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@27:405a5e611635, 2018-11-26 (annotated)

Committer:
fahim.alavi@u-blox.com
Date:
Mon Nov 26 16:59:49 2018 +0500
Revision:
27:405a5e611635
Parent:
21:f91c0334d017
Child:
28:8852ebda4e8f
GNSS configuration without aiding minimum Acq time set to 0 and baudrate reduced to normal

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
RobMeades 5:af4baf3c67f3 35 #ifdef TARGET_UBLOX_C027
rob.meades@u-blox.com 6:56eda66d585b 36 # define GNSSEN GPSEN
rob.meades@u-blox.com 6:56eda66d585b 37 # define GNSSTXD GPSTXD
rob.meades@u-blox.com 6:56eda66d585b 38 # define GNSSRXD GPSRXD
rob.meades@u-blox.com 6:56eda66d585b 39 # define GNSSBAUD GPSBAUD
RobMeades 5:af4baf3c67f3 40 #endif
RobMeades 5:af4baf3c67f3 41
fahim.alavi@u-blox.com 8:720841961804 42 #define UBX_FRAME_SIZE 8
fahim.alavi@u-blox.com 8:720841961804 43 #define RETRY 5
fahim.alavi@u-blox.com 8:720841961804 44 #define SYNC_CHAR_INDEX_1 0
fahim.alavi@u-blox.com 8:720841961804 45 #define SYNC_CHAR_INDEX_2 1
fahim.alavi@u-blox.com 8:720841961804 46 #define MSG_CLASS_INDEX 2
fahim.alavi@u-blox.com 8:720841961804 47 #define MSG_ID_INDEX 3
fahim.alavi@u-blox.com 8:720841961804 48 #define UBX_LENGTH_INDEX 4
fahim.alavi@u-blox.com 8:720841961804 49 #define UBX_PAYLOAD_INDEX 6
fahim.alavi@u-blox.com 8:720841961804 50
fahim.alavi@u-blox.com 8:720841961804 51 enum eUBX_MSG_CLASS {NAV = 0x01, ACK = 0x05, LOG = 0x21};
fahim.alavi@u-blox.com 8:720841961804 52
fahim.alavi@u-blox.com 21:f91c0334d017 53 enum eUBX_MESSAGE {UBX_LOG_BATCH, UBX_ACK_ACK, UBX_ACK_NAK, UBX_NAV_ODO, UBX_NAV_PVT, NAV_STATUS, UNKNOWN_UBX};
fahim.alavi@u-blox.com 8:720841961804 54
fahim.alavi@u-blox.com 9:cff83b9f5093 55 typedef struct UBX_ACK_ACK {
fahim.alavi@u-blox.com 8:720841961804 56 uint8_t msg_class;
fahim.alavi@u-blox.com 8:720841961804 57 uint8_t msg_id;
fahim.alavi@u-blox.com 8:720841961804 58
fahim.alavi@u-blox.com 9:cff83b9f5093 59 }tUBX_ACK_ACK;
fahim.alavi@u-blox.com 8:720841961804 60
fahim.alavi@u-blox.com 8:720841961804 61 typedef struct UBX_NAV_ODO {
fahim.alavi@u-blox.com 8:720841961804 62 uint8_t version;
fahim.alavi@u-blox.com 8:720841961804 63 uint8_t reserved[3];
fahim.alavi@u-blox.com 8:720841961804 64 uint32_t itow;
fahim.alavi@u-blox.com 8:720841961804 65 uint32_t distance;
fahim.alavi@u-blox.com 8:720841961804 66 uint32_t totalDistance;
fahim.alavi@u-blox.com 8:720841961804 67 uint32_t distanceSTD;
fahim.alavi@u-blox.com 8:720841961804 68 }tUBX_NAV_ODO;
fahim.alavi@u-blox.com 8:720841961804 69
fahim.alavi@u-blox.com 8:720841961804 70 typedef struct UBX_NAV_PVT {
fahim.alavi@u-blox.com 8:720841961804 71 uint32_t itow;
fahim.alavi@u-blox.com 8:720841961804 72 uint16_t year;
fahim.alavi@u-blox.com 8:720841961804 73 uint8_t month;
fahim.alavi@u-blox.com 8:720841961804 74 uint8_t day;
fahim.alavi@u-blox.com 17:6c226e3e9d61 75 uint8_t fixType;
fahim.alavi@u-blox.com 8:720841961804 76 int32_t lon; // scaling 1e-7
fahim.alavi@u-blox.com 8:720841961804 77 int32_t lat; // scaling 1e-7
fahim.alavi@u-blox.com 8:720841961804 78 int32_t height;
fahim.alavi@u-blox.com 17:6c226e3e9d61 79 int32_t speed;
fahim.alavi@u-blox.com 8:720841961804 80
fahim.alavi@u-blox.com 8:720841961804 81 }tUBX_NAV_PVT;
fahim.alavi@u-blox.com 8:720841961804 82
fahim.alavi@u-blox.com 8:720841961804 83 typedef struct UBX_LOG_BATCH {
fahim.alavi@u-blox.com 8:720841961804 84 uint32_t itow;
fahim.alavi@u-blox.com 8:720841961804 85 int32_t lon; // scaling 1e-7
fahim.alavi@u-blox.com 8:720841961804 86 int32_t lat; // scaling 1e-7
fahim.alavi@u-blox.com 8:720841961804 87 int32_t height;
fahim.alavi@u-blox.com 8:720841961804 88 uint32_t distance;
fahim.alavi@u-blox.com 8:720841961804 89 uint32_t totalDistance;
fahim.alavi@u-blox.com 8:720841961804 90 uint32_t distanceSTD;
fahim.alavi@u-blox.com 8:720841961804 91
fahim.alavi@u-blox.com 8:720841961804 92 }tUBX_LOG_BATCH;
fahim.alavi@u-blox.com 8:720841961804 93
Bilal Qamar 11:514ea8bf1dc8 94 typedef struct UBX_CFG_BATCH {
Bilal Qamar 11:514ea8bf1dc8 95 uint32_t version;
Bilal Qamar 11:514ea8bf1dc8 96 uint8_t flags;
Bilal Qamar 11:514ea8bf1dc8 97 uint32_t bufSize;
Bilal Qamar 11:514ea8bf1dc8 98 uint32_t notifThrs;
Bilal Qamar 12:a04f7eeece23 99 uint8_t pioId;
Bilal Qamar 12:a04f7eeece23 100 uint8_t reserved1;
Bilal Qamar 11:514ea8bf1dc8 101
Bilal Qamar 11:514ea8bf1dc8 102 }tUBX_CFG_BATCH;
Bilal Qamar 11:514ea8bf1dc8 103
fahim.alavi@u-blox.com 21:f91c0334d017 104 typedef struct UBX_NAV_STATUS{
fahim.alavi@u-blox.com 21:f91c0334d017 105 uint32_t itow;
fahim.alavi@u-blox.com 21:f91c0334d017 106 uint8_t fix;
fahim.alavi@u-blox.com 21:f91c0334d017 107 uint8_t flags;
fahim.alavi@u-blox.com 21:f91c0334d017 108 uint32_t ttff;
fahim.alavi@u-blox.com 21:f91c0334d017 109 uint32_t msss;
fahim.alavi@u-blox.com 21:f91c0334d017 110
fahim.alavi@u-blox.com 21:f91c0334d017 111 }tUBX_NAV_STATUS;
fahim.alavi@u-blox.com 21:f91c0334d017 112
rob.meades@u-blox.com 4:82308d600690 113 /** Basic GNSS parser class.
rob.meades@u-blox.com 1:ef70a58a6c98 114 */
rob.meades@u-blox.com 1:ef70a58a6c98 115 class GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 116 {
rob.meades@u-blox.com 1:ef70a58a6c98 117 public:
rob.meades@u-blox.com 4:82308d600690 118 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 119 */
rob.meades@u-blox.com 1:ef70a58a6c98 120 GnssParser();
rob.meades@u-blox.com 4:82308d600690 121 /** Destructor.
rob.meades@u-blox.com 4:82308d600690 122 */
rob.meades@u-blox.com 1:ef70a58a6c98 123 virtual ~GnssParser(void);
rob.meades@u-blox.com 1:ef70a58a6c98 124
rob.meades@u-blox.com 4:82308d600690 125 /** Power-on/wake-up the GNSS.
rob.meades@u-blox.com 1:ef70a58a6c98 126 */
rob.meades@u-blox.com 1:ef70a58a6c98 127 virtual bool init(PinName pn) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 128
rob.meades@u-blox.com 1:ef70a58a6c98 129 enum {
rob.meades@u-blox.com 1:ef70a58a6c98 130 // getLine Responses
rob.meades@u-blox.com 1:ef70a58a6c98 131 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 132 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 133
rob.meades@u-blox.com 1:ef70a58a6c98 134 #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length
rob.meades@u-blox.com 1:ef70a58a6c98 135 #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type
rob.meades@u-blox.com 1:ef70a58a6c98 136
rob.meades@u-blox.com 1:ef70a58a6c98 137 UNKNOWN = 0x000000, //!< message type is unknown
rob.meades@u-blox.com 1:ef70a58a6c98 138 UBX = 0x100000, //!< message if of protocol NMEA
rob.meades@u-blox.com 1:ef70a58a6c98 139 NMEA = 0x200000 //!< message if of protocol UBX
rob.meades@u-blox.com 1:ef70a58a6c98 140 };
rob.meades@u-blox.com 1:ef70a58a6c98 141
rob.meades@u-blox.com 1:ef70a58a6c98 142 /** Get a line from the physical interface. This function
rob.meades@u-blox.com 4:82308d600690 143 * needs to be implemented in the inherited class.
rob.meades@u-blox.com 4:82308d600690 144 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 145 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 146 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 147 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 148 * NOT_FOUND if nothing was found
rob.meades@u-blox.com 4:82308d600690 149 */
rob.meades@u-blox.com 1:ef70a58a6c98 150 virtual int getMessage(char* buf, int len) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 151
rob.meades@u-blox.com 4:82308d600690 152 /** Send a buffer.
rob.meades@u-blox.com 4:82308d600690 153 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 154 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 155 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 156 */
rob.meades@u-blox.com 1:ef70a58a6c98 157 virtual int send(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 158
rob.meades@u-blox.com 1:ef70a58a6c98 159 /** send a NMEA message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 160 * payload and calculates and adds checksum. ($ and *XX\r\n will be added).
rob.meades@u-blox.com 4:82308d600690 161 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 162 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 163 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 164 */
rob.meades@u-blox.com 1:ef70a58a6c98 165 virtual int sendNmea(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 166
rob.meades@u-blox.com 4:82308d600690 167 /** Send a UBX message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 168 * payload and calculates and adds checksum.
rob.meades@u-blox.com 4:82308d600690 169 * @param cls the UBX class id.
rob.meades@u-blox.com 4:82308d600690 170 * @param id the UBX message id.
rob.meades@u-blox.com 4:82308d600690 171 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 172 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 173 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 174 */
rob.meades@u-blox.com 1:ef70a58a6c98 175 virtual int sendUbx(unsigned char cls, unsigned char id,
rob.meades@u-blox.com 1:ef70a58a6c98 176 const void* buf = NULL, int len = 0);
rob.meades@u-blox.com 1:ef70a58a6c98 177
rob.meades@u-blox.com 1:ef70a58a6c98 178 /** Power off the GNSS, it can be again woken up by an
rob.meades@u-blox.com 4:82308d600690 179 * edge on the serial port on the external interrupt pin.
rob.meades@u-blox.com 1:ef70a58a6c98 180 */
rob.meades@u-blox.com 1:ef70a58a6c98 181 void powerOff(void);
bqam 13:10108cd3ad23 182
bqam 13:10108cd3ad23 183 /** Cuts off the power supply of GNSS by disabling gnssEnable pin
bqam 13:10108cd3ad23 184 * Backup supply is provided, can turn it on again by enabling PA15
bqam 13:10108cd3ad23 185 */
bqam 13:10108cd3ad23 186 void cutOffPower(void);
rob.meades@u-blox.com 1:ef70a58a6c98 187
rob.meades@u-blox.com 4:82308d600690 188 /** get the first character of a NMEA field.
rob.meades@u-blox.com 4:82308d600690 189 * @param ix the index of the field to find.
rob.meades@u-blox.com 4:82308d600690 190 * @param start the start of the buffer.
rob.meades@u-blox.com 4:82308d600690 191 * @param end the end of the buffer.
rob.meades@u-blox.com 4:82308d600690 192 * @return the pointer to the first character of the field.
rob.meades@u-blox.com 4:82308d600690 193 */
rob.meades@u-blox.com 1:ef70a58a6c98 194 static const char* findNmeaItemPos(int ix, const char* start, const char* end);
rob.meades@u-blox.com 1:ef70a58a6c98 195
rob.meades@u-blox.com 4:82308d600690 196 /** Extract a double value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 197 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 198 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 199 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 200 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 201 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 202 */
rob.meades@u-blox.com 1:ef70a58a6c98 203 static bool getNmeaItem(int ix, char* buf, int len, double& val);
rob.meades@u-blox.com 1:ef70a58a6c98 204
rob.meades@u-blox.com 4:82308d600690 205 /** Extract a interger value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 206 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 207 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 208 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 209 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 210 * @param base the numeric base to be used (e.g. 8, 10 or 16).
rob.meades@u-blox.com 4:82308d600690 211 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 212 */
rob.meades@u-blox.com 1:ef70a58a6c98 213 static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
rob.meades@u-blox.com 1:ef70a58a6c98 214
rob.meades@u-blox.com 4:82308d600690 215 /** Extract a char value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 216 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 217 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 218 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 219 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 220 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 221 */
rob.meades@u-blox.com 1:ef70a58a6c98 222 static bool getNmeaItem(int ix, char* buf, int len, char& val);
rob.meades@u-blox.com 1:ef70a58a6c98 223
rob.meades@u-blox.com 4:82308d600690 224 /** Extract a latitude/longitude value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 225 * @param ix the index of the field to extract (will extract ix and ix + 1),
rob.meades@u-blox.com 4:82308d600690 226 * @param buf the NMEA message,
rob.meades@u-blox.com 4:82308d600690 227 * @param len the size of the NMEA message,
rob.meades@u-blox.com 4:82308d600690 228 * @param val the extracted latitude or longitude,
rob.meades@u-blox.com 4:82308d600690 229 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 230 */
rob.meades@u-blox.com 1:ef70a58a6c98 231 static bool getNmeaAngle(int ix, char* buf, int len, double& val);
fahim.alavi@u-blox.com 8:720841961804 232
fahim.alavi@u-blox.com 8:720841961804 233 /** Enable UBX messages.
fahim.alavi@u-blox.com 8:720841961804 234 * @param none
Bilal Qamar 12:a04f7eeece23 235 * @return 1 if successful, false otherwise.
fahim.alavi@u-blox.com 8:720841961804 236 */
fahim.alavi@u-blox.com 8:720841961804 237 int enable_ubx();
rob.meades@u-blox.com 1:ef70a58a6c98 238
fahim.alavi@u-blox.com 8:720841961804 239 /** GET Message type of receiver UBX message
fahim.alavi@u-blox.com 8:720841961804 240 * @param buff the UXB message
fahim.alavi@u-blox.com 8:720841961804 241 * @return eUBX_MESSAGE
fahim.alavi@u-blox.com 8:720841961804 242 */
fahim.alavi@u-blox.com 8:720841961804 243 eUBX_MESSAGE get_ubx_message(char *);
fahim.alavi@u-blox.com 8:720841961804 244
fahim.alavi@u-blox.com 9:cff83b9f5093 245 /** Method to parse contents of UBX ACK-ACK/NAK and return messageid amd class for which ACK is received
fahim.alavi@u-blox.com 8:720841961804 246 * @param buff the UXB message
fahim.alavi@u-blox.com 9:cff83b9f5093 247 * @return tUBX_ACK_ACK
fahim.alavi@u-blox.com 8:720841961804 248 */
fahim.alavi@u-blox.com 9:cff83b9f5093 249 tUBX_ACK_ACK decode_ubx_cfg_ack_nak_msg(char *);
fahim.alavi@u-blox.com 8:720841961804 250
fahim.alavi@u-blox.com 8:720841961804 251 /** Method to parse contents of UBX_NAV_ODO and return decoded msg
fahim.alavi@u-blox.com 8:720841961804 252 * @param buff the UXB message
fahim.alavi@u-blox.com 8:720841961804 253 * @return tUBX_NAV_ODO
fahim.alavi@u-blox.com 8:720841961804 254 */
fahim.alavi@u-blox.com 8:720841961804 255 tUBX_NAV_ODO decode_ubx_nav_odo_msg(char *);
fahim.alavi@u-blox.com 8:720841961804 256
fahim.alavi@u-blox.com 8:720841961804 257 /** Method to parse contents of UBX_NAV_PVT and return decoded msg
fahim.alavi@u-blox.com 8:720841961804 258 * @param buff the UXB message
fahim.alavi@u-blox.com 8:720841961804 259 * @return tUBX_NAV_PVT
fahim.alavi@u-blox.com 8:720841961804 260 */
fahim.alavi@u-blox.com 8:720841961804 261 tUBX_NAV_PVT decode_ubx_nav_pvt_msg(char *);
fahim.alavi@u-blox.com 8:720841961804 262
fahim.alavi@u-blox.com 8:720841961804 263 /** Method to parse contents of UBX_LOG_BATCH and return decoded msg
fahim.alavi@u-blox.com 8:720841961804 264 * @param buff the UXB message
fahim.alavi@u-blox.com 8:720841961804 265 * @return tUBX_LOG_BATCH
fahim.alavi@u-blox.com 8:720841961804 266 */
fahim.alavi@u-blox.com 8:720841961804 267 tUBX_LOG_BATCH decode_ubx_log_batch_msg(char *);
fahim.alavi@u-blox.com 8:720841961804 268
fahim.alavi@u-blox.com 21:f91c0334d017 269 /** Method to parse contents of UBX_NAV_STATUS and return decoded msg
fahim.alavi@u-blox.com 21:f91c0334d017 270 * @param buff the UXB message
fahim.alavi@u-blox.com 21:f91c0334d017 271 * @return tUBX_NAV_STATUS
fahim.alavi@u-blox.com 21:f91c0334d017 272 */
fahim.alavi@u-blox.com 21:f91c0334d017 273 tUBX_NAV_STATUS decode_ubx_nav_status_msg(char *);
fahim.alavi@u-blox.com 21:f91c0334d017 274
fahim.alavi@u-blox.com 10:bfa9081e1d14 275 /** Method to send UBX LOG-RETRIEVEBATCH msg. This message is used to request batched data.
fahim.alavi@u-blox.com 10:bfa9081e1d14 276 * @param bool
fahim.alavi@u-blox.com 10:bfa9081e1d14 277 * @return int
fahim.alavi@u-blox.com 10:bfa9081e1d14 278 */
fahim.alavi@u-blox.com 10:bfa9081e1d14 279 int ubx_request_batched_data(bool sendMonFirst = false);
fahim.alavi@u-blox.com 10:bfa9081e1d14 280
rob.meades@u-blox.com 1:ef70a58a6c98 281 protected:
rob.meades@u-blox.com 1:ef70a58a6c98 282 /** Power on the GNSS module.
rob.meades@u-blox.com 1:ef70a58a6c98 283 */
rob.meades@u-blox.com 1:ef70a58a6c98 284 void _powerOn(void);
rob.meades@u-blox.com 1:ef70a58a6c98 285
rob.meades@u-blox.com 4:82308d600690 286 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 287 * @param pipe the receiveing pipe to parse messages .
rob.meades@u-blox.com 4:82308d600690 288 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 289 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 290 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 291 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 292 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 293 */
rob.meades@u-blox.com 1:ef70a58a6c98 294 static int _getMessage(Pipe<char>* pipe, char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 295
rob.meades@u-blox.com 1:ef70a58a6c98 296 /** Check if the current offset of the pipe contains a NMEA message.
rob.meades@u-blox.com 4:82308d600690 297 * @param pipe the receiveing pipe to parse messages.
rob.meades@u-blox.com 4:82308d600690 298 * @param len numer of bytes to parse at maximum.
rob.meades@u-blox.com 4:82308d600690 299 * @return length if something was found (including the NMEA frame),
rob.meades@u-blox.com 4:82308d600690 300 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 301 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 302 */
rob.meades@u-blox.com 1:ef70a58a6c98 303 static int _parseNmea(Pipe<char>* pipe, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 304
rob.meades@u-blox.com 1:ef70a58a6c98 305 /** Check if the current offset of the pipe contains a UBX message.
rob.meades@u-blox.com 4:82308d600690 306 * @param pipe the receiveing pipe to parse messages.
rob.meades@u-blox.com 4:82308d600690 307 * @param len numer of bytes to parse at maximum.
rob.meades@u-blox.com 4:82308d600690 308 * @return length if something was found (including the UBX frame),
rob.meades@u-blox.com 4:82308d600690 309 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 310 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 311 */
rob.meades@u-blox.com 1:ef70a58a6c98 312 static int _parseUbx(Pipe<char>* pipe, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 313
rob.meades@u-blox.com 1:ef70a58a6c98 314 /** Write bytes to the physical interface. This function
rob.meades@u-blox.com 4:82308d600690 315 * needs to be implemented by the inherited class.
rob.meades@u-blox.com 4:82308d600690 316 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 317 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 318 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 319 */
rob.meades@u-blox.com 1:ef70a58a6c98 320 virtual int _send(const void* buf, int len) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 321
rob.meades@u-blox.com 1:ef70a58a6c98 322 static const char _toHex[16]; //!< num to hex conversion
rob.meades@u-blox.com 4:82308d600690 323 DigitalInOut *_gnssEnable; //!< IO pin that enables GNSS
rob.meades@u-blox.com 1:ef70a58a6c98 324 };
rob.meades@u-blox.com 1:ef70a58a6c98 325
rob.meades@u-blox.com 4:82308d600690 326 /** GNSS class which uses a serial port as physical interface.
rob.meades@u-blox.com 4:82308d600690 327 */
rob.meades@u-blox.com 1:ef70a58a6c98 328 class GnssSerial : public SerialPipe, public GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 329 {
rob.meades@u-blox.com 1:ef70a58a6c98 330 public:
rob.meades@u-blox.com 4:82308d600690 331 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 332 * @param tx is the serial ports transmit pin (GNSS to CPU).
rob.meades@u-blox.com 4:82308d600690 333 * @param rx is the serial ports receive pin (CPU to GNSS).
rob.meades@u-blox.com 4:82308d600690 334 * @param baudrate the baudrate of the GNSS use 9600.
rob.meades@u-blox.com 4:82308d600690 335 * @param rxSize the size of the serial rx buffer.
rob.meades@u-blox.com 4:82308d600690 336 * @param txSize the size of the serial tx buffer.
rob.meades@u-blox.com 4:82308d600690 337 */
RobMeades 2:b10ca4aa2e5e 338 GnssSerial(PinName tx GNSS_IF( = GNSSTXD, = D8 /* = D8 */), // resistor on shield not populated
RobMeades 2:b10ca4aa2e5e 339 PinName rx GNSS_IF( = GNSSRXD, = D9 /* = D9 */), // resistor on shield not populated
rob.meades@u-blox.com 1:ef70a58a6c98 340 int baudrate GNSS_IF( = GNSSBAUD, = 9600 ),
fahim.alavi@u-blox.com 27:405a5e611635 341 int rxSize = 1024 ,
fahim.alavi@u-blox.com 27:405a5e611635 342 int txSize = 512 );
rob.meades@u-blox.com 1:ef70a58a6c98 343
rob.meades@u-blox.com 4:82308d600690 344 /** Destructor.
rob.meades@u-blox.com 4:82308d600690 345 */
rob.meades@u-blox.com 1:ef70a58a6c98 346 virtual ~GnssSerial(void);
rob.meades@u-blox.com 1:ef70a58a6c98 347
rob.meades@u-blox.com 4:82308d600690 348 /** Initialise the GNSS device.
rob.meades@u-blox.com 4:82308d600690 349 * @param pn NOT USED.
fahim.alavi@u-blox.com 15:105cf3ca48c9 350 * @param baudrate
rob.meades@u-blox.com 4:82308d600690 351 * @return true if successful, otherwise false.
rob.meades@u-blox.com 4:82308d600690 352 */
rob.meades@u-blox.com 1:ef70a58a6c98 353 virtual bool init(PinName pn = NC);
rob.meades@u-blox.com 1:ef70a58a6c98 354
rob.meades@u-blox.com 1:ef70a58a6c98 355 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 356 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 357 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 358 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 359 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 360 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 361 */
rob.meades@u-blox.com 1:ef70a58a6c98 362 virtual int getMessage(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 363
rob.meades@u-blox.com 1:ef70a58a6c98 364 protected:
rob.meades@u-blox.com 1:ef70a58a6c98 365 /** Write bytes to the physical interface.
rob.meades@u-blox.com 4:82308d600690 366 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 367 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 368 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 369 */
rob.meades@u-blox.com 1:ef70a58a6c98 370 virtual int _send(const void* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 371 };
rob.meades@u-blox.com 1:ef70a58a6c98 372
rob.meades@u-blox.com 1:ef70a58a6c98 373 /** GNSS class which uses a i2c as physical interface.
rob.meades@u-blox.com 1:ef70a58a6c98 374 */
rob.meades@u-blox.com 1:ef70a58a6c98 375 class GnssI2C : public I2C, public GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 376 {
rob.meades@u-blox.com 1:ef70a58a6c98 377 public:
rob.meades@u-blox.com 4:82308d600690 378 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 379 * @param sda is the I2C SDA pin (between CPU and GNSS).
rob.meades@u-blox.com 4:82308d600690 380 * @param scl is the I2C SCL pin (CPU to GNSS).
rob.meades@u-blox.com 4:82308d600690 381 * @param adr the I2C address of the GNSS set to (66<<1).
rob.meades@u-blox.com 4:82308d600690 382 * @param rxSize the size of the serial rx buffer.
rob.meades@u-blox.com 4:82308d600690 383 */
RobMeades 2:b10ca4aa2e5e 384 GnssI2C(PinName sda GNSS_IF( = NC, = /* D16 TODO */ NC ),
RobMeades 2:b10ca4aa2e5e 385 PinName scl GNSS_IF( = NC, = /* D17 TODO */ NC ),
RobMeades 2:b10ca4aa2e5e 386 unsigned char i2cAdr GNSS_IF( = (66<<1), = (66<<1) ),
RobMeades 2:b10ca4aa2e5e 387 int rxSize = 256 );
rob.meades@u-blox.com 4:82308d600690 388 /** Destructor
rob.meades@u-blox.com 4:82308d600690 389 */
rob.meades@u-blox.com 1:ef70a58a6c98 390 virtual ~GnssI2C(void);
rob.meades@u-blox.com 1:ef70a58a6c98 391
rob.meades@u-blox.com 4:82308d600690 392 /** Helper function to probe the i2c device.
rob.meades@u-blox.com 4:82308d600690 393 * @param pn the power-on pin for the chip.
rob.meades@u-blox.com 4:82308d600690 394 * @return true if successfully detected the GNSS chip.
rob.meades@u-blox.com 4:82308d600690 395 */
rob.meades@u-blox.com 1:ef70a58a6c98 396 virtual bool init(PinName pn = GNSS_IF( NC, NC /* D7 resistor R67 on shield not mounted */));
rob.meades@u-blox.com 1:ef70a58a6c98 397
rob.meades@u-blox.com 1:ef70a58a6c98 398 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 399 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 400 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 401 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 402 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 403 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 404 */
rob.meades@u-blox.com 1:ef70a58a6c98 405 virtual int getMessage(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 406
rob.meades@u-blox.com 4:82308d600690 407 /** Send a buffer.
rob.meades@u-blox.com 4:82308d600690 408 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 409 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 410 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 411 */
rob.meades@u-blox.com 1:ef70a58a6c98 412 virtual int send(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 413
rob.meades@u-blox.com 4:82308d600690 414 /** Send an NMEA message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 415 * payload and calculates and adds checksum ($ and *XX\r\n will be added).
rob.meades@u-blox.com 4:82308d600690 416 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 417 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 418 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 419 */
rob.meades@u-blox.com 1:ef70a58a6c98 420 virtual int sendNmea(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 421
rob.meades@u-blox.com 4:82308d600690 422 /** Send a UBX message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 423 * payload and calculates and adds checksum.
rob.meades@u-blox.com 4:82308d600690 424 * @param cls the UBX class id.
rob.meades@u-blox.com 4:82308d600690 425 * @param id the UBX message id.
rob.meades@u-blox.com 4:82308d600690 426 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 427 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 428 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 429 */
rob.meades@u-blox.com 1:ef70a58a6c98 430 virtual int sendUbx(unsigned char cls, unsigned char id,
rob.meades@u-blox.com 1:ef70a58a6c98 431 const void* buf = NULL, int len = 0);
rob.meades@u-blox.com 1:ef70a58a6c98 432
rob.meades@u-blox.com 1:ef70a58a6c98 433 protected:
rob.meades@u-blox.com 4:82308d600690 434 /** Check if the port is writeable (like SerialPipe)
rob.meades@u-blox.com 4:82308d600690 435 * @return true if writeable
rob.meades@u-blox.com 4:82308d600690 436 */
rob.meades@u-blox.com 4:82308d600690 437 bool writeable(void) {return true;}
rob.meades@u-blox.com 1:ef70a58a6c98 438
rob.meades@u-blox.com 4:82308d600690 439 /** Write a character (like SerialPipe).
rob.meades@u-blox.com 4:82308d600690 440 * @param c the character to write.
rob.meades@u-blox.com 4:82308d600690 441 * @return true if succesffully written .
rob.meades@u-blox.com 4:82308d600690 442 */
rob.meades@u-blox.com 4:82308d600690 443 bool putc(int c) {char ch = c; return send(&ch, 1);}
rob.meades@u-blox.com 1:ef70a58a6c98 444
rob.meades@u-blox.com 1:ef70a58a6c98 445 /** Write bytes to the physical interface.
rob.meades@u-blox.com 4:82308d600690 446 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 447 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 448 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 449 */
rob.meades@u-blox.com 1:ef70a58a6c98 450 virtual int _send(const void* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 451
rob.meades@u-blox.com 4:82308d600690 452 /** Read bytes from the physical interface.
rob.meades@u-blox.com 4:82308d600690 453 * @param buf the buffer to read into.
rob.meades@u-blox.com 4:82308d600690 454 * @param len size of the read buffer .
rob.meades@u-blox.com 4:82308d600690 455 * @return bytes read.
rob.meades@u-blox.com 4:82308d600690 456 */
rob.meades@u-blox.com 1:ef70a58a6c98 457 int _get(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 458
rob.meades@u-blox.com 4:82308d600690 459 Pipe<char> _pipe; //!< the rx pipe.
rob.meades@u-blox.com 4:82308d600690 460 unsigned char _i2cAdr; //!< the i2c address.
rob.meades@u-blox.com 4:82308d600690 461 static const char REGLEN; //!< the length i2c register address.
rob.meades@u-blox.com 4:82308d600690 462 static const char REGSTREAM;//!< the stream i2c register address.
rob.meades@u-blox.com 1:ef70a58a6c98 463 };
rob.meades@u-blox.com 1:ef70a58a6c98 464
rob.meades@u-blox.com 1:ef70a58a6c98 465 #endif
rob.meades@u-blox.com 1:ef70a58a6c98 466
rob.meades@u-blox.com 1:ef70a58a6c98 467 // End Of File