Simon Pfeifhofer / C027_Support

* add C027_Support fork

Fork of C027_Support by u-blox

GPS.cpp@75:ce6e12067d0c, 2014-05-16 (annotated)

Committer:
mazgch
Date:
Fri May 16 14:13:00 2014 +0000
Revision:
75:ce6e12067d0c
Parent:
74:208e3e32d263
Child:
76:f7c3dd568dae
minor tweaks

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