Naoya Takamura / C027_Support

C027_SupportTest_xively_locationで使用しているC027用ライブラリ

Fork of C027_Support by u-blox

下記のプログラムC027_SupportTest_xively_locationで使用しているC027用ライブラリです。

Import programC027_SupportTest_xively_location

インターフェース2014年10月号のu-blox C027で3G通信する記事で使用したプログラム。　　 CQ publishing Interface 2014.10 issue, C027 3G test program.

Last commit 28 Jul 2014 by Naoya Takamura

オリジナルのライブラリは下記を参照してください。

Import libraryC027_Support

support library for C027 helper functions for Buffer Pipes, Buffered Serial Port (rtos capable) and GPS parsing. It includes modem APIs for USSD, SMS and Sockets.

Last commit 20 Apr 2017 by u-blox

GPS.cpp@31:a0bed6c1e05d, 2014-04-09 (annotated)

Committer:
mazgch
Date:
Wed Apr 09 11:48:04 2014 +0000
Revision:
31:a0bed6c1e05d
Parent:
24:0e287a85ac9e
Child:
45:ebc2fd8dcf21
restructure the modem APIs make them more robust

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazgch 2:b6012cd91657 1 #include "mbed.h"
mazgch 2:b6012cd91657 2 #include <ctype.h>
mazgch 2:b6012cd91657 3 #include "GPS.h"
mazgch 2:b6012cd91657 4
mazgch 2:b6012cd91657 5 int GPSParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
mazgch 2:b6012cd91657 6 {
mazgch 2:b6012cd91657 7 int unkn = 0;
mazgch 2:b6012cd91657 8 int sz = pipe->size();
mazgch 9:e7a5959ffae1 9 int fr = pipe->free();
mazgch 2:b6012cd91657 10 if (len > sz)
mazgch 2:b6012cd91657 11 len = sz;
mazgch 2:b6012cd91657 12 while (len > 0)
mazgch 2:b6012cd91657 13 {
mazgch 2:b6012cd91657 14 // NMEA protocol
mazgch 21:c4d64830bf02 15 pipe->set(unkn);
mazgch 2:b6012cd91657 16 int nmea = _parseNmea(pipe,len);
mazgch 9:e7a5959ffae1 17 if ((nmea != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 18 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 19 if (nmea == WAIT && fr)
mazgch 9:e7a5959ffae1 20 return WAIT;
mazgch 9:e7a5959ffae1 21 if (nmea > 0)
mazgch 9:e7a5959ffae1 22 return NMEA | pipe->get(buf,nmea);
mazgch 2:b6012cd91657 23 // UBX protocol
mazgch 21:c4d64830bf02 24
mazgch 21:c4d64830bf02 25 pipe->set(unkn);
mazgch 2:b6012cd91657 26 int ubx = _parseUbx(pipe,len);
mazgch 9:e7a5959ffae1 27 if ((ubx != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 28 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 29 if (ubx == WAIT && fr)
mazgch 9:e7a5959ffae1 30 return WAIT;
mazgch 9:e7a5959ffae1 31 if (ubx > 0)
mazgch 9:e7a5959ffae1 32 return UBX | pipe->get(buf,ubx);
mazgch 21:c4d64830bf02 33
mazgch 2:b6012cd91657 34 // UNKNOWN
mazgch 2:b6012cd91657 35 unkn ++;
mazgch 2:b6012cd91657 36 len--;
mazgch 2:b6012cd91657 37 }
mazgch 21:c4d64830bf02 38 if (unkn > 0)
mazgch 31:a0bed6c1e05d 39 return UNKNOWN | pipe->get(buf,unkn);
mazgch 2:b6012cd91657 40 return WAIT;
mazgch 2:b6012cd91657 41 }
mazgch 2:b6012cd91657 42
mazgch 2:b6012cd91657 43 int GPSParser::_parseNmea(Pipe<char>* pipe, int len)
mazgch 2:b6012cd91657 44 {
mazgch 7:9aa830f5811e 45 int o = 0;
mazgch 7:9aa830f5811e 46 int c = 0;
mazgch 7:9aa830f5811e 47 char ch;
mazgch 7:9aa830f5811e 48 if (++o > len) return WAIT;
mazgch 2:b6012cd91657 49 if ('$' != pipe->next()) return NOT_FOUND;
mazgch 4:c959dd4c5fe8 50 // this needs to be extended by crc checking
mazgch 2:b6012cd91657 51 for (;;)
mazgch 2:b6012cd91657 52 {
mazgch 7:9aa830f5811e 53 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 54 ch = pipe->next();
mazgch 7:9aa830f5811e 55 if ('*' == ch) break; // crc delimiter
mazgch 7:9aa830f5811e 56 if (!isprint(ch)) return NOT_FOUND;
mazgch 7:9aa830f5811e 57 c ^= ch;
mazgch 2:b6012cd91657 58 }
mazgch 7:9aa830f5811e 59 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 60 ch = toHex[(c >> 4) & 0xF]; // high nibble
mazgch 7:9aa830f5811e 61 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 62 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 63 ch = toHex[(c >> 0) & 0xF]; // low nibble
mazgch 7:9aa830f5811e 64 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 65 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 66 if ('\r' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 67 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 68 if ('\n' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 69 return o;
mazgch 2:b6012cd91657 70 }
mazgch 2:b6012cd91657 71
mazgch 2:b6012cd91657 72 int GPSParser::_parseUbx(Pipe<char>* pipe, int l)
mazgch 2:b6012cd91657 73 {
mazgch 2:b6012cd91657 74 int o = 0;
mazgch 2:b6012cd91657 75 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 76 if ('\xB5' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 77 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 78 if ('\x62' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 79 o += 4;
mazgch 2:b6012cd91657 80 if (o > l) return WAIT;
mazgch 2:b6012cd91657 81 int i,j,ca,cb;
mazgch 2:b6012cd91657 82 i = pipe->next(); ca = i; cb = ca; // cls
mazgch 2:b6012cd91657 83 i = pipe->next(); ca += i; cb += ca; // id
mazgch 2:b6012cd91657 84 i = pipe->next(); ca += i; cb += ca; // len_lsb
mazgch 2:b6012cd91657 85 j = pipe->next(); ca += j; cb += ca; // len_msb
mazgch 2:b6012cd91657 86 j = i + (j << 8);
mazgch 2:b6012cd91657 87 while (j--)
mazgch 2:b6012cd91657 88 {
mazgch 2:b6012cd91657 89 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 90 i = pipe->next();
mazgch 2:b6012cd91657 91 ca += i;
mazgch 2:b6012cd91657 92 cb += ca;
mazgch 2:b6012cd91657 93 }
mazgch 2:b6012cd91657 94 ca &= 0xFF; cb &= 0xFF;
mazgch 2:b6012cd91657 95 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 96 if (ca != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 97 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 98 if (cb != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 99 return o;
mazgch 2:b6012cd91657 100 }
mazgch 2:b6012cd91657 101
mazgch 4:c959dd4c5fe8 102 int GPSParser::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 103 {
mazgch 4:c959dd4c5fe8 104 return _send(buf, len);
mazgch 4:c959dd4c5fe8 105 }
mazgch 4:c959dd4c5fe8 106
mazgch 31:a0bed6c1e05d 107 void GPSParser::powerOff(void)
mazgch 31:a0bed6c1e05d 108 {
mazgch 31:a0bed6c1e05d 109 // set the gps into backup mode using the command RMX-LPREQ
mazgch 31:a0bed6c1e05d 110 struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
mazgch 31:a0bed6c1e05d 111 sendUbx(0x02, 0x41, &msg, sizeof(msg));
mazgch 31:a0bed6c1e05d 112 }
mazgch 31:a0bed6c1e05d 113
mazgch 3:c7cd4887560d 114 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 115 {
mazgch 3:c7cd4887560d 116 char head[1] = { '$' };
mazgch 3:c7cd4887560d 117 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 118 int i;
mazgch 3:c7cd4887560d 119 int crc = 0;
mazgch 3:c7cd4887560d 120 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 121 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 122 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 123 i += _send(buf, len);
mazgch 3:c7cd4887560d 124 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 125 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 126 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 127 return i;
mazgch 2:b6012cd91657 128 }
mazgch 2:b6012cd91657 129
mazgch 11:b084552b03fe 130 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
mazgch 2:b6012cd91657 131 {
mazgch 3:c7cd4887560d 132 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 133 char crc[2];
mazgch 3:c7cd4887560d 134 int i;
mazgch 3:c7cd4887560d 135 int ca = 0;
mazgch 3:c7cd4887560d 136 int cb = 0;
mazgch 3:c7cd4887560d 137 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 138 {
mazgch 3:c7cd4887560d 139 ca += head[i];
mazgch 3:c7cd4887560d 140 cb += ca;
mazgch 2:b6012cd91657 141 }
mazgch 3:c7cd4887560d 142 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 143 {
mazgch 3:c7cd4887560d 144 ca += ((char*)buf)[i];
mazgch 11:b084552b03fe 145 cb += ca;
mazgch 3:c7cd4887560d 146 }
mazgch 4:c959dd4c5fe8 147 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 148 i += _send(buf, len);
mazgch 3:c7cd4887560d 149 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 150 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 151 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 152 return i;
mazgch 2:b6012cd91657 153 }
mazgch 2:b6012cd91657 154
mazgch 2:b6012cd91657 155 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 156 {
mazgch 2:b6012cd91657 157 // find the start
mazgch 2:b6012cd91657 158 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 159 {
mazgch 2:b6012cd91657 160 if (*start == ',')
mazgch 2:b6012cd91657 161 ix --;
mazgch 2:b6012cd91657 162 }
mazgch 2:b6012cd91657 163 // found and check bounds
mazgch 2:b6012cd91657 164 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 165 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 166 return start;
mazgch 2:b6012cd91657 167 else
mazgch 2:b6012cd91657 168 return NULL;
mazgch 2:b6012cd91657 169 }
mazgch 2:b6012cd91657 170
mazgch 2:b6012cd91657 171 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
mazgch 2:b6012cd91657 172 {
mazgch 2:b6012cd91657 173 char* end = &buf[len];
mazgch 2:b6012cd91657 174 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 175 // find the start
mazgch 2:b6012cd91657 176 if (!pos)
mazgch 2:b6012cd91657 177 return false;
mazgch 2:b6012cd91657 178 val = strtod(pos, &end);
mazgch 2:b6012cd91657 179 // restore the last character
mazgch 2:b6012cd91657 180 return (end > pos);
mazgch 2:b6012cd91657 181 }
mazgch 2:b6012cd91657 182
mazgch 2:b6012cd91657 183 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
mazgch 2:b6012cd91657 184 {
mazgch 2:b6012cd91657 185 char* end = &buf[len];
mazgch 2:b6012cd91657 186 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 187 // find the start
mazgch 2:b6012cd91657 188 if (!pos)
mazgch 2:b6012cd91657 189 return false;
mazgch 2:b6012cd91657 190 val = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 191 return (end > pos);
mazgch 2:b6012cd91657 192 }
mazgch 2:b6012cd91657 193
mazgch 2:b6012cd91657 194 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 195 {
mazgch 2:b6012cd91657 196 const char* end = &buf[len];
mazgch 2:b6012cd91657 197 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 198 // find the start
mazgch 2:b6012cd91657 199 if (!pos)
mazgch 2:b6012cd91657 200 return false;
mazgch 2:b6012cd91657 201 // skip leading spaces
mazgch 2:b6012cd91657 202 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 203 pos++;
mazgch 2:b6012cd91657 204 // check bound
mazgch 2:b6012cd91657 205 if ((pos < end) &&
mazgch 2:b6012cd91657 206 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 207 {
mazgch 2:b6012cd91657 208 val = *pos;
mazgch 2:b6012cd91657 209 return true;
mazgch 2:b6012cd91657 210 }
mazgch 2:b6012cd91657 211 return false;
mazgch 2:b6012cd91657 212 }
mazgch 2:b6012cd91657 213
mazgch 20:535ef78655df 214 bool GPSParser::getNmeaAngle(int ix, char* buf, int len, double& val)
mazgch 18:e5697801df29 215 {
mazgch 18:e5697801df29 216 char ch;
mazgch 18:e5697801df29 217 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
mazgch 18:e5697801df29 218 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
mazgch 18:e5697801df29 219 {
mazgch 18:e5697801df29 220 val *= 0.01;
mazgch 20:535ef78655df 221 int i = (int)val;
mazgch 18:e5697801df29 222 val = (val - i) / 0.6 + i;
mazgch 18:e5697801df29 223 if (ch == 'S' || ch == 'W')
mazgch 18:e5697801df29 224 val = -val;
mazgch 18:e5697801df29 225 return true;
mazgch 18:e5697801df29 226 }
mazgch 18:e5697801df29 227 return false;
mazgch 18:e5697801df29 228 }
mazgch 18:e5697801df29 229
mazgch 2:b6012cd91657 230 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 231
mazgch 2:b6012cd91657 232 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 233 // Serial Implementation
mazgch 2:b6012cd91657 234 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 235
mazgch 9:e7a5959ffae1 236 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 237 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 15:5eda64e5b9d1 238 SerialPipe(tx, rx, rxSize, txSize)
mazgch 2:b6012cd91657 239 {
mazgch 2:b6012cd91657 240 baud(baudrate);
mazgch 2:b6012cd91657 241 }
mazgch 2:b6012cd91657 242
mazgch 2:b6012cd91657 243 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 244 {
mazgch 9:e7a5959ffae1 245 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 246 }
mazgch 2:b6012cd91657 247
mazgch 4:c959dd4c5fe8 248 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 249 {
mazgch 9:e7a5959ffae1 250 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 251 }
mazgch 3:c7cd4887560d 252
mazgch 2:b6012cd91657 253 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 254 // I2C Implementation
mazgch 2:b6012cd91657 255 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 256
mazgch 9:e7a5959ffae1 257 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 19:2b5d097ca15d 258 unsigned char i2cAdr /*=GPSADR*/, int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 259 I2C(sda,scl),
mazgch 19:2b5d097ca15d 260 _pipe(rxSize),
mazgch 19:2b5d097ca15d 261 _i2cAdr(i2cAdr)
mazgch 2:b6012cd91657 262 {
mazgch 2:b6012cd91657 263 found = false;
mazgch 2:b6012cd91657 264 }
mazgch 2:b6012cd91657 265
mazgch 2:b6012cd91657 266 bool GPSI2C::detect(void)
mazgch 2:b6012cd91657 267 {
mazgch 2:b6012cd91657 268 if (!found)
mazgch 2:b6012cd91657 269 {
mazgch 19:2b5d097ca15d 270 int w = I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 271 if (w == 0)
mazgch 2:b6012cd91657 272 found = true;
mazgch 2:b6012cd91657 273 }
mazgch 2:b6012cd91657 274 return found;
mazgch 2:b6012cd91657 275 }
mazgch 2:b6012cd91657 276
mazgch 2:b6012cd91657 277 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 278 {
mazgch 6:775aef3f1d1f 279 // fill the pipe
mazgch 6:775aef3f1d1f 280 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 281 if (sz)
mazgch 6:775aef3f1d1f 282 sz = _get(buf, sz);
mazgch 2:b6012cd91657 283 if (sz)
mazgch 2:b6012cd91657 284 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 285 // now parse it
mazgch 2:b6012cd91657 286 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 287 }
mazgch 2:b6012cd91657 288
mazgch 4:c959dd4c5fe8 289 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 290 {
mazgch 4:c959dd4c5fe8 291 int sent = 0;
mazgch 4:c959dd4c5fe8 292 if (len)
mazgch 4:c959dd4c5fe8 293 {
mazgch 19:2b5d097ca15d 294 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 295 sent = send(buf, len);
mazgch 10:3f1c13a8763d 296 found = (len == sent);
mazgch 4:c959dd4c5fe8 297 stop();
mazgch 4:c959dd4c5fe8 298 }
mazgch 4:c959dd4c5fe8 299 return sent;
mazgch 4:c959dd4c5fe8 300 }
mazgch 4:c959dd4c5fe8 301
mazgch 3:c7cd4887560d 302 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 303 {
mazgch 3:c7cd4887560d 304 int sent = 0;
mazgch 19:2b5d097ca15d 305 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 306 sent = GPSParser::sendNmea(buf, len);
mazgch 11:b084552b03fe 307 found = (len == sent);
mazgch 11:b084552b03fe 308 stop();
mazgch 3:c7cd4887560d 309 return sent;
mazgch 3:c7cd4887560d 310 }
mazgch 3:c7cd4887560d 311
mazgch 3:c7cd4887560d 312 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 313 {
mazgch 3:c7cd4887560d 314 int sent = 0;
mazgch 19:2b5d097ca15d 315 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 316 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 11:b084552b03fe 317 found = (len == sent);
mazgch 15:5eda64e5b9d1 318 I2C::stop();
mazgch 3:c7cd4887560d 319 return sent;
mazgch 3:c7cd4887560d 320 }
mazgch 3:c7cd4887560d 321
mazgch 2:b6012cd91657 322 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 323 {
mazgch 3:c7cd4887560d 324 int read = 0;
mazgch 2:b6012cd91657 325 unsigned char sz[2];
mazgch 19:2b5d097ca15d 326 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
mazgch 19:2b5d097ca15d 327 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz),true))
mazgch 2:b6012cd91657 328 {
mazgch 2:b6012cd91657 329 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 330 if (size > len)
mazgch 2:b6012cd91657 331 size = len;
mazgch 2:b6012cd91657 332 if (size > 0)
mazgch 19:2b5d097ca15d 333 read = !I2C::read(_i2cAdr,buf,size, true) ? size : 0;
mazgch 10:3f1c13a8763d 334 found = (read == size);
mazgch 2:b6012cd91657 335 }
mazgch 2:b6012cd91657 336 else
mazgch 2:b6012cd91657 337 found = false;
mazgch 2:b6012cd91657 338 I2C::stop();
mazgch 3:c7cd4887560d 339 return read;
mazgch 2:b6012cd91657 340 }
mazgch 2:b6012cd91657 341
mazgch 4:c959dd4c5fe8 342 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 343 {
mazgch 19:2b5d097ca15d 344 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 345 }
mazgch 2:b6012cd91657 346
mazgch 2:b6012cd91657 347 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 348 const char GPSI2C::REGSTREAM = 0xFF;