Georgi Huklev / C027_Support

Add a bunch of APNs

Fork of C027_Support by Xinlei Cao

GPS.h@39:9b4b9433e220, 2014-04-11 (annotated)

Committer:
mazgch
Date:
Fri Apr 11 19:16:03 2014 +0000
Revision:
39:9b4b9433e220
Parent:
38:e6cab4632d84
Child:
40:295099ff5338
more docu in GPS driver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazgch 1:f41579f4e2ed 1 #pragma once
mazgch 1:f41579f4e2ed 2
mazgch 2:b6012cd91657 3 #include "mbed.h"
mazgch 2:b6012cd91657 4 #include "Pipe.h"
mazgch 1:f41579f4e2ed 5 #include "SerialPipe.h"
mazgch 2:b6012cd91657 6
mazgch 19:2b5d097ca15d 7 #ifdef TARGET_UBLOX_C027
mazgch 19:2b5d097ca15d 8 // if we detect the C027 platform we will assign the
mazgch 19:2b5d097ca15d 9 // default pinname and baudrate in the constructor
mazgch 19:2b5d097ca15d 10 // this helper macro will be used.
mazgch 19:2b5d097ca15d 11 #define _C027DEFAULT(name) = name
mazgch 19:2b5d097ca15d 12 #else
mazgch 19:2b5d097ca15d 13 #define _C027DEFAULT(name)
mazgch 19:2b5d097ca15d 14 #endif
mazgch 9:e7a5959ffae1 15
mazgch 38:e6cab4632d84 16 /** basic gps parser class
mazgch 38:e6cab4632d84 17 */
mazgch 2:b6012cd91657 18 class GPSParser
mazgch 2:b6012cd91657 19 {
mazgch 2:b6012cd91657 20 public:
mazgch 39:9b4b9433e220 21 //
mazgch 39:9b4b9433e220 22 #define WAIT -1 //!< wait for more incoming data (the start of a message was found, or no data available)
mazgch 39:9b4b9433e220 23 #define NOT_FOUND 0 //!< a parser concluded the the current offset of the pipe doe not contain a valid message
mazgch 39:9b4b9433e220 24
mazgch 39:9b4b9433e220 25 #define UNKNOWN 0x000000 //!< message type is unknown
mazgch 39:9b4b9433e220 26 #define UBX 0x100000 //!< message if of protocol NMEA
mazgch 39:9b4b9433e220 27 #define NMEA 0x200000 //!< message if of protocol UBX
mazgch 39:9b4b9433e220 28 #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length
mazgch 39:9b4b9433e220 29 #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type
mazgch 39:9b4b9433e220 30
mazgch 39:9b4b9433e220 31 /** Get a line from the physical interface. This fucntion
mazgch 39:9b4b9433e220 32 needs to be implemented in the inherited class.
mazgch 39:9b4b9433e220 33 \param buf the buffer to store it
mazgch 39:9b4b9433e220 34 \param len size of the buffer
mazgch 39:9b4b9433e220 35 \return type and length if something was found,
mazgch 39:9b4b9433e220 36 WAIT if not enough data is available
mazgch 39:9b4b9433e220 37 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 38 */
mazgch 39:9b4b9433e220 39 virtual int getMessage(char* buf, int len) = 0;
mazgch 2:b6012cd91657 40
mazgch 39:9b4b9433e220 41 /** send a buffer
mazgch 39:9b4b9433e220 42 \param buf the buffer to write
mazgch 39:9b4b9433e220 43 \param len size of the buffer to write
mazgch 39:9b4b9433e220 44 \return bytes written
mazgch 39:9b4b9433e220 45 */
mazgch 4:c959dd4c5fe8 46 virtual int send(const char* buf, int len);
mazgch 39:9b4b9433e220 47
mazgch 39:9b4b9433e220 48 /** send a NMEA message, this function just takes the
mazgch 39:9b4b9433e220 49 payload and calculates and adds checksum. ($ and *XX\r\n will be added)
mazgch 39:9b4b9433e220 50 \param buf the message payload to write
mazgch 39:9b4b9433e220 51 \param len size of the message payload to write
mazgch 39:9b4b9433e220 52 \return total bytes written
mazgch 39:9b4b9433e220 53 */
mazgch 4:c959dd4c5fe8 54 virtual int sendNmea(const char* buf, int len);
mazgch 39:9b4b9433e220 55
mazgch 39:9b4b9433e220 56 /** send a UBX message, this function just takes the
mazgch 39:9b4b9433e220 57 payload and calculates and adds checksum.
mazgch 39:9b4b9433e220 58 \param cls the UBX class id
mazgch 39:9b4b9433e220 59 \param id the UBX message id
mazgch 39:9b4b9433e220 60 \param buf the message payload to write
mazgch 39:9b4b9433e220 61 \param len size of the message payload to write
mazgch 39:9b4b9433e220 62 \return total bytes written
mazgch 39:9b4b9433e220 63 */
mazgch 39:9b4b9433e220 64 virtual int send(const char* buf, int len);
mazgch 39:9b4b9433e220 65
mazgch 39:9b4b9433e220 66 /** Power off the gps, it can be again woken up by an
mazgch 39:9b4b9433e220 67 edge on the serial port on the external interrupt pin.
mazgch 39:9b4b9433e220 68 */
mazgch 31:a0bed6c1e05d 69 void powerOff(void);
mazgch 2:b6012cd91657 70
mazgch 39:9b4b9433e220 71 /** get the first character of a NMEA field
mazgch 39:9b4b9433e220 72 \param ix the index of the field to find
mazgch 39:9b4b9433e220 73 \param start the start of the buffer
mazgch 39:9b4b9433e220 74 \param end the end of the buffer
mazgch 39:9b4b9433e220 75 \return the pointer to the first character of the field.
mazgch 39:9b4b9433e220 76 */
mazgch 2:b6012cd91657 77 static const char* findNmeaItemPos(int ix, const char* start, const char* end);
mazgch 39:9b4b9433e220 78
mazgch 39:9b4b9433e220 79 /** extract a double value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 80 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 81 \param buf the NMEA message
mazgch 39:9b4b9433e220 82 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 83 \param val the extracted value
mazgch 39:9b4b9433e220 84 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 85 */
mazgch 2:b6012cd91657 86 static bool getNmeaItem(int ix, char* buf, int len, double& val);
mazgch 39:9b4b9433e220 87
mazgch 39:9b4b9433e220 88 /** extract a interger value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 89 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 90 \param buf the NMEA message
mazgch 39:9b4b9433e220 91 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 92 \param val the extracted value
mazgch 39:9b4b9433e220 93 \param base the numeric base to be used (e.g. 8, 10 or 16)
mazgch 39:9b4b9433e220 94 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 95 */
mazgch 2:b6012cd91657 96 static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
mazgch 39:9b4b9433e220 97
mazgch 39:9b4b9433e220 98 /** extract a char value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 99 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 100 \param buf the NMEA message
mazgch 39:9b4b9433e220 101 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 102 \param val the extracted value
mazgch 39:9b4b9433e220 103 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 104 */
mazgch 2:b6012cd91657 105 static bool getNmeaItem(int ix, char* buf, int len, char& val);
mazgch 39:9b4b9433e220 106
mazgch 39:9b4b9433e220 107 /** extract a latitude/longitude value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 108 \param ix the index of the field to extract (will extract ix and ix + 1)
mazgch 39:9b4b9433e220 109 \param buf the NMEA message
mazgch 39:9b4b9433e220 110 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 111 \param val the extracted latitude or longitude
mazgch 39:9b4b9433e220 112 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 113 */
mazgch 20:535ef78655df 114 static bool getNmeaAngle(int ix, char* buf, int len, double& val);
mazgch 39:9b4b9433e220 115
mazgch 2:b6012cd91657 116 protected:
mazgch 39:9b4b9433e220 117 /** Get a line from the physical interface.
mazgch 39:9b4b9433e220 118 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 119 \param buf the buffer to store it
mazgch 39:9b4b9433e220 120 \param len size of the buffer
mazgch 39:9b4b9433e220 121 \return type and length if something was found,
mazgch 39:9b4b9433e220 122 WAIT if not enough data is available
mazgch 39:9b4b9433e220 123 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 124 */
mazgch 2:b6012cd91657 125 static int _getMessage(Pipe<char>* pipe, char* buf, int len);
mazgch 39:9b4b9433e220 126
mazgch 39:9b4b9433e220 127 /** Check if the current offset of the pipe contains a NMEA message.
mazgch 39:9b4b9433e220 128 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 129 \param len numer of bytes to parse at maximum
mazgch 39:9b4b9433e220 130 \return length if something was found (including the NMEA frame)
mazgch 39:9b4b9433e220 131 WAIT if not enough data is available
mazgch 39:9b4b9433e220 132 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 133 */
mazgch 2:b6012cd91657 134 static int _parseNmea(Pipe<char>* pipe, int len);
mazgch 39:9b4b9433e220 135
mazgch 39:9b4b9433e220 136 /** Check if the current offset of the pipe contains a UBX message.
mazgch 39:9b4b9433e220 137 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 138 \param len numer of bytes to parse at maximum
mazgch 39:9b4b9433e220 139 \return length if something was found (including the UBX frame)
mazgch 39:9b4b9433e220 140 WAIT if not enough data is available
mazgch 39:9b4b9433e220 141 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 142 */
mazgch 2:b6012cd91657 143 static int _parseUbx(Pipe<char>* pipe, int len);
mazgch 39:9b4b9433e220 144
mazgch 39:9b4b9433e220 145 /** Write bytes to the physical interface. This function
mazgch 39:9b4b9433e220 146 needs to be implemented by the inherited class.
mazgch 39:9b4b9433e220 147 \param buf the buffer to write
mazgch 39:9b4b9433e220 148 \param len size of the buffer to write
mazgch 39:9b4b9433e220 149 \return bytes written
mazgch 39:9b4b9433e220 150 */
mazgch 4:c959dd4c5fe8 151 virtual int _send(const void* buf, int len) = 0;
mazgch 39:9b4b9433e220 152
mazgch 39:9b4b9433e220 153 static const char toHex[16]; //!< num to hex conversion
mazgch 2:b6012cd91657 154 };
mazgch 2:b6012cd91657 155
mazgch 38:e6cab4632d84 156 /** gps class which uses a serial port
mazgch 38:e6cab4632d84 157 as physical interface.
mazgch 38:e6cab4632d84 158 */
mazgch 9:e7a5959ffae1 159 class GPSSerial : public SerialPipe, public GPSParser
mazgch 1:f41579f4e2ed 160 {
mazgch 1:f41579f4e2ed 161 public:
mazgch 38:e6cab4632d84 162 /** Constructor
mazgch 38:e6cab4632d84 163 \param tx is the serial ports transmit pin (gps to CPU)
mazgch 38:e6cab4632d84 164 \param rx is the serial ports receive pin (CPU to gps)
mazgch 38:e6cab4632d84 165 \param baudrate the baudrate of the gps use 9600
mazgch 38:e6cab4632d84 166 \param rxSize the size of the serial rx buffer
mazgch 38:e6cab4632d84 167 \param txSize the size of the serial tx buffer
mazgch 38:e6cab4632d84 168 */
mazgch 19:2b5d097ca15d 169 GPSSerial(PinName tx _C027DEFAULT( GPSTXD ),
mazgch 19:2b5d097ca15d 170 PinName rx _C027DEFAULT( GPSRXD ),
mazgch 19:2b5d097ca15d 171 int baudrate _C027DEFAULT( GPSBAUD ),
mazgch 19:2b5d097ca15d 172 int rxSize = 256 ,
mazgch 19:2b5d097ca15d 173 int txSize = 128 );
mazgch 39:9b4b9433e220 174
mazgch 38:e6cab4632d84 175 /** Get a line from the physical interface.
mazgch 38:e6cab4632d84 176 \param buf the buffer to store it
mazgch 38:e6cab4632d84 177 \param len size of the buffer
mazgch 38:e6cab4632d84 178 \return type and length if something was found,
mazgch 38:e6cab4632d84 179 WAIT if not enough data is available
mazgch 38:e6cab4632d84 180 NOT_FOUND if nothing was found
mazgch 38:e6cab4632d84 181 */
mazgch 2:b6012cd91657 182 virtual int getMessage(char* buf, int len);
mazgch 39:9b4b9433e220 183
mazgch 2:b6012cd91657 184 protected:
mazgch 38:e6cab4632d84 185 /** Write bytes to the physical interface.
mazgch 38:e6cab4632d84 186 \param buf the buffer to write
mazgch 38:e6cab4632d84 187 \param len size of the buffer to write
mazgch 38:e6cab4632d84 188 \return bytes written
mazgch 38:e6cab4632d84 189 */
mazgch 4:c959dd4c5fe8 190 virtual int _send(const void* buf, int len);
mazgch 1:f41579f4e2ed 191 };
mazgch 2:b6012cd91657 192
mazgch 38:e6cab4632d84 193 /** gps class which uses a i2c as physical interface.
mazgch 38:e6cab4632d84 194 */
mazgch 2:b6012cd91657 195 class GPSI2C : public I2C, public GPSParser
mazgch 2:b6012cd91657 196 {
mazgch 2:b6012cd91657 197 public:
mazgch 38:e6cab4632d84 198 /** Constructor
mazgch 38:e6cab4632d84 199 \param sda is the I2C SDA pin (between CPU and GPS)
mazgch 38:e6cab4632d84 200 \param scl is the I2C SCL pin (CPU to GPS)
mazgch 38:e6cab4632d84 201 \param adr the I2C address of the GPS set to (66<<1)
mazgch 38:e6cab4632d84 202 \param rxSize the size of the serial rx buffer
mazgch 38:e6cab4632d84 203 */
mazgch 19:2b5d097ca15d 204 GPSI2C(PinName sda _C027DEFAULT( GPSSDA ),
mazgch 19:2b5d097ca15d 205 PinName scl _C027DEFAULT( GPSSCL ),
mazgch 19:2b5d097ca15d 206 unsigned char i2cAdr _C027DEFAULT( GPSADR ),
mazgch 19:2b5d097ca15d 207 int rxSize = 256 );
mazgch 39:9b4b9433e220 208
mazgch 38:e6cab4632d84 209 /** helper function to probe the i2c device
mazgch 38:e6cab4632d84 210 \return true if successfully detected the gps.
mazgch 38:e6cab4632d84 211 */
mazgch 2:b6012cd91657 212 bool detect(void);
mazgch 2:b6012cd91657 213
mazgch 38:e6cab4632d84 214 /** Get a line from the physical interface.
mazgch 38:e6cab4632d84 215 \param buf the buffer to store it
mazgch 38:e6cab4632d84 216 \param len size of the buffer
mazgch 38:e6cab4632d84 217 \return type and length if something was found,
mazgch 38:e6cab4632d84 218 WAIT if not enough data is available
mazgch 38:e6cab4632d84 219 NOT_FOUND if nothing was found
mazgch 38:e6cab4632d84 220 */
mazgch 2:b6012cd91657 221 virtual int getMessage(char* buf, int len);
mazgch 38:e6cab4632d84 222
mazgch 38:e6cab4632d84 223 /** send a buffer
mazgch 38:e6cab4632d84 224 \param buf the buffer to write
mazgch 38:e6cab4632d84 225 \param len size of the buffer to write
mazgch 38:e6cab4632d84 226 \return bytes written
mazgch 38:e6cab4632d84 227 */
mazgch 4:c959dd4c5fe8 228 virtual int send(const char* buf, int len);
mazgch 38:e6cab4632d84 229
mazgch 38:e6cab4632d84 230 /** send a NMEA message, this function just takes the
mazgch 38:e6cab4632d84 231 payload and calculates and adds checksum. ($ and *XX\r\n will be added)
mazgch 38:e6cab4632d84 232 \param buf the message payload to write
mazgch 38:e6cab4632d84 233 \param len size of the message payload to write
mazgch 38:e6cab4632d84 234 \return total bytes written
mazgch 38:e6cab4632d84 235 */
mazgch 3:c7cd4887560d 236 virtual int sendNmea(const char* buf, int len);
mazgch 38:e6cab4632d84 237
mazgch 38:e6cab4632d84 238 /** send a UBX message, this function just takes the
mazgch 38:e6cab4632d84 239 payload and calculates and adds checksum.
mazgch 38:e6cab4632d84 240 \param cls the UBX class id
mazgch 38:e6cab4632d84 241 \param id the UBX message id
mazgch 38:e6cab4632d84 242 \param buf the message payload to write
mazgch 38:e6cab4632d84 243 \param len size of the message payload to write
mazgch 38:e6cab4632d84 244 \return total bytes written
mazgch 38:e6cab4632d84 245 */
mazgch 39:9b4b9433e220 246 virtual int sendUbx(unsigned char cls, unsigned char id,
mazgch 39:9b4b9433e220 247 const void* buf = NULL, int len = 0);
mazgch 39:9b4b9433e220 248
mazgch 2:b6012cd91657 249 protected:
mazgch 38:e6cab4632d84 250 /** check if the port is writeable (like SerialPipe)
mazgch 38:e6cab4632d84 251 \return true if writeable
mazgch 38:e6cab4632d84 252 */
mazgch 9:e7a5959ffae1 253 bool writeable(void) { return true; }
mazgch 39:9b4b9433e220 254
mazgch 38:e6cab4632d84 255 /** Write a character (like SerialPipe)
mazgch 38:e6cab4632d84 256 \param c the character to write
mazgch 38:e6cab4632d84 257 \return true if succesffully written
mazgch 38:e6cab4632d84 258 */
mazgch 9:e7a5959ffae1 259 bool putc(int c) { char ch = c; return send(&ch, 1); }
mazgch 39:9b4b9433e220 260
mazgch 38:e6cab4632d84 261 /** Write bytes to the physical interface.
mazgch 38:e6cab4632d84 262 \param buf the buffer to write
mazgch 38:e6cab4632d84 263 \param len size of the buffer to write
mazgch 38:e6cab4632d84 264 \return bytes written
mazgch 38:e6cab4632d84 265 */
mazgch 4:c959dd4c5fe8 266 virtual int _send(const void* buf, int len);
mazgch 39:9b4b9433e220 267
mazgch 38:e6cab4632d84 268 /** read bytes from the physical interface.
mazgch 38:e6cab4632d84 269 \param buf the buffer to read into
mazgch 38:e6cab4632d84 270 \param len size of the read buffer
mazgch 38:e6cab4632d84 271 \return bytes read
mazgch 38:e6cab4632d84 272 */
mazgch 38:e6cab4632d84 273 int _get(char* buf, int len);
mazgch 3:c7cd4887560d 274
mazgch 38:e6cab4632d84 275 Pipe<char> _pipe; //!< the rx pipe
mazgch 38:e6cab4632d84 276 bool found; //!< flag if device is detected.
mazgch 38:e6cab4632d84 277 unsigned char _i2cAdr; //!< the i2c address
mazgch 38:e6cab4632d84 278 static const char REGLEN; //!< the length i2c register address
mazgch 38:e6cab4632d84 279 static const char REGSTREAM;//!< the stream i2c register address
mazgch 2:b6012cd91657 280 };