@u-blox.com 1:ef70a58a6c98 165 char head[1] = { '$' };
rob.meades@u-blox.com 1:ef70a58a6c98 166 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
rob.meades@u-blox.com 1:ef70a58a6c98 167 int i;
rob.meades@u-blox.com 1:ef70a58a6c98 168 int crc = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 169 for (i = 0; i < len; i ++)
rob.meades@u-blox.com 1:ef70a58a6c98 170 crc ^= *buf++;
rob.meades@u-blox.com 1:ef70a58a6c98 171 i = _send(head, sizeof(head));
rob.meades@u-blox.com 1:ef70a58a6c98 172 i += _send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 173 tail[1] = _toHex[(crc > 4) & 0xF0];
rob.meades@u-blox.com 1:ef70a58a6c98 174 tail[2] = _toHex[(crc > 0) & 0x0F];
rob.meades@u-blox.com 1:ef70a58a6c98 175 i += _send(tail, sizeof(tail));
rob.meades@u-blox.com 1:ef70a58a6c98 176 return i;
rob.meades@u-blox.com 1:ef70a58a6c98 177 }
rob.meades@u-blox.com 1:ef70a58a6c98 178
rob.meades@u-blox.com 1:ef70a58a6c98 179 int GnssParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
rob.meades@u-blox.com 1:ef70a58a6c98 180 {
rob.meades@u-blox.com 1:ef70a58a6c98 181 char head[6] = { 0xB5, 0x62, cls, id, (char) len, (char) (len >> 8)};
rob.meades@u-blox.com 1:ef70a58a6c98 182 char crc[2];
rob.meades@u-blox.com 1:ef70a58a6c98 183 int i;
rob.meades@u-blox.com 1:ef70a58a6c98 184 int ca = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 185 int cb = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 186 for (i = 2; i < 6; i ++)
rob.meades@u-blox.com 1:ef70a58a6c98 187 {
rob.meades@u-blox.com 1:ef70a58a6c98 188 ca += head[i];
rob.meades@u-blox.com 1:ef70a58a6c98 189 cb += ca;
rob.meades@u-blox.com 1:ef70a58a6c98 190 }
rob.meades@u-blox.com 1:ef70a58a6c98 191 for (i = 0; i < len; i ++)
rob.meades@u-blox.com 1:ef70a58a6c98 192 {
rob.meades@u-blox.com 1:ef70a58a6c98 193 ca += ((char*)buf)[i];
rob.meades@u-blox.com 1:ef70a58a6c98 194 cb += ca;
rob.meades@u-blox.com 1:ef70a58a6c98 195 }
rob.meades@u-blox.com 1:ef70a58a6c98 196 i = _send(head, sizeof(head));
rob.meades@u-blox.com 1:ef70a58a6c98 197 i += _send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 198 crc[0] = ca & 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 199 crc[1] = cb & 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 200 i += _send(crc, sizeof(crc));
rob.meades@u-blox.com 1:ef70a58a6c98 201 return i;
rob.meades@u-blox.com 1:ef70a58a6c98 202 }
rob.meades@u-blox.com 1:ef70a58a6c98 203
rob.meades@u-blox.com 1:ef70a58a6c98 204 const char* GnssParser::findNmeaItemPos(int ix, const char* start, const char* end)
rob.meades@u-blox.com 1:ef70a58a6c98 205 {
rob.meades@u-blox.com 6:56eda66d585b 206 // Find the start
rob.meades@u-blox.com 1:ef70a58a6c98 207 for (; (start < end) && (ix > 0); start ++)
rob.meades@u-blox.com 1:ef70a58a6c98 208 {
rob.meades@u-blox.com 1:ef70a58a6c98 209 if (*start == ',')
rob.meades@u-blox.com 1:ef70a58a6c98 210 ix --;
rob.meades@u-blox.com 1:ef70a58a6c98 211 }
rob.meades@u-blox.com 6:56eda66d585b 212 // Found and check bounds
rob.meades@u-blox.com 1:ef70a58a6c98 213 if ((ix == 0) && (start < end) &&
rob.meades@u-blox.com 1:ef70a58a6c98 214 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
rob.meades@u-blox.com 1:ef70a58a6c98 215 return start;
rob.meades@u-blox.com 1:ef70a58a6c98 216 else
rob.meades@u-blox.com 1:ef70a58a6c98 217 return NULL;
rob.meades@u-blox.com 1:ef70a58a6c98 218 }
rob.meades@u-blox.com 1:ef70a58a6c98 219
rob.meades@u-blox.com 1:ef70a58a6c98 220 bool GnssParser::getNmeaItem(int ix, char* buf, int len, double& val)
rob.meades@u-blox.com 1:ef70a58a6c98 221 {
rob.meades@u-blox.com 1:ef70a58a6c98 222 char* end = &buf[len];
rob.meades@u-blox.com 1:ef70a58a6c98 223 const char* pos = findNmeaItemPos(ix, buf, end);
rob.meades@u-blox.com 6:56eda66d585b 224 // Find the start
rob.meades@u-blox.com 1:ef70a58a6c98 225 if (!pos)
rob.meades@u-blox.com 1:ef70a58a6c98 226 return false;
rob.meades@u-blox.com 1:ef70a58a6c98 227 val = strtod(pos, &end);
rob.meades@u-blox.com 6:56eda66d585b 228 // Restore the last character
rob.meades@u-blox.com 1:ef70a58a6c98 229 return (end > pos);
rob.meades@u-blox.com 1:ef70a58a6c98 230 }
rob.meades@u-blox.com 1:ef70a58a6c98 231
rob.meades@u-blox.com 1:ef70a58a6c98 232 bool GnssParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
rob.meades@u-blox.com 1:ef70a58a6c98 233 {
rob.meades@u-blox.com 1:ef70a58a6c98 234 char* end = &buf[len];
rob.meades@u-blox.com 1:ef70a58a6c98 235 const char* pos = findNmeaItemPos(ix, buf, end);
rob.meades@u-blox.com 6:56eda66d585b 236 // Find the start
rob.meades@u-blox.com 1:ef70a58a6c98 237 if (!pos)
rob.meades@u-blox.com 1:ef70a58a6c98 238 return false;
rob.meades@u-blox.com 1:ef70a58a6c98 239 val = (int)strtol(pos, &end, base);
rob.meades@u-blox.com 1:ef70a58a6c98 240 return (end > pos);
rob.meades@u-blox.com 1:ef70a58a6c98 241 }
rob.meades@u-blox.com 1:ef70a58a6c98 242
rob.meades@u-blox.com 1:ef70a58a6c98 243 bool GnssParser::getNmeaItem(int ix, char* buf, int len, char& val)
rob.meades@u-blox.com 1:ef70a58a6c98 244 {
rob.meades@u-blox.com 1:ef70a58a6c98 245 const char* end = &buf[len];
rob.meades@u-blox.com 1:ef70a58a6c98 246 const char* pos = findNmeaItemPos(ix, buf, end);
rob.meades@u-blox.com 6:56eda66d585b 247 // Find the start
rob.meades@u-blox.com 1:ef70a58a6c98 248 if (!pos)
rob.meades@u-blox.com 1:ef70a58a6c98 249 return false;
rob.meades@u-blox.com 6:56eda66d585b 250 // Skip leading spaces
rob.meades@u-blox.com 1:ef70a58a6c98 251 while ((pos < end) && isspace(*pos))
rob.meades@u-blox.com 1:ef70a58a6c98 252 pos++;
rob.meades@u-blox.com 6:56eda66d585b 253 // Check bound
rob.meades@u-blox.com 1:ef70a58a6c98 254 if ((pos < end) &&
rob.meades@u-blox.com 1:ef70a58a6c98 255 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
rob.meades@u-blox.com 1:ef70a58a6c98 256 {
rob.meades@u-blox.com 1:ef70a58a6c98 257 val = *pos;
rob.meades@u-blox.com 1:ef70a58a6c98 258 return true;
rob.meades@u-blox.com 1:ef70a58a6c98 259 }
rob.meades@u-blox.com 1:ef70a58a6c98 260 return false;
rob.meades@u-blox.com 1:ef70a58a6c98 261 }
rob.meades@u-blox.com 1:ef70a58a6c98 262
rob.meades@u-blox.com 1:ef70a58a6c98 263 bool GnssParser::getNmeaAngle(int ix, char* buf, int len, double& val)
rob.meades@u-blox.com 1:ef70a58a6c98 264 {
rob.meades@u-blox.com 1:ef70a58a6c98 265 char ch;
rob.meades@u-blox.com 1:ef70a58a6c98 266 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
rob.meades@u-blox.com 1:ef70a58a6c98 267 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
rob.meades@u-blox.com 1:ef70a58a6c98 268 {
rob.meades@u-blox.com 1:ef70a58a6c98 269 val *= 0.01;
rob.meades@u-blox.com 1:ef70a58a6c98 270 int i = (int)val;
rob.meades@u-blox.com 1:ef70a58a6c98 271 val = (val - i) / 0.6 + i;
rob.meades@u-blox.com 1:ef70a58a6c98 272 if (ch == 'S' || ch == 'W')
rob.meades@u-blox.com 1:ef70a58a6c98 273 val = -val;
rob.meades@u-blox.com 1:ef70a58a6c98 274 return true;
rob.meades@u-blox.com 1:ef70a58a6c98 275 }
rob.meades@u-blox.com 1:ef70a58a6c98 276 return false;
rob.meades@u-blox.com 1:ef70a58a6c98 277 }
fahim.alavi@u-blox.com 8:720841961804 278
fahim.alavi@u-blox.com 8:720841961804 279 int GnssParser::enable_ubx() {
fahim.alavi@u-blox.com 8:720841961804 280
fahim.alavi@u-blox.com 8:720841961804 281 unsigned char ubx_cfg_prt[]={0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25, 0x00, 0x00, 0x03, 0x00, 0x03, 0x00, 0x00, 0x00,0x00, 0x00};
fahim.alavi@u-blox.com 8:720841961804 282 int conf = RETRY;
fahim.alavi@u-blox.com 8:720841961804 283 int length = 0;
fahim.alavi@u-blox.com 8:720841961804 284
fahim.alavi@u-blox.com 8:720841961804 285 while(conf)
fahim.alavi@u-blox.com 8:720841961804 286 {
fahim.alavi@u-blox.com 8:720841961804 287 length = sendUbx(0x06, 0x00, ubx_cfg_prt, sizeof(ubx_cfg_prt));
fahim.alavi@u-blox.com 8:720841961804 288 if(length >= (int)(sizeof(ubx_cfg_prt) + UBX_FRAME_SIZE))
fahim.alavi@u-blox.com 8:720841961804 289 {
fahim.alavi@u-blox.com 8:720841961804 290 wait(5);
fahim.alavi@u-blox.com 8:720841961804 291 break;
fahim.alavi@u-blox.com 8:720841961804 292 }
fahim.alavi@u-blox.com 8:720841961804 293 else
fahim.alavi@u-blox.com 8:720841961804 294 {
fahim.alavi@u-blox.com 8:720841961804 295 conf = conf - 1;
fahim.alavi@u-blox.com 8:720841961804 296 }
fahim.alavi@u-blox.com 8:720841961804 297 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 298 if(conf == 0)
fahim.alavi@u-blox.com 10:bfa9081e1d14 299 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 300 return 1;
fahim.alavi@u-blox.com 10:bfa9081e1d14 301 }
fahim.alavi@u-blox.com 8:720841961804 302
fahim.alavi@u-blox.com 9:cff83b9f5093 303 unsigned char enable_ubx_nav_pvt[]={0x01, 0x07, 0x01};
fahim.alavi@u-blox.com 8:720841961804 304 conf = RETRY;
fahim.alavi@u-blox.com 8:720841961804 305 while(conf)
fahim.alavi@u-blox.com 8:720841961804 306 {
fahim.alavi@u-blox.com 8:720841961804 307
fahim.alavi@u-blox.com 8:720841961804 308 length = sendUbx(0x06, 0x01, enable_ubx_nav_pvt, sizeof(enable_ubx_nav_pvt));
fahim.alavi@u-blox.com 8:720841961804 309 if(length >= (int)(sizeof(enable_ubx_nav_pvt) + UBX_FRAME_SIZE))
fahim.alavi@u-blox.com 8:720841961804 310 {
fahim.alavi@u-blox.com 8:720841961804 311 wait(5);
fahim.alavi@u-blox.com 8:720841961804 312 break;
fahim.alavi@u-blox.com 8:720841961804 313 }
fahim.alavi@u-blox.com 8:720841961804 314 else
fahim.alavi@u-blox.com 8:720841961804 315 {
fahim.alavi@u-blox.com 8:720841961804 316 conf = conf - 1;
fahim.alavi@u-blox.com 8:720841961804 317 }
fahim.alavi@u-blox.com 8:720841961804 318 }
fahim.alavi@u-blox.com 8:720841961804 319 if(conf == 0)
fahim.alavi@u-blox.com 8:720841961804 320 {
fahim.alavi@u-blox.com 8:720841961804 321 return 1;
fahim.alavi@u-blox.com 8:720841961804 322 }
fahim.alavi@u-blox.com 8:720841961804 323
fahim.alavi@u-blox.com 8:720841961804 324 unsigned char ubx_cfg_cfg[] = { 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF,
fahim.alavi@u-blox.com 8:720841961804 325 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03};
fahim.alavi@u-blox.com 8:720841961804 326 conf = RETRY;
fahim.alavi@u-blox.com 8:720841961804 327 while(conf)
fahim.alavi@u-blox.com 8:720841961804 328 {
fahim.alavi@u-blox.com 8:720841961804 329 length = sendUbx(0x06, 0x09, ubx_cfg_cfg, sizeof(ubx_cfg_cfg));
fahim.alavi@u-blox.com 8:720841961804 330 if(length >= (int)(sizeof(ubx_cfg_cfg) + UBX_FRAME_SIZE))
fahim.alavi@u-blox.com 8:720841961804 331 {
fahim.alavi@u-blox.com 8:720841961804 332 wait(5);
fahim.alavi@u-blox.com 8:720841961804 333 break;
fahim.alavi@u-blox.com 8:720841961804 334 }
fahim.alavi@u-blox.com 8:720841961804 335 else
fahim.alavi@u-blox.com 8:720841961804 336 {
fahim.alavi@u-blox.com 8:720841961804 337 conf = conf - 1;
fahim.alavi@u-blox.com 8:720841961804 338 }
fahim.alavi@u-blox.com 8:720841961804 339 }
fahim.alavi@u-blox.com 8:720841961804 340 if(conf == 0)
fahim.alavi@u-blox.com 8:720841961804 341 {
fahim.alavi@u-blox.com 8:720841961804 342 return 1;
fahim.alavi@u-blox.com 8:720841961804 343 }
fahim.alavi@u-blox.com 8:720841961804 344
fahim.alavi@u-blox.com 8:720841961804 345 return 0;
fahim.alavi@u-blox.com 8:720841961804 346 }
fahim.alavi@u-blox.com 8:720841961804 347
fahim.alavi@u-blox.com 8:720841961804 348 eUBX_MESSAGE GnssParser::get_ubx_message(char *buff) {
fahim.alavi@u-blox.com 8:720841961804 349 eUBX_MESSAGE return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 350
fahim.alavi@u-blox.com 8:720841961804 351 if(buff[SYNC_CHAR_INDEX_1] == 0xB5 && buff[SYNC_CHAR_INDEX_2] == 0x62) {
fahim.alavi@u-blox.com 8:720841961804 352
fahim.alavi@u-blox.com 8:720841961804 353 switch (buff[MSG_CLASS_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 354
fahim.alavi@u-blox.com 8:720841961804 355 case NAV: {
fahim.alavi@u-blox.com 8:720841961804 356 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 357
fahim.alavi@u-blox.com 8:720841961804 358 case 0x07: {
fahim.alavi@u-blox.com 8:720841961804 359 return_value = UBX_NAV_PVT;
fahim.alavi@u-blox.com 8:720841961804 360 }
fahim.alavi@u-blox.com 8:720841961804 361 break;
fahim.alavi@u-blox.com 8:720841961804 362 case 0x09: {
fahim.alavi@u-blox.com 8:720841961804 363 return_value = UBX_NAV_ODO;
fahim.alavi@u-blox.com 8:720841961804 364 }
fahim.alavi@u-blox.com 8:720841961804 365 break;
fahim.alavi@u-blox.com 8:720841961804 366 default:
fahim.alavi@u-blox.com 8:720841961804 367 {
fahim.alavi@u-blox.com 8:720841961804 368 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 369 }
fahim.alavi@u-blox.com 8:720841961804 370 break;
fahim.alavi@u-blox.com 8:720841961804 371 }
fahim.alavi@u-blox.com 8:720841961804 372 }
fahim.alavi@u-blox.com 8:720841961804 373 break;
fahim.alavi@u-blox.com 8:720841961804 374 case ACK: {
fahim.alavi@u-blox.com 8:720841961804 375 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 376 case 0x00: {
fahim.alavi@u-blox.com 8:720841961804 377 return_value = UBX_ACK_NAK;
fahim.alavi@u-blox.com 8:720841961804 378 }
fahim.alavi@u-blox.com 8:720841961804 379 break;
fahim.alavi@u-blox.com 8:720841961804 380 case 0x01: {
fahim.alavi@u-blox.com 8:720841961804 381 return_value = UBX_ACK_ACK;
fahim.alavi@u-blox.com 8:720841961804 382 }
fahim.alavi@u-blox.com 8:720841961804 383 break;
fahim.alavi@u-blox.com 8:720841961804 384 default:
fahim.alavi@u-blox.com 8:720841961804 385 {
fahim.alavi@u-blox.com 8:720841961804 386 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 387 }
fahim.alavi@u-blox.com 8:720841961804 388 break;
fahim.alavi@u-blox.com 8:720841961804 389 }
fahim.alavi@u-blox.com 8:720841961804 390 }
fahim.alavi@u-blox.com 8:720841961804 391 break;
fahim.alavi@u-blox.com 8:720841961804 392 case LOG: {
fahim.alavi@u-blox.com 8:720841961804 393 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 394 case 0x11: {
fahim.alavi@u-blox.com 8:720841961804 395 return_value = UBX_LOG_BATCH;
fahim.alavi@u-blox.com 8:720841961804 396 }
fahim.alavi@u-blox.com 8:720841961804 397 break;
fahim.alavi@u-blox.com 8:720841961804 398 default:
fahim.alavi@u-blox.com 8:720841961804 399 {
fahim.alavi@u-blox.com 8:720841961804 400 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 401 }
fahim.alavi@u-blox.com 8:720841961804 402 break;
fahim.alavi@u-blox.com 8:720841961804 403 }
fahim.alavi@u-blox.com 8:720841961804 404 }
fahim.alavi@u-blox.com 8:720841961804 405 break;
fahim.alavi@u-blox.com 8:720841961804 406 default:
fahim.alavi@u-blox.com 8:720841961804 407 {
fahim.alavi@u-blox.com 8:720841961804 408 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 409 }
fahim.alavi@u-blox.com 8:720841961804 410 break;
fahim.alavi@u-blox.com 8:720841961804 411 }
fahim.alavi@u-blox.com 8:720841961804 412 }
fahim.alavi@u-blox.com 8:720841961804 413 return return_value;
fahim.alavi@u-blox.com 8:720841961804 414 }
fahim.alavi@u-blox.com 8:720841961804 415
fahim.alavi@u-blox.com 9:cff83b9f5093 416 tUBX_ACK_ACK GnssParser::decode_ubx_cfg_ack_nak_msg(char *buf) {
fahim.alavi@u-blox.com 9:cff83b9f5093 417 tUBX_ACK_ACK return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 418 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 419
fahim.alavi@u-blox.com 8:720841961804 420 return_decoded_msg.msg_class = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 421 return_decoded_msg.msg_id = buf[index];
fahim.alavi@u-blox.com 8:720841961804 422
fahim.alavi@u-blox.com 8:720841961804 423 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 424 }
fahim.alavi@u-blox.com 8:720841961804 425
fahim.alavi@u-blox.com 8:720841961804 426 tUBX_NAV_ODO GnssParser::decode_ubx_nav_odo_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 427 tUBX_NAV_ODO return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 428 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 429
fahim.alavi@u-blox.com 8:720841961804 430 return_decoded_msg.version = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 431 index +=3; // 3 bytes are reserved
fahim.alavi@u-blox.com 8:720841961804 432
fahim.alavi@u-blox.com 8:720841961804 433 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 434 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 435 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 436 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 437
fahim.alavi@u-blox.com 8:720841961804 438 return_decoded_msg.distance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 439 return_decoded_msg.distance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 440 return_decoded_msg.distance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 441 return_decoded_msg.distance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 442
fahim.alavi@u-blox.com 8:720841961804 443 return_decoded_msg.totalDistance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 444 return_decoded_msg.totalDistance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 445 return_decoded_msg.totalDistance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 446 return_decoded_msg.totalDistance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 447
fahim.alavi@u-blox.com 8:720841961804 448 return_decoded_msg.distanceSTD = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 449 return_decoded_msg.distanceSTD |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 450 return_decoded_msg.distanceSTD |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 451 return_decoded_msg.distanceSTD |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 452
fahim.alavi@u-blox.com 8:720841961804 453 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 454 }
fahim.alavi@u-blox.com 8:720841961804 455
fahim.alavi@u-blox.com 8:720841961804 456 tUBX_NAV_PVT GnssParser::decode_ubx_nav_pvt_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 457 tUBX_NAV_PVT return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 458 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 459
fahim.alavi@u-blox.com 8:720841961804 460 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 461 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 462 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 463 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 464
fahim.alavi@u-blox.com 8:720841961804 465 return_decoded_msg.year = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 466 return_decoded_msg.year |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 467
fahim.alavi@u-blox.com 8:720841961804 468 return_decoded_msg.month = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 469
fahim.alavi@u-blox.com 8:720841961804 470 return_decoded_msg.day = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 471
fahim.alavi@u-blox.com 8:720841961804 472 // Go to lon
fahim.alavi@u-blox.com 8:720841961804 473 index = UBX_PAYLOAD_INDEX + 24;
fahim.alavi@u-blox.com 8:720841961804 474
fahim.alavi@u-blox.com 8:720841961804 475 return_decoded_msg.lon = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 476 return_decoded_msg.lon |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 477 return_decoded_msg.lon |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 478 return_decoded_msg.lon |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 479
fahim.alavi@u-blox.com 8:720841961804 480 return_decoded_msg.lat = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 481 return_decoded_msg.lat |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 482 return_decoded_msg.lat |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 483 return_decoded_msg.lat |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 484
fahim.alavi@u-blox.com 8:720841961804 485 return_decoded_msg.height = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 486 return_decoded_msg.height |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 487 return_decoded_msg.height |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 488 return_decoded_msg.height |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 489
fahim.alavi@u-blox.com 8:720841961804 490 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 491 }
fahim.alavi@u-blox.com 8:720841961804 492
fahim.alavi@u-blox.com 8:720841961804 493 tUBX_LOG_BATCH GnssParser::decode_ubx_log_batch_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 494 tUBX_LOG_BATCH return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 495 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 496
fahim.alavi@u-blox.com 8:720841961804 497 // move index itow
fahim.alavi@u-blox.com 8:720841961804 498 index = UBX_PAYLOAD_INDEX + 4;
fahim.alavi@u-blox.com 8:720841961804 499
fahim.alavi@u-blox.com 8:720841961804 500 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 501 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 502 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 503 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 504
fahim.alavi@u-blox.com 8:720841961804 505 // move index lon
fahim.alavi@u-blox.com 8:720841961804 506 index = UBX_PAYLOAD_INDEX + 24;
fahim.alavi@u-blox.com 8:720841961804 507
fahim.alavi@u-blox.com 8:720841961804 508 return_decoded_msg.lon = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 509 return_decoded_msg.lon |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 510 return_decoded_msg.lon |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 511 return_decoded_msg.lon |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 512
fahim.alavi@u-blox.com 8:720841961804 513 return_decoded_msg.lat = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 514 return_decoded_msg.lat |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 515 return_decoded_msg.lat |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 516 return_decoded_msg.lat |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 517
fahim.alavi@u-blox.com 8:720841961804 518 return_decoded_msg.height = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 519 return_decoded_msg.height |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 520 return_decoded_msg.height |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 521 return_decoded_msg.height |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 522
fahim.alavi@u-blox.com 8:720841961804 523 // move index to distance
fahim.alavi@u-blox.com 8:720841961804 524 index = UBX_PAYLOAD_INDEX + 84;
fahim.alavi@u-blox.com 8:720841961804 525
fahim.alavi@u-blox.com 8:720841961804 526 return_decoded_msg.distance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 527 return_decoded_msg.distance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 528 return_decoded_msg.distance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 529 return_decoded_msg.distance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 530
fahim.alavi@u-blox.com 8:720841961804 531 return_decoded_msg.totalDistance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 532 return_decoded_msg.totalDistance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 533 return_decoded_msg.totalDistance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 534 return_decoded_msg.totalDistance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 535
fahim.alavi@u-blox.com 8:720841961804 536 return_decoded_msg.distanceSTD = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 537 return_decoded_msg.distanceSTD |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 538 return_decoded_msg.distanceSTD |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 539 return_decoded_msg.distanceSTD |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 540
fahim.alavi@u-blox.com 8:720841961804 541 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 542 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 543
fahim.alavi@u-blox.com 10:bfa9081e1d14 544 int GnssParser::ubx_request_batched_data(bool sendMonFirst) {
fahim.alavi@u-blox.com 10:bfa9081e1d14 545 unsigned char ubx_log_retrieve_batch[]={0x00, 0x00, 0x00, 0x00};
fahim.alavi@u-blox.com 10:bfa9081e1d14 546
fahim.alavi@u-blox.com 10:bfa9081e1d14 547 ubx_log_retrieve_batch[1] = (sendMonFirst == true) ? 0x01 : 0x00;
fahim.alavi@u-blox.com 10:bfa9081e1d14 548
fahim.alavi@u-blox.com 10:bfa9081e1d14 549 int conf = RETRY;
fahim.alavi@u-blox.com 10:bfa9081e1d14 550 while(conf)
fahim.alavi@u-blox.com 10:bfa9081e1d14 551 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 552
fahim.alavi@u-blox.com 10:bfa9081e1d14 553 int length = sendUbx(0x21, 0x10, ubx_log_retrieve_batch, sizeof(ubx_log_retrieve_batch));
fahim.alavi@u-blox.com 10:bfa9081e1d14 554 if(length >= (int)(sizeof(ubx_log_retrieve_batch) + UBX_FRAME_SIZE))
fahim.alavi@u-blox.com 10:bfa9081e1d14 555 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 556 wait(5);
fahim.alavi@u-blox.com 10:bfa9081e1d14 557 break;
fahim.alavi@u-blox.com 10:bfa9081e1d14 558 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 559 else
fahim.alavi@u-blox.com 10:bfa9081e1d14 560 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 561 conf = conf - 1;
fahim.alavi@u-blox.com 10:bfa9081e1d14 562 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 563 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 564 if(conf == 0)
fahim.alavi@u-blox.com 10:bfa9081e1d14 565 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 566 return 1;
fahim.alavi@u-blox.com 10:bfa9081e1d14 567 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 568
fahim.alavi@u-blox.com 10:bfa9081e1d14 569 return 0;
fahim.alavi@u-blox.com 10:bfa9081e1d14 570 }
rob.meades@u-blox.com 1:ef70a58a6c98 571
rob.meades@u-blox.com 1:ef70a58a6c98 572 const char GnssParser::_toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
rob.meades@u-blox.com 1:ef70a58a6c98 573
rob.meades@u-blox.com 1:ef70a58a6c98 574 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 575 // Serial Implementation
rob.meades@u-blox.com 1:ef70a58a6c98 576 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 577
rob.meades@u-blox.com 1:ef70a58a6c98 578 GnssSerial::GnssSerial(PinName tx /*= GNSSTXD */, PinName rx /*= GNSSRXD */, int baudrate /*= GNSSBAUD */,
rob.meades@u-blox.com 4:82308d600690 579 int rxSize /*= 256 */, int txSize /*= 128 */) :
rob.meades@u-blox.com 1:ef70a58a6c98 580 SerialPipe(tx, rx, baudrate, rxSize, txSize)
rob.meades@u-blox.com 1:ef70a58a6c98 581 {
rob.meades@u-blox.com 1:ef70a58a6c98 582 baud(baudrate);
rob.meades@u-blox.com 1:ef70a58a6c98 583 }
rob.meades@u-blox.com 1:ef70a58a6c98 584
rob.meades@u-blox.com 1:ef70a58a6c98 585 GnssSerial::~GnssSerial(void)
rob.meades@u-blox.com 1:ef70a58a6c98 586 {
rob.meades@u-blox.com 1:ef70a58a6c98 587 powerOff();
rob.meades@u-blox.com 1:ef70a58a6c98 588 }
rob.meades@u-blox.com 1:ef70a58a6c98 589
rob.meades@u-blox.com 1:ef70a58a6c98 590 bool GnssSerial::init(PinName pn)
rob.meades@u-blox.com 1:ef70a58a6c98 591 {
rob.meades@u-blox.com 6:56eda66d585b 592 Timer timer;
rob.meades@u-blox.com 6:56eda66d585b 593 int size;
rob.meades@u-blox.com 6:56eda66d585b 594
rob.meades@u-blox.com 4:82308d600690 595 // Unused (kept only for compatibility with the I2C version)
rob.meades@u-blox.com 4:82308d600690 596 (void)pn;
rob.meades@u-blox.com 4:82308d600690 597
rob.meades@u-blox.com 1:ef70a58a6c98 598 // Power up and enable the module
rob.meades@u-blox.com 1:ef70a58a6c98 599 _powerOn();
rob.meades@u-blox.com 1:ef70a58a6c98 600
rob.meades@u-blox.com 6:56eda66d585b 601 // Send a byte to wakup the device again
rob.meades@u-blox.com 1:ef70a58a6c98 602 putc(0xFF);
rob.meades@u-blox.com 6:56eda66d585b 603 // Wait until we get some bytes
rob.meades@u-blox.com 6:56eda66d585b 604 size = _pipeRx.size();
rob.meades@u-blox.com 1:ef70a58a6c98 605 timer.start();
rob.meades@u-blox.com 6:56eda66d585b 606 while ((timer.read_ms() < 1000) && (size == _pipeRx.size())) {
rob.meades@u-blox.com 6:56eda66d585b 607 /* Nothing, just wait */
rob.meades@u-blox.com 6:56eda66d585b 608 }
rob.meades@u-blox.com 6:56eda66d585b 609 timer.stop();
rob.meades@u-blox.com 6:56eda66d585b 610
fahim.alavi@u-blox.com 8:720841961804 611 enable_ubx();
fahim.alavi@u-blox.com 8:720841961804 612
rob.meades@u-blox.com 1:ef70a58a6c98 613 return (size != _pipeRx.size());
rob.meades@u-blox.com 1:ef70a58a6c98 614 }
rob.meades@u-blox.com 1:ef70a58a6c98 615
rob.meades@u-blox.com 1:ef70a58a6c98 616 int GnssSerial::getMessage(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 617 {
rob.meades@u-blox.com 1:ef70a58a6c98 618 return _getMessage(&_pipeRx, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 619 }
rob.meades@u-blox.com 1:ef70a58a6c98 620
rob.meades@u-blox.com 1:ef70a58a6c98 621 int GnssSerial::_send(const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 622 {
rob.meades@u-blox.com 1:ef70a58a6c98 623 return put((const char*)buf, len, true/*=blocking*/);
rob.meades@u-blox.com 1:ef70a58a6c98 624 }
rob.meades@u-blox.com 1:ef70a58a6c98 625
rob.meades@u-blox.com 1:ef70a58a6c98 626 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 627 // I2C Implementation
rob.meades@u-blox.com 1:ef70a58a6c98 628 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 629
rob.meades@u-blox.com 1:ef70a58a6c98 630 GnssI2C::GnssI2C(PinName sda /*= NC */, PinName scl /*= NC */,
rob.meades@u-blox.com 1:ef70a58a6c98 631 unsigned char i2cAdr /*= (66<<1) */, int rxSize /*= 256 */) :
rob.meades@u-blox.com 1:ef70a58a6c98 632 I2C(sda,scl),
rob.meades@u-blox.com 1:ef70a58a6c98 633 _pipe(rxSize),
rob.meades@u-blox.com 1:ef70a58a6c98 634 _i2cAdr(i2cAdr)
rob.meades@u-blox.com 1:ef70a58a6c98 635 {
rob.meades@u-blox.com 1:ef70a58a6c98 636 frequency(100000);
rob.meades@u-blox.com 1:ef70a58a6c98 637 }
rob.meades@u-blox.com 1:ef70a58a6c98 638
rob.meades@u-blox.com 1:ef70a58a6c98 639 GnssI2C::~GnssI2C(void)
rob.meades@u-blox.com 1:ef70a58a6c98 640 {
rob.meades@u-blox.com 1:ef70a58a6c98 641 powerOff();
rob.meades@u-blox.com 1:ef70a58a6c98 642 }
rob.meades@u-blox.com 1:ef70a58a6c98 643
rob.meades@u-blox.com 1:ef70a58a6c98 644 bool GnssI2C::init(PinName pn)
rob.meades@u-blox.com 1:ef70a58a6c98 645 {
rob.meades@u-blox.com 1:ef70a58a6c98 646 // Power up and enable the module
rob.meades@u-blox.com 1:ef70a58a6c98 647 _powerOn();
rob.meades@u-blox.com 1:ef70a58a6c98 648
rob.meades@u-blox.com 1:ef70a58a6c98 649 if (pn != NC) {
rob.meades@u-blox.com 1:ef70a58a6c98 650 DigitalOut pin(pn, 0);
rob.meades@u-blox.com 1:ef70a58a6c98 651 ::wait_us(1);
rob.meades@u-blox.com 1:ef70a58a6c98 652 pin = 1;
rob.meades@u-blox.com 1:ef70a58a6c98 653 ::wait_ms(100);
rob.meades@u-blox.com 1:ef70a58a6c98 654 }
rob.meades@u-blox.com 1:ef70a58a6c98 655 return !I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
rob.meades@u-blox.com 1:ef70a58a6c98 656 }
rob.meades@u-blox.com 1:ef70a58a6c98 657
rob.meades@u-blox.com 1:ef70a58a6c98 658 int GnssI2C::getMessage(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 659 {
rob.meades@u-blox.com 6:56eda66d585b 660 // Fill the pipe
rob.meades@u-blox.com 1:ef70a58a6c98 661 int sz = _pipe.free();
rob.meades@u-blox.com 1:ef70a58a6c98 662 if (sz)
rob.meades@u-blox.com 1:ef70a58a6c98 663 sz = _get(buf, sz);
rob.meades@u-blox.com 1:ef70a58a6c98 664 if (sz)
rob.meades@u-blox.com 1:ef70a58a6c98 665 _pipe.put(buf, sz);
rob.meades@u-blox.com 6:56eda66d585b 666 // Now parse it
rob.meades@u-blox.com 1:ef70a58a6c98 667 return _getMessage(&_pipe, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 668 }
rob.meades@u-blox.com 1:ef70a58a6c98 669
rob.meades@u-blox.com 1:ef70a58a6c98 670 int GnssI2C::send(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 671 {
rob.meades@u-blox.com 1:ef70a58a6c98 672 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 673 if (len)
rob.meades@u-blox.com 1:ef70a58a6c98 674 {
rob.meades@u-blox.com 1:ef70a58a6c98 675 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 676 sent = send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 677 stop();
rob.meades@u-blox.com 1:ef70a58a6c98 678 }
rob.meades@u-blox.com 1:ef70a58a6c98 679 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 680 }
rob.meades@u-blox.com 1:ef70a58a6c98 681
rob.meades@u-blox.com 1:ef70a58a6c98 682 int GnssI2C::sendNmea(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 683 {
rob.meades@u-blox.com 1:ef70a58a6c98 684 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 685 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 686 sent = GnssParser::sendNmea(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 687 stop();
rob.meades@u-blox.com 1:ef70a58a6c98 688 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 689 }
rob.meades@u-blox.com 1:ef70a58a6c98 690
rob.meades@u-blox.com 1:ef70a58a6c98 691 int GnssI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 692 {
rob.meades@u-blox.com 1:ef70a58a6c98 693 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 694 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 695 sent = GnssParser::sendUbx(cls, id, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 696 I2C::stop();
rob.meades@u-blox.com 1:ef70a58a6c98 697 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 698 }
rob.meades@u-blox.com 1:ef70a58a6c98 699
rob.meades@u-blox.com 1:ef70a58a6c98 700 int GnssI2C::_get(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 701 {
rob.meades@u-blox.com 1:ef70a58a6c98 702 int read = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 703 unsigned char sz[2] = {0,0};
rob.meades@u-blox.com 1:ef70a58a6c98 704 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
rob.meades@u-blox.com 1:ef70a58a6c98 705 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz)))
rob.meades@u-blox.com 1:ef70a58a6c98 706 {
rob.meades@u-blox.com 1:ef70a58a6c98 707 int size = 256 * (int)sz[0] + sz[1];
rob.meades@u-blox.com 1:ef70a58a6c98 708 if (size > len)
rob.meades@u-blox.com 1:ef70a58a6c98 709 size = len;
rob.meades@u-blox.com 1:ef70a58a6c98 710 if (size > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 711 {
rob.meades@u-blox.com 1:ef70a58a6c98 712 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true) &&
rob.meades@u-blox.com 1:ef70a58a6c98 713 !I2C::read(_i2cAdr,buf,size)) {
rob.meades@u-blox.com 1:ef70a58a6c98 714 read = size;
rob.meades@u-blox.com 1:ef70a58a6c98 715 }
rob.meades@u-blox.com 1:ef70a58a6c98 716 }
rob.meades@u-blox.com 1:ef70a58a6c98 717 }
rob.meades@u-blox.com 1:ef70a58a6c98 718 return read;
rob.meades@u-blox.com 1:ef70a58a6c98 719 }
rob.meades@u-blox.com 1:ef70a58a6c98 720
rob.meades@u-blox.com 1:ef70a58a6c98 721 int GnssI2C::_send(const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 722 {
rob.meades@u-blox.com 1:ef70a58a6c98 723 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
rob.meades@u-blox.com 1:ef70a58a6c98 724 }
rob.meades@u-blox.com 1:ef70a58a6c98 725
rob.meades@u-blox.com 1:ef70a58a6c98 726 const char GnssI2C::REGLEN = 0xFD;
rob.meades@u-blox.com 1:ef70a58a6c98 727 const char GnssI2C::REGSTREAM = 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 728
rob.meades@u-blox.com 1:ef70a58a6c98 729 // End Of File