Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

Ublox6.h@16:eb28d0f64a9b, 2018-12-13 (annotated)

Committer:
shimniok
Date:
Thu Dec 13 17:35:29 2018 +0000
Revision:
16:eb28d0f64a9b
Child:
18:3f8a8f6e3cc1
Initial gps receive implementation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 16:eb28d0f64a9b 1 #ifndef __UBLOX6_H
shimniok 16:eb28d0f64a9b 2 #define __UBLOX6_H
shimniok 16:eb28d0f64a9b 3
shimniok 16:eb28d0f64a9b 4 /** uBlox GPS UBX Protocol Reader
shimniok 16:eb28d0f64a9b 5 * Parses uBlox GPS binary protocol
shimniok 16:eb28d0f64a9b 6 *
shimniok 16:eb28d0f64a9b 7 * @author Wayne Holder; Ported to mbed by Michael Shimniok
shimniok 16:eb28d0f64a9b 8 */
shimniok 16:eb28d0f64a9b 9 #include "mbed.h"
shimniok 16:eb28d0f64a9b 10
shimniok 16:eb28d0f64a9b 11 class Ublox6 {
shimniok 16:eb28d0f64a9b 12 public:
shimniok 16:eb28d0f64a9b 13 // TODO 3 convert this to time units
shimniok 16:eb28d0f64a9b 14 static const int lag=40; // number of updater steps by which gps output lags reality
shimniok 16:eb28d0f64a9b 15
shimniok 16:eb28d0f64a9b 16 /**
shimniok 16:eb28d0f64a9b 17 * UBX protocol parser (Wayne Holder)
shimniok 16:eb28d0f64a9b 18 * @param cc is the character to parse
shimniok 16:eb28d0f64a9b 19 * @note stores parsed gps data in member variables and sets _available
shimniok 16:eb28d0f64a9b 20 * to true to indicate gps data is waiting.
shimniok 16:eb28d0f64a9b 21 */
shimniok 16:eb28d0f64a9b 22 void parse(unsigned char cc);
shimniok 16:eb28d0f64a9b 23
shimniok 16:eb28d0f64a9b 24 /**
shimniok 16:eb28d0f64a9b 25 * get latitude
shimniok 16:eb28d0f64a9b 26 */
shimniok 16:eb28d0f64a9b 27 double latitude(void);
shimniok 16:eb28d0f64a9b 28
shimniok 16:eb28d0f64a9b 29 /**
shimniok 16:eb28d0f64a9b 30 * get longitude
shimniok 16:eb28d0f64a9b 31 */
shimniok 16:eb28d0f64a9b 32 double longitude(void);
shimniok 16:eb28d0f64a9b 33
shimniok 16:eb28d0f64a9b 34 /**
shimniok 16:eb28d0f64a9b 35 * Get Horizontal Dilution of Precision
shimniok 16:eb28d0f64a9b 36 * @return float horizontal dilution of precision
shimniok 16:eb28d0f64a9b 37 */
shimniok 16:eb28d0f64a9b 38 float hdop(void);
shimniok 16:eb28d0f64a9b 39
shimniok 16:eb28d0f64a9b 40 /**
shimniok 16:eb28d0f64a9b 41 * get count of active satellites
shimniok 16:eb28d0f64a9b 42 */
shimniok 16:eb28d0f64a9b 43 int sat_count(void);
shimniok 16:eb28d0f64a9b 44
shimniok 16:eb28d0f64a9b 45 /**
shimniok 16:eb28d0f64a9b 46 * get speed in m/s
shimniok 16:eb28d0f64a9b 47 */
shimniok 16:eb28d0f64a9b 48 float speed_mps(void);
shimniok 16:eb28d0f64a9b 49
shimniok 16:eb28d0f64a9b 50 /**
shimniok 16:eb28d0f64a9b 51 * get heading in degrees
shimniok 16:eb28d0f64a9b 52 */
shimniok 16:eb28d0f64a9b 53 float heading_deg(void);
shimniok 16:eb28d0f64a9b 54
shimniok 16:eb28d0f64a9b 55 /**
shimniok 16:eb28d0f64a9b 56 * determine if data is available to be used
shimniok 16:eb28d0f64a9b 57 */
shimniok 16:eb28d0f64a9b 58 bool available(void);
shimniok 16:eb28d0f64a9b 59
shimniok 16:eb28d0f64a9b 60 /**
shimniok 16:eb28d0f64a9b 61 * reset the data available flag
shimniok 16:eb28d0f64a9b 62 */
shimniok 16:eb28d0f64a9b 63 void reset_available(void);
shimniok 16:eb28d0f64a9b 64
shimniok 16:eb28d0f64a9b 65 private:
shimniok 16:eb28d0f64a9b 66 int _available; // is data available?
shimniok 16:eb28d0f64a9b 67 float _latitude; // temp storage, latitude
shimniok 16:eb28d0f64a9b 68 float _longitude; // temp storage, longitude
shimniok 16:eb28d0f64a9b 69 float _hdop; // horiz dilution of precision
shimniok 16:eb28d0f64a9b 70 float _course_deg; // course in degrees
shimniok 16:eb28d0f64a9b 71 float _speed_mps; // speed in m/s
shimniok 16:eb28d0f64a9b 72 int _sat_count; // satellite count
shimniok 16:eb28d0f64a9b 73 };
shimniok 16:eb28d0f64a9b 74
shimniok 16:eb28d0f64a9b 75 #endif