![](/media/cache/profiles/b5c4ec91390a6fbccf8d918d443563ed.jpg.50x50_q85.jpg)
aconno gnss simple example for U-blox gnss dev board.
Fork of gnss by
gnss.h
- Committer:
- jurica238814
- Date:
- 2018-09-27
- Revision:
- 8:ca4d0ae32c93
- Parent:
- 6:56eda66d585b
File content as of revision 8:ca4d0ae32c93:
/* mbed Microcontroller Library * Copyright (c) 2017 u-blox * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #ifndef GNSS_H #define GNSS_H /** * @file gnss.h * This file defines a class that communicates with a u-blox GNSS chip. */ #include "mbed.h" #include "pipe.h" #include "serial_pipe.h" #if defined (TARGET_UBLOX_C030) || defined (TARGET_UBLOX_C027) # define GNSS_IF(onboard, shield) onboard #else # define GNSS_IF(onboard, shield) shield #endif #ifdef TARGET_UBLOX_C027 # define GNSSEN GPSEN # define GNSSTXD GPSTXD # define GNSSRXD GPSRXD # define GNSSBAUD GPSBAUD #endif /** Basic GNSS parser class. */ class GnssParser { public: /** Constructor. */ GnssParser(); /** Destructor. */ virtual ~GnssParser(void); /** Power-on/wake-up the GNSS. */ virtual bool init(PinName pn) = 0; enum { // getLine Responses WAIT = -1, //!< wait for more incoming data (the start of a message was found, or no data available) NOT_FOUND = 0, //!< a parser concluded the the current offset of the pipe doe not contain a valid message #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type UNKNOWN = 0x000000, //!< message type is unknown UBX = 0x100000, //!< message if of protocol NMEA NMEA = 0x200000 //!< message if of protocol UBX }; /** Get a line from the physical interface. This function * needs to be implemented in the inherited class. * @param buf the buffer to store it. * @param len size of the buffer. * @return type and length if something was found, * WAIT if not enough data is available, * NOT_FOUND if nothing was found */ virtual int getMessage(char* buf, int len) = 0; /** Send a buffer. * @param buf the buffer to write. * @param len size of the buffer to write. * @return bytes written. */ virtual int send(const char* buf, int len); /** send a NMEA message, this function just takes the * payload and calculates and adds checksum. ($ and *XX\r\n will be added). * @param buf the message payload to write. * @param len size of the message payload to write. * @return total bytes written. */ virtual int sendNmea(const char* buf, int len); /** Send a UBX message, this function just takes the * payload and calculates and adds checksum. * @param cls the UBX class id. * @param id the UBX message id. * @param buf the message payload to write. * @param len size of the message payload to write. * @return total bytes written. */ virtual int sendUbx(unsigned char cls, unsigned char id, const void* buf = NULL, int len = 0); /** Power off the GNSS, it can be again woken up by an * edge on the serial port on the external interrupt pin. */ void powerOff(void); /** get the first character of a NMEA field. * @param ix the index of the field to find. * @param start the start of the buffer. * @param end the end of the buffer. * @return the pointer to the first character of the field. */ static const char* findNmeaItemPos(int ix, const char* start, const char* end); /** Extract a double value from a buffer containing a NMEA message. * @param ix the index of the field to extract. * @param buf the NMEA message. * @param len the size of the NMEA message. * @param val the extracted value. * @return true if successful, false otherwise. */ static bool getNmeaItem(int ix, char* buf, int len, double& val); /** Extract a interger value from a buffer containing a NMEA message. * @param ix the index of the field to extract. * @param buf the NMEA message. * @param len the size of the NMEA message. * @param val the extracted value. * @param base the numeric base to be used (e.g. 8, 10 or 16). * @return true if successful, false otherwise. */ static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/); /** Extract a char value from a buffer containing a NMEA message. * @param ix the index of the field to extract. * @param buf the NMEA message. * @param len the size of the NMEA message. * @param val the extracted value. * @return true if successful, false otherwise. */ static bool getNmeaItem(int ix, char* buf, int len, char& val); /** Extract a latitude/longitude value from a buffer containing a NMEA message. * @param ix the index of the field to extract (will extract ix and ix + 1), * @param buf the NMEA message, * @param len the size of the NMEA message, * @param val the extracted latitude or longitude, * @return true if successful, false otherwise. */ static bool getNmeaAngle(int ix, char* buf, int len, double& val); protected: /** Power on the GNSS module. */ void _powerOn(void); /** Get a line from the physical interface. * @param pipe the receiveing pipe to parse messages . * @param buf the buffer to store it. * @param len size of the buffer. * @return type and length if something was found, * WAIT if not enough data is available, * NOT_FOUND if nothing was found. */ static int _getMessage(Pipe<char>* pipe, char* buf, int len); /** Check if the current offset of the pipe contains a NMEA message. * @param pipe the receiveing pipe to parse messages. * @param len numer of bytes to parse at maximum. * @return length if something was found (including the NMEA frame), * WAIT if not enough data is available, * NOT_FOUND if nothing was found. */ static int _parseNmea(Pipe<char>* pipe, int len); /** Check if the current offset of the pipe contains a UBX message. * @param pipe the receiveing pipe to parse messages. * @param len numer of bytes to parse at maximum. * @return length if something was found (including the UBX frame), * WAIT if not enough data is available, * NOT_FOUND if nothing was found. */ static int _parseUbx(Pipe<char>* pipe, int len); /** Write bytes to the physical interface. This function * needs to be implemented by the inherited class. * @param buf the buffer to write. * @param len size of the buffer to write. * @return bytes written. */ virtual int _send(const void* buf, int len) = 0; static const char _toHex[16]; //!< num to hex conversion DigitalInOut *_gnssEnable; //!< IO pin that enables GNSS }; /** GNSS class which uses a serial port as physical interface. */ class GnssSerial : public SerialPipe, public GnssParser { public: /** Constructor. * @param tx is the serial ports transmit pin (GNSS to CPU). * @param rx is the serial ports receive pin (CPU to GNSS). * @param baudrate the baudrate of the GNSS use 9600. * @param rxSize the size of the serial rx buffer. * @param txSize the size of the serial tx buffer. */ GnssSerial(PinName tx GNSS_IF( = GNSSTXD, = D8 /* = D8 */), // resistor on shield not populated PinName rx GNSS_IF( = GNSSRXD, = D9 /* = D9 */), // resistor on shield not populated int baudrate GNSS_IF( = GNSSBAUD, = 9600 ), int rxSize = 256 , int txSize = 128 ); /** Destructor. */ virtual ~GnssSerial(void); /** Initialise the GNSS device. * @param pn NOT USED. * @return true if successful, otherwise false. */ virtual bool init(PinName pn = NC); /** Get a line from the physical interface. * @param buf the buffer to store it. * @param len size of the buffer. * @return type and length if something was found, * WAIT if not enough data is available, * NOT_FOUND if nothing was found. */ virtual int getMessage(char* buf, int len); protected: /** Write bytes to the physical interface. * @param buf the buffer to write. * @param len size of the buffer to write. * @return bytes written. */ virtual int _send(const void* buf, int len); }; /** GNSS class which uses a i2c as physical interface. */ class GnssI2C : public I2C, public GnssParser { public: /** Constructor. * @param sda is the I2C SDA pin (between CPU and GNSS). * @param scl is the I2C SCL pin (CPU to GNSS). * @param adr the I2C address of the GNSS set to (66<<1). * @param rxSize the size of the serial rx buffer. */ GnssI2C(PinName sda GNSS_IF( = NC, = /* D16 TODO */ NC ), PinName scl GNSS_IF( = NC, = /* D17 TODO */ NC ), unsigned char i2cAdr GNSS_IF( = (66<<1), = (66<<1) ), int rxSize = 256 ); /** Destructor */ virtual ~GnssI2C(void); /** Helper function to probe the i2c device. * @param pn the power-on pin for the chip. * @return true if successfully detected the GNSS chip. */ virtual bool init(PinName pn = GNSS_IF( NC, NC /* D7 resistor R67 on shield not mounted */)); /** Get a line from the physical interface. * @param buf the buffer to store it. * @param len size of the buffer. * @return type and length if something was found, * WAIT if not enough data is available, * NOT_FOUND if nothing was found. */ virtual int getMessage(char* buf, int len); /** Send a buffer. * @param buf the buffer to write. * @param len size of the buffer to write. * @return bytes written. */ virtual int send(const char* buf, int len); /** Send an NMEA message, this function just takes the * payload and calculates and adds checksum ($ and *XX\r\n will be added). * @param buf the message payload to write. * @param len size of the message payload to write. * @return total bytes written. */ virtual int sendNmea(const char* buf, int len); /** Send a UBX message, this function just takes the * payload and calculates and adds checksum. * @param cls the UBX class id. * @param id the UBX message id. * @param buf the message payload to write. * @param len size of the message payload to write. * @return total bytes written. */ virtual int sendUbx(unsigned char cls, unsigned char id, const void* buf = NULL, int len = 0); protected: /** Check if the port is writeable (like SerialPipe) * @return true if writeable */ bool writeable(void) {return true;} /** Write a character (like SerialPipe). * @param c the character to write. * @return true if succesffully written . */ bool putc(int c) {char ch = c; return send(&ch, 1);} /** Write bytes to the physical interface. * @param buf the buffer to write. * @param len size of the buffer to write. * @return bytes written. */ virtual int _send(const void* buf, int len); /** Read bytes from the physical interface. * @param buf the buffer to read into. * @param len size of the read buffer . * @return bytes read. */ int _get(char* buf, int len); Pipe<char> _pipe; //!< the rx pipe. unsigned char _i2cAdr; //!< the i2c address. static const char REGLEN; //!< the length i2c register address. static const char REGSTREAM;//!< the stream i2c register address. }; #endif // End Of File