Simon Pfeifhofer / C027_Support

* add C027_Support fork

Fork of C027_Support by u-blox

GPS.cpp@21:c4d64830bf02, 2014-04-08 (annotated)

Committer:
mazgch
Date:
Tue Apr 08 09:15:37 2014 +0000
Revision:
21:c4d64830bf02
Parent:
19:2b5d097ca15d
Child:
24:0e287a85ac9e
improved modem library (network, sockets, sms, ussd)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazgch 2:b6012cd91657 1 #include "mbed.h"
mazgch 2:b6012cd91657 2 #include <ctype.h>
mazgch 2:b6012cd91657 3 #include "GPS.h"
mazgch 2:b6012cd91657 4
mazgch 2:b6012cd91657 5 int GPSParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
mazgch 2:b6012cd91657 6 {
mazgch 2:b6012cd91657 7 int unkn = 0;
mazgch 2:b6012cd91657 8 int sz = pipe->size();
mazgch 9:e7a5959ffae1 9 int fr = pipe->free();
mazgch 2:b6012cd91657 10 if (len > sz)
mazgch 2:b6012cd91657 11 len = sz;
mazgch 2:b6012cd91657 12 while (len > 0)
mazgch 2:b6012cd91657 13 {
mazgch 2:b6012cd91657 14 // NMEA protocol
mazgch 21:c4d64830bf02 15 pipe->set(unkn);
mazgch 2:b6012cd91657 16 int nmea = _parseNmea(pipe,len);
mazgch 9:e7a5959ffae1 17 if ((nmea != NOT_FOUND) && (unkn > 0))
mazgch 21:c4d64830bf02 18 return pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 19 if (nmea == WAIT && fr)
mazgch 9:e7a5959ffae1 20 return WAIT;
mazgch 9:e7a5959ffae1 21 if (nmea > 0)
mazgch 9:e7a5959ffae1 22 return NMEA | pipe->get(buf,nmea);
mazgch 2:b6012cd91657 23 // UBX protocol
mazgch 21:c4d64830bf02 24
mazgch 21:c4d64830bf02 25 pipe->set(unkn);
mazgch 2:b6012cd91657 26 int ubx = _parseUbx(pipe,len);
mazgch 9:e7a5959ffae1 27 if ((ubx != NOT_FOUND) && (unkn > 0))
mazgch 21:c4d64830bf02 28 return pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 29 if (ubx == WAIT && fr)
mazgch 9:e7a5959ffae1 30 return WAIT;
mazgch 9:e7a5959ffae1 31 if (ubx > 0)
mazgch 9:e7a5959ffae1 32 return UBX | pipe->get(buf,ubx);
mazgch 21:c4d64830bf02 33
mazgch 2:b6012cd91657 34 // UNKNOWN
mazgch 2:b6012cd91657 35 unkn ++;
mazgch 2:b6012cd91657 36 len--;
mazgch 2:b6012cd91657 37 }
mazgch 21:c4d64830bf02 38 if (unkn > 0)
mazgch 21:c4d64830bf02 39 return pipe->get(buf,unkn);
mazgch 2:b6012cd91657 40 return WAIT;
mazgch 2:b6012cd91657 41 }
mazgch 2:b6012cd91657 42
mazgch 2:b6012cd91657 43 int GPSParser::_parseNmea(Pipe<char>* pipe, int len)
mazgch 2:b6012cd91657 44 {
mazgch 7:9aa830f5811e 45 int o = 0;
mazgch 7:9aa830f5811e 46 int c = 0;
mazgch 7:9aa830f5811e 47 char ch;
mazgch 7:9aa830f5811e 48 if (++o > len) return WAIT;
mazgch 2:b6012cd91657 49 if ('$' != pipe->next()) return NOT_FOUND;
mazgch 4:c959dd4c5fe8 50 // this needs to be extended by crc checking
mazgch 2:b6012cd91657 51 for (;;)
mazgch 2:b6012cd91657 52 {
mazgch 7:9aa830f5811e 53 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 54 ch = pipe->next();
mazgch 7:9aa830f5811e 55 if ('*' == ch) break; // crc delimiter
mazgch 7:9aa830f5811e 56 if (!isprint(ch)) return NOT_FOUND;
mazgch 7:9aa830f5811e 57 c ^= ch;
mazgch 2:b6012cd91657 58 }
mazgch 7:9aa830f5811e 59 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 60 ch = toHex[(c >> 4) & 0xF]; // high nibble
mazgch 7:9aa830f5811e 61 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 62 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 63 ch = toHex[(c >> 0) & 0xF]; // low nibble
mazgch 7:9aa830f5811e 64 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 65 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 66 if ('\r' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 67 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 68 if ('\n' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 69 return o;
mazgch 2:b6012cd91657 70 }
mazgch 2:b6012cd91657 71
mazgch 2:b6012cd91657 72 int GPSParser::_parseUbx(Pipe<char>* pipe, int l)
mazgch 2:b6012cd91657 73 {
mazgch 2:b6012cd91657 74 int o = 0;
mazgch 2:b6012cd91657 75 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 76 if ('\xB5' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 77 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 78 if ('\x62' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 79 o += 4;
mazgch 2:b6012cd91657 80 if (o > l) return WAIT;
mazgch 2:b6012cd91657 81 int i,j,ca,cb;
mazgch 2:b6012cd91657 82 i = pipe->next(); ca = i; cb = ca; // cls
mazgch 2:b6012cd91657 83 i = pipe->next(); ca += i; cb += ca; // id
mazgch 2:b6012cd91657 84 i = pipe->next(); ca += i; cb += ca; // len_lsb
mazgch 2:b6012cd91657 85 j = pipe->next(); ca += j; cb += ca; // len_msb
mazgch 2:b6012cd91657 86 j = i + (j << 8);
mazgch 2:b6012cd91657 87 while (j--)
mazgch 2:b6012cd91657 88 {
mazgch 2:b6012cd91657 89 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 90 i = pipe->next();
mazgch 2:b6012cd91657 91 ca += i;
mazgch 2:b6012cd91657 92 cb += ca;
mazgch 2:b6012cd91657 93 }
mazgch 2:b6012cd91657 94 ca &= 0xFF; cb &= 0xFF;
mazgch 2:b6012cd91657 95 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 96 if (ca != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 97 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 98 if (cb != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 99 return o;
mazgch 2:b6012cd91657 100 }
mazgch 2:b6012cd91657 101
mazgch 4:c959dd4c5fe8 102 int GPSParser::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 103 {
mazgch 4:c959dd4c5fe8 104 return _send(buf, len);
mazgch 4:c959dd4c5fe8 105 }
mazgch 4:c959dd4c5fe8 106
mazgch 3:c7cd4887560d 107 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 108 {
mazgch 3:c7cd4887560d 109 char head[1] = { '$' };
mazgch 3:c7cd4887560d 110 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 111 int i;
mazgch 3:c7cd4887560d 112 int crc = 0;
mazgch 3:c7cd4887560d 113 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 114 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 115 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 116 i += _send(buf, len);
mazgch 3:c7cd4887560d 117 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 118 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 119 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 120 return i;
mazgch 2:b6012cd91657 121 }
mazgch 2:b6012cd91657 122
mazgch 11:b084552b03fe 123 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
mazgch 2:b6012cd91657 124 {
mazgch 3:c7cd4887560d 125 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 126 char crc[2];
mazgch 3:c7cd4887560d 127 int i;
mazgch 3:c7cd4887560d 128 int ca = 0;
mazgch 3:c7cd4887560d 129 int cb = 0;
mazgch 3:c7cd4887560d 130 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 131 {
mazgch 3:c7cd4887560d 132 ca += head[i];
mazgch 3:c7cd4887560d 133 cb += ca;
mazgch 2:b6012cd91657 134 }
mazgch 3:c7cd4887560d 135 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 136 {
mazgch 3:c7cd4887560d 137 ca += ((char*)buf)[i];
mazgch 11:b084552b03fe 138 cb += ca;
mazgch 3:c7cd4887560d 139 }
mazgch 4:c959dd4c5fe8 140 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 141 i += _send(buf, len);
mazgch 3:c7cd4887560d 142 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 143 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 144 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 145 return i;
mazgch 2:b6012cd91657 146 }
mazgch 2:b6012cd91657 147
mazgch 2:b6012cd91657 148 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 149 {
mazgch 2:b6012cd91657 150 // find the start
mazgch 2:b6012cd91657 151 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 152 {
mazgch 2:b6012cd91657 153 if (*start == ',')
mazgch 2:b6012cd91657 154 ix --;
mazgch 2:b6012cd91657 155 }
mazgch 2:b6012cd91657 156 // found and check bounds
mazgch 2:b6012cd91657 157 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 158 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 159 return start;
mazgch 2:b6012cd91657 160 else
mazgch 2:b6012cd91657 161 return NULL;
mazgch 2:b6012cd91657 162 }
mazgch 2:b6012cd91657 163
mazgch 2:b6012cd91657 164 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
mazgch 2:b6012cd91657 165 {
mazgch 2:b6012cd91657 166 char* end = &buf[len];
mazgch 2:b6012cd91657 167 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 168 // find the start
mazgch 2:b6012cd91657 169 if (!pos)
mazgch 2:b6012cd91657 170 return false;
mazgch 2:b6012cd91657 171 val = strtod(pos, &end);
mazgch 2:b6012cd91657 172 // restore the last character
mazgch 2:b6012cd91657 173 return (end > pos);
mazgch 2:b6012cd91657 174 }
mazgch 2:b6012cd91657 175
mazgch 2:b6012cd91657 176 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
mazgch 2:b6012cd91657 177 {
mazgch 2:b6012cd91657 178 char* end = &buf[len];
mazgch 2:b6012cd91657 179 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 180 // find the start
mazgch 2:b6012cd91657 181 if (!pos)
mazgch 2:b6012cd91657 182 return false;
mazgch 2:b6012cd91657 183 val = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 184 return (end > pos);
mazgch 2:b6012cd91657 185 }
mazgch 2:b6012cd91657 186
mazgch 2:b6012cd91657 187 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 188 {
mazgch 2:b6012cd91657 189 const char* end = &buf[len];
mazgch 2:b6012cd91657 190 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 191 // find the start
mazgch 2:b6012cd91657 192 if (!pos)
mazgch 2:b6012cd91657 193 return false;
mazgch 2:b6012cd91657 194 // skip leading spaces
mazgch 2:b6012cd91657 195 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 196 pos++;
mazgch 2:b6012cd91657 197 // check bound
mazgch 2:b6012cd91657 198 if ((pos < end) &&
mazgch 2:b6012cd91657 199 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 200 {
mazgch 2:b6012cd91657 201 val = *pos;
mazgch 2:b6012cd91657 202 return true;
mazgch 2:b6012cd91657 203 }
mazgch 2:b6012cd91657 204 return false;
mazgch 2:b6012cd91657 205 }
mazgch 2:b6012cd91657 206
mazgch 18:e5697801df29 207 bool GPSParser::getNmeaAngle(int ix, char* buf, int len, double& d)
mazgch 18:e5697801df29 208 {
mazgch 18:e5697801df29 209 char ch;
mazgch 19:2b5d097ca15d 210 double val;
mazgch 18:e5697801df29 211 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
mazgch 18:e5697801df29 212 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
mazgch 18:e5697801df29 213 {
mazgch 18:e5697801df29 214 val *= 0.01;
mazgch 19:2b5d097ca15d 215 int i = (int)val;
mazgch 18:e5697801df29 216 val = (val - i) / 0.6 + i;
mazgch 18:e5697801df29 217 if (ch == 'S' || ch == 'W')
mazgch 18:e5697801df29 218 val = -val;
mazgch 18:e5697801df29 219 d = val;
mazgch 18:e5697801df29 220 return true;
mazgch 18:e5697801df29 221 }
mazgch 18:e5697801df29 222 return false;
mazgch 18:e5697801df29 223 }
mazgch 18:e5697801df29 224
mazgch 2:b6012cd91657 225 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 226
mazgch 2:b6012cd91657 227 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 228 // Serial Implementation
mazgch 2:b6012cd91657 229 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 230
mazgch 9:e7a5959ffae1 231 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 232 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 15:5eda64e5b9d1 233 SerialPipe(tx, rx, rxSize, txSize)
mazgch 2:b6012cd91657 234 {
mazgch 2:b6012cd91657 235 baud(baudrate);
mazgch 2:b6012cd91657 236 }
mazgch 2:b6012cd91657 237
mazgch 2:b6012cd91657 238 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 239 {
mazgch 9:e7a5959ffae1 240 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 241 }
mazgch 2:b6012cd91657 242
mazgch 4:c959dd4c5fe8 243 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 244 {
mazgch 9:e7a5959ffae1 245 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 246 }
mazgch 3:c7cd4887560d 247
mazgch 2:b6012cd91657 248 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 249 // I2C Implementation
mazgch 2:b6012cd91657 250 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 251
mazgch 9:e7a5959ffae1 252 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 19:2b5d097ca15d 253 unsigned char i2cAdr /*=GPSADR*/, int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 254 I2C(sda,scl),
mazgch 19:2b5d097ca15d 255 _pipe(rxSize),
mazgch 19:2b5d097ca15d 256 _i2cAdr(i2cAdr)
mazgch 2:b6012cd91657 257 {
mazgch 2:b6012cd91657 258 found = false;
mazgch 2:b6012cd91657 259 }
mazgch 2:b6012cd91657 260
mazgch 2:b6012cd91657 261 bool GPSI2C::detect(void)
mazgch 2:b6012cd91657 262 {
mazgch 2:b6012cd91657 263 if (!found)
mazgch 2:b6012cd91657 264 {
mazgch 19:2b5d097ca15d 265 int w = I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 266 if (w == 0)
mazgch 2:b6012cd91657 267 found = true;
mazgch 2:b6012cd91657 268 }
mazgch 2:b6012cd91657 269 return found;
mazgch 2:b6012cd91657 270 }
mazgch 2:b6012cd91657 271
mazgch 2:b6012cd91657 272 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 273 {
mazgch 6:775aef3f1d1f 274 // fill the pipe
mazgch 6:775aef3f1d1f 275 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 276 if (sz)
mazgch 6:775aef3f1d1f 277 sz = _get(buf, sz);
mazgch 2:b6012cd91657 278 if (sz)
mazgch 2:b6012cd91657 279 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 280 // now parse it
mazgch 2:b6012cd91657 281 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 282 }
mazgch 2:b6012cd91657 283
mazgch 4:c959dd4c5fe8 284 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 285 {
mazgch 4:c959dd4c5fe8 286 int sent = 0;
mazgch 4:c959dd4c5fe8 287 if (len)
mazgch 4:c959dd4c5fe8 288 {
mazgch 19:2b5d097ca15d 289 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 290 sent = send(buf, len);
mazgch 10:3f1c13a8763d 291 found = (len == sent);
mazgch 4:c959dd4c5fe8 292 stop();
mazgch 4:c959dd4c5fe8 293 }
mazgch 4:c959dd4c5fe8 294 return sent;
mazgch 4:c959dd4c5fe8 295 }
mazgch 4:c959dd4c5fe8 296
mazgch 3:c7cd4887560d 297 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 298 {
mazgch 3:c7cd4887560d 299 int sent = 0;
mazgch 19:2b5d097ca15d 300 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 301 sent = GPSParser::sendNmea(buf, len);
mazgch 11:b084552b03fe 302 found = (len == sent);
mazgch 11:b084552b03fe 303 stop();
mazgch 3:c7cd4887560d 304 return sent;
mazgch 3:c7cd4887560d 305 }
mazgch 3:c7cd4887560d 306
mazgch 3:c7cd4887560d 307 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 308 {
mazgch 3:c7cd4887560d 309 int sent = 0;
mazgch 19:2b5d097ca15d 310 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 311 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 11:b084552b03fe 312 found = (len == sent);
mazgch 15:5eda64e5b9d1 313 I2C::stop();
mazgch 3:c7cd4887560d 314 return sent;
mazgch 3:c7cd4887560d 315 }
mazgch 3:c7cd4887560d 316
mazgch 2:b6012cd91657 317 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 318 {
mazgch 3:c7cd4887560d 319 int read = 0;
mazgch 2:b6012cd91657 320 unsigned char sz[2];
mazgch 19:2b5d097ca15d 321 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
mazgch 19:2b5d097ca15d 322 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz),true))
mazgch 2:b6012cd91657 323 {
mazgch 2:b6012cd91657 324 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 325 if (size > len)
mazgch 2:b6012cd91657 326 size = len;
mazgch 2:b6012cd91657 327 if (size > 0)
mazgch 19:2b5d097ca15d 328 read = !I2C::read(_i2cAdr,buf,size, true) ? size : 0;
mazgch 10:3f1c13a8763d 329 found = (read == size);
mazgch 2:b6012cd91657 330 }
mazgch 2:b6012cd91657 331 else
mazgch 2:b6012cd91657 332 found = false;
mazgch 2:b6012cd91657 333 I2C::stop();
mazgch 3:c7cd4887560d 334 return read;
mazgch 2:b6012cd91657 335 }
mazgch 2:b6012cd91657 336
mazgch 4:c959dd4c5fe8 337 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 338 {
mazgch 19:2b5d097ca15d 339 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 340 }
mazgch 2:b6012cd91657 341
mazgch 2:b6012cd91657 342 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 343 const char GPSI2C::REGSTREAM = 0xFF;