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@17:6c226e3e9d61, 2018-09-03 (annotated)

Committer:
fahim.alavi@u-blox.com
Date:
Mon Sep 03 14:39:27 2018 +0500
Revision:
17:6c226e3e9d61
Parent:
15:105cf3ca48c9
Child:
21:f91c0334d017
Set ground speed, fixType and avg_ignss

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 8:720841961804 53 enum eUBX_MESSAGE {UBX_LOG_BATCH, UBX_ACK_ACK, UBX_ACK_NAK, UBX_NAV_ODO, UBX_NAV_PVT, 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
rob.meades@u-blox.com 4:82308d600690 104 /** Basic GNSS parser class.
rob.meades@u-blox.com 1:ef70a58a6c98 105 */
rob.meades@u-blox.com 1:ef70a58a6c98 106 class GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 107 {
rob.meades@u-blox.com 1:ef70a58a6c98 108 public:
rob.meades@u-blox.com 4:82308d600690 109 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 110 */
rob.meades@u-blox.com 1:ef70a58a6c98 111 GnssParser();
rob.meades@u-blox.com 4:82308d600690 112 /** Destructor.
rob.meades@u-blox.com 4:82308d600690 113 */
rob.meades@u-blox.com 1:ef70a58a6c98 114 virtual ~GnssParser(void);
rob.meades@u-blox.com 1:ef70a58a6c98 115
rob.meades@u-blox.com 4:82308d600690 116 /** Power-on/wake-up the GNSS.
rob.meades@u-blox.com 1:ef70a58a6c98 117 */
rob.meades@u-blox.com 1:ef70a58a6c98 118 virtual bool init(PinName pn) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 119
rob.meades@u-blox.com 1:ef70a58a6c98 120 enum {
rob.meades@u-blox.com 1:ef70a58a6c98 121 // getLine Responses
rob.meades@u-blox.com 1:ef70a58a6c98 122 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 123 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 124
rob.meades@u-blox.com 1:ef70a58a6c98 125 #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length
rob.meades@u-blox.com 1:ef70a58a6c98 126 #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type
rob.meades@u-blox.com 1:ef70a58a6c98 127
rob.meades@u-blox.com 1:ef70a58a6c98 128 UNKNOWN = 0x000000, //!< message type is unknown
rob.meades@u-blox.com 1:ef70a58a6c98 129 UBX = 0x100000, //!< message if of protocol NMEA
rob.meades@u-blox.com 1:ef70a58a6c98 130 NMEA = 0x200000 //!< message if of protocol UBX
rob.meades@u-blox.com 1:ef70a58a6c98 131 };
rob.meades@u-blox.com 1:ef70a58a6c98 132
rob.meades@u-blox.com 1:ef70a58a6c98 133 /** Get a line from the physical interface. This function
rob.meades@u-blox.com 4:82308d600690 134 * needs to be implemented in the inherited class.
rob.meades@u-blox.com 4:82308d600690 135 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 136 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 137 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 138 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 139 * NOT_FOUND if nothing was found
rob.meades@u-blox.com 4:82308d600690 140 */
rob.meades@u-blox.com 1:ef70a58a6c98 141 virtual int getMessage(char* buf, int len) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 142
rob.meades@u-blox.com 4:82308d600690 143 /** Send a buffer.
rob.meades@u-blox.com 4:82308d600690 144 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 145 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 146 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 147 */
rob.meades@u-blox.com 1:ef70a58a6c98 148 virtual int send(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 149
rob.meades@u-blox.com 1:ef70a58a6c98 150 /** send a NMEA message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 151 * payload and calculates and adds checksum. ($ and *XX\r\n will be added).
rob.meades@u-blox.com 4:82308d600690 152 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 153 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 154 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 155 */
rob.meades@u-blox.com 1:ef70a58a6c98 156 virtual int sendNmea(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 157
rob.meades@u-blox.com 4:82308d600690 158 /** Send a UBX message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 159 * payload and calculates and adds checksum.
rob.meades@u-blox.com 4:82308d600690 160 * @param cls the UBX class id.
rob.meades@u-blox.com 4:82308d600690 161 * @param id the UBX message id.
rob.meades@u-blox.com 4:82308d600690 162 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 163 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 164 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 165 */
rob.meades@u-blox.com 1:ef70a58a6c98 166 virtual int sendUbx(unsigned char cls, unsigned char id,
rob.meades@u-blox.com 1:ef70a58a6c98 167 const void* buf = NULL, int len = 0);
rob.meades@u-blox.com 1:ef70a58a6c98 168
rob.meades@u-blox.com 1:ef70a58a6c98 169 /** Power off the GNSS, it can be again woken up by an
rob.meades@u-blox.com 4:82308d600690 170 * edge on the serial port on the external interrupt pin.
rob.meades@u-blox.com 1:ef70a58a6c98 171 */
rob.meades@u-blox.com 1:ef70a58a6c98 172 void powerOff(void);
bqam 13:10108cd3ad23 173
bqam 13:10108cd3ad23 174 /** Cuts off the power supply of GNSS by disabling gnssEnable pin
bqam 13:10108cd3ad23 175 * Backup supply is provided, can turn it on again by enabling PA15
bqam 13:10108cd3ad23 176 */
bqam 13:10108cd3ad23 177 void cutOffPower(void);
rob.meades@u-blox.com 1:ef70a58a6c98 178
rob.meades@u-blox.com 4:82308d600690 179 /** get the first character of a NMEA field.
rob.meades@u-blox.com 4:82308d600690 180 * @param ix the index of the field to find.
rob.meades@u-blox.com 4:82308d600690 181 * @param start the start of the buffer.
rob.meades@u-blox.com 4:82308d600690 182 * @param end the end of the buffer.
rob.meades@u-blox.com 4:82308d600690 183 * @return the pointer to the first character of the field.
rob.meades@u-blox.com 4:82308d600690 184 */
rob.meades@u-blox.com 1:ef70a58a6c98 185 static const char* findNmeaItemPos(int ix, const char* start, const char* end);
rob.meades@u-blox.com 1:ef70a58a6c98 186
rob.meades@u-blox.com 4:82308d600690 187 /** Extract a double value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 188 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 189 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 190 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 191 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 192 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 193 */
rob.meades@u-blox.com 1:ef70a58a6c98 194 static bool getNmeaItem(int ix, char* buf, int len, double& val);
rob.meades@u-blox.com 1:ef70a58a6c98 195
rob.meades@u-blox.com 4:82308d600690 196 /** Extract a interger 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 * @param base the numeric base to be used (e.g. 8, 10 or 16).
rob.meades@u-blox.com 4:82308d600690 202 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 203 */
rob.meades@u-blox.com 1:ef70a58a6c98 204 static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
rob.meades@u-blox.com 1:ef70a58a6c98 205
rob.meades@u-blox.com 4:82308d600690 206 /** Extract a char value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 207 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 208 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 209 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 210 * @param val the extracted value.
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, char& val);
rob.meades@u-blox.com 1:ef70a58a6c98 214
rob.meades@u-blox.com 4:82308d600690 215 /** Extract a latitude/longitude 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 (will extract ix and ix + 1),
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 latitude or longitude,
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 getNmeaAngle(int ix, char* buf, int len, double& val);
fahim.alavi@u-blox.com 8:720841961804 223
fahim.alavi@u-blox.com 8:720841961804 224 /** Enable UBX messages.
fahim.alavi@u-blox.com 8:720841961804 225 * @param none
Bilal Qamar 12:a04f7eeece23 226 * @return 1 if successful, false otherwise.
fahim.alavi@u-blox.com 8:720841961804 227 */
fahim.alavi@u-blox.com 8:720841961804 228 int enable_ubx();
rob.meades@u-blox.com 1:ef70a58a6c98 229
fahim.alavi@u-blox.com 8:720841961804 230 /** GET Message type of receiver UBX message
fahim.alavi@u-blox.com 8:720841961804 231 * @param buff the UXB message
fahim.alavi@u-blox.com 8:720841961804 232 * @return eUBX_MESSAGE
fahim.alavi@u-blox.com 8:720841961804 233 */
fahim.alavi@u-blox.com 8:720841961804 234 eUBX_MESSAGE get_ubx_message(char *);
fahim.alavi@u-blox.com 8:720841961804 235
fahim.alavi@u-blox.com 9:cff83b9f5093 236 /** 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 237 * @param buff the UXB message
fahim.alavi@u-blox.com 9:cff83b9f5093 238 * @return tUBX_ACK_ACK
fahim.alavi@u-blox.com 8:720841961804 239 */
fahim.alavi@u-blox.com 9:cff83b9f5093 240 tUBX_ACK_ACK decode_ubx_cfg_ack_nak_msg(char *);
fahim.alavi@u-blox.com 8:720841961804 241
fahim.alavi@u-blox.com 8:720841961804 242 /** Method to parse contents of UBX_NAV_ODO and return decoded msg
fahim.alavi@u-blox.com 8:720841961804 243 * @param buff the UXB message
fahim.alavi@u-blox.com 8:720841961804 244 * @return tUBX_NAV_ODO
fahim.alavi@u-blox.com 8:720841961804 245 */
fahim.alavi@u-blox.com 8:720841961804 246 tUBX_NAV_ODO decode_ubx_nav_odo_msg(char *);
fahim.alavi@u-blox.com 8:720841961804 247
fahim.alavi@u-blox.com 8:720841961804 248 /** Method to parse contents of UBX_NAV_PVT and return decoded msg
fahim.alavi@u-blox.com 8:720841961804 249 * @param buff the UXB message
fahim.alavi@u-blox.com 8:720841961804 250 * @return tUBX_NAV_PVT
fahim.alavi@u-blox.com 8:720841961804 251 */
fahim.alavi@u-blox.com 8:720841961804 252 tUBX_NAV_PVT decode_ubx_nav_pvt_msg(char *);
fahim.alavi@u-blox.com 8:720841961804 253
fahim.alavi@u-blox.com 8:720841961804 254 /** Method to parse contents of UBX_LOG_BATCH and return decoded msg
fahim.alavi@u-blox.com 8:720841961804 255 * @param buff the UXB message
fahim.alavi@u-blox.com 8:720841961804 256 * @return tUBX_LOG_BATCH
fahim.alavi@u-blox.com 8:720841961804 257 */
fahim.alavi@u-blox.com 8:720841961804 258 tUBX_LOG_BATCH decode_ubx_log_batch_msg(char *);
fahim.alavi@u-blox.com 8:720841961804 259
fahim.alavi@u-blox.com 10:bfa9081e1d14 260 /** Method to send UBX LOG-RETRIEVEBATCH msg. This message is used to request batched data.
fahim.alavi@u-blox.com 10:bfa9081e1d14 261 * @param bool
fahim.alavi@u-blox.com 10:bfa9081e1d14 262 * @return int
fahim.alavi@u-blox.com 10:bfa9081e1d14 263 */
fahim.alavi@u-blox.com 10:bfa9081e1d14 264 int ubx_request_batched_data(bool sendMonFirst = false);
fahim.alavi@u-blox.com 10:bfa9081e1d14 265
rob.meades@u-blox.com 1:ef70a58a6c98 266 protected:
rob.meades@u-blox.com 1:ef70a58a6c98 267 /** Power on the GNSS module.
rob.meades@u-blox.com 1:ef70a58a6c98 268 */
rob.meades@u-blox.com 1:ef70a58a6c98 269 void _powerOn(void);
rob.meades@u-blox.com 1:ef70a58a6c98 270
rob.meades@u-blox.com 4:82308d600690 271 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 272 * @param pipe the receiveing pipe to parse messages .
rob.meades@u-blox.com 4:82308d600690 273 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 274 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 275 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 276 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 277 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 278 */
rob.meades@u-blox.com 1:ef70a58a6c98 279 static int _getMessage(Pipe<char>* pipe, char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 280
rob.meades@u-blox.com 1:ef70a58a6c98 281 /** Check if the current offset of the pipe contains a NMEA message.
rob.meades@u-blox.com 4:82308d600690 282 * @param pipe the receiveing pipe to parse messages.
rob.meades@u-blox.com 4:82308d600690 283 * @param len numer of bytes to parse at maximum.
rob.meades@u-blox.com 4:82308d600690 284 * @return length if something was found (including the NMEA frame),
rob.meades@u-blox.com 4:82308d600690 285 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 286 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 287 */
rob.meades@u-blox.com 1:ef70a58a6c98 288 static int _parseNmea(Pipe<char>* pipe, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 289
rob.meades@u-blox.com 1:ef70a58a6c98 290 /** Check if the current offset of the pipe contains a UBX message.
rob.meades@u-blox.com 4:82308d600690 291 * @param pipe the receiveing pipe to parse messages.
rob.meades@u-blox.com 4:82308d600690 292 * @param len numer of bytes to parse at maximum.
rob.meades@u-blox.com 4:82308d600690 293 * @return length if something was found (including the UBX frame),
rob.meades@u-blox.com 4:82308d600690 294 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 295 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 296 */
rob.meades@u-blox.com 1:ef70a58a6c98 297 static int _parseUbx(Pipe<char>* pipe, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 298
rob.meades@u-blox.com 1:ef70a58a6c98 299 /** Write bytes to the physical interface. This function
rob.meades@u-blox.com 4:82308d600690 300 * needs to be implemented by the inherited class.
rob.meades@u-blox.com 4:82308d600690 301 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 302 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 303 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 304 */
rob.meades@u-blox.com 1:ef70a58a6c98 305 virtual int _send(const void* buf, int len) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 306
rob.meades@u-blox.com 1:ef70a58a6c98 307 static const char _toHex[16]; //!< num to hex conversion
rob.meades@u-blox.com 4:82308d600690 308 DigitalInOut *_gnssEnable; //!< IO pin that enables GNSS
rob.meades@u-blox.com 1:ef70a58a6c98 309 };
rob.meades@u-blox.com 1:ef70a58a6c98 310
rob.meades@u-blox.com 4:82308d600690 311 /** GNSS class which uses a serial port as physical interface.
rob.meades@u-blox.com 4:82308d600690 312 */
rob.meades@u-blox.com 1:ef70a58a6c98 313 class GnssSerial : public SerialPipe, public GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 314 {
rob.meades@u-blox.com 1:ef70a58a6c98 315 public:
rob.meades@u-blox.com 4:82308d600690 316 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 317 * @param tx is the serial ports transmit pin (GNSS to CPU).
rob.meades@u-blox.com 4:82308d600690 318 * @param rx is the serial ports receive pin (CPU to GNSS).
rob.meades@u-blox.com 4:82308d600690 319 * @param baudrate the baudrate of the GNSS use 9600.
rob.meades@u-blox.com 4:82308d600690 320 * @param rxSize the size of the serial rx buffer.
rob.meades@u-blox.com 4:82308d600690 321 * @param txSize the size of the serial tx buffer.
rob.meades@u-blox.com 4:82308d600690 322 */
RobMeades 2:b10ca4aa2e5e 323 GnssSerial(PinName tx GNSS_IF( = GNSSTXD, = D8 /* = D8 */), // resistor on shield not populated
RobMeades 2:b10ca4aa2e5e 324 PinName rx GNSS_IF( = GNSSRXD, = D9 /* = D9 */), // resistor on shield not populated
rob.meades@u-blox.com 1:ef70a58a6c98 325 int baudrate GNSS_IF( = GNSSBAUD, = 9600 ),
rob.meades@u-blox.com 1:ef70a58a6c98 326 int rxSize = 256 ,
rob.meades@u-blox.com 1:ef70a58a6c98 327 int txSize = 128 );
rob.meades@u-blox.com 1:ef70a58a6c98 328
rob.meades@u-blox.com 4:82308d600690 329 /** Destructor.
rob.meades@u-blox.com 4:82308d600690 330 */
rob.meades@u-blox.com 1:ef70a58a6c98 331 virtual ~GnssSerial(void);
rob.meades@u-blox.com 1:ef70a58a6c98 332
rob.meades@u-blox.com 4:82308d600690 333 /** Initialise the GNSS device.
rob.meades@u-blox.com 4:82308d600690 334 * @param pn NOT USED.
fahim.alavi@u-blox.com 15:105cf3ca48c9 335 * @param baudrate
rob.meades@u-blox.com 4:82308d600690 336 * @return true if successful, otherwise false.
rob.meades@u-blox.com 4:82308d600690 337 */
rob.meades@u-blox.com 1:ef70a58a6c98 338 virtual bool init(PinName pn = NC);
rob.meades@u-blox.com 1:ef70a58a6c98 339
rob.meades@u-blox.com 1:ef70a58a6c98 340 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 341 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 342 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 343 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 344 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 345 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 346 */
rob.meades@u-blox.com 1:ef70a58a6c98 347 virtual int getMessage(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 348
rob.meades@u-blox.com 1:ef70a58a6c98 349 protected:
rob.meades@u-blox.com 1:ef70a58a6c98 350 /** Write bytes to the physical interface.
rob.meades@u-blox.com 4:82308d600690 351 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 352 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 353 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 354 */
rob.meades@u-blox.com 1:ef70a58a6c98 355 virtual int _send(const void* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 356 };
rob.meades@u-blox.com 1:ef70a58a6c98 357
rob.meades@u-blox.com 1:ef70a58a6c98 358 /** GNSS class which uses a i2c as physical interface.
rob.meades@u-blox.com 1:ef70a58a6c98 359 */
rob.meades@u-blox.com 1:ef70a58a6c98 360 class GnssI2C : public I2C, public GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 361 {
rob.meades@u-blox.com 1:ef70a58a6c98 362 public:
rob.meades@u-blox.com 4:82308d600690 363 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 364 * @param sda is the I2C SDA pin (between CPU and GNSS).
rob.meades@u-blox.com 4:82308d600690 365 * @param scl is the I2C SCL pin (CPU to GNSS).
rob.meades@u-blox.com 4:82308d600690 366 * @param adr the I2C address of the GNSS set to (66<<1).
rob.meades@u-blox.com 4:82308d600690 367 * @param rxSize the size of the serial rx buffer.
rob.meades@u-blox.com 4:82308d600690 368 */
RobMeades 2:b10ca4aa2e5e 369 GnssI2C(PinName sda GNSS_IF( = NC, = /* D16 TODO */ NC ),
RobMeades 2:b10ca4aa2e5e 370 PinName scl GNSS_IF( = NC, = /* D17 TODO */ NC ),
RobMeades 2:b10ca4aa2e5e 371 unsigned char i2cAdr GNSS_IF( = (66<<1), = (66<<1) ),
RobMeades 2:b10ca4aa2e5e 372 int rxSize = 256 );
rob.meades@u-blox.com 4:82308d600690 373 /** Destructor
rob.meades@u-blox.com 4:82308d600690 374 */
rob.meades@u-blox.com 1:ef70a58a6c98 375 virtual ~GnssI2C(void);
rob.meades@u-blox.com 1:ef70a58a6c98 376
rob.meades@u-blox.com 4:82308d600690 377 /** Helper function to probe the i2c device.
rob.meades@u-blox.com 4:82308d600690 378 * @param pn the power-on pin for the chip.
rob.meades@u-blox.com 4:82308d600690 379 * @return true if successfully detected the GNSS chip.
rob.meades@u-blox.com 4:82308d600690 380 */
rob.meades@u-blox.com 1:ef70a58a6c98 381 virtual bool init(PinName pn = GNSS_IF( NC, NC /* D7 resistor R67 on shield not mounted */));
rob.meades@u-blox.com 1:ef70a58a6c98 382
rob.meades@u-blox.com 1:ef70a58a6c98 383 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 384 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 385 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 386 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 387 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 388 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 389 */
rob.meades@u-blox.com 1:ef70a58a6c98 390 virtual int getMessage(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 391
rob.meades@u-blox.com 4:82308d600690 392 /** Send a buffer.
rob.meades@u-blox.com 4:82308d600690 393 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 394 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 395 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 396 */
rob.meades@u-blox.com 1:ef70a58a6c98 397 virtual int send(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 398
rob.meades@u-blox.com 4:82308d600690 399 /** Send an NMEA message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 400 * payload and calculates and adds checksum ($ and *XX\r\n will be added).
rob.meades@u-blox.com 4:82308d600690 401 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 402 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 403 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 404 */
rob.meades@u-blox.com 1:ef70a58a6c98 405 virtual int sendNmea(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 406
rob.meades@u-blox.com 4:82308d600690 407 /** Send a UBX message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 408 * payload and calculates and adds checksum.
rob.meades@u-blox.com 4:82308d600690 409 * @param cls the UBX class id.
rob.meades@u-blox.com 4:82308d600690 410 * @param id the UBX message id.
rob.meades@u-blox.com 4:82308d600690 411 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 412 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 413 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 414 */
rob.meades@u-blox.com 1:ef70a58a6c98 415 virtual int sendUbx(unsigned char cls, unsigned char id,
rob.meades@u-blox.com 1:ef70a58a6c98 416 const void* buf = NULL, int len = 0);
rob.meades@u-blox.com 1:ef70a58a6c98 417
rob.meades@u-blox.com 1:ef70a58a6c98 418 protected:
rob.meades@u-blox.com 4:82308d600690 419 /** Check if the port is writeable (like SerialPipe)
rob.meades@u-blox.com 4:82308d600690 420 * @return true if writeable
rob.meades@u-blox.com 4:82308d600690 421 */
rob.meades@u-blox.com 4:82308d600690 422 bool writeable(void) {return true;}
rob.meades@u-blox.com 1:ef70a58a6c98 423
rob.meades@u-blox.com 4:82308d600690 424 /** Write a character (like SerialPipe).
rob.meades@u-blox.com 4:82308d600690 425 * @param c the character to write.
rob.meades@u-blox.com 4:82308d600690 426 * @return true if succesffully written .
rob.meades@u-blox.com 4:82308d600690 427 */
rob.meades@u-blox.com 4:82308d600690 428 bool putc(int c) {char ch = c; return send(&ch, 1);}
rob.meades@u-blox.com 1:ef70a58a6c98 429
rob.meades@u-blox.com 1:ef70a58a6c98 430 /** Write bytes to the physical interface.
rob.meades@u-blox.com 4:82308d600690 431 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 432 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 433 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 434 */
rob.meades@u-blox.com 1:ef70a58a6c98 435 virtual int _send(const void* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 436
rob.meades@u-blox.com 4:82308d600690 437 /** Read bytes from the physical interface.
rob.meades@u-blox.com 4:82308d600690 438 * @param buf the buffer to read into.
rob.meades@u-blox.com 4:82308d600690 439 * @param len size of the read buffer .
rob.meades@u-blox.com 4:82308d600690 440 * @return bytes read.
rob.meades@u-blox.com 4:82308d600690 441 */
rob.meades@u-blox.com 1:ef70a58a6c98 442 int _get(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 443
rob.meades@u-blox.com 4:82308d600690 444 Pipe<char> _pipe; //!< the rx pipe.
rob.meades@u-blox.com 4:82308d600690 445 unsigned char _i2cAdr; //!< the i2c address.
rob.meades@u-blox.com 4:82308d600690 446 static const char REGLEN; //!< the length i2c register address.
rob.meades@u-blox.com 4:82308d600690 447 static const char REGSTREAM;//!< the stream i2c register address.
rob.meades@u-blox.com 1:ef70a58a6c98 448 };
rob.meades@u-blox.com 1:ef70a58a6c98 449
rob.meades@u-blox.com 1:ef70a58a6c98 450 #endif
rob.meades@u-blox.com 1:ef70a58a6c98 451
rob.meades@u-blox.com 1:ef70a58a6c98 452 // End Of File