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@5:af4baf3c67f3, 2017-06-11 (annotated)

Committer:
RobMeades
Date:
Sun Jun 11 13:45:56 2017 +0000
Revision:
5:af4baf3c67f3
Parent:
4:82308d600690
Child:
6:56eda66d585b
Make library work for C027.

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
RobMeades 5:af4baf3c67f3 36 #define GNSSEN GPSEN
RobMeades 5:af4baf3c67f3 37 #define GNSSTXD GPSTXD
RobMeades 5:af4baf3c67f3 38 #define GNSSRXD GPSRXD
RobMeades 5:af4baf3c67f3 39 #define GNSSBAUD GPSBAUD
RobMeades 5:af4baf3c67f3 40 #endif
RobMeades 5:af4baf3c67f3 41
rob.meades@u-blox.com 4:82308d600690 42 /** Basic GNSS parser class.
rob.meades@u-blox.com 1:ef70a58a6c98 43 */
rob.meades@u-blox.com 1:ef70a58a6c98 44 class GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 45 {
rob.meades@u-blox.com 1:ef70a58a6c98 46 public:
rob.meades@u-blox.com 4:82308d600690 47 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 48 */
rob.meades@u-blox.com 1:ef70a58a6c98 49 GnssParser();
rob.meades@u-blox.com 4:82308d600690 50 /** Destructor.
rob.meades@u-blox.com 4:82308d600690 51 */
rob.meades@u-blox.com 1:ef70a58a6c98 52 virtual ~GnssParser(void);
rob.meades@u-blox.com 1:ef70a58a6c98 53
rob.meades@u-blox.com 4:82308d600690 54 /** Power-on/wake-up the GNSS.
rob.meades@u-blox.com 1:ef70a58a6c98 55 */
rob.meades@u-blox.com 1:ef70a58a6c98 56 virtual bool init(PinName pn) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 57
rob.meades@u-blox.com 1:ef70a58a6c98 58 enum {
rob.meades@u-blox.com 1:ef70a58a6c98 59 // getLine Responses
rob.meades@u-blox.com 1:ef70a58a6c98 60 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 61 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 62
rob.meades@u-blox.com 1:ef70a58a6c98 63 #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length
rob.meades@u-blox.com 1:ef70a58a6c98 64 #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type
rob.meades@u-blox.com 1:ef70a58a6c98 65
rob.meades@u-blox.com 1:ef70a58a6c98 66 UNKNOWN = 0x000000, //!< message type is unknown
rob.meades@u-blox.com 1:ef70a58a6c98 67 UBX = 0x100000, //!< message if of protocol NMEA
rob.meades@u-blox.com 1:ef70a58a6c98 68 NMEA = 0x200000 //!< message if of protocol UBX
rob.meades@u-blox.com 1:ef70a58a6c98 69 };
rob.meades@u-blox.com 1:ef70a58a6c98 70
rob.meades@u-blox.com 1:ef70a58a6c98 71 /** Get a line from the physical interface. This function
rob.meades@u-blox.com 4:82308d600690 72 * needs to be implemented in the inherited class.
rob.meades@u-blox.com 4:82308d600690 73 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 74 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 75 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 76 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 77 * NOT_FOUND if nothing was found
rob.meades@u-blox.com 4:82308d600690 78 */
rob.meades@u-blox.com 1:ef70a58a6c98 79 virtual int getMessage(char* buf, int len) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 80
rob.meades@u-blox.com 4:82308d600690 81 /** Send a buffer.
rob.meades@u-blox.com 4:82308d600690 82 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 83 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 84 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 85 */
rob.meades@u-blox.com 1:ef70a58a6c98 86 virtual int send(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 87
rob.meades@u-blox.com 1:ef70a58a6c98 88 /** send a NMEA message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 89 * payload and calculates and adds checksum. ($ and *XX\r\n will be added).
rob.meades@u-blox.com 4:82308d600690 90 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 91 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 92 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 93 */
rob.meades@u-blox.com 1:ef70a58a6c98 94 virtual int sendNmea(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 95
rob.meades@u-blox.com 4:82308d600690 96 /** Send a UBX message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 97 * payload and calculates and adds checksum.
rob.meades@u-blox.com 4:82308d600690 98 * @param cls the UBX class id.
rob.meades@u-blox.com 4:82308d600690 99 * @param id the UBX message id.
rob.meades@u-blox.com 4:82308d600690 100 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 101 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 102 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 103 */
rob.meades@u-blox.com 1:ef70a58a6c98 104 virtual int sendUbx(unsigned char cls, unsigned char id,
rob.meades@u-blox.com 1:ef70a58a6c98 105 const void* buf = NULL, int len = 0);
rob.meades@u-blox.com 1:ef70a58a6c98 106
rob.meades@u-blox.com 1:ef70a58a6c98 107 /** Power off the GNSS, it can be again woken up by an
rob.meades@u-blox.com 4:82308d600690 108 * edge on the serial port on the external interrupt pin.
rob.meades@u-blox.com 1:ef70a58a6c98 109 */
rob.meades@u-blox.com 1:ef70a58a6c98 110 void powerOff(void);
rob.meades@u-blox.com 1:ef70a58a6c98 111
rob.meades@u-blox.com 4:82308d600690 112 /** get the first character of a NMEA field.
rob.meades@u-blox.com 4:82308d600690 113 * @param ix the index of the field to find.
rob.meades@u-blox.com 4:82308d600690 114 * @param start the start of the buffer.
rob.meades@u-blox.com 4:82308d600690 115 * @param end the end of the buffer.
rob.meades@u-blox.com 4:82308d600690 116 * @return the pointer to the first character of the field.
rob.meades@u-blox.com 4:82308d600690 117 */
rob.meades@u-blox.com 1:ef70a58a6c98 118 static const char* findNmeaItemPos(int ix, const char* start, const char* end);
rob.meades@u-blox.com 1:ef70a58a6c98 119
rob.meades@u-blox.com 4:82308d600690 120 /** Extract a double value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 121 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 122 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 123 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 124 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 125 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 126 */
rob.meades@u-blox.com 1:ef70a58a6c98 127 static bool getNmeaItem(int ix, char* buf, int len, double& val);
rob.meades@u-blox.com 1:ef70a58a6c98 128
rob.meades@u-blox.com 4:82308d600690 129 /** Extract a interger value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 130 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 131 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 132 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 133 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 134 * @param base the numeric base to be used (e.g. 8, 10 or 16).
rob.meades@u-blox.com 4:82308d600690 135 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 136 */
rob.meades@u-blox.com 1:ef70a58a6c98 137 static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
rob.meades@u-blox.com 1:ef70a58a6c98 138
rob.meades@u-blox.com 4:82308d600690 139 /** Extract a char value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 140 * @param ix the index of the field to extract.
rob.meades@u-blox.com 4:82308d600690 141 * @param buf the NMEA message.
rob.meades@u-blox.com 4:82308d600690 142 * @param len the size of the NMEA message.
rob.meades@u-blox.com 4:82308d600690 143 * @param val the extracted value.
rob.meades@u-blox.com 4:82308d600690 144 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 145 */
rob.meades@u-blox.com 1:ef70a58a6c98 146 static bool getNmeaItem(int ix, char* buf, int len, char& val);
rob.meades@u-blox.com 1:ef70a58a6c98 147
rob.meades@u-blox.com 4:82308d600690 148 /** Extract a latitude/longitude value from a buffer containing a NMEA message.
rob.meades@u-blox.com 4:82308d600690 149 * @param ix the index of the field to extract (will extract ix and ix + 1),
rob.meades@u-blox.com 4:82308d600690 150 * @param buf the NMEA message,
rob.meades@u-blox.com 4:82308d600690 151 * @param len the size of the NMEA message,
rob.meades@u-blox.com 4:82308d600690 152 * @param val the extracted latitude or longitude,
rob.meades@u-blox.com 4:82308d600690 153 * @return true if successful, false otherwise.
rob.meades@u-blox.com 4:82308d600690 154 */
rob.meades@u-blox.com 1:ef70a58a6c98 155 static bool getNmeaAngle(int ix, char* buf, int len, double& val);
rob.meades@u-blox.com 1:ef70a58a6c98 156
rob.meades@u-blox.com 1:ef70a58a6c98 157 protected:
rob.meades@u-blox.com 1:ef70a58a6c98 158 /** Power on the GNSS module.
rob.meades@u-blox.com 1:ef70a58a6c98 159 */
rob.meades@u-blox.com 1:ef70a58a6c98 160 void _powerOn(void);
rob.meades@u-blox.com 1:ef70a58a6c98 161
rob.meades@u-blox.com 4:82308d600690 162 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 163 * @param pipe the receiveing pipe to parse messages .
rob.meades@u-blox.com 4:82308d600690 164 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 165 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 166 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 167 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 168 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 169 */
rob.meades@u-blox.com 1:ef70a58a6c98 170 static int _getMessage(Pipe<char>* pipe, char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 171
rob.meades@u-blox.com 1:ef70a58a6c98 172 /** Check if the current offset of the pipe contains a NMEA message.
rob.meades@u-blox.com 4:82308d600690 173 * @param pipe the receiveing pipe to parse messages.
rob.meades@u-blox.com 4:82308d600690 174 * @param len numer of bytes to parse at maximum.
rob.meades@u-blox.com 4:82308d600690 175 * @return length if something was found (including the NMEA frame),
rob.meades@u-blox.com 4:82308d600690 176 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 177 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 178 */
rob.meades@u-blox.com 1:ef70a58a6c98 179 static int _parseNmea(Pipe<char>* pipe, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 180
rob.meades@u-blox.com 1:ef70a58a6c98 181 /** Check if the current offset of the pipe contains a UBX message.
rob.meades@u-blox.com 4:82308d600690 182 * @param pipe the receiveing pipe to parse messages.
rob.meades@u-blox.com 4:82308d600690 183 * @param len numer of bytes to parse at maximum.
rob.meades@u-blox.com 4:82308d600690 184 * @return length if something was found (including the UBX frame),
rob.meades@u-blox.com 4:82308d600690 185 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 186 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 187 */
rob.meades@u-blox.com 1:ef70a58a6c98 188 static int _parseUbx(Pipe<char>* pipe, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 189
rob.meades@u-blox.com 1:ef70a58a6c98 190 /** Write bytes to the physical interface. This function
rob.meades@u-blox.com 4:82308d600690 191 * needs to be implemented by the inherited class.
rob.meades@u-blox.com 4:82308d600690 192 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 193 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 194 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 195 */
rob.meades@u-blox.com 1:ef70a58a6c98 196 virtual int _send(const void* buf, int len) = 0;
rob.meades@u-blox.com 1:ef70a58a6c98 197
rob.meades@u-blox.com 1:ef70a58a6c98 198 static const char _toHex[16]; //!< num to hex conversion
rob.meades@u-blox.com 4:82308d600690 199 DigitalInOut *_gnssEnable; //!< IO pin that enables GNSS
rob.meades@u-blox.com 1:ef70a58a6c98 200 };
rob.meades@u-blox.com 1:ef70a58a6c98 201
rob.meades@u-blox.com 4:82308d600690 202 /** GNSS class which uses a serial port as physical interface.
rob.meades@u-blox.com 4:82308d600690 203 */
rob.meades@u-blox.com 1:ef70a58a6c98 204 class GnssSerial : public SerialPipe, public GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 205 {
rob.meades@u-blox.com 1:ef70a58a6c98 206 public:
rob.meades@u-blox.com 4:82308d600690 207 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 208 * @param tx is the serial ports transmit pin (GNSS to CPU).
rob.meades@u-blox.com 4:82308d600690 209 * @param rx is the serial ports receive pin (CPU to GNSS).
rob.meades@u-blox.com 4:82308d600690 210 * @param baudrate the baudrate of the GNSS use 9600.
rob.meades@u-blox.com 4:82308d600690 211 * @param rxSize the size of the serial rx buffer.
rob.meades@u-blox.com 4:82308d600690 212 * @param txSize the size of the serial tx buffer.
rob.meades@u-blox.com 4:82308d600690 213 */
RobMeades 2:b10ca4aa2e5e 214 GnssSerial(PinName tx GNSS_IF( = GNSSTXD, = D8 /* = D8 */), // resistor on shield not populated
RobMeades 2:b10ca4aa2e5e 215 PinName rx GNSS_IF( = GNSSRXD, = D9 /* = D9 */), // resistor on shield not populated
rob.meades@u-blox.com 1:ef70a58a6c98 216 int baudrate GNSS_IF( = GNSSBAUD, = 9600 ),
rob.meades@u-blox.com 1:ef70a58a6c98 217 int rxSize = 256 ,
rob.meades@u-blox.com 1:ef70a58a6c98 218 int txSize = 128 );
rob.meades@u-blox.com 1:ef70a58a6c98 219
rob.meades@u-blox.com 4:82308d600690 220 /** Destructor.
rob.meades@u-blox.com 4:82308d600690 221 */
rob.meades@u-blox.com 1:ef70a58a6c98 222 virtual ~GnssSerial(void);
rob.meades@u-blox.com 1:ef70a58a6c98 223
rob.meades@u-blox.com 4:82308d600690 224 /** Initialise the GNSS device.
rob.meades@u-blox.com 4:82308d600690 225 * @param pn NOT USED.
rob.meades@u-blox.com 4:82308d600690 226 * @return true if successful, otherwise false.
rob.meades@u-blox.com 4:82308d600690 227 */
rob.meades@u-blox.com 1:ef70a58a6c98 228 virtual bool init(PinName pn = NC);
rob.meades@u-blox.com 1:ef70a58a6c98 229
rob.meades@u-blox.com 1:ef70a58a6c98 230 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 231 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 232 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 233 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 234 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 235 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 236 */
rob.meades@u-blox.com 1:ef70a58a6c98 237 virtual int getMessage(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 238
rob.meades@u-blox.com 1:ef70a58a6c98 239 protected:
rob.meades@u-blox.com 1:ef70a58a6c98 240 /** Write bytes to the physical interface.
rob.meades@u-blox.com 4:82308d600690 241 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 242 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 243 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 244 */
rob.meades@u-blox.com 1:ef70a58a6c98 245 virtual int _send(const void* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 246 };
rob.meades@u-blox.com 1:ef70a58a6c98 247
rob.meades@u-blox.com 1:ef70a58a6c98 248 /** GNSS class which uses a i2c as physical interface.
rob.meades@u-blox.com 1:ef70a58a6c98 249 */
rob.meades@u-blox.com 1:ef70a58a6c98 250 class GnssI2C : public I2C, public GnssParser
rob.meades@u-blox.com 1:ef70a58a6c98 251 {
rob.meades@u-blox.com 1:ef70a58a6c98 252 public:
rob.meades@u-blox.com 4:82308d600690 253 /** Constructor.
rob.meades@u-blox.com 4:82308d600690 254 * @param sda is the I2C SDA pin (between CPU and GNSS).
rob.meades@u-blox.com 4:82308d600690 255 * @param scl is the I2C SCL pin (CPU to GNSS).
rob.meades@u-blox.com 4:82308d600690 256 * @param adr the I2C address of the GNSS set to (66<<1).
rob.meades@u-blox.com 4:82308d600690 257 * @param rxSize the size of the serial rx buffer.
rob.meades@u-blox.com 4:82308d600690 258 */
RobMeades 2:b10ca4aa2e5e 259 GnssI2C(PinName sda GNSS_IF( = NC, = /* D16 TODO */ NC ),
RobMeades 2:b10ca4aa2e5e 260 PinName scl GNSS_IF( = NC, = /* D17 TODO */ NC ),
RobMeades 2:b10ca4aa2e5e 261 unsigned char i2cAdr GNSS_IF( = (66<<1), = (66<<1) ),
RobMeades 2:b10ca4aa2e5e 262 int rxSize = 256 );
rob.meades@u-blox.com 4:82308d600690 263 /** Destructor
rob.meades@u-blox.com 4:82308d600690 264 */
rob.meades@u-blox.com 1:ef70a58a6c98 265 virtual ~GnssI2C(void);
rob.meades@u-blox.com 1:ef70a58a6c98 266
rob.meades@u-blox.com 4:82308d600690 267 /** Helper function to probe the i2c device.
rob.meades@u-blox.com 4:82308d600690 268 * @param pn the power-on pin for the chip.
rob.meades@u-blox.com 4:82308d600690 269 * @return true if successfully detected the GNSS chip.
rob.meades@u-blox.com 4:82308d600690 270 */
rob.meades@u-blox.com 1:ef70a58a6c98 271 virtual bool init(PinName pn = GNSS_IF( NC, NC /* D7 resistor R67 on shield not mounted */));
rob.meades@u-blox.com 1:ef70a58a6c98 272
rob.meades@u-blox.com 1:ef70a58a6c98 273 /** Get a line from the physical interface.
rob.meades@u-blox.com 4:82308d600690 274 * @param buf the buffer to store it.
rob.meades@u-blox.com 4:82308d600690 275 * @param len size of the buffer.
rob.meades@u-blox.com 4:82308d600690 276 * @return type and length if something was found,
rob.meades@u-blox.com 4:82308d600690 277 * WAIT if not enough data is available,
rob.meades@u-blox.com 4:82308d600690 278 * NOT_FOUND if nothing was found.
rob.meades@u-blox.com 4:82308d600690 279 */
rob.meades@u-blox.com 1:ef70a58a6c98 280 virtual int getMessage(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 281
rob.meades@u-blox.com 4:82308d600690 282 /** Send a buffer.
rob.meades@u-blox.com 4:82308d600690 283 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 284 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 285 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 286 */
rob.meades@u-blox.com 1:ef70a58a6c98 287 virtual int send(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 288
rob.meades@u-blox.com 4:82308d600690 289 /** Send an NMEA message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 290 * payload and calculates and adds checksum ($ and *XX\r\n will be added).
rob.meades@u-blox.com 4:82308d600690 291 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 292 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 293 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 294 */
rob.meades@u-blox.com 1:ef70a58a6c98 295 virtual int sendNmea(const char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 296
rob.meades@u-blox.com 4:82308d600690 297 /** Send a UBX message, this function just takes the
rob.meades@u-blox.com 4:82308d600690 298 * payload and calculates and adds checksum.
rob.meades@u-blox.com 4:82308d600690 299 * @param cls the UBX class id.
rob.meades@u-blox.com 4:82308d600690 300 * @param id the UBX message id.
rob.meades@u-blox.com 4:82308d600690 301 * @param buf the message payload to write.
rob.meades@u-blox.com 4:82308d600690 302 * @param len size of the message payload to write.
rob.meades@u-blox.com 4:82308d600690 303 * @return total bytes written.
rob.meades@u-blox.com 4:82308d600690 304 */
rob.meades@u-blox.com 1:ef70a58a6c98 305 virtual int sendUbx(unsigned char cls, unsigned char id,
rob.meades@u-blox.com 1:ef70a58a6c98 306 const void* buf = NULL, int len = 0);
rob.meades@u-blox.com 1:ef70a58a6c98 307
rob.meades@u-blox.com 1:ef70a58a6c98 308 protected:
rob.meades@u-blox.com 4:82308d600690 309 /** Check if the port is writeable (like SerialPipe)
rob.meades@u-blox.com 4:82308d600690 310 * @return true if writeable
rob.meades@u-blox.com 4:82308d600690 311 */
rob.meades@u-blox.com 4:82308d600690 312 bool writeable(void) {return true;}
rob.meades@u-blox.com 1:ef70a58a6c98 313
rob.meades@u-blox.com 4:82308d600690 314 /** Write a character (like SerialPipe).
rob.meades@u-blox.com 4:82308d600690 315 * @param c the character to write.
rob.meades@u-blox.com 4:82308d600690 316 * @return true if succesffully written .
rob.meades@u-blox.com 4:82308d600690 317 */
rob.meades@u-blox.com 4:82308d600690 318 bool putc(int c) {char ch = c; return send(&ch, 1);}
rob.meades@u-blox.com 1:ef70a58a6c98 319
rob.meades@u-blox.com 1:ef70a58a6c98 320 /** Write bytes to the physical interface.
rob.meades@u-blox.com 4:82308d600690 321 * @param buf the buffer to write.
rob.meades@u-blox.com 4:82308d600690 322 * @param len size of the buffer to write.
rob.meades@u-blox.com 4:82308d600690 323 * @return bytes written.
rob.meades@u-blox.com 4:82308d600690 324 */
rob.meades@u-blox.com 1:ef70a58a6c98 325 virtual int _send(const void* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 326
rob.meades@u-blox.com 4:82308d600690 327 /** Read bytes from the physical interface.
rob.meades@u-blox.com 4:82308d600690 328 * @param buf the buffer to read into.
rob.meades@u-blox.com 4:82308d600690 329 * @param len size of the read buffer .
rob.meades@u-blox.com 4:82308d600690 330 * @return bytes read.
rob.meades@u-blox.com 4:82308d600690 331 */
rob.meades@u-blox.com 1:ef70a58a6c98 332 int _get(char* buf, int len);
rob.meades@u-blox.com 1:ef70a58a6c98 333
rob.meades@u-blox.com 4:82308d600690 334 Pipe<char> _pipe; //!< the rx pipe.
rob.meades@u-blox.com 4:82308d600690 335 unsigned char _i2cAdr; //!< the i2c address.
rob.meades@u-blox.com 4:82308d600690 336 static const char REGLEN; //!< the length i2c register address.
rob.meades@u-blox.com 4:82308d600690 337 static const char REGSTREAM;//!< the stream i2c register address.
rob.meades@u-blox.com 1:ef70a58a6c98 338 };
rob.meades@u-blox.com 1:ef70a58a6c98 339
rob.meades@u-blox.com 1:ef70a58a6c98 340 #endif
rob.meades@u-blox.com 1:ef70a58a6c98 341
rob.meades@u-blox.com 1:ef70a58a6c98 342 // End Of File