Doug Anson / c027_radios

endpoint C207 radio support

Dependents:   mbed_mqtt_endpoint_ublox_cellular mbed_nsp_endpoint_ublox_cellular

MBEDUbloxGPS.cpp@8:ad37c7157d3c, 2014-04-01 (annotated)

Committer:
ansond
Date:
Tue Apr 01 04:46:33 2014 +0000
Revision:
8:ad37c7157d3c
Parent:
7:948040230536
Child:
12:29ff8e9e0cbe
updates

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ansond 0:d46b1accad7d 1 /* Copyright C2013 Doug Anson, MIT License
ansond 0:d46b1accad7d 2 *
ansond 0:d46b1accad7d 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
ansond 0:d46b1accad7d 4 * and associated documentation files the "Software", to deal in the Software without restriction,
ansond 0:d46b1accad7d 5 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
ansond 0:d46b1accad7d 6 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
ansond 0:d46b1accad7d 7 * furnished to do so, subject to the following conditions:
ansond 0:d46b1accad7d 8 *
ansond 0:d46b1accad7d 9 * The above copyright notice and this permission notice shall be included in all copies or
ansond 0:d46b1accad7d 10 * substantial portions of the Software.
ansond 0:d46b1accad7d 11 *
ansond 0:d46b1accad7d 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
ansond 0:d46b1accad7d 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
ansond 0:d46b1accad7d 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
ansond 0:d46b1accad7d 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ansond 0:d46b1accad7d 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
ansond 0:d46b1accad7d 17 */
ansond 0:d46b1accad7d 18
ansond 0:d46b1accad7d 19 // class support
ansond 3:6acc6c8143b7 20 #include "MBEDUbloxGPS.h"
ansond 0:d46b1accad7d 21
ansond 0:d46b1accad7d 22 // MBEDEndpoint support
ansond 0:d46b1accad7d 23 #include "MBEDEndpoint.h"
ansond 0:d46b1accad7d 24
ansond 1:76d2da9e2b84 25 // our instance
ansond 5:a8fd1fa0f0d0 26 MBEDUbloxGPS *_ublox_gps_instance = NULL;
ansond 6:cd2d23300f05 27 bool _ublox_gps_loop = true;
ansond 8:ad37c7157d3c 28
ansond 1:76d2da9e2b84 29 // threaded task
ansond 1:76d2da9e2b84 30 static void read_gps(void const *args) {
ansond 6:cd2d23300f05 31 while (_ublox_gps_loop == true && _ublox_gps_instance != NULL) {
ansond 5:a8fd1fa0f0d0 32 _ublox_gps_instance->update();
ansond 1:76d2da9e2b84 33 wait_ms(UBLOX_GPS_POLL_MS);
ansond 1:76d2da9e2b84 34 }
ansond 8:ad37c7157d3c 35 if (_ublox_gps_instance != NULL) _ublox_gps_instance->logger()->log("GPS update thread stopping...");
ansond 1:76d2da9e2b84 36 }
ansond 1:76d2da9e2b84 37
ansond 0:d46b1accad7d 38 // default constructor
ansond 5:a8fd1fa0f0d0 39 MBEDUbloxGPS::MBEDUbloxGPS(ErrorHandler *error_handler, void *endpoint) : BaseClass(error_handler,endpoint) {
ansond 8:ad37c7157d3c 40 this->m_gps_poll_thread = NULL;
ansond 5:a8fd1fa0f0d0 41 this->m_c027 = new C027();
ansond 1:76d2da9e2b84 42 this->m_gps = new I2C(GPSSDA, GPSSCL);
ansond 1:76d2da9e2b84 43 this->m_gps->frequency(UBLOX_GPS_FREQ);
ansond 1:76d2da9e2b84 44 this->m_latitude = 0;
ansond 1:76d2da9e2b84 45 this->m_longitude = 0;
ansond 5:a8fd1fa0f0d0 46 _ublox_gps_instance = this;
ansond 0:d46b1accad7d 47 }
ansond 0:d46b1accad7d 48
ansond 0:d46b1accad7d 49 // default destructor
ansond 3:6acc6c8143b7 50 MBEDUbloxGPS::~MBEDUbloxGPS() {
ansond 1:76d2da9e2b84 51 if (this->m_gps_poll_thread != NULL) { this->m_gps_poll_thread->terminate(); delete this->m_gps_poll_thread; }
ansond 5:a8fd1fa0f0d0 52 if (this->m_c027 != NULL) delete this->m_c027;
ansond 1:76d2da9e2b84 53 if (this->m_gps != NULL) delete this->m_gps;
ansond 0:d46b1accad7d 54 }
ansond 0:d46b1accad7d 55
ansond 1:76d2da9e2b84 56 // update our GPS info
ansond 3:6acc6c8143b7 57 void MBEDUbloxGPS::update() {
ansond 1:76d2da9e2b84 58 int s = 0;
ansond 1:76d2da9e2b84 59 int i = 0;
ansond 1:76d2da9e2b84 60 int o = 1;
ansond 1:76d2da9e2b84 61 char in[1024];
ansond 1:76d2da9e2b84 62 char out[1024] = { 0xFF/*STREAM_REG*/, 0x00 /* ... */ };
ansond 1:76d2da9e2b84 63
ansond 1:76d2da9e2b84 64 memset(in,0,1024);
ansond 1:76d2da9e2b84 65 memset(out,0,1024);
ansond 1:76d2da9e2b84 66
ansond 1:76d2da9e2b84 67 // read the GPS input
ansond 1:76d2da9e2b84 68 const char r = 0xFD /*LENGTH_REG*/;
ansond 1:76d2da9e2b84 69 unsigned char sz[2];
ansond 1:76d2da9e2b84 70 if (0 == this->m_gps->write(GPSADR,&r,sizeof(r), true))
ansond 1:76d2da9e2b84 71 {
ansond 1:76d2da9e2b84 72 if (0 == this->m_gps->read(GPSADR,(char*)sz,sizeof(sz),true))
ansond 1:76d2da9e2b84 73 {
ansond 1:76d2da9e2b84 74 int b = (int)sz[0];
ansond 1:76d2da9e2b84 75 b *= 256;
ansond 1:76d2da9e2b84 76 b += sz[1];
ansond 1:76d2da9e2b84 77 if (i == s)
ansond 1:76d2da9e2b84 78 i = s = 0;
ansond 1:76d2da9e2b84 79 if (b > sizeof(in)-s)
ansond 1:76d2da9e2b84 80 b = sizeof(in)-s;
ansond 1:76d2da9e2b84 81 if (b > 0)
ansond 1:76d2da9e2b84 82 {
ansond 1:76d2da9e2b84 83 if (0 == this->m_gps->read(GPSADR,&in[s],b,true))
ansond 1:76d2da9e2b84 84 s += b;
ansond 1:76d2da9e2b84 85 }
ansond 1:76d2da9e2b84 86 }
ansond 1:76d2da9e2b84 87 }
ansond 1:76d2da9e2b84 88 this->m_gps->stop();
ansond 1:76d2da9e2b84 89 if (o > 1)
ansond 1:76d2da9e2b84 90 {
ansond 1:76d2da9e2b84 91 if (0 == this->m_gps->write(GPSADR,out,o))
ansond 1:76d2da9e2b84 92 o = 0;
ansond 1:76d2da9e2b84 93 }
ansond 1:76d2da9e2b84 94
ansond 1:76d2da9e2b84 95 // convert the input to latitude/longitude decimal values
ansond 1:76d2da9e2b84 96 this->logger()->log("GPS: Output: %s",out);
ansond 0:d46b1accad7d 97 }
ansond 0:d46b1accad7d 98
ansond 7:948040230536 99 // start the update thread and connect
ansond 7:948040230536 100 bool MBEDUbloxGPS::connect() {
ansond 8:ad37c7157d3c 101 if (this->m_gps_poll_thread == NULL) {
ansond 8:ad37c7157d3c 102 this->logger()->log("starting GPS update thread...");
ansond 8:ad37c7157d3c 103 //this->m_gps_poll_thread = new Thread(read_gps);
ansond 8:ad37c7157d3c 104 }
ansond 7:948040230536 105 return true;
ansond 7:948040230536 106 }
ansond 7:948040230536 107
ansond 6:cd2d23300f05 108 // halt the update thread and disconnect
ansond 7:948040230536 109 bool MBEDUbloxGPS::disconnect() { _ublox_gps_loop = false; return true; }
ansond 6:cd2d23300f05 110
ansond 0:d46b1accad7d 111 // get latitude
ansond 3:6acc6c8143b7 112 float MBEDUbloxGPS::getLatitude() { return this->m_latitude; }
ansond 0:d46b1accad7d 113
ansond 0:d46b1accad7d 114 // get longitude
ansond 5:a8fd1fa0f0d0 115 float MBEDUbloxGPS::getLongitude() { return this->m_longitude; }