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@9:cff83b9f5093, 2018-05-18 (annotated)

Committer:
fahim.alavi@u-blox.com
Date:
Fri May 18 13:29:00 2018 +0500
Revision:
9:cff83b9f5093
Parent:
8:720841961804
Child:
10:bfa9081e1d14
Configuration for nav-pvt message corrected and renamed ACK-ACK message structure

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