Diff: GPS.h

Revision:

2:b6012cd91657

Parent:

1:f41579f4e2ed

Child:

3:c7cd4887560d

--- a/GPS.h	Mon Oct 21 19:46:34 2013 +0000
+++ b/GPS.h	Fri Oct 25 08:47:22 2013 +0000
@@ -1,12 +1,74 @@
 #pragma once 
 
+#include "mbed.h"
+#include "Pipe.h"
 #include "SerialPipe.h"
+#include "C027_PinNames.h"
+
+class GPSParser
+{
+public:
+    #define WAIT      -1
+    #define NOT_FOUND  0
+    
+    #define UBX         0x100000
+    #define NMEA        0x200000
+    #define LENGTH(x)   (x & 0x00FFFF)
+    #define PROTOCOL(x) (x & 0xFF0000)
 
-class GPS : public SerialPipe
+    virtual int getMessage(char* buf, int len) = 0; 
+    virtual int putNmea(const char* buf, int len) = 0;
+    virtual int putUbx(const unsigned char cls, unsigned char id, unsigned char* buf, int len) = 0;
+    
+    static const char* findNmeaItemPos(int ix, const char* start, const char* end);
+    static bool getNmeaItem(int ix, char* buf, int len, double& val);
+    static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
+    static bool getNmeaItem(int ix, char* buf, int len, char& val);
+protected:
+    static int _getMessage(Pipe<char>* pipe, char* buf, int len);
+    static int _parseNmea(Pipe<char>* pipe, int len);
+    static int _parseUbx(Pipe<char>* pipe, int len);
+    static int _putNmea(Stream* stream, const char* buf, int len);
+    static int _putUbx(Stream* stream, const unsigned char cls, unsigned char id, unsigned char* buf, int len);
+    static const char toHex[16];
+};
+
+class GPSSerial : public Serial, public GPSParser
 {
 public:
-    GPS() : SerialPipe(GPSTXD, GPSRXD, 256, "gps")
-    {
-        baud(GPSBAUD);
-    }
+    GPSSerial(PinName tx = GPSTXD, PinName rx = GPSRXD, int baudrate = GPSBAUD);
+    virtual ~GPSSerial(void);
+    
+    virtual int getMessage(char* buf, int len);
+    virtual int putNmea(const char* buf, int len)
+        { return _putNmea(this, buf, len); }
+    virtual int putUbx(const unsigned char cls, unsigned char id, unsigned char* buf, int len)
+        { return _putUbx(this, cls, id, buf, len); }
+protected:
+    void serialRxIrq(void);
+    virtual char next(void) { return _pipe.next(); }
+    Pipe<char> _pipe;
 };
+
+class GPSI2C : public I2C, public GPSParser
+{
+public: 
+    GPSI2C(PinName sda = GPSSDA, PinName scl = GPSSCL);
+    bool detect(void);
+    
+    virtual int getMessage(char* buf, int len);
+    // 
+    virtual int putNmea(const char* buf, int len)
+        { return 0/*_putNmea(NULL, buf, len)*/; }
+    virtual int putUbx(const unsigned char cls, unsigned char id, unsigned char* buf, int len)
+        { return 0/*_putUbx(NULL, cls, id, buf, len)*/; }
+protected:
+    virtual char next(void) { return _pipe.next(); }
+    int _get(char* buf, int len);          // read the NMEA or UBX stream
+    int _put(const char* buf, int len);    // Write the NMEA or UBX stream
+
+    Pipe<char> _pipe; 
+    bool found;
+    static const char REGLEN;
+    static const char REGSTREAM;
+};