u-blox
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
Diff: gnss.h
- Revision:
- 8:720841961804
- Parent:
- 6:56eda66d585b
- Child:
- 9:cff83b9f5093
--- a/gnss.h Wed Jun 14 20:44:42 2017 +0100
+++ b/gnss.h Wed May 16 10:58:16 2018 +0500
@@ -39,6 +39,56 @@
# define GNSSBAUD GPSBAUD
#endif
+#define UBX_FRAME_SIZE 8
+#define RETRY 5
+#define SYNC_CHAR_INDEX_1 0
+#define SYNC_CHAR_INDEX_2 1
+#define MSG_CLASS_INDEX 2
+#define MSG_ID_INDEX 3
+#define UBX_LENGTH_INDEX 4
+#define UBX_PAYLOAD_INDEX 6
+
+enum eUBX_MSG_CLASS {NAV = 0x01, ACK = 0x05, LOG = 0x21};
+
+enum eUBX_MESSAGE {UBX_LOG_BATCH, UBX_ACK_ACK, UBX_ACK_NAK, UBX_NAV_ODO, UBX_NAV_PVT, UNKNOWN_UBX};
+
+typedef struct UBX_CFG_ACK {
+ uint8_t msg_class;
+ uint8_t msg_id;
+
+}tUBX_CFG_ACK;
+
+typedef struct UBX_NAV_ODO {
+ uint8_t version;
+ uint8_t reserved[3];
+ uint32_t itow;
+ uint32_t distance;
+ uint32_t totalDistance;
+ uint32_t distanceSTD;
+}tUBX_NAV_ODO;
+
+typedef struct UBX_NAV_PVT {
+ uint32_t itow;
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+ int32_t lon; // scaling 1e-7
+ int32_t lat; // scaling 1e-7
+ int32_t height;
+
+}tUBX_NAV_PVT;
+
+typedef struct UBX_LOG_BATCH {
+ uint32_t itow;
+ int32_t lon; // scaling 1e-7
+ int32_t lat; // scaling 1e-7
+ int32_t height;
+ uint32_t distance;
+ uint32_t totalDistance;
+ uint32_t distanceSTD;
+
+}tUBX_LOG_BATCH;
+
/** Basic GNSS parser class.
*/
class GnssParser
@@ -153,7 +203,43 @@
* @return true if successful, false otherwise.
*/
static bool getNmeaAngle(int ix, char* buf, int len, double& val);
+
+ /** Enable UBX messages.
+ * @param none
+ * @return 0 if successful, false otherwise.
+ */
+ int enable_ubx();
+ /** GET Message type of receiver UBX message
+ * @param buff the UXB message
+ * @return eUBX_MESSAGE
+ */
+ eUBX_MESSAGE get_ubx_message(char *);
+
+ /** Method to parse contents of UBX CFG-ACK/NAK and return messageid amd class for which ACK is received
+ * @param buff the UXB message
+ * @return tUBX_CFG_ACK
+ */
+ tUBX_CFG_ACK decode_ubx_cfg_ack_nak_msg(char *);
+
+ /** Method to parse contents of UBX_NAV_ODO and return decoded msg
+ * @param buff the UXB message
+ * @return tUBX_NAV_ODO
+ */
+ tUBX_NAV_ODO decode_ubx_nav_odo_msg(char *);
+
+ /** Method to parse contents of UBX_NAV_PVT and return decoded msg
+ * @param buff the UXB message
+ * @return tUBX_NAV_PVT
+ */
+ tUBX_NAV_PVT decode_ubx_nav_pvt_msg(char *);
+
+ /** Method to parse contents of UBX_LOG_BATCH and return decoded msg
+ * @param buff the UXB message
+ * @return tUBX_LOG_BATCH
+ */
+ tUBX_LOG_BATCH decode_ubx_log_batch_msg(char *);
+
protected:
/** Power on the GNSS module.
*/