Diff: MBEDUbloxGPS.cpp

Revision:

3:6acc6c8143b7

Parent:

1:76d2da9e2b84

Child:

5:a8fd1fa0f0d0

diff -r a28f19f39f2b -r 6acc6c8143b7 MBEDUbloxGPS.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MBEDUbloxGPS.cpp	Sun Mar 30 16:16:38 2014 +0000
@@ -0,0 +1,106 @@
+/* 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 "MBEDUbloxGPS.h"
+ 
+ // MBEDEndpoint support
+ #include "MBEDEndpoint.h"
+ 
+ // our instance
+ MBEDUbloxGPS *_instance = NULL;
+ 
+ // threaded task
+ static void read_gps(void const *args) {
+    while (_instance != NULL) {
+        _instance->update();
+        wait_ms(UBLOX_GPS_POLL_MS);
+    }
+ }
+ 
+ // default constructor
+ MBEDUbloxGPS::MBEDUbloxGPS(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
+ MBEDUbloxGPS::~MBEDUbloxGPS() {
+     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 MBEDUbloxGPS::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 MBEDUbloxGPS::getLatitude() { return this->m_latitude; }
+ 
+ // get longitude
+ float MBEDUbloxGPS::getLongitude() { return this->m_longitude; }
+ 
+ // ErrorHandler
+ ErrorHandler *Ubloxgps::logger() { return this->m_error_handler; }
\ No newline at end of file