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
GnssSerial Class Reference
GNSS class which uses a serial port as physical interface. More...
#include <gnss.h>
Inherits SerialPipe, and GnssParser.
Inherited by GnssOperations.
Public Types | |
| enum | { WAIT = -1, NOT_FOUND = 0 } |
Public Member Functions | |
| GnssSerial (PinName tx GNSS_IF(=GNSSTXD,=D8), PinName rx GNSS_IF(=GNSSRXD,=D9), int baudrate GNSS_IF(=GNSSBAUD,=9600), int rxSize=512, int txSize=512) | |
| Constructor. | |
| virtual | ~GnssSerial (void) |
| Destructor. | |
| virtual bool | init (PinName pn=NC) |
| Initialise the GNSS device. | |
| virtual int | getMessage (char *buf, int len) |
| Get a line from the physical interface. | |
| int | writeable (void) |
| check if writable return the number of free bytes | |
| int | putc (int c) |
| send a character (blocking) | |
| int | put (const void *buffer, int length, bool blocking) |
| send a buffer | |
| int | readable (void) |
| check if readable | |
| int | getc (void) |
| receive one character from the serial port (blocking) | |
| int | get (void *buffer, int length, bool blocking) |
| read a buffer from the serial port | |
| virtual int | send (const char *buf, int len) |
| Send a buffer. | |
| virtual int | sendNmea (const char *buf, int len) |
| send a NMEA message, this function just takes the payload and calculates and adds checksum. | |
| virtual int | sendUbx (unsigned char cls, unsigned char id, const void *buf=NULL, int len=0) |
| Send a UBX message, this function just takes the payload and calculates and adds checksum. | |
| void | powerOff (void) |
| Power off the GNSS, it can be again woken up by an edge on the serial port on the external interrupt pin. | |
| void | cutOffPower (void) |
| Cuts off the power supply of GNSS by disabling gnssEnable pin Backup supply is provided, can turn it on again by enabling PA15. | |
| int | enable_ubx () |
| Enable UBX messages. | |
| eUBX_MESSAGE | get_ubx_message (char *) |
| GET Message type of receiver UBX message. | |
| tUBX_ACK_ACK | decode_ubx_cfg_ack_nak_msg (char *) |
| Method to parse contents of UBX ACK-ACK/NAK and return messageid amd class for which ACK is received. | |
| tUBX_NAV_ODO | decode_ubx_nav_odo_msg (char *) |
| Method to parse contents of UBX_NAV_ODO and return decoded msg. | |
| tUBX_NAV_PVT | decode_ubx_nav_pvt_msg (char *) |
| Method to parse contents of UBX_NAV_PVT and return decoded msg. | |
| tUBX_LOG_BATCH | decode_ubx_log_batch_msg (char *) |
| Method to parse contents of UBX_LOG_BATCH and return decoded msg. | |
| tUBX_NAV_STATUS | decode_ubx_nav_status_msg (char *) |
| Method to parse contents of UBX_NAV_STATUS and return decoded msg. | |
| tUBX_NAV_SAT | decode_ubx_nav_sat_msg (char *, int) |
| Method to parse contents of UBX_NAV_SAT and return decoded msg. | |
| int | ubx_request_batched_data (bool sendMonFirst=false) |
| Method to send UBX LOG-RETRIEVEBATCH msg. | |
Static Public Member Functions | |
| static const char * | findNmeaItemPos (int ix, const char *start, const char *end) |
| get the first character of a NMEA field. | |
| static bool | getNmeaItem (int ix, char *buf, int len, double &val) |
| Extract a double value from a buffer containing a NMEA message. | |
| static bool | getNmeaItem (int ix, char *buf, int len, int &val, int base) |
| Extract a interger value from a buffer containing a NMEA message. | |
| static bool | getNmeaItem (int ix, char *buf, int len, char &val) |
| Extract a char value from a buffer containing a NMEA message. | |
| static bool | getNmeaAngle (int ix, char *buf, int len, double &val) |
| Extract a latitude/longitude value from a buffer containing a NMEA message. | |
Protected Member Functions | |
| virtual int | _send (const void *buf, int len) |
| Write bytes to the physical interface. | |
| void | rxIrqBuf (void) |
| receive interrupt routine | |
| void | txIrqBuf (void) |
| transmit interrupt woutine | |
| void | txStart (void) |
| start transmission helper | |
| void | txCopy (void) |
| move bytes to hardware | |
| void | _powerOn (void) |
| Power on the GNSS module. | |
Static Protected Member Functions | |
| static int | _getMessage (Pipe< char > *pipe, char *buf, int len) |
| Get a line from the physical interface. | |
| static int | _parseNmea (Pipe< char > *pipe, int len) |
| Check if the current offset of the pipe contains a NMEA message. | |
| static int | _parseUbx (Pipe< char > *pipe, int len) |
| Check if the current offset of the pipe contains a UBX message. | |
Protected Attributes | |
| Pipe< char > | _pipeRx |
| receive pipe | |
| Pipe< char > | _pipeTx |
| transmit pipe | |
| DigitalInOut * | _gnssEnable |
| IO pin that enables GNSS. | |
Static Protected Attributes | |
| static const char | _toHex [16] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' } |
| num to hex conversion | |
Detailed Description
GNSS class which uses a serial port as physical interface.
Definition at line 340 of file gnss.h.
Member Enumeration Documentation
anonymous enum [inherited] |
Constructor & Destructor Documentation
| GnssSerial | ( | PinName tx | GNSS_IF=GNSSTXD,=D8, |
| PinName rx | GNSS_IF=GNSSRXD,=D9, | ||
| int baudrate | GNSS_IF=GNSSBAUD,=9600, | ||
| int | rxSize = 512, |
||
| int | txSize = 512 |
||
| ) |
Constructor.
- Parameters:
-
tx is the serial ports transmit pin (GNSS to CPU). rx is the serial ports receive pin (CPU to GNSS). baudrate the baudrate of the GNSS use 9600. rxSize the size of the serial rx buffer. txSize the size of the serial tx buffer.
| ~GnssSerial | ( | void | ) | [virtual] |
Member Function Documentation
| int _getMessage | ( | Pipe< char > * | pipe, |
| char * | buf, | ||
| int | len | ||
| ) | [static, protected, inherited] |
Get a line from the physical interface.
- Parameters:
-
pipe the receiveing pipe to parse messages . buf the buffer to store it. len size of the buffer.
- Returns:
- type and length if something was found, WAIT if not enough data is available, NOT_FOUND if nothing was found.
| int _parseNmea | ( | Pipe< char > * | pipe, |
| int | len | ||
| ) | [static, protected, inherited] |
Check if the current offset of the pipe contains a NMEA message.
- Parameters:
-
pipe the receiveing pipe to parse messages. len numer of bytes to parse at maximum.
- Returns:
- length if something was found (including the NMEA frame), WAIT if not enough data is available, NOT_FOUND if nothing was found.
| int _parseUbx | ( | Pipe< char > * | pipe, |
| int | len | ||
| ) | [static, protected, inherited] |
Check if the current offset of the pipe contains a UBX message.
- Parameters:
-
pipe the receiveing pipe to parse messages. len numer of bytes to parse at maximum.
- Returns:
- length if something was found (including the UBX frame), WAIT if not enough data is available, NOT_FOUND if nothing was found.
| void _powerOn | ( | void | ) | [protected, inherited] |
| int _send | ( | const void * | buf, |
| int | len | ||
| ) | [protected, virtual] |
Write bytes to the physical interface.
- Parameters:
-
buf the buffer to write. len size of the buffer to write.
- Returns:
- bytes written.
Implements GnssParser.
| void cutOffPower | ( | void | ) | [inherited] |
| tUBX_ACK_ACK decode_ubx_cfg_ack_nak_msg | ( | char * | buf ) | [inherited] |
| tUBX_LOG_BATCH decode_ubx_log_batch_msg | ( | char * | buf ) | [inherited] |
| tUBX_NAV_ODO decode_ubx_nav_odo_msg | ( | char * | buf ) | [inherited] |
| tUBX_NAV_PVT decode_ubx_nav_pvt_msg | ( | char * | buf ) | [inherited] |
| tUBX_NAV_SAT decode_ubx_nav_sat_msg | ( | char * | buf, |
| int | length | ||
| ) | [inherited] |
| tUBX_NAV_STATUS decode_ubx_nav_status_msg | ( | char * | buf ) | [inherited] |
| int enable_ubx | ( | ) | [inherited] |
| const char * findNmeaItemPos | ( | int | ix, |
| const char * | start, | ||
| const char * | end | ||
| ) | [static, inherited] |
| int get | ( | void * | buffer, |
| int | length, | ||
| bool | blocking | ||
| ) | [inherited] |
read a buffer from the serial port
- Parameters:
-
pointer to the buffer to read. length number of bytes to read blocking true if all bytes shall be read. false if only the available bytes.
- Returns:
- the number of bytes read.
Definition at line 113 of file serial_pipe.cpp.
| eUBX_MESSAGE get_ubx_message | ( | char * | buff ) | [inherited] |
| int getc | ( | void | ) | [inherited] |
receive one character from the serial port (blocking)
- Parameters:
-
the character received
Definition at line 104 of file serial_pipe.cpp.
| int getMessage | ( | char * | buf, |
| int | len | ||
| ) | [virtual] |
Get a line from the physical interface.
- Parameters:
-
buf the buffer to store it. len size of the buffer.
- Returns:
- type and length if something was found, WAIT if not enough data is available, NOT_FOUND if nothing was found.
Implements GnssParser.
| bool getNmeaAngle | ( | int | ix, |
| char * | buf, | ||
| int | len, | ||
| double & | val | ||
| ) | [static, inherited] |
Extract a latitude/longitude value from a buffer containing a NMEA message.
- Parameters:
-
ix the index of the field to extract (will extract ix and ix + 1), buf the NMEA message, len the size of the NMEA message, val the extracted latitude or longitude,
- Returns:
- true if successful, false otherwise.
| bool getNmeaItem | ( | int | ix, |
| char * | buf, | ||
| int | len, | ||
| char & | val | ||
| ) | [static, inherited] |
| bool getNmeaItem | ( | int | ix, |
| char * | buf, | ||
| int | len, | ||
| int & | val, | ||
| int | base | ||
| ) | [static, inherited] |
Extract a interger value from a buffer containing a NMEA message.
- Parameters:
-
ix the index of the field to extract. buf the NMEA message. len the size of the NMEA message. val the extracted value. base the numeric base to be used (e.g. 8, 10 or 16).
- Returns:
- true if successful, false otherwise.
| bool getNmeaItem | ( | int | ix, |
| char * | buf, | ||
| int | len, | ||
| double & | val | ||
| ) | [static, inherited] |
| bool init | ( | PinName | pn = NC ) |
[virtual] |
Initialise the GNSS device.
- Parameters:
-
pn NOT USED. baudrate
- Returns:
- true if successful, otherwise false.
Implements GnssParser.
| void powerOff | ( | void | ) | [inherited] |
| int put | ( | const void * | buffer, |
| int | length, | ||
| bool | blocking | ||
| ) | [inherited] |
send a buffer
- Parameters:
-
buffer the buffer to send length the size of the buffer to send blocking,if true this function will block until all bytes placed in the buffer.
- Returns:
- the number of bytes written
Definition at line 47 of file serial_pipe.cpp.
| int putc | ( | int | c ) | [inherited] |
send a character (blocking)
- Parameters:
-
c the character to send
- Returns:
- c
Definition at line 40 of file serial_pipe.cpp.
| int readable | ( | void | ) | [inherited] |
check if readable
- Returns:
- the size available in the buffer.
Definition at line 99 of file serial_pipe.cpp.
| void rxIrqBuf | ( | void | ) | [protected, inherited] |
receive interrupt routine
Definition at line 118 of file serial_pipe.cpp.
| int send | ( | const char * | buf, |
| int | len | ||
| ) | [virtual, inherited] |
| int sendNmea | ( | const char * | buf, |
| int | len | ||
| ) | [virtual, inherited] |
send a NMEA message, this function just takes the payload and calculates and adds checksum.
($ and *XX
will be added).
- Parameters:
-
buf the message payload to write. len size of the message payload to write.
- Returns:
- total bytes written.
Reimplemented in GnssI2C.
| int sendUbx | ( | unsigned char | cls, |
| unsigned char | id, | ||
| const void * | buf = NULL, |
||
| int | len = 0 |
||
| ) | [virtual, inherited] |
Send a UBX message, this function just takes the payload and calculates and adds checksum.
- Parameters:
-
cls the UBX class id. id the UBX message id. buf the message payload to write. len size of the message payload to write.
- Returns:
- total bytes written.
Reimplemented in GnssI2C.
| void txCopy | ( | void | ) | [protected, inherited] |
move bytes to hardware
Definition at line 70 of file serial_pipe.cpp.
| void txIrqBuf | ( | void | ) | [protected, inherited] |
transmit interrupt woutine
Definition at line 78 of file serial_pipe.cpp.
| void txStart | ( | void | ) | [protected, inherited] |
start transmission helper
Definition at line 87 of file serial_pipe.cpp.
| int ubx_request_batched_data | ( | bool | sendMonFirst = false ) |
[inherited] |
| int writeable | ( | void | ) | [inherited] |
check if writable return the number of free bytes
Definition at line 35 of file serial_pipe.cpp.
Field Documentation
DigitalInOut* _gnssEnable [protected, inherited] |
receive pipe
Definition at line 96 of file serial_pipe.h.
transmit pipe
Definition at line 97 of file serial_pipe.h.
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