Marc BUSSON / C027_Support

support library for C027 helper functions for Buffer Pipes, Buffered Serial Port (rtos capable) and GPS parsing. It includes modem APIs for USSD, SMS and Sockets.

Fork of C027_Support by u-blox

GPS.cpp@139:7ba694cb0f9d, 2016-10-03 (annotated)

Committer:
Prez
Date:
Mon Oct 03 12:14:48 2016 +0000
Revision:
139:7ba694cb0f9d
Parent:
95:8282dbbe1492 
Change in MDM.h to allow compile on all platforms & updated powerOff in GPS.cpp to work with M8 GPS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazgch 2:b6012cd91657 1 #include "mbed.h"
mazgch 2:b6012cd91657 2 #include <ctype.h>
mazgch 2:b6012cd91657 3 #include "GPS.h"
mazgch 74:208e3e32d263 4 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 5 #include "C027_api.h"
mazgch 74:208e3e32d263 6 #endif
mazgch 74:208e3e32d263 7
mazgch 74:208e3e32d263 8 void GPSParser::powerOff(void)
mazgch 74:208e3e32d263 9 {
mazgch 74:208e3e32d263 10 // set the gps into backup mode using the command RMX-LPREQ
Prez 139:7ba694cb0f9d 11 //struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
Prez 139:7ba694cb0f9d 12 // updated for M8
Prez 139:7ba694cb0f9d 13 struct { unsigned long dur; unsigned long flags; } msg = {0, 2};
mazgch 74:208e3e32d263 14 sendUbx(0x02, 0x41, &msg, sizeof(msg));
Prez 139:7ba694cb0f9d 15
mazgch 74:208e3e32d263 16 }
mazgch 2:b6012cd91657 17
mazgch 2:b6012cd91657 18 int GPSParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
mazgch 2:b6012cd91657 19 {
mazgch 2:b6012cd91657 20 int unkn = 0;
mazgch 2:b6012cd91657 21 int sz = pipe->size();
mazgch 9:e7a5959ffae1 22 int fr = pipe->free();
mazgch 2:b6012cd91657 23 if (len > sz)
mazgch 2:b6012cd91657 24 len = sz;
mazgch 2:b6012cd91657 25 while (len > 0)
mazgch 2:b6012cd91657 26 {
mazgch 2:b6012cd91657 27 // NMEA protocol
mazgch 21:c4d64830bf02 28 pipe->set(unkn);
mazgch 2:b6012cd91657 29 int nmea = _parseNmea(pipe,len);
mazgch 9:e7a5959ffae1 30 if ((nmea != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 31 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 32 if (nmea == WAIT && fr)
mazgch 9:e7a5959ffae1 33 return WAIT;
mazgch 9:e7a5959ffae1 34 if (nmea > 0)
mazgch 9:e7a5959ffae1 35 return NMEA | pipe->get(buf,nmea);
mazgch 2:b6012cd91657 36 // UBX protocol
mazgch 21:c4d64830bf02 37
mazgch 21:c4d64830bf02 38 pipe->set(unkn);
mazgch 2:b6012cd91657 39 int ubx = _parseUbx(pipe,len);
mazgch 9:e7a5959ffae1 40 if ((ubx != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 41 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 42 if (ubx == WAIT && fr)
mazgch 9:e7a5959ffae1 43 return WAIT;
mazgch 9:e7a5959ffae1 44 if (ubx > 0)
mazgch 9:e7a5959ffae1 45 return UBX | pipe->get(buf,ubx);
mazgch 21:c4d64830bf02 46
mazgch 2:b6012cd91657 47 // UNKNOWN
mazgch 2:b6012cd91657 48 unkn ++;
mazgch 2:b6012cd91657 49 len--;
mazgch 2:b6012cd91657 50 }
mazgch 21:c4d64830bf02 51 if (unkn > 0)
mazgch 31:a0bed6c1e05d 52 return UNKNOWN | pipe->get(buf,unkn);
mazgch 2:b6012cd91657 53 return WAIT;
mazgch 2:b6012cd91657 54 }
mazgch 2:b6012cd91657 55
mazgch 2:b6012cd91657 56 int GPSParser::_parseNmea(Pipe<char>* pipe, int len)
mazgch 2:b6012cd91657 57 {
mazgch 7:9aa830f5811e 58 int o = 0;
mazgch 7:9aa830f5811e 59 int c = 0;
mazgch 7:9aa830f5811e 60 char ch;
mazgch 7:9aa830f5811e 61 if (++o > len) return WAIT;
mazgch 2:b6012cd91657 62 if ('$' != pipe->next()) return NOT_FOUND;
mazgch 4:c959dd4c5fe8 63 // this needs to be extended by crc checking
mazgch 2:b6012cd91657 64 for (;;)
mazgch 2:b6012cd91657 65 {
mazgch 7:9aa830f5811e 66 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 67 ch = pipe->next();
mazgch 7:9aa830f5811e 68 if ('*' == ch) break; // crc delimiter
mazgch 7:9aa830f5811e 69 if (!isprint(ch)) return NOT_FOUND;
mazgch 7:9aa830f5811e 70 c ^= ch;
mazgch 2:b6012cd91657 71 }
mazgch 7:9aa830f5811e 72 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 73 ch = toHex[(c >> 4) & 0xF]; // high nibble
mazgch 7:9aa830f5811e 74 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 75 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 76 ch = toHex[(c >> 0) & 0xF]; // low nibble
mazgch 7:9aa830f5811e 77 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 78 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 79 if ('\r' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 80 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 81 if ('\n' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 82 return o;
mazgch 2:b6012cd91657 83 }
mazgch 2:b6012cd91657 84
mazgch 2:b6012cd91657 85 int GPSParser::_parseUbx(Pipe<char>* pipe, int l)
mazgch 2:b6012cd91657 86 {
mazgch 2:b6012cd91657 87 int o = 0;
mazgch 2:b6012cd91657 88 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 89 if ('\xB5' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 90 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 91 if ('\x62' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 92 o += 4;
mazgch 2:b6012cd91657 93 if (o > l) return WAIT;
mazgch 2:b6012cd91657 94 int i,j,ca,cb;
mazgch 2:b6012cd91657 95 i = pipe->next(); ca = i; cb = ca; // cls
mazgch 2:b6012cd91657 96 i = pipe->next(); ca += i; cb += ca; // id
mazgch 2:b6012cd91657 97 i = pipe->next(); ca += i; cb += ca; // len_lsb
mazgch 2:b6012cd91657 98 j = pipe->next(); ca += j; cb += ca; // len_msb
mazgch 2:b6012cd91657 99 j = i + (j << 8);
mazgch 2:b6012cd91657 100 while (j--)
mazgch 2:b6012cd91657 101 {
mazgch 2:b6012cd91657 102 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 103 i = pipe->next();
mazgch 2:b6012cd91657 104 ca += i;
mazgch 2:b6012cd91657 105 cb += ca;
mazgch 2:b6012cd91657 106 }
mazgch 2:b6012cd91657 107 ca &= 0xFF; cb &= 0xFF;
mazgch 2:b6012cd91657 108 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 109 if (ca != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 110 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 111 if (cb != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 112 return o;
mazgch 2:b6012cd91657 113 }
mazgch 2:b6012cd91657 114
mazgch 4:c959dd4c5fe8 115 int GPSParser::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 116 {
mazgch 4:c959dd4c5fe8 117 return _send(buf, len);
mazgch 4:c959dd4c5fe8 118 }
mazgch 4:c959dd4c5fe8 119
mazgch 3:c7cd4887560d 120 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 121 {
mazgch 3:c7cd4887560d 122 char head[1] = { '$' };
mazgch 3:c7cd4887560d 123 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 124 int i;
mazgch 3:c7cd4887560d 125 int crc = 0;
mazgch 3:c7cd4887560d 126 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 127 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 128 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 129 i += _send(buf, len);
mazgch 3:c7cd4887560d 130 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 131 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 132 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 133 return i;
mazgch 2:b6012cd91657 134 }
mazgch 2:b6012cd91657 135
mazgch 11:b084552b03fe 136 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
mazgch 2:b6012cd91657 137 {
mazgch 3:c7cd4887560d 138 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 139 char crc[2];
mazgch 3:c7cd4887560d 140 int i;
mazgch 3:c7cd4887560d 141 int ca = 0;
mazgch 3:c7cd4887560d 142 int cb = 0;
mazgch 3:c7cd4887560d 143 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 144 {
mazgch 3:c7cd4887560d 145 ca += head[i];
mazgch 3:c7cd4887560d 146 cb += ca;
mazgch 2:b6012cd91657 147 }
mazgch 3:c7cd4887560d 148 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 149 {
mazgch 3:c7cd4887560d 150 ca += ((char*)buf)[i];
mazgch 11:b084552b03fe 151 cb += ca;
mazgch 3:c7cd4887560d 152 }
mazgch 4:c959dd4c5fe8 153 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 154 i += _send(buf, len);
mazgch 3:c7cd4887560d 155 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 156 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 157 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 158 return i;
mazgch 2:b6012cd91657 159 }
mazgch 2:b6012cd91657 160
mazgch 2:b6012cd91657 161 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 162 {
mazgch 2:b6012cd91657 163 // find the start
mazgch 2:b6012cd91657 164 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 165 {
mazgch 2:b6012cd91657 166 if (*start == ',')
mazgch 2:b6012cd91657 167 ix --;
mazgch 2:b6012cd91657 168 }
mazgch 2:b6012cd91657 169 // found and check bounds
mazgch 2:b6012cd91657 170 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 171 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 172 return start;
mazgch 2:b6012cd91657 173 else
mazgch 2:b6012cd91657 174 return NULL;
mazgch 2:b6012cd91657 175 }
mazgch 2:b6012cd91657 176
mazgch 2:b6012cd91657 177 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
mazgch 2:b6012cd91657 178 {
mazgch 2:b6012cd91657 179 char* end = &buf[len];
mazgch 2:b6012cd91657 180 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 181 // find the start
mazgch 2:b6012cd91657 182 if (!pos)
mazgch 2:b6012cd91657 183 return false;
mazgch 2:b6012cd91657 184 val = strtod(pos, &end);
mazgch 2:b6012cd91657 185 // restore the last character
mazgch 2:b6012cd91657 186 return (end > pos);
mazgch 2:b6012cd91657 187 }
mazgch 2:b6012cd91657 188
mazgch 2:b6012cd91657 189 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
mazgch 2:b6012cd91657 190 {
mazgch 2:b6012cd91657 191 char* end = &buf[len];
mazgch 2:b6012cd91657 192 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 193 // find the start
mazgch 2:b6012cd91657 194 if (!pos)
mazgch 2:b6012cd91657 195 return false;
mazgch 2:b6012cd91657 196 val = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 197 return (end > pos);
mazgch 2:b6012cd91657 198 }
mazgch 2:b6012cd91657 199
mazgch 2:b6012cd91657 200 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 201 {
mazgch 2:b6012cd91657 202 const char* end = &buf[len];
mazgch 2:b6012cd91657 203 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 204 // find the start
mazgch 2:b6012cd91657 205 if (!pos)
mazgch 2:b6012cd91657 206 return false;
mazgch 2:b6012cd91657 207 // skip leading spaces
mazgch 2:b6012cd91657 208 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 209 pos++;
mazgch 2:b6012cd91657 210 // check bound
mazgch 2:b6012cd91657 211 if ((pos < end) &&
mazgch 2:b6012cd91657 212 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 213 {
mazgch 2:b6012cd91657 214 val = *pos;
mazgch 2:b6012cd91657 215 return true;
mazgch 2:b6012cd91657 216 }
mazgch 2:b6012cd91657 217 return false;
mazgch 2:b6012cd91657 218 }
mazgch 2:b6012cd91657 219
mazgch 20:535ef78655df 220 bool GPSParser::getNmeaAngle(int ix, char* buf, int len, double& val)
mazgch 18:e5697801df29 221 {
mazgch 18:e5697801df29 222 char ch;
mazgch 18:e5697801df29 223 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
mazgch 18:e5697801df29 224 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
mazgch 18:e5697801df29 225 {
mazgch 18:e5697801df29 226 val *= 0.01;
mazgch 20:535ef78655df 227 int i = (int)val;
mazgch 18:e5697801df29 228 val = (val - i) / 0.6 + i;
mazgch 18:e5697801df29 229 if (ch == 'S' || ch == 'W')
mazgch 18:e5697801df29 230 val = -val;
mazgch 18:e5697801df29 231 return true;
mazgch 18:e5697801df29 232 }
mazgch 18:e5697801df29 233 return false;
mazgch 18:e5697801df29 234 }
mazgch 18:e5697801df29 235
mazgch 2:b6012cd91657 236 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 237
mazgch 2:b6012cd91657 238 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 239 // Serial Implementation
mazgch 2:b6012cd91657 240 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 241
mazgch 9:e7a5959ffae1 242 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 243 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 15:5eda64e5b9d1 244 SerialPipe(tx, rx, rxSize, txSize)
mazgch 2:b6012cd91657 245 {
mazgch 2:b6012cd91657 246 baud(baudrate);
mazgch 74:208e3e32d263 247 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 248 _onboard = (tx == GPSTXD) || (rx == GPSRXD);
mazgch 74:208e3e32d263 249 if (_onboard)
mazgch 74:208e3e32d263 250 c027_gps_powerOn();
mazgch 74:208e3e32d263 251 #endif
mazgch 74:208e3e32d263 252 }
mazgch 74:208e3e32d263 253
mazgch 76:f7c3dd568dae 254 GPSSerial::~GPSSerial(void)
mazgch 76:f7c3dd568dae 255 {
mazgch 76:f7c3dd568dae 256 powerOff();
mazgch 76:f7c3dd568dae 257 #ifdef TARGET_UBLOX_C027
mazgch 76:f7c3dd568dae 258 if (_onboard)
mazgch 76:f7c3dd568dae 259 c027_gps_powerOff();
mazgch 76:f7c3dd568dae 260 #endif
mazgch 76:f7c3dd568dae 261 }
mazgch 76:f7c3dd568dae 262
mazgch 75:ce6e12067d0c 263 bool GPSSerial::init(PinName pn)
mazgch 74:208e3e32d263 264 {
mazgch 74:208e3e32d263 265 // send a byte to wakup the device again
mazgch 95:8282dbbe1492 266 putc(0xFF);
mazgch 74:208e3e32d263 267 // wait until we get some bytes
mazgch 74:208e3e32d263 268 int size = _pipeRx.size();
mazgch 95:8282dbbe1492 269 Timer timer;
mazgch 95:8282dbbe1492 270 timer.start();
mazgch 95:8282dbbe1492 271 while ((100 > timer.read_ms()) && (size == _pipeRx.size()))
mazgch 95:8282dbbe1492 272 /* nothing / just wait */;
mazgch 95:8282dbbe1492 273 return (size != _pipeRx.size());
mazgch 2:b6012cd91657 274 }
mazgch 2:b6012cd91657 275
mazgch 2:b6012cd91657 276 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 277 {
mazgch 9:e7a5959ffae1 278 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 279 }
mazgch 2:b6012cd91657 280
mazgch 4:c959dd4c5fe8 281 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 282 {
mazgch 9:e7a5959ffae1 283 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 284 }
mazgch 3:c7cd4887560d 285
mazgch 2:b6012cd91657 286 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 287 // I2C Implementation
mazgch 2:b6012cd91657 288 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 289
mazgch 9:e7a5959ffae1 290 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 19:2b5d097ca15d 291 unsigned char i2cAdr /*=GPSADR*/, int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 292 I2C(sda,scl),
mazgch 19:2b5d097ca15d 293 _pipe(rxSize),
mazgch 19:2b5d097ca15d 294 _i2cAdr(i2cAdr)
mazgch 2:b6012cd91657 295 {
mazgch 45:ebc2fd8dcf21 296 frequency(100000);
mazgch 74:208e3e32d263 297 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 298 _onboard = (sda == GPSSDA) && (scl == GPSSCL);
mazgch 74:208e3e32d263 299 if (_onboard)
mazgch 74:208e3e32d263 300 c027_gps_powerOn();
mazgch 74:208e3e32d263 301 #endif
mazgch 2:b6012cd91657 302 }
mazgch 2:b6012cd91657 303
mazgch 76:f7c3dd568dae 304 GPSI2C::~GPSI2C(void)
mazgch 76:f7c3dd568dae 305 {
mazgch 76:f7c3dd568dae 306 powerOff();
mazgch 76:f7c3dd568dae 307 #ifdef TARGET_UBLOX_C027
mazgch 76:f7c3dd568dae 308 if (_onboard)
mazgch 76:f7c3dd568dae 309 c027_gps_powerOff();
mazgch 76:f7c3dd568dae 310 #endif
mazgch 76:f7c3dd568dae 311 }
mazgch 76:f7c3dd568dae 312
mazgch 75:ce6e12067d0c 313 bool GPSI2C::init(PinName pn)
mazgch 2:b6012cd91657 314 {
mazgch 75:ce6e12067d0c 315 if (pn != NC) {
mazgch 75:ce6e12067d0c 316 DigitalOut pin(pn, 0);
mazgch 95:8282dbbe1492 317 ::wait_us(1);
mazgch 75:ce6e12067d0c 318 pin = 1;
mazgch 95:8282dbbe1492 319 ::wait_ms(100);
mazgch 75:ce6e12067d0c 320 }
mazgch 74:208e3e32d263 321 return !I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 322 }
mazgch 2:b6012cd91657 323
mazgch 2:b6012cd91657 324 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 325 {
mazgch 6:775aef3f1d1f 326 // fill the pipe
mazgch 6:775aef3f1d1f 327 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 328 if (sz)
mazgch 6:775aef3f1d1f 329 sz = _get(buf, sz);
mazgch 2:b6012cd91657 330 if (sz)
mazgch 2:b6012cd91657 331 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 332 // now parse it
mazgch 2:b6012cd91657 333 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 334 }
mazgch 2:b6012cd91657 335
mazgch 4:c959dd4c5fe8 336 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 337 {
mazgch 4:c959dd4c5fe8 338 int sent = 0;
mazgch 4:c959dd4c5fe8 339 if (len)
mazgch 4:c959dd4c5fe8 340 {
mazgch 19:2b5d097ca15d 341 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 342 sent = send(buf, len);
mazgch 4:c959dd4c5fe8 343 stop();
mazgch 4:c959dd4c5fe8 344 }
mazgch 4:c959dd4c5fe8 345 return sent;
mazgch 4:c959dd4c5fe8 346 }
mazgch 4:c959dd4c5fe8 347
mazgch 3:c7cd4887560d 348 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 349 {
mazgch 3:c7cd4887560d 350 int sent = 0;
mazgch 19:2b5d097ca15d 351 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 352 sent = GPSParser::sendNmea(buf, len);
mazgch 11:b084552b03fe 353 stop();
mazgch 3:c7cd4887560d 354 return sent;
mazgch 3:c7cd4887560d 355 }
mazgch 3:c7cd4887560d 356
mazgch 3:c7cd4887560d 357 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 358 {
mazgch 3:c7cd4887560d 359 int sent = 0;
mazgch 19:2b5d097ca15d 360 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 361 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 15:5eda64e5b9d1 362 I2C::stop();
mazgch 3:c7cd4887560d 363 return sent;
mazgch 3:c7cd4887560d 364 }
mazgch 3:c7cd4887560d 365
mazgch 2:b6012cd91657 366 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 367 {
mazgch 3:c7cd4887560d 368 int read = 0;
mazgch 46:8ce9169e0747 369 unsigned char sz[2] = {0,0};
mazgch 19:2b5d097ca15d 370 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
mazgch 46:8ce9169e0747 371 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz)))
mazgch 2:b6012cd91657 372 {
mazgch 2:b6012cd91657 373 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 374 if (size > len)
mazgch 2:b6012cd91657 375 size = len;
mazgch 46:8ce9169e0747 376 if (size > 0)
mazgch 46:8ce9169e0747 377 {
mazgch 46:8ce9169e0747 378 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true) &&
mazgch 46:8ce9169e0747 379 !I2C::read(_i2cAdr,buf,size)) {
mazgch 46:8ce9169e0747 380 read = size;
mazgch 46:8ce9169e0747 381 }
mazgch 46:8ce9169e0747 382 }
mazgch 2:b6012cd91657 383 }
mazgch 3:c7cd4887560d 384 return read;
mazgch 2:b6012cd91657 385 }
mazgch 2:b6012cd91657 386
mazgch 4:c959dd4c5fe8 387 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 388 {
mazgch 19:2b5d097ca15d 389 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 390 }
mazgch 2:b6012cd91657 391
mazgch 2:b6012cd91657 392 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 393 const char GPSI2C::REGSTREAM = 0xFF;