Captures GPS NMEA data from the ublox MAX M8Q device.
Dependents: GPS_6Axis_DataLogger_SD_UDP
Fork of C027_Support by
GPS.h
- Committer:
- mazgch
- Date:
- 2013-10-25
- Revision:
- 2:b6012cd91657
- Parent:
- 1:f41579f4e2ed
- Child:
- 3:c7cd4887560d
File content as of revision 2:b6012cd91657:
#pragma once #include "mbed.h" #include "Pipe.h" #include "SerialPipe.h" #include "C027_PinNames.h" class GPSParser { public: #define WAIT -1 #define NOT_FOUND 0 #define UBX 0x100000 #define NMEA 0x200000 #define LENGTH(x) (x & 0x00FFFF) #define PROTOCOL(x) (x & 0xFF0000) virtual int getMessage(char* buf, int len) = 0; virtual int putNmea(const char* buf, int len) = 0; virtual int putUbx(const unsigned char cls, unsigned char id, unsigned char* buf, int len) = 0; static const char* findNmeaItemPos(int ix, const char* start, const char* end); static bool getNmeaItem(int ix, char* buf, int len, double& val); static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/); static bool getNmeaItem(int ix, char* buf, int len, char& val); protected: static int _getMessage(Pipe<char>* pipe, char* buf, int len); static int _parseNmea(Pipe<char>* pipe, int len); static int _parseUbx(Pipe<char>* pipe, int len); static int _putNmea(Stream* stream, const char* buf, int len); static int _putUbx(Stream* stream, const unsigned char cls, unsigned char id, unsigned char* buf, int len); static const char toHex[16]; }; class GPSSerial : public Serial, public GPSParser { public: GPSSerial(PinName tx = GPSTXD, PinName rx = GPSRXD, int baudrate = GPSBAUD); virtual ~GPSSerial(void); virtual int getMessage(char* buf, int len); virtual int putNmea(const char* buf, int len) { return _putNmea(this, buf, len); } virtual int putUbx(const unsigned char cls, unsigned char id, unsigned char* buf, int len) { return _putUbx(this, cls, id, buf, len); } protected: void serialRxIrq(void); virtual char next(void) { return _pipe.next(); } Pipe<char> _pipe; }; class GPSI2C : public I2C, public GPSParser { public: GPSI2C(PinName sda = GPSSDA, PinName scl = GPSSCL); bool detect(void); virtual int getMessage(char* buf, int len); // virtual int putNmea(const char* buf, int len) { return 0/*_putNmea(NULL, buf, len)*/; } virtual int putUbx(const unsigned char cls, unsigned char id, unsigned char* buf, int len) { return 0/*_putUbx(NULL, cls, id, buf, len)*/; } protected: virtual char next(void) { return _pipe.next(); } int _get(char* buf, int len); // read the NMEA or UBX stream int _put(const char* buf, int len); // Write the NMEA or UBX stream Pipe<char> _pipe; bool found; static const char REGLEN; static const char REGSTREAM; };