Diff: Sensors/GPS/Sirf3.cpp

Revision:

0:a6a169de725f

Child:

2:fbc6e3cf3ed8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/GPS/Sirf3.cpp	Mon May 27 13:26:03 2013 +0000
@@ -0,0 +1,131 @@
+#include "mbed.h"
+#include "Sirf3.h"
+
+// TODO: parameterize LED
+
+Sirf3::Sirf3(PinName tx, PinName rx):
+    serial(tx, rx)
+{
+    setBaud(4800);
+    enable();
+}
+
+void Sirf3::init(void)
+{
+    disableVerbose();
+}
+
+void Sirf3::setBaud(int baud)
+{
+    serial.baud(baud);
+}
+
+Serial *Sirf3::getSerial(void)
+{
+    return &serial;
+}
+
+void Sirf3::enable(void)
+{
+    reset_available();
+    serial.attach(this, &Sirf3::recv_handler, Serial::RxIrq);
+}
+
+void Sirf3::disable(void)
+{
+    serial.attach(NULL, Serial::RxIrq);
+}
+
+/**
+ * Enable verbose messages for debugging
+ */
+void Sirf3::enableVerbose(void)
+{
+    gsaMessage(true);
+    gsvMessage(true);
+}
+
+/**
+ * Disable verbose messages for debugging
+ */
+void Sirf3::disableVerbose(void)
+{
+    gsaMessage(false);
+    gsvMessage(false);
+}
+
+double Sirf3::latitude(void)
+{
+    double latitude, longitude;
+    unsigned long age;
+    nmea.f_get_position(&latitude, &longitude, &age);
+    return latitude;
+}
+
+double Sirf3::longitude(void)
+{
+    double latitude, longitude;
+    unsigned long age;
+    nmea.f_get_position(&latitude, &longitude, &age);
+    return longitude;
+}
+
+float Sirf3::hdop(void)
+{
+    return nmea.f_hdop();
+}
+
+int Sirf3::sat_count(void)
+{
+    return nmea.sat_count();
+}
+
+float Sirf3::speed_mps(void)
+{
+    return nmea.f_speed_mps();
+}
+
+float Sirf3::heading_deg(void)
+{
+    return nmea.f_course();
+}
+
+bool Sirf3::available(void)
+{
+    return nmea.ready();
+}
+
+void Sirf3::reset_available(void)
+{
+    nmea.reset_ready();
+}
+
+void Sirf3::recv_handler(void)
+{
+    while (serial.readable()) {
+        nmea.encode(serial.getc());
+    }
+}
+
+void Sirf3::gsaMessage(bool enable)
+{
+    if (enable) {
+        serial.printf("$PSRF103,02,00,01,01*27\r\n");     // Enable GSA
+    } else {
+        serial.printf("$PSRF103,02,00,00,01*26\r\n");     // Disable GSA
+    }
+
+    return;
+}
+
+void Sirf3::gsvMessage(bool enable)
+{
+    if (enable) {
+        serial.printf("$PSRF103,03,00,01,01*26\r\n");     // Enable GSV
+    } else {
+        serial.printf("$PSRF103,03,00,00,01*27\r\n");     // Disable GSV
+    }
+
+    return;
+}
+