Simon Pfeifhofer / C027_Support

* add C027_Support fork

Fork of C027_Support by u-blox

GPS.cpp@95:8282dbbe1492, 2014-06-17 (annotated)

Committer:
mazgch
Date:
Tue Jun 17 07:03:48 2014 +0000
Revision:
95:8282dbbe1492
Parent:
76:f7c3dd568dae 
added use of mutex and wait for Rtos systems

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 74:208e3e32d263 4 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 5 #include "C027_api.h"
mazgch 74:208e3e32d263 6 #endif
mazgch 74:208e3e32d263 7
mazgch 74:208e3e32d263 8 void GPSParser::powerOff(void)
mazgch 74:208e3e32d263 9 {
mazgch 74:208e3e32d263 10 // set the gps into backup mode using the command RMX-LPREQ
mazgch 74:208e3e32d263 11 struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
mazgch 74:208e3e32d263 12 sendUbx(0x02, 0x41, &msg, sizeof(msg));
mazgch 74:208e3e32d263 13 }
mazgch 2:b6012cd91657 14
mazgch 2:b6012cd91657 15 int GPSParser::_getMessage(Pipe<char>* pipe, char* buf, int len)
mazgch 2:b6012cd91657 16 {
mazgch 2:b6012cd91657 17 int unkn = 0;
mazgch 2:b6012cd91657 18 int sz = pipe->size();
mazgch 9:e7a5959ffae1 19 int fr = pipe->free();
mazgch 2:b6012cd91657 20 if (len > sz)
mazgch 2:b6012cd91657 21 len = sz;
mazgch 2:b6012cd91657 22 while (len > 0)
mazgch 2:b6012cd91657 23 {
mazgch 2:b6012cd91657 24 // NMEA protocol
mazgch 21:c4d64830bf02 25 pipe->set(unkn);
mazgch 2:b6012cd91657 26 int nmea = _parseNmea(pipe,len);
mazgch 9:e7a5959ffae1 27 if ((nmea != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 28 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 29 if (nmea == WAIT && fr)
mazgch 9:e7a5959ffae1 30 return WAIT;
mazgch 9:e7a5959ffae1 31 if (nmea > 0)
mazgch 9:e7a5959ffae1 32 return NMEA | pipe->get(buf,nmea);
mazgch 2:b6012cd91657 33 // UBX protocol
mazgch 21:c4d64830bf02 34
mazgch 21:c4d64830bf02 35 pipe->set(unkn);
mazgch 2:b6012cd91657 36 int ubx = _parseUbx(pipe,len);
mazgch 9:e7a5959ffae1 37 if ((ubx != NOT_FOUND) && (unkn > 0))
mazgch 31:a0bed6c1e05d 38 return UNKNOWN | pipe->get(buf,unkn);
mazgch 9:e7a5959ffae1 39 if (ubx == WAIT && fr)
mazgch 9:e7a5959ffae1 40 return WAIT;
mazgch 9:e7a5959ffae1 41 if (ubx > 0)
mazgch 9:e7a5959ffae1 42 return UBX | pipe->get(buf,ubx);
mazgch 21:c4d64830bf02 43
mazgch 2:b6012cd91657 44 // UNKNOWN
mazgch 2:b6012cd91657 45 unkn ++;
mazgch 2:b6012cd91657 46 len--;
mazgch 2:b6012cd91657 47 }
mazgch 21:c4d64830bf02 48 if (unkn > 0)
mazgch 31:a0bed6c1e05d 49 return UNKNOWN | pipe->get(buf,unkn);
mazgch 2:b6012cd91657 50 return WAIT;
mazgch 2:b6012cd91657 51 }
mazgch 2:b6012cd91657 52
mazgch 2:b6012cd91657 53 int GPSParser::_parseNmea(Pipe<char>* pipe, int len)
mazgch 2:b6012cd91657 54 {
mazgch 7:9aa830f5811e 55 int o = 0;
mazgch 7:9aa830f5811e 56 int c = 0;
mazgch 7:9aa830f5811e 57 char ch;
mazgch 7:9aa830f5811e 58 if (++o > len) return WAIT;
mazgch 2:b6012cd91657 59 if ('$' != pipe->next()) return NOT_FOUND;
mazgch 4:c959dd4c5fe8 60 // this needs to be extended by crc checking
mazgch 2:b6012cd91657 61 for (;;)
mazgch 2:b6012cd91657 62 {
mazgch 7:9aa830f5811e 63 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 64 ch = pipe->next();
mazgch 7:9aa830f5811e 65 if ('*' == ch) break; // crc delimiter
mazgch 7:9aa830f5811e 66 if (!isprint(ch)) return NOT_FOUND;
mazgch 7:9aa830f5811e 67 c ^= ch;
mazgch 2:b6012cd91657 68 }
mazgch 7:9aa830f5811e 69 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 70 ch = toHex[(c >> 4) & 0xF]; // high nibble
mazgch 7:9aa830f5811e 71 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 72 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 73 ch = toHex[(c >> 0) & 0xF]; // low nibble
mazgch 7:9aa830f5811e 74 if (ch != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 75 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 76 if ('\r' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 77 if (++o > len) return WAIT;
mazgch 7:9aa830f5811e 78 if ('\n' != pipe->next()) return NOT_FOUND;
mazgch 7:9aa830f5811e 79 return o;
mazgch 2:b6012cd91657 80 }
mazgch 2:b6012cd91657 81
mazgch 2:b6012cd91657 82 int GPSParser::_parseUbx(Pipe<char>* pipe, int l)
mazgch 2:b6012cd91657 83 {
mazgch 2:b6012cd91657 84 int o = 0;
mazgch 2:b6012cd91657 85 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 86 if ('\xB5' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 87 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 88 if ('\x62' != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 89 o += 4;
mazgch 2:b6012cd91657 90 if (o > l) return WAIT;
mazgch 2:b6012cd91657 91 int i,j,ca,cb;
mazgch 2:b6012cd91657 92 i = pipe->next(); ca = i; cb = ca; // cls
mazgch 2:b6012cd91657 93 i = pipe->next(); ca += i; cb += ca; // id
mazgch 2:b6012cd91657 94 i = pipe->next(); ca += i; cb += ca; // len_lsb
mazgch 2:b6012cd91657 95 j = pipe->next(); ca += j; cb += ca; // len_msb
mazgch 2:b6012cd91657 96 j = i + (j << 8);
mazgch 2:b6012cd91657 97 while (j--)
mazgch 2:b6012cd91657 98 {
mazgch 2:b6012cd91657 99 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 100 i = pipe->next();
mazgch 2:b6012cd91657 101 ca += i;
mazgch 2:b6012cd91657 102 cb += ca;
mazgch 2:b6012cd91657 103 }
mazgch 2:b6012cd91657 104 ca &= 0xFF; cb &= 0xFF;
mazgch 2:b6012cd91657 105 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 106 if (ca != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 107 if (++o > l) return WAIT;
mazgch 2:b6012cd91657 108 if (cb != pipe->next()) return NOT_FOUND;
mazgch 2:b6012cd91657 109 return o;
mazgch 2:b6012cd91657 110 }
mazgch 2:b6012cd91657 111
mazgch 4:c959dd4c5fe8 112 int GPSParser::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 113 {
mazgch 4:c959dd4c5fe8 114 return _send(buf, len);
mazgch 4:c959dd4c5fe8 115 }
mazgch 4:c959dd4c5fe8 116
mazgch 3:c7cd4887560d 117 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 118 {
mazgch 3:c7cd4887560d 119 char head[1] = { '$' };
mazgch 3:c7cd4887560d 120 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 121 int i;
mazgch 3:c7cd4887560d 122 int crc = 0;
mazgch 3:c7cd4887560d 123 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 124 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 125 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 126 i += _send(buf, len);
mazgch 3:c7cd4887560d 127 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 128 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 129 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 130 return i;
mazgch 2:b6012cd91657 131 }
mazgch 2:b6012cd91657 132
mazgch 11:b084552b03fe 133 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
mazgch 2:b6012cd91657 134 {
mazgch 3:c7cd4887560d 135 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 136 char crc[2];
mazgch 3:c7cd4887560d 137 int i;
mazgch 3:c7cd4887560d 138 int ca = 0;
mazgch 3:c7cd4887560d 139 int cb = 0;
mazgch 3:c7cd4887560d 140 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 141 {
mazgch 3:c7cd4887560d 142 ca += head[i];
mazgch 3:c7cd4887560d 143 cb += ca;
mazgch 2:b6012cd91657 144 }
mazgch 3:c7cd4887560d 145 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 146 {
mazgch 3:c7cd4887560d 147 ca += ((char*)buf)[i];
mazgch 11:b084552b03fe 148 cb += ca;
mazgch 3:c7cd4887560d 149 }
mazgch 4:c959dd4c5fe8 150 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 151 i += _send(buf, len);
mazgch 3:c7cd4887560d 152 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 153 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 154 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 155 return i;
mazgch 2:b6012cd91657 156 }
mazgch 2:b6012cd91657 157
mazgch 2:b6012cd91657 158 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 159 {
mazgch 2:b6012cd91657 160 // find the start
mazgch 2:b6012cd91657 161 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 162 {
mazgch 2:b6012cd91657 163 if (*start == ',')
mazgch 2:b6012cd91657 164 ix --;
mazgch 2:b6012cd91657 165 }
mazgch 2:b6012cd91657 166 // found and check bounds
mazgch 2:b6012cd91657 167 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 168 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 169 return start;
mazgch 2:b6012cd91657 170 else
mazgch 2:b6012cd91657 171 return NULL;
mazgch 2:b6012cd91657 172 }
mazgch 2:b6012cd91657 173
mazgch 2:b6012cd91657 174 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
mazgch 2:b6012cd91657 175 {
mazgch 2:b6012cd91657 176 char* end = &buf[len];
mazgch 2:b6012cd91657 177 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 178 // find the start
mazgch 2:b6012cd91657 179 if (!pos)
mazgch 2:b6012cd91657 180 return false;
mazgch 2:b6012cd91657 181 val = strtod(pos, &end);
mazgch 2:b6012cd91657 182 // restore the last character
mazgch 2:b6012cd91657 183 return (end > pos);
mazgch 2:b6012cd91657 184 }
mazgch 2:b6012cd91657 185
mazgch 2:b6012cd91657 186 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
mazgch 2:b6012cd91657 187 {
mazgch 2:b6012cd91657 188 char* end = &buf[len];
mazgch 2:b6012cd91657 189 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 190 // find the start
mazgch 2:b6012cd91657 191 if (!pos)
mazgch 2:b6012cd91657 192 return false;
mazgch 2:b6012cd91657 193 val = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 194 return (end > pos);
mazgch 2:b6012cd91657 195 }
mazgch 2:b6012cd91657 196
mazgch 2:b6012cd91657 197 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 198 {
mazgch 2:b6012cd91657 199 const char* end = &buf[len];
mazgch 2:b6012cd91657 200 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 201 // find the start
mazgch 2:b6012cd91657 202 if (!pos)
mazgch 2:b6012cd91657 203 return false;
mazgch 2:b6012cd91657 204 // skip leading spaces
mazgch 2:b6012cd91657 205 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 206 pos++;
mazgch 2:b6012cd91657 207 // check bound
mazgch 2:b6012cd91657 208 if ((pos < end) &&
mazgch 2:b6012cd91657 209 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 210 {
mazgch 2:b6012cd91657 211 val = *pos;
mazgch 2:b6012cd91657 212 return true;
mazgch 2:b6012cd91657 213 }
mazgch 2:b6012cd91657 214 return false;
mazgch 2:b6012cd91657 215 }
mazgch 2:b6012cd91657 216
mazgch 20:535ef78655df 217 bool GPSParser::getNmeaAngle(int ix, char* buf, int len, double& val)
mazgch 18:e5697801df29 218 {
mazgch 18:e5697801df29 219 char ch;
mazgch 18:e5697801df29 220 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
mazgch 18:e5697801df29 221 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
mazgch 18:e5697801df29 222 {
mazgch 18:e5697801df29 223 val *= 0.01;
mazgch 20:535ef78655df 224 int i = (int)val;
mazgch 18:e5697801df29 225 val = (val - i) / 0.6 + i;
mazgch 18:e5697801df29 226 if (ch == 'S' || ch == 'W')
mazgch 18:e5697801df29 227 val = -val;
mazgch 18:e5697801df29 228 return true;
mazgch 18:e5697801df29 229 }
mazgch 18:e5697801df29 230 return false;
mazgch 18:e5697801df29 231 }
mazgch 18:e5697801df29 232
mazgch 2:b6012cd91657 233 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 234
mazgch 2:b6012cd91657 235 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 236 // Serial Implementation
mazgch 2:b6012cd91657 237 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 238
mazgch 9:e7a5959ffae1 239 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 240 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 15:5eda64e5b9d1 241 SerialPipe(tx, rx, rxSize, txSize)
mazgch 2:b6012cd91657 242 {
mazgch 2:b6012cd91657 243 baud(baudrate);
mazgch 74:208e3e32d263 244 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 245 _onboard = (tx == GPSTXD) || (rx == GPSRXD);
mazgch 74:208e3e32d263 246 if (_onboard)
mazgch 74:208e3e32d263 247 c027_gps_powerOn();
mazgch 74:208e3e32d263 248 #endif
mazgch 74:208e3e32d263 249 }
mazgch 74:208e3e32d263 250
mazgch 76:f7c3dd568dae 251 GPSSerial::~GPSSerial(void)
mazgch 76:f7c3dd568dae 252 {
mazgch 76:f7c3dd568dae 253 powerOff();
mazgch 76:f7c3dd568dae 254 #ifdef TARGET_UBLOX_C027
mazgch 76:f7c3dd568dae 255 if (_onboard)
mazgch 76:f7c3dd568dae 256 c027_gps_powerOff();
mazgch 76:f7c3dd568dae 257 #endif
mazgch 76:f7c3dd568dae 258 }
mazgch 76:f7c3dd568dae 259
mazgch 75:ce6e12067d0c 260 bool GPSSerial::init(PinName pn)
mazgch 74:208e3e32d263 261 {
mazgch 74:208e3e32d263 262 // send a byte to wakup the device again
mazgch 95:8282dbbe1492 263 putc(0xFF);
mazgch 74:208e3e32d263 264 // wait until we get some bytes
mazgch 74:208e3e32d263 265 int size = _pipeRx.size();
mazgch 95:8282dbbe1492 266 Timer timer;
mazgch 95:8282dbbe1492 267 timer.start();
mazgch 95:8282dbbe1492 268 while ((100 > timer.read_ms()) && (size == _pipeRx.size()))
mazgch 95:8282dbbe1492 269 /* nothing / just wait */;
mazgch 95:8282dbbe1492 270 return (size != _pipeRx.size());
mazgch 2:b6012cd91657 271 }
mazgch 2:b6012cd91657 272
mazgch 2:b6012cd91657 273 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 274 {
mazgch 9:e7a5959ffae1 275 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 276 }
mazgch 2:b6012cd91657 277
mazgch 4:c959dd4c5fe8 278 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 279 {
mazgch 9:e7a5959ffae1 280 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 281 }
mazgch 3:c7cd4887560d 282
mazgch 2:b6012cd91657 283 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 284 // I2C Implementation
mazgch 2:b6012cd91657 285 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 286
mazgch 9:e7a5959ffae1 287 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 19:2b5d097ca15d 288 unsigned char i2cAdr /*=GPSADR*/, int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 289 I2C(sda,scl),
mazgch 19:2b5d097ca15d 290 _pipe(rxSize),
mazgch 19:2b5d097ca15d 291 _i2cAdr(i2cAdr)
mazgch 2:b6012cd91657 292 {
mazgch 45:ebc2fd8dcf21 293 frequency(100000);
mazgch 74:208e3e32d263 294 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 295 _onboard = (sda == GPSSDA) && (scl == GPSSCL);
mazgch 74:208e3e32d263 296 if (_onboard)
mazgch 74:208e3e32d263 297 c027_gps_powerOn();
mazgch 74:208e3e32d263 298 #endif
mazgch 2:b6012cd91657 299 }
mazgch 2:b6012cd91657 300
mazgch 76:f7c3dd568dae 301 GPSI2C::~GPSI2C(void)
mazgch 76:f7c3dd568dae 302 {
mazgch 76:f7c3dd568dae 303 powerOff();
mazgch 76:f7c3dd568dae 304 #ifdef TARGET_UBLOX_C027
mazgch 76:f7c3dd568dae 305 if (_onboard)
mazgch 76:f7c3dd568dae 306 c027_gps_powerOff();
mazgch 76:f7c3dd568dae 307 #endif
mazgch 76:f7c3dd568dae 308 }
mazgch 76:f7c3dd568dae 309
mazgch 75:ce6e12067d0c 310 bool GPSI2C::init(PinName pn)
mazgch 2:b6012cd91657 311 {
mazgch 75:ce6e12067d0c 312 if (pn != NC) {
mazgch 75:ce6e12067d0c 313 DigitalOut pin(pn, 0);
mazgch 95:8282dbbe1492 314 ::wait_us(1);
mazgch 75:ce6e12067d0c 315 pin = 1;
mazgch 95:8282dbbe1492 316 ::wait_ms(100);
mazgch 75:ce6e12067d0c 317 }
mazgch 74:208e3e32d263 318 return !I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 319 }
mazgch 2:b6012cd91657 320
mazgch 2:b6012cd91657 321 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 322 {
mazgch 6:775aef3f1d1f 323 // fill the pipe
mazgch 6:775aef3f1d1f 324 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 325 if (sz)
mazgch 6:775aef3f1d1f 326 sz = _get(buf, sz);
mazgch 2:b6012cd91657 327 if (sz)
mazgch 2:b6012cd91657 328 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 329 // now parse it
mazgch 2:b6012cd91657 330 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 331 }
mazgch 2:b6012cd91657 332
mazgch 4:c959dd4c5fe8 333 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 334 {
mazgch 4:c959dd4c5fe8 335 int sent = 0;
mazgch 4:c959dd4c5fe8 336 if (len)
mazgch 4:c959dd4c5fe8 337 {
mazgch 19:2b5d097ca15d 338 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 339 sent = send(buf, len);
mazgch 4:c959dd4c5fe8 340 stop();
mazgch 4:c959dd4c5fe8 341 }
mazgch 4:c959dd4c5fe8 342 return sent;
mazgch 4:c959dd4c5fe8 343 }
mazgch 4:c959dd4c5fe8 344
mazgch 3:c7cd4887560d 345 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 346 {
mazgch 3:c7cd4887560d 347 int sent = 0;
mazgch 19:2b5d097ca15d 348 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 349 sent = GPSParser::sendNmea(buf, len);
mazgch 11:b084552b03fe 350 stop();
mazgch 3:c7cd4887560d 351 return sent;
mazgch 3:c7cd4887560d 352 }
mazgch 3:c7cd4887560d 353
mazgch 3:c7cd4887560d 354 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 355 {
mazgch 3:c7cd4887560d 356 int sent = 0;
mazgch 19:2b5d097ca15d 357 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 358 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 15:5eda64e5b9d1 359 I2C::stop();
mazgch 3:c7cd4887560d 360 return sent;
mazgch 3:c7cd4887560d 361 }
mazgch 3:c7cd4887560d 362
mazgch 2:b6012cd91657 363 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 364 {
mazgch 3:c7cd4887560d 365 int read = 0;
mazgch 46:8ce9169e0747 366 unsigned char sz[2] = {0,0};
mazgch 19:2b5d097ca15d 367 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
mazgch 46:8ce9169e0747 368 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz)))
mazgch 2:b6012cd91657 369 {
mazgch 2:b6012cd91657 370 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 371 if (size > len)
mazgch 2:b6012cd91657 372 size = len;
mazgch 46:8ce9169e0747 373 if (size > 0)
mazgch 46:8ce9169e0747 374 {
mazgch 46:8ce9169e0747 375 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true) &&
mazgch 46:8ce9169e0747 376 !I2C::read(_i2cAdr,buf,size)) {
mazgch 46:8ce9169e0747 377 read = size;
mazgch 46:8ce9169e0747 378 }
mazgch 46:8ce9169e0747 379 }
mazgch 2:b6012cd91657 380 }
mazgch 3:c7cd4887560d 381 return read;
mazgch 2:b6012cd91657 382 }
mazgch 2:b6012cd91657 383
mazgch 4:c959dd4c5fe8 384 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 385 {
mazgch 19:2b5d097ca15d 386 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 387 }
mazgch 2:b6012cd91657 388
mazgch 2:b6012cd91657 389 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 390 const char GPSI2C::REGSTREAM = 0xFF;