File content as of revision 1:76d2da9e2b84:

/* Copyright C2013 Doug Anson, MIT License
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
 * and associated documentation files the "Software", to deal in the Software without restriction,
 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all copies or
 * substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 
 // class support
 #include "Ubloxgps.h"
 
 // MBEDEndpoint support
 #include "MBEDEndpoint.h"
 
 // our instance
 Ubloxgps *_instance = NULL;
 
 // threaded task
 static void read_gps(void const *args) {
    while (_instance != NULL) {
        _instance->update();
        wait_ms(UBLOX_GPS_POLL_MS);
    }
 }
 
 // default constructor
 Ubloxgps::Ubloxgps(ErrorHandler *error_handler, void *endpoint) {
     this->m_error_handler = error_handler;
     this->m_endpoint = endpoint;
     this->m_c207 = new C207();
     this->m_gps = new I2C(GPSSDA, GPSSCL);
     this->m_gps->frequency(UBLOX_GPS_FREQ);
     this->m_latitude = 0;
     this->m_longitude = 0;
     _instance = this;
     this->m_gps_poll_thread = new Thread(read_gps);
 }
 
 // default destructor
 Ubloxgps::~Ubloxgps() {
     if (this->m_gps_poll_thread != NULL) { this->m_gps_poll_thread->terminate(); delete this->m_gps_poll_thread; }
     if (this->m_c207 != NULL) delete this->m_c207;
     if (this->m_gps != NULL) delete this->m_gps;
 }
 
 // update our GPS info
 void Ubloxgps::update() {
     int s = 0;
     int i = 0;
     int o = 1; 
     char in[1024];
     char out[1024] = { 0xFF/*STREAM_REG*/, 0x00 /* ... */ };
     
     memset(in,0,1024);
     memset(out,0,1024);
     
     // read the GPS input
     const char r = 0xFD /*LENGTH_REG*/; 
     unsigned char sz[2];
     if (0 == this->m_gps->write(GPSADR,&r,sizeof(r), true))
     {
        if (0 == this->m_gps->read(GPSADR,(char*)sz,sizeof(sz),true))
        {
            int b  = (int)sz[0];
            b *= 256;
            b += sz[1];
            if (i == s)
                i = s = 0;
            if (b > sizeof(in)-s) 
                b = sizeof(in)-s;
            if (b > 0) 
            {
                if (0 == this->m_gps->read(GPSADR,&in[s],b,true))
                    s += b;
            }
        }
     }
     this->m_gps->stop();
     if (o > 1)
     {
        if (0 == this->m_gps->write(GPSADR,out,o))
            o = 0;
     }
     
     // convert the input to latitude/longitude decimal values
     this->logger()->log("GPS: Output: %s",out);
 }
 
 // get latitude
 float Ubloxgps::getLatitude() { return this->m_latitude; }
 
 // get longitude
 float Ubloxgps::getLongitude() { return this->m_longitude; }
 
 // ErrorHandler
 ErrorHandler *Ubloxgps::logger() { return this->m_error_handler; }