gnss
gnss.h@2:b10ca4aa2e5e, 2017-04-13 (annotated)
- Committer:
- RobMeades
- Date:
- Thu Apr 13 14:45:17 2017 +0000
- Revision:
- 2:b10ca4aa2e5e
- Parent:
- 1:ef70a58a6c98
- Child:
- 3:2a1cd49ead85
Remove deprecation warnings and warning about lack of bracing around empty else condition. Changed bracing style to ARM standard.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 1:ef70a58a6c98 | 29 | #ifdef TARGET_UBLOX_C030 |
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 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 35 | /** basic GNSS parser class |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 36 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 37 | class GnssParser |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 38 | { |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 39 | public: |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 40 | //! Constructor |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 41 | GnssParser(); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 42 | //! Destructor |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 43 | virtual ~GnssParser(void); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 44 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 45 | /** Power on / Wake up the GNSS |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 46 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 47 | virtual bool init(PinName pn) = 0; |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 48 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 49 | enum { |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 50 | // getLine Responses |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 51 | 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 | 52 | 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 | 53 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 54 | #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 55 | #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 56 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 57 | UNKNOWN = 0x000000, //!< message type is unknown |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 58 | UBX = 0x100000, //!< message if of protocol NMEA |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 59 | NMEA = 0x200000 //!< message if of protocol UBX |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 60 | }; |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 61 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 62 | /** Get a line from the physical interface. This function |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 63 | needs to be implemented in the inherited class. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 64 | \param buf the buffer to store it |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 65 | \param len size of the buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 66 | \return type and length if something was found, |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 67 | WAIT if not enough data is available |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 68 | NOT_FOUND if nothing was found |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 69 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 70 | virtual int getMessage(char* buf, int len) = 0; |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 71 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 72 | /** send a buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 73 | \param buf the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 74 | \param len size of the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 75 | \return bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 76 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 77 | virtual int send(const char* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 78 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 79 | /** send a NMEA message, this function just takes the |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 80 | payload and calculates and adds checksum. ($ and *XX\r\n will be added) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 81 | \param buf the message payload to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 82 | \param len size of the message payload to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 83 | \return total bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 84 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 85 | virtual int sendNmea(const char* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 86 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 87 | /** send a UBX message, this function just takes the |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 88 | payload and calculates and adds checksum. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 89 | \param cls the UBX class id |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 90 | \param id the UBX message id |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 91 | \param buf the message payload to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 92 | \param len size of the message payload to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 93 | \return total bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 94 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 95 | virtual int sendUbx(unsigned char cls, unsigned char id, |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 96 | const void* buf = NULL, int len = 0); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 97 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 98 | /** Power off the GNSS, it can be again woken up by an |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 99 | edge on the serial port on the external interrupt pin. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 100 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 101 | void powerOff(void); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 102 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 103 | /** get the first character of a NMEA field |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 104 | \param ix the index of the field to find |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 105 | \param start the start of the buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 106 | \param end the end of the buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 107 | \return the pointer to the first character of the field. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 108 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 109 | static const char* findNmeaItemPos(int ix, const char* start, const char* end); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 110 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 111 | /** extract a double value from a buffer containing a NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 112 | \param ix the index of the field to extract |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 113 | \param buf the NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 114 | \param len the size of the NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 115 | \param val the extracted value |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 116 | \return true if successful, false otherwise |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 117 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 118 | static bool getNmeaItem(int ix, char* buf, int len, double& val); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 119 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 120 | /** extract a interger value from a buffer containing a NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 121 | \param ix the index of the field to extract |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 122 | \param buf the NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 123 | \param len the size of the NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 124 | \param val the extracted value |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 125 | \param base the numeric base to be used (e.g. 8, 10 or 16) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 126 | \return true if successful, false otherwise |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 127 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 128 | static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 129 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 130 | /** extract a char value from a buffer containing a NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 131 | \param ix the index of the field to extract |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 132 | \param buf the NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 133 | \param len the size of the NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 134 | \param val the extracted value |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 135 | \return true if successful, false otherwise |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 136 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 137 | static bool getNmeaItem(int ix, char* buf, int len, char& val); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 138 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 139 | /** extract a latitude/longitude value from a buffer containing a NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 140 | \param ix the index of the field to extract (will extract ix and ix + 1) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 141 | \param buf the NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 142 | \param len the size of the NMEA message |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 143 | \param val the extracted latitude or longitude |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 144 | \return true if successful, false otherwise |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 145 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 146 | static bool getNmeaAngle(int ix, char* buf, int len, double& val); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 147 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 148 | protected: |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 149 | /** Power on the GNSS module. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 150 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 151 | void _powerOn(void); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 152 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 153 | /** Get a line from the physical interface. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 154 | \param pipe the receiveing pipe to parse messages |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 155 | \param buf the buffer to store it |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 156 | \param len size of the buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 157 | \return type and length if something was found, |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 158 | WAIT if not enough data is available |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 159 | NOT_FOUND if nothing was found |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 160 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 161 | static int _getMessage(Pipe<char>* pipe, char* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 162 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 163 | /** Check if the current offset of the pipe contains a NMEA message. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 164 | \param pipe the receiveing pipe to parse messages |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 165 | \param len numer of bytes to parse at maximum |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 166 | \return length if something was found (including the NMEA frame) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 167 | WAIT if not enough data is available |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 168 | NOT_FOUND if nothing was found |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 169 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 170 | static int _parseNmea(Pipe<char>* pipe, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 171 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 172 | /** Check if the current offset of the pipe contains a UBX message. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 173 | \param pipe the receiveing pipe to parse messages |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 174 | \param len numer of bytes to parse at maximum |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 175 | \return length if something was found (including the UBX frame) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 176 | WAIT if not enough data is available |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 177 | NOT_FOUND if nothing was found |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 178 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 179 | static int _parseUbx(Pipe<char>* pipe, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 180 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 181 | /** Write bytes to the physical interface. This function |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 182 | needs to be implemented by the inherited class. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 183 | \param buf the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 184 | \param len size of the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 185 | \return bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 186 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 187 | virtual int _send(const void* buf, int len) = 0; |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 188 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 189 | static const char _toHex[16]; //!< num to hex conversion |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 190 | DigitalInOut *_gnssEnable; //!< IO pin that enables GNSS |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 191 | DigitalInOut *_gnssPower; //!< IO pin that enables power to GNSS |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 192 | }; |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 193 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 194 | /** GNSS class which uses a serial port |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 195 | as physical interface. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 196 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 197 | class GnssSerial : public SerialPipe, public GnssParser |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 198 | { |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 199 | public: |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 200 | /** Constructor |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 201 | \param tx is the serial ports transmit pin (GNSS to CPU) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 202 | \param rx is the serial ports receive pin (CPU to GNSS) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 203 | \param baudrate the baudrate of the GNSS use 9600 |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 204 | \param rxSize the size of the serial rx buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 205 | \param txSize the size of the serial tx buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 206 | */ |
RobMeades | 2:b10ca4aa2e5e | 207 | GnssSerial(PinName tx GNSS_IF( = GNSSTXD, = D8 /* = D8 */), // resistor on shield not populated |
RobMeades | 2:b10ca4aa2e5e | 208 | PinName rx GNSS_IF( = GNSSRXD, = D9 /* = D9 */), // resistor on shield not populated |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 209 | int baudrate GNSS_IF( = GNSSBAUD, = 9600 ), |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 210 | int rxSize = 256 , |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 211 | int txSize = 128 ); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 212 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 213 | //! Destructor |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 214 | virtual ~GnssSerial(void); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 215 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 216 | virtual bool init(PinName pn = NC); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 217 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 218 | /** Get a line from the physical interface. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 219 | \param buf the buffer to store it |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 220 | \param len size of the buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 221 | \return type and length if something was found, |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 222 | WAIT if not enough data is available |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 223 | NOT_FOUND if nothing was found |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 224 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 225 | virtual int getMessage(char* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 226 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 227 | protected: |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 228 | /** Write bytes to the physical interface. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 229 | \param buf the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 230 | \param len size of the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 231 | \return bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 232 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 233 | virtual int _send(const void* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 234 | }; |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 235 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 236 | /** GNSS class which uses a i2c as physical interface. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 237 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 238 | class GnssI2C : public I2C, public GnssParser |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 239 | { |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 240 | public: |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 241 | /** Constructor |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 242 | \param sda is the I2C SDA pin (between CPU and GNSS) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 243 | \param scl is the I2C SCL pin (CPU to GNSS) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 244 | \param adr the I2C address of the GNSS set to (66<<1) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 245 | \param rxSize the size of the serial rx buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 246 | */ |
RobMeades | 2:b10ca4aa2e5e | 247 | GnssI2C(PinName sda GNSS_IF( = NC, = /* D16 TODO */ NC ), |
RobMeades | 2:b10ca4aa2e5e | 248 | PinName scl GNSS_IF( = NC, = /* D17 TODO */ NC ), |
RobMeades | 2:b10ca4aa2e5e | 249 | unsigned char i2cAdr GNSS_IF( = (66<<1), = (66<<1) ), |
RobMeades | 2:b10ca4aa2e5e | 250 | int rxSize = 256 ); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 251 | //! Destructor |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 252 | virtual ~GnssI2C(void); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 253 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 254 | /** helper function to probe the i2c device |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 255 | \return true if successfully detected the GNSS chip. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 256 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 257 | virtual bool init(PinName pn = GNSS_IF( NC, NC /* D7 resistor R67 on shield not mounted */)); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 258 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 259 | /** Get a line from the physical interface. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 260 | \param buf the buffer to store it |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 261 | \param len size of the buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 262 | \return type and length if something was found, |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 263 | WAIT if not enough data is available |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 264 | NOT_FOUND if nothing was found |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 265 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 266 | virtual int getMessage(char* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 267 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 268 | /** send a buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 269 | \param buf the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 270 | \param len size of the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 271 | \return bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 272 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 273 | virtual int send(const char* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 274 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 275 | /** send a NMEA message, this function just takes the |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 276 | payload and calculates and adds checksum. ($ and *XX\r\n will be added) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 277 | \param buf the message payload to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 278 | \param len size of the message payload to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 279 | \return total bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 280 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 281 | virtual int sendNmea(const char* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 282 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 283 | /** send a UBX message, this function just takes the |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 284 | payload and calculates and adds checksum. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 285 | \param cls the UBX class id |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 286 | \param id the UBX message id |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 287 | \param buf the message payload to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 288 | \param len size of the message payload to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 289 | \return total bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 290 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 291 | virtual int sendUbx(unsigned char cls, unsigned char id, |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 292 | const void* buf = NULL, int len = 0); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 293 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 294 | protected: |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 295 | /** check if the port is writeable (like SerialPipe) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 296 | \return true if writeable |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 297 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 298 | bool writeable(void) { return true; } |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 299 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 300 | /** Write a character (like SerialPipe) |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 301 | \param c the character to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 302 | \return true if succesffully written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 303 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 304 | bool putc(int c) { char ch = c; return send(&ch, 1); } |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 305 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 306 | /** Write bytes to the physical interface. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 307 | \param buf the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 308 | \param len size of the buffer to write |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 309 | \return bytes written |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 310 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 311 | virtual int _send(const void* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 312 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 313 | /** read bytes from the physical interface. |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 314 | \param buf the buffer to read into |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 315 | \param len size of the read buffer |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 316 | \return bytes read |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 317 | */ |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 318 | int _get(char* buf, int len); |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 319 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 320 | Pipe<char> _pipe; //!< the rx pipe |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 321 | unsigned char _i2cAdr; //!< the i2c address |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 322 | static const char REGLEN; //!< the length i2c register address |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 323 | static const char REGSTREAM;//!< the stream i2c register address |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 324 | }; |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 325 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 326 | #endif |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 327 | |
rob.meades@u-blox.com | 1:ef70a58a6c98 | 328 | // End Of File |