Ublox6.h

00001 #ifndef __UBLOX6_H
00002 #define __UBLOX6_H
00003 
00004 /**
00005  * uBlox UBX Protocol Reader - Wayne Holder
00006  * Ported to mbed - Michael Shimniok
00007  *
00008  * Note: RX pad on 3DR Module is output, TX is input
00009  */
00010 #include "mbed.h"
00011 #include "GPS.h"
00012 
00013 #define MAX_LENGTH 512
00014 
00015 #define  SYNC1       0xB5
00016 #define  SYNC2       0x62
00017 #define  POSLLH_MSG  0x02
00018 #define  SBAS_MSG    0x32
00019 #define  VELNED_MSG  0x12
00020 #define  STATUS_MSG  0x03
00021 #define  SOL_MSG     0x06
00022 #define  DOP_MSG     0x04
00023 #define  DGPS_MSG    0x31
00024 #define  SVINFO_MSG  0x30
00025 
00026 #define CFG 0x06
00027 #define NAV 0x01
00028 
00029 #define MSG 0x01
00030 
00031 #define LONG(X)    *(int32_t *)(&data[X])
00032 #define ULONG(X)   *(uint32_t *)(&data[X])
00033 #define INT(X)     *(int16_t *)(&data[X])
00034 #define UINT(X)    *(uint16_t *)(&data[X])
00035 
00036 class Ublox6: public GPS {
00037 public:
00038     /**
00039      * create a new interface for Ublox6
00040      */
00041     Ublox6(PinName rx, PinName tx);
00042 
00043     /**
00044      * Initalize everything necessary for the GPS to collect the required data
00045      */
00046     virtual void init(void);
00047     
00048     /**
00049      * Set baud rate
00050      */    
00051     virtual void setBaud(int baud);
00052 
00053     /**
00054      * return serial object
00055      */
00056     virtual Serial *getSerial(void);
00057 
00058     /**
00059      * Disable serial data collection
00060      */    
00061     virtual void disable(void);
00062 
00063     /**
00064      * Enable serial data collection
00065      */
00066     virtual void enable(void);
00067     
00068     /**
00069     * Enable verbose messages for debugging
00070     */
00071     virtual void enableVerbose(void);
00072 
00073     /**
00074     * Disable verbose messages for debugging
00075     */    
00076     virtual void disableVerbose(void);
00077 
00078     /**
00079      * get latitude
00080      */    
00081     virtual double latitude(void);   
00082     
00083     /**
00084      * get longitude
00085      */
00086     virtual double longitude(void);
00087 
00088     /**
00089      * Get Horizontal Dilution of Precision
00090      * @return float horizontal dilution of precision
00091      */
00092     virtual float hdop(void);
00093 
00094     /**
00095      * get count of active satellites
00096      */
00097     virtual int sat_count(void);
00098 
00099     /**
00100      * get speed in m/s
00101      */    
00102     virtual float speed_mps(void);
00103     
00104     /**
00105      * get heading in degrees
00106      */
00107     virtual float heading_deg(void);
00108     
00109     /**
00110      * determine if data is available to be used
00111      */
00112     virtual bool available(void);
00113     
00114     /**
00115      * reset the data available flag
00116      */
00117     virtual void reset_available(void);
00118 
00119     int getAvailable(void) { return _available; }
00120 
00121     void setUpdateRate(int rate) { return; }
00122 
00123 private:
00124     /**
00125      * Configure which Nmea messages to enable/disable
00126      */
00127     void recv_handler();
00128 
00129     /**
00130      * UBX protocol parser (Wayne Holder)
00131      */    
00132     void parse(unsigned char cc);
00133 
00134     /** serial object */
00135     Serial serial;
00136     int _available;     // is data available?
00137     float _latitude;    // temp storage, latitude
00138     float _longitude;   // temp storage, longitude
00139     float _hdop;        // horiz dilution of precision
00140     float _course_deg;  // course in degrees
00141     float _speed_mps;   // speed in m/s
00142     int _sat_count;     // satellite count
00143     //unsigned char buf[MAX_LENGTH]; // FIFO buffer for processing UBX
00144     //int in;             // buffer input, write to here
00145     //int out;            // buffer output, read from here   
00146 };
00147 
00148 #endif