Axeda Corp / Mbed 2 deprecated AxedaGo-ubloxC027

Axeda demo software for u-blox C027 (GSM)

Dependencies:   mbed

C027_Support/GPS.h@1:ff6d8adaf6b9, 2014-08-11 (annotated)

Committer:
AxedaCorp
Date:
Mon Aug 11 19:07:20 2014 +0000
Revision:
1:ff6d8adaf6b9
Parent:
0:a725e8eab383 
Pointed to platform (prod)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AxedaCorp 0:a725e8eab383 1 #pragma once
AxedaCorp 0:a725e8eab383 2
AxedaCorp 0:a725e8eab383 3 #include "mbed.h"
AxedaCorp 0:a725e8eab383 4 #include "Pipe.h"
AxedaCorp 0:a725e8eab383 5 #include "SerialPipe.h"
AxedaCorp 0:a725e8eab383 6
AxedaCorp 0:a725e8eab383 7 #ifdef TARGET_UBLOX_C027
AxedaCorp 0:a725e8eab383 8 #define GPS_IF(onboard, shield) onboard
AxedaCorp 0:a725e8eab383 9 #else
AxedaCorp 0:a725e8eab383 10 #define GPS_IF(onboard, shield) shield
AxedaCorp 0:a725e8eab383 11 #endif
AxedaCorp 0:a725e8eab383 12
AxedaCorp 0:a725e8eab383 13 /** basic gps parser class
AxedaCorp 0:a725e8eab383 14 */
AxedaCorp 0:a725e8eab383 15 class GPSParser
AxedaCorp 0:a725e8eab383 16 {
AxedaCorp 0:a725e8eab383 17 public:
AxedaCorp 0:a725e8eab383 18 /** Power on / Wake up the gps
AxedaCorp 0:a725e8eab383 19 */
AxedaCorp 0:a725e8eab383 20 virtual bool init(PinName pn) = 0;
AxedaCorp 0:a725e8eab383 21
AxedaCorp 0:a725e8eab383 22 enum {
AxedaCorp 0:a725e8eab383 23 // getLine Responses
AxedaCorp 0:a725e8eab383 24 WAIT = -1, //!< wait for more incoming data (the start of a message was found, or no data available)
AxedaCorp 0:a725e8eab383 25 NOT_FOUND = 0, //!< a parser concluded the the current offset of the pipe doe not contain a valid message
AxedaCorp 0:a725e8eab383 26
AxedaCorp 0:a725e8eab383 27 #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length
AxedaCorp 0:a725e8eab383 28 #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type
AxedaCorp 0:a725e8eab383 29
AxedaCorp 0:a725e8eab383 30 UNKNOWN = 0x000000, //!< message type is unknown
AxedaCorp 0:a725e8eab383 31 UBX = 0x100000, //!< message if of protocol NMEA
AxedaCorp 0:a725e8eab383 32 NMEA = 0x200000 //!< message if of protocol UBX
AxedaCorp 0:a725e8eab383 33 };
AxedaCorp 0:a725e8eab383 34
AxedaCorp 0:a725e8eab383 35 /** Get a line from the physical interface. This fucntion
AxedaCorp 0:a725e8eab383 36 needs to be implemented in the inherited class.
AxedaCorp 0:a725e8eab383 37 \param buf the buffer to store it
AxedaCorp 0:a725e8eab383 38 \param len size of the buffer
AxedaCorp 0:a725e8eab383 39 \return type and length if something was found,
AxedaCorp 0:a725e8eab383 40 WAIT if not enough data is available
AxedaCorp 0:a725e8eab383 41 NOT_FOUND if nothing was found
AxedaCorp 0:a725e8eab383 42 */
AxedaCorp 0:a725e8eab383 43 virtual int getMessage(char* buf, int len) = 0;
AxedaCorp 0:a725e8eab383 44
AxedaCorp 0:a725e8eab383 45 /** send a buffer
AxedaCorp 0:a725e8eab383 46 \param buf the buffer to write
AxedaCorp 0:a725e8eab383 47 \param len size of the buffer to write
AxedaCorp 0:a725e8eab383 48 \return bytes written
AxedaCorp 0:a725e8eab383 49 */
AxedaCorp 0:a725e8eab383 50 virtual int send(const char* buf, int len);
AxedaCorp 0:a725e8eab383 51
AxedaCorp 0:a725e8eab383 52 /** send a NMEA message, this function just takes the
AxedaCorp 0:a725e8eab383 53 payload and calculates and adds checksum. ($ and *XX\r\n will be added)
AxedaCorp 0:a725e8eab383 54 \param buf the message payload to write
AxedaCorp 0:a725e8eab383 55 \param len size of the message payload to write
AxedaCorp 0:a725e8eab383 56 \return total bytes written
AxedaCorp 0:a725e8eab383 57 */
AxedaCorp 0:a725e8eab383 58 virtual int sendNmea(const char* buf, int len);
AxedaCorp 0:a725e8eab383 59
AxedaCorp 0:a725e8eab383 60 /** send a UBX message, this function just takes the
AxedaCorp 0:a725e8eab383 61 payload and calculates and adds checksum.
AxedaCorp 0:a725e8eab383 62 \param cls the UBX class id
AxedaCorp 0:a725e8eab383 63 \param id the UBX message id
AxedaCorp 0:a725e8eab383 64 \param buf the message payload to write
AxedaCorp 0:a725e8eab383 65 \param len size of the message payload to write
AxedaCorp 0:a725e8eab383 66 \return total bytes written
AxedaCorp 0:a725e8eab383 67 */
AxedaCorp 0:a725e8eab383 68 virtual int sendUbx(unsigned char cls, unsigned char id,
AxedaCorp 0:a725e8eab383 69 const void* buf = NULL, int len = 0);
AxedaCorp 0:a725e8eab383 70
AxedaCorp 0:a725e8eab383 71 /** Power off the gps, it can be again woken up by an
AxedaCorp 0:a725e8eab383 72 edge on the serial port on the external interrupt pin.
AxedaCorp 0:a725e8eab383 73 */
AxedaCorp 0:a725e8eab383 74 void powerOff(void);
AxedaCorp 0:a725e8eab383 75
AxedaCorp 0:a725e8eab383 76 /** get the first character of a NMEA field
AxedaCorp 0:a725e8eab383 77 \param ix the index of the field to find
AxedaCorp 0:a725e8eab383 78 \param start the start of the buffer
AxedaCorp 0:a725e8eab383 79 \param end the end of the buffer
AxedaCorp 0:a725e8eab383 80 \return the pointer to the first character of the field.
AxedaCorp 0:a725e8eab383 81 */
AxedaCorp 0:a725e8eab383 82 static const char* findNmeaItemPos(int ix, const char* start, const char* end);
AxedaCorp 0:a725e8eab383 83
AxedaCorp 0:a725e8eab383 84 /** extract a double value from a buffer containing a NMEA message
AxedaCorp 0:a725e8eab383 85 \param ix the index of the field to extract
AxedaCorp 0:a725e8eab383 86 \param buf the NMEA message
AxedaCorp 0:a725e8eab383 87 \param len the size of the NMEA message
AxedaCorp 0:a725e8eab383 88 \param val the extracted value
AxedaCorp 0:a725e8eab383 89 \return true if successful, false otherwise
AxedaCorp 0:a725e8eab383 90 */
AxedaCorp 0:a725e8eab383 91 static bool getNmeaItem(int ix, char* buf, int len, double& val);
AxedaCorp 0:a725e8eab383 92
AxedaCorp 0:a725e8eab383 93 /** extract a interger value from a buffer containing a NMEA message
AxedaCorp 0:a725e8eab383 94 \param ix the index of the field to extract
AxedaCorp 0:a725e8eab383 95 \param buf the NMEA message
AxedaCorp 0:a725e8eab383 96 \param len the size of the NMEA message
AxedaCorp 0:a725e8eab383 97 \param val the extracted value
AxedaCorp 0:a725e8eab383 98 \param base the numeric base to be used (e.g. 8, 10 or 16)
AxedaCorp 0:a725e8eab383 99 \return true if successful, false otherwise
AxedaCorp 0:a725e8eab383 100 */
AxedaCorp 0:a725e8eab383 101 static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
AxedaCorp 0:a725e8eab383 102
AxedaCorp 0:a725e8eab383 103 /** extract a char value from a buffer containing a NMEA message
AxedaCorp 0:a725e8eab383 104 \param ix the index of the field to extract
AxedaCorp 0:a725e8eab383 105 \param buf the NMEA message
AxedaCorp 0:a725e8eab383 106 \param len the size of the NMEA message
AxedaCorp 0:a725e8eab383 107 \param val the extracted value
AxedaCorp 0:a725e8eab383 108 \return true if successful, false otherwise
AxedaCorp 0:a725e8eab383 109 */
AxedaCorp 0:a725e8eab383 110 static bool getNmeaItem(int ix, char* buf, int len, char& val);
AxedaCorp 0:a725e8eab383 111
AxedaCorp 0:a725e8eab383 112 /** extract a latitude/longitude value from a buffer containing a NMEA message
AxedaCorp 0:a725e8eab383 113 \param ix the index of the field to extract (will extract ix and ix + 1)
AxedaCorp 0:a725e8eab383 114 \param buf the NMEA message
AxedaCorp 0:a725e8eab383 115 \param len the size of the NMEA message
AxedaCorp 0:a725e8eab383 116 \param val the extracted latitude or longitude
AxedaCorp 0:a725e8eab383 117 \return true if successful, false otherwise
AxedaCorp 0:a725e8eab383 118 */
AxedaCorp 0:a725e8eab383 119 static bool getNmeaAngle(int ix, char* buf, int len, double& val);
AxedaCorp 0:a725e8eab383 120
AxedaCorp 0:a725e8eab383 121 protected:
AxedaCorp 0:a725e8eab383 122 /** Get a line from the physical interface.
AxedaCorp 0:a725e8eab383 123 \param pipe the receiveing pipe to parse messages
AxedaCorp 0:a725e8eab383 124 \param buf the buffer to store it
AxedaCorp 0:a725e8eab383 125 \param len size of the buffer
AxedaCorp 0:a725e8eab383 126 \return type and length if something was found,
AxedaCorp 0:a725e8eab383 127 WAIT if not enough data is available
AxedaCorp 0:a725e8eab383 128 NOT_FOUND if nothing was found
AxedaCorp 0:a725e8eab383 129 */
AxedaCorp 0:a725e8eab383 130 static int _getMessage(Pipe<char>* pipe, char* buf, int len);
AxedaCorp 0:a725e8eab383 131
AxedaCorp 0:a725e8eab383 132 /** Check if the current offset of the pipe contains a NMEA message.
AxedaCorp 0:a725e8eab383 133 \param pipe the receiveing pipe to parse messages
AxedaCorp 0:a725e8eab383 134 \param len numer of bytes to parse at maximum
AxedaCorp 0:a725e8eab383 135 \return length if something was found (including the NMEA frame)
AxedaCorp 0:a725e8eab383 136 WAIT if not enough data is available
AxedaCorp 0:a725e8eab383 137 NOT_FOUND if nothing was found
AxedaCorp 0:a725e8eab383 138 */
AxedaCorp 0:a725e8eab383 139 static int _parseNmea(Pipe<char>* pipe, int len);
AxedaCorp 0:a725e8eab383 140
AxedaCorp 0:a725e8eab383 141 /** Check if the current offset of the pipe contains a UBX message.
AxedaCorp 0:a725e8eab383 142 \param pipe the receiveing pipe to parse messages
AxedaCorp 0:a725e8eab383 143 \param len numer of bytes to parse at maximum
AxedaCorp 0:a725e8eab383 144 \return length if something was found (including the UBX frame)
AxedaCorp 0:a725e8eab383 145 WAIT if not enough data is available
AxedaCorp 0:a725e8eab383 146 NOT_FOUND if nothing was found
AxedaCorp 0:a725e8eab383 147 */
AxedaCorp 0:a725e8eab383 148 static int _parseUbx(Pipe<char>* pipe, int len);
AxedaCorp 0:a725e8eab383 149
AxedaCorp 0:a725e8eab383 150 /** Write bytes to the physical interface. This function
AxedaCorp 0:a725e8eab383 151 needs to be implemented by the inherited class.
AxedaCorp 0:a725e8eab383 152 \param buf the buffer to write
AxedaCorp 0:a725e8eab383 153 \param len size of the buffer to write
AxedaCorp 0:a725e8eab383 154 \return bytes written
AxedaCorp 0:a725e8eab383 155 */
AxedaCorp 0:a725e8eab383 156 virtual int _send(const void* buf, int len) = 0;
AxedaCorp 0:a725e8eab383 157
AxedaCorp 0:a725e8eab383 158 static const char toHex[16]; //!< num to hex conversion
AxedaCorp 0:a725e8eab383 159 #ifdef TARGET_UBLOX_C027
AxedaCorp 0:a725e8eab383 160 bool _onboard;
AxedaCorp 0:a725e8eab383 161 #endif
AxedaCorp 0:a725e8eab383 162 };
AxedaCorp 0:a725e8eab383 163
AxedaCorp 0:a725e8eab383 164 /** gps class which uses a serial port
AxedaCorp 0:a725e8eab383 165 as physical interface.
AxedaCorp 0:a725e8eab383 166 */
AxedaCorp 0:a725e8eab383 167 class GPSSerial : public SerialPipe, public GPSParser
AxedaCorp 0:a725e8eab383 168 {
AxedaCorp 0:a725e8eab383 169 public:
AxedaCorp 0:a725e8eab383 170 /** Constructor
AxedaCorp 0:a725e8eab383 171 \param tx is the serial ports transmit pin (gps to CPU)
AxedaCorp 0:a725e8eab383 172 \param rx is the serial ports receive pin (CPU to gps)
AxedaCorp 0:a725e8eab383 173 \param baudrate the baudrate of the gps use 9600
AxedaCorp 0:a725e8eab383 174 \param rxSize the size of the serial rx buffer
AxedaCorp 0:a725e8eab383 175 \param txSize the size of the serial tx buffer
AxedaCorp 0:a725e8eab383 176 */
AxedaCorp 0:a725e8eab383 177 GPSSerial(PinName tx GPS_IF( = GPSTXD, /* = D8 */), // resistor on shield not populated
AxedaCorp 0:a725e8eab383 178 PinName rx GPS_IF( = GPSRXD, /* = D9 */), // resistor on shield not populated
AxedaCorp 0:a725e8eab383 179 int baudrate GPS_IF( = GPSBAUD, = 9600 ),
AxedaCorp 0:a725e8eab383 180 int rxSize = 256 ,
AxedaCorp 0:a725e8eab383 181 int txSize = 128 );
AxedaCorp 0:a725e8eab383 182
AxedaCorp 0:a725e8eab383 183 //! Destructor
AxedaCorp 0:a725e8eab383 184 virtual ~GPSSerial(void);
AxedaCorp 0:a725e8eab383 185
AxedaCorp 0:a725e8eab383 186 virtual bool init(PinName pn = NC);
AxedaCorp 0:a725e8eab383 187
AxedaCorp 0:a725e8eab383 188 /** Get a line from the physical interface.
AxedaCorp 0:a725e8eab383 189 \param buf the buffer to store it
AxedaCorp 0:a725e8eab383 190 \param len size of the buffer
AxedaCorp 0:a725e8eab383 191 \return type and length if something was found,
AxedaCorp 0:a725e8eab383 192 WAIT if not enough data is available
AxedaCorp 0:a725e8eab383 193 NOT_FOUND if nothing was found
AxedaCorp 0:a725e8eab383 194 */
AxedaCorp 0:a725e8eab383 195 virtual int getMessage(char* buf, int len);
AxedaCorp 0:a725e8eab383 196
AxedaCorp 0:a725e8eab383 197 protected:
AxedaCorp 0:a725e8eab383 198 /** Write bytes to the physical interface.
AxedaCorp 0:a725e8eab383 199 \param buf the buffer to write
AxedaCorp 0:a725e8eab383 200 \param len size of the buffer to write
AxedaCorp 0:a725e8eab383 201 \return bytes written
AxedaCorp 0:a725e8eab383 202 */
AxedaCorp 0:a725e8eab383 203 virtual int _send(const void* buf, int len);
AxedaCorp 0:a725e8eab383 204 };
AxedaCorp 0:a725e8eab383 205
AxedaCorp 0:a725e8eab383 206 /** gps class which uses a i2c as physical interface.
AxedaCorp 0:a725e8eab383 207 */
AxedaCorp 0:a725e8eab383 208 class GPSI2C : public I2C, public GPSParser
AxedaCorp 0:a725e8eab383 209 {
AxedaCorp 0:a725e8eab383 210 public:
AxedaCorp 0:a725e8eab383 211 /** Constructor
AxedaCorp 0:a725e8eab383 212 \param sda is the I2C SDA pin (between CPU and GPS)
AxedaCorp 0:a725e8eab383 213 \param scl is the I2C SCL pin (CPU to GPS)
AxedaCorp 0:a725e8eab383 214 \param adr the I2C address of the GPS set to (66<<1)
AxedaCorp 0:a725e8eab383 215 \param rxSize the size of the serial rx buffer
AxedaCorp 0:a725e8eab383 216 */
AxedaCorp 0:a725e8eab383 217 GPSI2C(PinName sda GPS_IF( = GPSSDA, = D14 ),
AxedaCorp 0:a725e8eab383 218 PinName scl GPS_IF( = GPSSCL, = D15 ),
AxedaCorp 0:a725e8eab383 219 unsigned char i2cAdr GPS_IF( = GPSADR, = (66<<1) ),
AxedaCorp 0:a725e8eab383 220 int rxSize = 256 );
AxedaCorp 0:a725e8eab383 221 //! Destructor
AxedaCorp 0:a725e8eab383 222 virtual ~GPSI2C(void);
AxedaCorp 0:a725e8eab383 223
AxedaCorp 0:a725e8eab383 224 /** helper function to probe the i2c device
AxedaCorp 0:a725e8eab383 225 \return true if successfully detected the gps.
AxedaCorp 0:a725e8eab383 226 */
AxedaCorp 0:a725e8eab383 227 virtual bool init(PinName pn = GPS_IF( GPSINT, NC /* D7 resistor R67 on shield not mounted */));
AxedaCorp 0:a725e8eab383 228
AxedaCorp 0:a725e8eab383 229 /** Get a line from the physical interface.
AxedaCorp 0:a725e8eab383 230 \param buf the buffer to store it
AxedaCorp 0:a725e8eab383 231 \param len size of the buffer
AxedaCorp 0:a725e8eab383 232 \return type and length if something was found,
AxedaCorp 0:a725e8eab383 233 WAIT if not enough data is available
AxedaCorp 0:a725e8eab383 234 NOT_FOUND if nothing was found
AxedaCorp 0:a725e8eab383 235 */
AxedaCorp 0:a725e8eab383 236 virtual int getMessage(char* buf, int len);
AxedaCorp 0:a725e8eab383 237
AxedaCorp 0:a725e8eab383 238 /** send a buffer
AxedaCorp 0:a725e8eab383 239 \param buf the buffer to write
AxedaCorp 0:a725e8eab383 240 \param len size of the buffer to write
AxedaCorp 0:a725e8eab383 241 \return bytes written
AxedaCorp 0:a725e8eab383 242 */
AxedaCorp 0:a725e8eab383 243 virtual int send(const char* buf, int len);
AxedaCorp 0:a725e8eab383 244
AxedaCorp 0:a725e8eab383 245 /** send a NMEA message, this function just takes the
AxedaCorp 0:a725e8eab383 246 payload and calculates and adds checksum. ($ and *XX\r\n will be added)
AxedaCorp 0:a725e8eab383 247 \param buf the message payload to write
AxedaCorp 0:a725e8eab383 248 \param len size of the message payload to write
AxedaCorp 0:a725e8eab383 249 \return total bytes written
AxedaCorp 0:a725e8eab383 250 */
AxedaCorp 0:a725e8eab383 251 virtual int sendNmea(const char* buf, int len);
AxedaCorp 0:a725e8eab383 252
AxedaCorp 0:a725e8eab383 253 /** send a UBX message, this function just takes the
AxedaCorp 0:a725e8eab383 254 payload and calculates and adds checksum.
AxedaCorp 0:a725e8eab383 255 \param cls the UBX class id
AxedaCorp 0:a725e8eab383 256 \param id the UBX message id
AxedaCorp 0:a725e8eab383 257 \param buf the message payload to write
AxedaCorp 0:a725e8eab383 258 \param len size of the message payload to write
AxedaCorp 0:a725e8eab383 259 \return total bytes written
AxedaCorp 0:a725e8eab383 260 */
AxedaCorp 0:a725e8eab383 261 virtual int sendUbx(unsigned char cls, unsigned char id,
AxedaCorp 0:a725e8eab383 262 const void* buf = NULL, int len = 0);
AxedaCorp 0:a725e8eab383 263
AxedaCorp 0:a725e8eab383 264 protected:
AxedaCorp 0:a725e8eab383 265 /** check if the port is writeable (like SerialPipe)
AxedaCorp 0:a725e8eab383 266 \return true if writeable
AxedaCorp 0:a725e8eab383 267 */
AxedaCorp 0:a725e8eab383 268 bool writeable(void) { return true; }
AxedaCorp 0:a725e8eab383 269
AxedaCorp 0:a725e8eab383 270 /** Write a character (like SerialPipe)
AxedaCorp 0:a725e8eab383 271 \param c the character to write
AxedaCorp 0:a725e8eab383 272 \return true if succesffully written
AxedaCorp 0:a725e8eab383 273 */
AxedaCorp 0:a725e8eab383 274 bool putc(int c) { char ch = c; return send(&ch, 1); }
AxedaCorp 0:a725e8eab383 275
AxedaCorp 0:a725e8eab383 276 /** Write bytes to the physical interface.
AxedaCorp 0:a725e8eab383 277 \param buf the buffer to write
AxedaCorp 0:a725e8eab383 278 \param len size of the buffer to write
AxedaCorp 0:a725e8eab383 279 \return bytes written
AxedaCorp 0:a725e8eab383 280 */
AxedaCorp 0:a725e8eab383 281 virtual int _send(const void* buf, int len);
AxedaCorp 0:a725e8eab383 282
AxedaCorp 0:a725e8eab383 283 /** read bytes from the physical interface.
AxedaCorp 0:a725e8eab383 284 \param buf the buffer to read into
AxedaCorp 0:a725e8eab383 285 \param len size of the read buffer
AxedaCorp 0:a725e8eab383 286 \return bytes read
AxedaCorp 0:a725e8eab383 287 */
AxedaCorp 0:a725e8eab383 288 int _get(char* buf, int len);
AxedaCorp 0:a725e8eab383 289
AxedaCorp 0:a725e8eab383 290 Pipe<char> _pipe; //!< the rx pipe
AxedaCorp 0:a725e8eab383 291 unsigned char _i2cAdr; //!< the i2c address
AxedaCorp 0:a725e8eab383 292 static const char REGLEN; //!< the length i2c register address
AxedaCorp 0:a725e8eab383 293 static const char REGSTREAM;//!< the stream i2c register address
AxedaCorp 0:a725e8eab383 294 };