endpoint C207 radio support
Dependents: mbed_mqtt_endpoint_ublox_cellular mbed_nsp_endpoint_ublox_cellular
MBEDUbloxGPS.cpp@3:6acc6c8143b7, 2014-03-30 (annotated)
- Committer:
- ansond
- Date:
- Sun Mar 30 16:16:38 2014 +0000
- Revision:
- 3:6acc6c8143b7
- Parent:
- Ubloxgps.cpp@1:76d2da9e2b84
- Child:
- 5:a8fd1fa0f0d0
updates
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 3:6acc6c8143b7 | 26 | MBEDUbloxGPS *_instance = NULL; |
ansond | 1:76d2da9e2b84 | 27 | |
ansond | 1:76d2da9e2b84 | 28 | // threaded task |
ansond | 1:76d2da9e2b84 | 29 | static void read_gps(void const *args) { |
ansond | 1:76d2da9e2b84 | 30 | while (_instance != NULL) { |
ansond | 1:76d2da9e2b84 | 31 | _instance->update(); |
ansond | 1:76d2da9e2b84 | 32 | wait_ms(UBLOX_GPS_POLL_MS); |
ansond | 1:76d2da9e2b84 | 33 | } |
ansond | 1:76d2da9e2b84 | 34 | } |
ansond | 1:76d2da9e2b84 | 35 | |
ansond | 0:d46b1accad7d | 36 | // default constructor |
ansond | 3:6acc6c8143b7 | 37 | MBEDUbloxGPS::MBEDUbloxGPS(ErrorHandler *error_handler, void *endpoint) { |
ansond | 0:d46b1accad7d | 38 | this->m_error_handler = error_handler; |
ansond | 0:d46b1accad7d | 39 | this->m_endpoint = endpoint; |
ansond | 1:76d2da9e2b84 | 40 | this->m_c207 = new C207(); |
ansond | 1:76d2da9e2b84 | 41 | this->m_gps = new I2C(GPSSDA, GPSSCL); |
ansond | 1:76d2da9e2b84 | 42 | this->m_gps->frequency(UBLOX_GPS_FREQ); |
ansond | 1:76d2da9e2b84 | 43 | this->m_latitude = 0; |
ansond | 1:76d2da9e2b84 | 44 | this->m_longitude = 0; |
ansond | 1:76d2da9e2b84 | 45 | _instance = this; |
ansond | 1:76d2da9e2b84 | 46 | this->m_gps_poll_thread = new Thread(read_gps); |
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 | 1:76d2da9e2b84 | 52 | if (this->m_c207 != NULL) delete this->m_c207; |
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 | 0:d46b1accad7d | 99 | // get latitude |
ansond | 3:6acc6c8143b7 | 100 | float MBEDUbloxGPS::getLatitude() { return this->m_latitude; } |
ansond | 0:d46b1accad7d | 101 | |
ansond | 0:d46b1accad7d | 102 | // get longitude |
ansond | 3:6acc6c8143b7 | 103 | float MBEDUbloxGPS::getLongitude() { return this->m_longitude; } |
ansond | 0:d46b1accad7d | 104 | |
ansond | 0:d46b1accad7d | 105 | // ErrorHandler |
ansond | 1:76d2da9e2b84 | 106 | ErrorHandler *Ubloxgps::logger() { return this->m_error_handler; } |