Diff: GPS/Ublox6.h

Revision:

36:3095e00eef37

Parent:

23:5e61cf4a8c34

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS/Ublox6.h	Tue Jan 01 17:44:27 2019 +0000
@@ -0,0 +1,65 @@
+#ifndef __UBLOX6_H
+#define __UBLOX6_H
+
+/** uBlox GPS UBX Protocol Reader
+ * Parses uBlox GPS binary protocol
+ * 
+ * @author Wayne Holder; Ported to mbed by Michael Shimniok
+ */
+#include "mbed.h"
+
+class Ublox6 {
+public:
+    // TODO 3 convert this to time units
+    // TODO 3 move this somewhere else?
+    static const int lag=40;        // number of updater steps by which gps output lags reality
+
+    Ublox6();
+
+    /**
+     * UBX protocol parser (Wayne Holder)
+     * @param cc is the character to parse
+     * @return 1 when entire packet of data obtained, 0  otherwise
+     */    
+    int parse(int cc);
+
+    void subscribe(Callback<void()> cb);
+
+    /** Read the latest data from GPS
+     * @param lat latitude in degrees
+     * @param lon longitude in degrees
+     * @param course heading/course in degrees
+     * @param speed speed m/s
+     * @return all parameters
+     */
+    void read(double& lat, double& lon, float& course, float& speed, float& hdop, int& svcount);
+
+private:
+    typedef struct {
+        double lat;
+        double lon;
+        float course;
+        float speed;
+        float hdop;
+        int svcount;
+    } gps_data_t;
+
+    gps_data_t tmp;
+    gps_data_t latest;
+
+    int _ready;             // is data ready to be copied?
+    bool _available;        // 
+
+    Callback<void()> _callback;
+
+    /*
+    float _latitude;        // temp storage, latitude
+    float _longitude;       // temp storage, longitude
+    float _hdop;            // horiz dilution of precision
+    float _course_deg;      // course in degrees
+    float _speed_mps;       // speed in m/s
+    int _svcount;           // space vehicle (satellite) count
+    */
+};
+
+#endif