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@12:a04f7eeece23, 2018-05-31 (annotated)

Committer:
Bilal Qamar
Date:
Thu May 31 10:59:11 2018 +0500
Revision:
12:a04f7eeece23
Parent:
10:bfa9081e1d14
Child:
13:10108cd3ad23
GNSS Operations class 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 }
Bilal Qamar 12:a04f7eeece23 298 return (conf == 0) ? 0 : 1;
fahim.alavi@u-blox.com 8:720841961804 299 }
fahim.alavi@u-blox.com 8:720841961804 300
fahim.alavi@u-blox.com 8:720841961804 301 eUBX_MESSAGE GnssParser::get_ubx_message(char *buff) {
fahim.alavi@u-blox.com 8:720841961804 302 eUBX_MESSAGE return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 303
fahim.alavi@u-blox.com 8:720841961804 304 if(buff[SYNC_CHAR_INDEX_1] == 0xB5 && buff[SYNC_CHAR_INDEX_2] == 0x62) {
fahim.alavi@u-blox.com 8:720841961804 305
fahim.alavi@u-blox.com 8:720841961804 306 switch (buff[MSG_CLASS_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 307
fahim.alavi@u-blox.com 8:720841961804 308 case NAV: {
fahim.alavi@u-blox.com 8:720841961804 309 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 310
fahim.alavi@u-blox.com 8:720841961804 311 case 0x07: {
fahim.alavi@u-blox.com 8:720841961804 312 return_value = UBX_NAV_PVT;
fahim.alavi@u-blox.com 8:720841961804 313 }
fahim.alavi@u-blox.com 8:720841961804 314 break;
fahim.alavi@u-blox.com 8:720841961804 315 case 0x09: {
fahim.alavi@u-blox.com 8:720841961804 316 return_value = UBX_NAV_ODO;
fahim.alavi@u-blox.com 8:720841961804 317 }
fahim.alavi@u-blox.com 8:720841961804 318 break;
fahim.alavi@u-blox.com 8:720841961804 319 default:
fahim.alavi@u-blox.com 8:720841961804 320 {
fahim.alavi@u-blox.com 8:720841961804 321 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 322 }
fahim.alavi@u-blox.com 8:720841961804 323 break;
fahim.alavi@u-blox.com 8:720841961804 324 }
fahim.alavi@u-blox.com 8:720841961804 325 }
fahim.alavi@u-blox.com 8:720841961804 326 break;
fahim.alavi@u-blox.com 8:720841961804 327 case ACK: {
fahim.alavi@u-blox.com 8:720841961804 328 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 329 case 0x00: {
fahim.alavi@u-blox.com 8:720841961804 330 return_value = UBX_ACK_NAK;
fahim.alavi@u-blox.com 8:720841961804 331 }
fahim.alavi@u-blox.com 8:720841961804 332 break;
fahim.alavi@u-blox.com 8:720841961804 333 case 0x01: {
fahim.alavi@u-blox.com 8:720841961804 334 return_value = UBX_ACK_ACK;
fahim.alavi@u-blox.com 8:720841961804 335 }
fahim.alavi@u-blox.com 8:720841961804 336 break;
fahim.alavi@u-blox.com 8:720841961804 337 default:
fahim.alavi@u-blox.com 8:720841961804 338 {
fahim.alavi@u-blox.com 8:720841961804 339 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 340 }
fahim.alavi@u-blox.com 8:720841961804 341 break;
fahim.alavi@u-blox.com 8:720841961804 342 }
fahim.alavi@u-blox.com 8:720841961804 343 }
fahim.alavi@u-blox.com 8:720841961804 344 break;
fahim.alavi@u-blox.com 8:720841961804 345 case LOG: {
fahim.alavi@u-blox.com 8:720841961804 346 switch (buff[MSG_ID_INDEX]) {
fahim.alavi@u-blox.com 8:720841961804 347 case 0x11: {
fahim.alavi@u-blox.com 8:720841961804 348 return_value = UBX_LOG_BATCH;
fahim.alavi@u-blox.com 8:720841961804 349 }
fahim.alavi@u-blox.com 8:720841961804 350 break;
fahim.alavi@u-blox.com 8:720841961804 351 default:
fahim.alavi@u-blox.com 8:720841961804 352 {
fahim.alavi@u-blox.com 8:720841961804 353 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 354 }
fahim.alavi@u-blox.com 8:720841961804 355 break;
fahim.alavi@u-blox.com 8:720841961804 356 }
fahim.alavi@u-blox.com 8:720841961804 357 }
fahim.alavi@u-blox.com 8:720841961804 358 break;
fahim.alavi@u-blox.com 8:720841961804 359 default:
fahim.alavi@u-blox.com 8:720841961804 360 {
fahim.alavi@u-blox.com 8:720841961804 361 return_value = UNKNOWN_UBX;
fahim.alavi@u-blox.com 8:720841961804 362 }
fahim.alavi@u-blox.com 8:720841961804 363 break;
fahim.alavi@u-blox.com 8:720841961804 364 }
fahim.alavi@u-blox.com 8:720841961804 365 }
fahim.alavi@u-blox.com 8:720841961804 366 return return_value;
fahim.alavi@u-blox.com 8:720841961804 367 }
fahim.alavi@u-blox.com 8:720841961804 368
fahim.alavi@u-blox.com 9:cff83b9f5093 369 tUBX_ACK_ACK GnssParser::decode_ubx_cfg_ack_nak_msg(char *buf) {
fahim.alavi@u-blox.com 9:cff83b9f5093 370 tUBX_ACK_ACK return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 371 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 372
fahim.alavi@u-blox.com 8:720841961804 373 return_decoded_msg.msg_class = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 374 return_decoded_msg.msg_id = buf[index];
fahim.alavi@u-blox.com 8:720841961804 375
fahim.alavi@u-blox.com 8:720841961804 376 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 377 }
fahim.alavi@u-blox.com 8:720841961804 378
fahim.alavi@u-blox.com 8:720841961804 379 tUBX_NAV_ODO GnssParser::decode_ubx_nav_odo_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 380 tUBX_NAV_ODO return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 381 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 382
fahim.alavi@u-blox.com 8:720841961804 383 return_decoded_msg.version = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 384 index +=3; // 3 bytes are reserved
fahim.alavi@u-blox.com 8:720841961804 385
fahim.alavi@u-blox.com 8:720841961804 386 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 387 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 388 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 389 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 390
fahim.alavi@u-blox.com 8:720841961804 391 return_decoded_msg.distance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 392 return_decoded_msg.distance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 393 return_decoded_msg.distance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 394 return_decoded_msg.distance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 395
fahim.alavi@u-blox.com 8:720841961804 396 return_decoded_msg.totalDistance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 397 return_decoded_msg.totalDistance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 398 return_decoded_msg.totalDistance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 399 return_decoded_msg.totalDistance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 400
fahim.alavi@u-blox.com 8:720841961804 401 return_decoded_msg.distanceSTD = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 402 return_decoded_msg.distanceSTD |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 403 return_decoded_msg.distanceSTD |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 404 return_decoded_msg.distanceSTD |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 405
fahim.alavi@u-blox.com 8:720841961804 406 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 407 }
fahim.alavi@u-blox.com 8:720841961804 408
fahim.alavi@u-blox.com 8:720841961804 409 tUBX_NAV_PVT GnssParser::decode_ubx_nav_pvt_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 410 tUBX_NAV_PVT return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 411 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 412
fahim.alavi@u-blox.com 8:720841961804 413 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 414 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 415 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 416 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 417
fahim.alavi@u-blox.com 8:720841961804 418 return_decoded_msg.year = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 419 return_decoded_msg.year |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 420
fahim.alavi@u-blox.com 8:720841961804 421 return_decoded_msg.month = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 422
fahim.alavi@u-blox.com 8:720841961804 423 return_decoded_msg.day = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 424
fahim.alavi@u-blox.com 8:720841961804 425 // Go to lon
fahim.alavi@u-blox.com 8:720841961804 426 index = UBX_PAYLOAD_INDEX + 24;
fahim.alavi@u-blox.com 8:720841961804 427
fahim.alavi@u-blox.com 8:720841961804 428 return_decoded_msg.lon = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 429 return_decoded_msg.lon |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 430 return_decoded_msg.lon |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 431 return_decoded_msg.lon |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 432
fahim.alavi@u-blox.com 8:720841961804 433 return_decoded_msg.lat = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 434 return_decoded_msg.lat |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 435 return_decoded_msg.lat |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 436 return_decoded_msg.lat |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 437
fahim.alavi@u-blox.com 8:720841961804 438 return_decoded_msg.height = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 439 return_decoded_msg.height |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 440 return_decoded_msg.height |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 441 return_decoded_msg.height |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 442
fahim.alavi@u-blox.com 8:720841961804 443 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 444 }
fahim.alavi@u-blox.com 8:720841961804 445
fahim.alavi@u-blox.com 8:720841961804 446 tUBX_LOG_BATCH GnssParser::decode_ubx_log_batch_msg(char *buf) {
fahim.alavi@u-blox.com 8:720841961804 447 tUBX_LOG_BATCH return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 448 uint8_t index = UBX_PAYLOAD_INDEX;
fahim.alavi@u-blox.com 8:720841961804 449
fahim.alavi@u-blox.com 8:720841961804 450 // move index itow
fahim.alavi@u-blox.com 8:720841961804 451 index = UBX_PAYLOAD_INDEX + 4;
fahim.alavi@u-blox.com 8:720841961804 452
fahim.alavi@u-blox.com 8:720841961804 453 return_decoded_msg.itow = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 454 return_decoded_msg.itow |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 455 return_decoded_msg.itow |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 456 return_decoded_msg.itow |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 457
fahim.alavi@u-blox.com 8:720841961804 458 // move index lon
fahim.alavi@u-blox.com 8:720841961804 459 index = UBX_PAYLOAD_INDEX + 24;
fahim.alavi@u-blox.com 8:720841961804 460
fahim.alavi@u-blox.com 8:720841961804 461 return_decoded_msg.lon = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 462 return_decoded_msg.lon |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 463 return_decoded_msg.lon |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 464 return_decoded_msg.lon |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 465
fahim.alavi@u-blox.com 8:720841961804 466 return_decoded_msg.lat = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 467 return_decoded_msg.lat |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 468 return_decoded_msg.lat |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 469 return_decoded_msg.lat |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 470
fahim.alavi@u-blox.com 8:720841961804 471 return_decoded_msg.height = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 472 return_decoded_msg.height |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 473 return_decoded_msg.height |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 474 return_decoded_msg.height |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 475
fahim.alavi@u-blox.com 8:720841961804 476 // move index to distance
fahim.alavi@u-blox.com 8:720841961804 477 index = UBX_PAYLOAD_INDEX + 84;
fahim.alavi@u-blox.com 8:720841961804 478
fahim.alavi@u-blox.com 8:720841961804 479 return_decoded_msg.distance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 480 return_decoded_msg.distance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 481 return_decoded_msg.distance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 482 return_decoded_msg.distance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 483
fahim.alavi@u-blox.com 8:720841961804 484 return_decoded_msg.totalDistance = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 485 return_decoded_msg.totalDistance |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 486 return_decoded_msg.totalDistance |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 487 return_decoded_msg.totalDistance |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 488
fahim.alavi@u-blox.com 8:720841961804 489 return_decoded_msg.distanceSTD = buf[index++];
fahim.alavi@u-blox.com 8:720841961804 490 return_decoded_msg.distanceSTD |= (buf[index++] << 8);
fahim.alavi@u-blox.com 8:720841961804 491 return_decoded_msg.distanceSTD |= (buf[index++] << 16);
fahim.alavi@u-blox.com 8:720841961804 492 return_decoded_msg.distanceSTD |= (buf[index++] << 24);
fahim.alavi@u-blox.com 8:720841961804 493
fahim.alavi@u-blox.com 8:720841961804 494 return return_decoded_msg;
fahim.alavi@u-blox.com 8:720841961804 495 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 496
fahim.alavi@u-blox.com 10:bfa9081e1d14 497 int GnssParser::ubx_request_batched_data(bool sendMonFirst) {
fahim.alavi@u-blox.com 10:bfa9081e1d14 498 unsigned char ubx_log_retrieve_batch[]={0x00, 0x00, 0x00, 0x00};
fahim.alavi@u-blox.com 10:bfa9081e1d14 499
fahim.alavi@u-blox.com 10:bfa9081e1d14 500 ubx_log_retrieve_batch[1] = (sendMonFirst == true) ? 0x01 : 0x00;
fahim.alavi@u-blox.com 10:bfa9081e1d14 501
fahim.alavi@u-blox.com 10:bfa9081e1d14 502 int conf = RETRY;
fahim.alavi@u-blox.com 10:bfa9081e1d14 503 while(conf)
fahim.alavi@u-blox.com 10:bfa9081e1d14 504 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 505
fahim.alavi@u-blox.com 10:bfa9081e1d14 506 int length = sendUbx(0x21, 0x10, ubx_log_retrieve_batch, sizeof(ubx_log_retrieve_batch));
fahim.alavi@u-blox.com 10:bfa9081e1d14 507 if(length >= (int)(sizeof(ubx_log_retrieve_batch) + UBX_FRAME_SIZE))
fahim.alavi@u-blox.com 10:bfa9081e1d14 508 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 509 wait(5);
fahim.alavi@u-blox.com 10:bfa9081e1d14 510 break;
fahim.alavi@u-blox.com 10:bfa9081e1d14 511 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 512 else
fahim.alavi@u-blox.com 10:bfa9081e1d14 513 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 514 conf = conf - 1;
fahim.alavi@u-blox.com 10:bfa9081e1d14 515 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 516 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 517 if(conf == 0)
fahim.alavi@u-blox.com 10:bfa9081e1d14 518 {
fahim.alavi@u-blox.com 10:bfa9081e1d14 519 return 1;
fahim.alavi@u-blox.com 10:bfa9081e1d14 520 }
fahim.alavi@u-blox.com 10:bfa9081e1d14 521
fahim.alavi@u-blox.com 10:bfa9081e1d14 522 return 0;
fahim.alavi@u-blox.com 10:bfa9081e1d14 523 }
rob.meades@u-blox.com 1:ef70a58a6c98 524
rob.meades@u-blox.com 1:ef70a58a6c98 525 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 526
rob.meades@u-blox.com 1:ef70a58a6c98 527 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 528 // Serial Implementation
rob.meades@u-blox.com 1:ef70a58a6c98 529 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 530
rob.meades@u-blox.com 1:ef70a58a6c98 531 GnssSerial::GnssSerial(PinName tx /*= GNSSTXD */, PinName rx /*= GNSSRXD */, int baudrate /*= GNSSBAUD */,
rob.meades@u-blox.com 4:82308d600690 532 int rxSize /*= 256 */, int txSize /*= 128 */) :
rob.meades@u-blox.com 1:ef70a58a6c98 533 SerialPipe(tx, rx, baudrate, rxSize, txSize)
rob.meades@u-blox.com 1:ef70a58a6c98 534 {
rob.meades@u-blox.com 1:ef70a58a6c98 535 baud(baudrate);
rob.meades@u-blox.com 1:ef70a58a6c98 536 }
rob.meades@u-blox.com 1:ef70a58a6c98 537
rob.meades@u-blox.com 1:ef70a58a6c98 538 GnssSerial::~GnssSerial(void)
rob.meades@u-blox.com 1:ef70a58a6c98 539 {
rob.meades@u-blox.com 1:ef70a58a6c98 540 powerOff();
rob.meades@u-blox.com 1:ef70a58a6c98 541 }
rob.meades@u-blox.com 1:ef70a58a6c98 542
rob.meades@u-blox.com 1:ef70a58a6c98 543 bool GnssSerial::init(PinName pn)
rob.meades@u-blox.com 1:ef70a58a6c98 544 {
rob.meades@u-blox.com 6:56eda66d585b 545 Timer timer;
rob.meades@u-blox.com 6:56eda66d585b 546 int size;
rob.meades@u-blox.com 6:56eda66d585b 547
rob.meades@u-blox.com 4:82308d600690 548 // Unused (kept only for compatibility with the I2C version)
rob.meades@u-blox.com 4:82308d600690 549 (void)pn;
rob.meades@u-blox.com 4:82308d600690 550
rob.meades@u-blox.com 1:ef70a58a6c98 551 // Power up and enable the module
rob.meades@u-blox.com 1:ef70a58a6c98 552 _powerOn();
rob.meades@u-blox.com 1:ef70a58a6c98 553
rob.meades@u-blox.com 6:56eda66d585b 554 // Send a byte to wakup the device again
rob.meades@u-blox.com 1:ef70a58a6c98 555 putc(0xFF);
rob.meades@u-blox.com 6:56eda66d585b 556 // Wait until we get some bytes
rob.meades@u-blox.com 6:56eda66d585b 557 size = _pipeRx.size();
rob.meades@u-blox.com 1:ef70a58a6c98 558 timer.start();
rob.meades@u-blox.com 6:56eda66d585b 559 while ((timer.read_ms() < 1000) && (size == _pipeRx.size())) {
rob.meades@u-blox.com 6:56eda66d585b 560 /* Nothing, just wait */
rob.meades@u-blox.com 6:56eda66d585b 561 }
rob.meades@u-blox.com 6:56eda66d585b 562 timer.stop();
rob.meades@u-blox.com 6:56eda66d585b 563
fahim.alavi@u-blox.com 8:720841961804 564 enable_ubx();
fahim.alavi@u-blox.com 8:720841961804 565
rob.meades@u-blox.com 1:ef70a58a6c98 566 return (size != _pipeRx.size());
rob.meades@u-blox.com 1:ef70a58a6c98 567 }
rob.meades@u-blox.com 1:ef70a58a6c98 568
rob.meades@u-blox.com 1:ef70a58a6c98 569 int GnssSerial::getMessage(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 570 {
rob.meades@u-blox.com 1:ef70a58a6c98 571 return _getMessage(&_pipeRx, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 572 }
rob.meades@u-blox.com 1:ef70a58a6c98 573
rob.meades@u-blox.com 1:ef70a58a6c98 574 int GnssSerial::_send(const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 575 {
rob.meades@u-blox.com 1:ef70a58a6c98 576 return put((const char*)buf, len, true/*=blocking*/);
rob.meades@u-blox.com 1:ef70a58a6c98 577 }
rob.meades@u-blox.com 1:ef70a58a6c98 578
rob.meades@u-blox.com 1:ef70a58a6c98 579 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 580 // I2C Implementation
rob.meades@u-blox.com 1:ef70a58a6c98 581 // ----------------------------------------------------------------
rob.meades@u-blox.com 1:ef70a58a6c98 582
rob.meades@u-blox.com 1:ef70a58a6c98 583 GnssI2C::GnssI2C(PinName sda /*= NC */, PinName scl /*= NC */,
rob.meades@u-blox.com 1:ef70a58a6c98 584 unsigned char i2cAdr /*= (66<<1) */, int rxSize /*= 256 */) :
rob.meades@u-blox.com 1:ef70a58a6c98 585 I2C(sda,scl),
rob.meades@u-blox.com 1:ef70a58a6c98 586 _pipe(rxSize),
rob.meades@u-blox.com 1:ef70a58a6c98 587 _i2cAdr(i2cAdr)
rob.meades@u-blox.com 1:ef70a58a6c98 588 {
rob.meades@u-blox.com 1:ef70a58a6c98 589 frequency(100000);
rob.meades@u-blox.com 1:ef70a58a6c98 590 }
rob.meades@u-blox.com 1:ef70a58a6c98 591
rob.meades@u-blox.com 1:ef70a58a6c98 592 GnssI2C::~GnssI2C(void)
rob.meades@u-blox.com 1:ef70a58a6c98 593 {
rob.meades@u-blox.com 1:ef70a58a6c98 594 powerOff();
rob.meades@u-blox.com 1:ef70a58a6c98 595 }
rob.meades@u-blox.com 1:ef70a58a6c98 596
rob.meades@u-blox.com 1:ef70a58a6c98 597 bool GnssI2C::init(PinName pn)
rob.meades@u-blox.com 1:ef70a58a6c98 598 {
rob.meades@u-blox.com 1:ef70a58a6c98 599 // Power up and enable the module
rob.meades@u-blox.com 1:ef70a58a6c98 600 _powerOn();
rob.meades@u-blox.com 1:ef70a58a6c98 601
rob.meades@u-blox.com 1:ef70a58a6c98 602 if (pn != NC) {
rob.meades@u-blox.com 1:ef70a58a6c98 603 DigitalOut pin(pn, 0);
rob.meades@u-blox.com 1:ef70a58a6c98 604 ::wait_us(1);
rob.meades@u-blox.com 1:ef70a58a6c98 605 pin = 1;
rob.meades@u-blox.com 1:ef70a58a6c98 606 ::wait_ms(100);
rob.meades@u-blox.com 1:ef70a58a6c98 607 }
rob.meades@u-blox.com 1:ef70a58a6c98 608 return !I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
rob.meades@u-blox.com 1:ef70a58a6c98 609 }
rob.meades@u-blox.com 1:ef70a58a6c98 610
rob.meades@u-blox.com 1:ef70a58a6c98 611 int GnssI2C::getMessage(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 612 {
rob.meades@u-blox.com 6:56eda66d585b 613 // Fill the pipe
rob.meades@u-blox.com 1:ef70a58a6c98 614 int sz = _pipe.free();
rob.meades@u-blox.com 1:ef70a58a6c98 615 if (sz)
rob.meades@u-blox.com 1:ef70a58a6c98 616 sz = _get(buf, sz);
rob.meades@u-blox.com 1:ef70a58a6c98 617 if (sz)
rob.meades@u-blox.com 1:ef70a58a6c98 618 _pipe.put(buf, sz);
rob.meades@u-blox.com 6:56eda66d585b 619 // Now parse it
rob.meades@u-blox.com 1:ef70a58a6c98 620 return _getMessage(&_pipe, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 621 }
rob.meades@u-blox.com 1:ef70a58a6c98 622
rob.meades@u-blox.com 1:ef70a58a6c98 623 int GnssI2C::send(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 624 {
rob.meades@u-blox.com 1:ef70a58a6c98 625 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 626 if (len)
rob.meades@u-blox.com 1:ef70a58a6c98 627 {
rob.meades@u-blox.com 1:ef70a58a6c98 628 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 629 sent = send(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 630 stop();
rob.meades@u-blox.com 1:ef70a58a6c98 631 }
rob.meades@u-blox.com 1:ef70a58a6c98 632 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 633 }
rob.meades@u-blox.com 1:ef70a58a6c98 634
rob.meades@u-blox.com 1:ef70a58a6c98 635 int GnssI2C::sendNmea(const char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 636 {
rob.meades@u-blox.com 1:ef70a58a6c98 637 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 638 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 639 sent = GnssParser::sendNmea(buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 640 stop();
rob.meades@u-blox.com 1:ef70a58a6c98 641 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 642 }
rob.meades@u-blox.com 1:ef70a58a6c98 643
rob.meades@u-blox.com 1:ef70a58a6c98 644 int GnssI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 645 {
rob.meades@u-blox.com 1:ef70a58a6c98 646 int sent = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 647 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
rob.meades@u-blox.com 1:ef70a58a6c98 648 sent = GnssParser::sendUbx(cls, id, buf, len);
rob.meades@u-blox.com 1:ef70a58a6c98 649 I2C::stop();
rob.meades@u-blox.com 1:ef70a58a6c98 650 return sent;
rob.meades@u-blox.com 1:ef70a58a6c98 651 }
rob.meades@u-blox.com 1:ef70a58a6c98 652
rob.meades@u-blox.com 1:ef70a58a6c98 653 int GnssI2C::_get(char* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 654 {
rob.meades@u-blox.com 1:ef70a58a6c98 655 int read = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 656 unsigned char sz[2] = {0,0};
rob.meades@u-blox.com 1:ef70a58a6c98 657 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
rob.meades@u-blox.com 1:ef70a58a6c98 658 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz)))
rob.meades@u-blox.com 1:ef70a58a6c98 659 {
rob.meades@u-blox.com 1:ef70a58a6c98 660 int size = 256 * (int)sz[0] + sz[1];
rob.meades@u-blox.com 1:ef70a58a6c98 661 if (size > len)
rob.meades@u-blox.com 1:ef70a58a6c98 662 size = len;
rob.meades@u-blox.com 1:ef70a58a6c98 663 if (size > 0)
rob.meades@u-blox.com 1:ef70a58a6c98 664 {
rob.meades@u-blox.com 1:ef70a58a6c98 665 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true) &&
rob.meades@u-blox.com 1:ef70a58a6c98 666 !I2C::read(_i2cAdr,buf,size)) {
rob.meades@u-blox.com 1:ef70a58a6c98 667 read = size;
rob.meades@u-blox.com 1:ef70a58a6c98 668 }
rob.meades@u-blox.com 1:ef70a58a6c98 669 }
rob.meades@u-blox.com 1:ef70a58a6c98 670 }
rob.meades@u-blox.com 1:ef70a58a6c98 671 return read;
rob.meades@u-blox.com 1:ef70a58a6c98 672 }
rob.meades@u-blox.com 1:ef70a58a6c98 673
rob.meades@u-blox.com 1:ef70a58a6c98 674 int GnssI2C::_send(const void* buf, int len)
rob.meades@u-blox.com 1:ef70a58a6c98 675 {
rob.meades@u-blox.com 1:ef70a58a6c98 676 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
rob.meades@u-blox.com 1:ef70a58a6c98 677 }
rob.meades@u-blox.com 1:ef70a58a6c98 678
rob.meades@u-blox.com 1:ef70a58a6c98 679 const char GnssI2C::REGLEN = 0xFD;
rob.meades@u-blox.com 1:ef70a58a6c98 680 const char GnssI2C::REGSTREAM = 0xFF;
rob.meades@u-blox.com 1:ef70a58a6c98 681
rob.meades@u-blox.com 1:ef70a58a6c98 682 // End Of File