Simon Pfeifhofer / C027_Support

* add C027_Support fork

Fork of C027_Support by u-blox

GPS.cpp@45:ebc2fd8dcf21, 2014-05-05 (annotated)

Committer:
mazgch
Date:
Mon May 05 15:42:49 2014 +0000
Revision:
45:ebc2fd8dcf21
Parent:
31:a0bed6c1e05d
Child:
46:8ce9169e0747
make more portable to other cpus

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 31:a0bed6c1e05d 18 return UNKNOWN | 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 31:a0bed6c1e05d 28 return UNKNOWN | 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 31:a0bed6c1e05d 39 return UNKNOWN | 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 31:a0bed6c1e05d 107 void GPSParser::powerOff(void)
mazgch 31:a0bed6c1e05d 108 {
mazgch 31:a0bed6c1e05d 109 // set the gps into backup mode using the command RMX-LPREQ
mazgch 31:a0bed6c1e05d 110 struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
mazgch 31:a0bed6c1e05d 111 sendUbx(0x02, 0x41, &msg, sizeof(msg));
mazgch 31:a0bed6c1e05d 112 }
mazgch 31:a0bed6c1e05d 113
mazgch 3:c7cd4887560d 114 int GPSParser::sendNmea(const char* buf, int len)
mazgch 2:b6012cd91657 115 {
mazgch 3:c7cd4887560d 116 char head[1] = { '$' };
mazgch 3:c7cd4887560d 117 char tail[5] = { '*', 0x00/*crc_high*/, 0x00/*crc_low*/, '\r', '\n' };
mazgch 3:c7cd4887560d 118 int i;
mazgch 3:c7cd4887560d 119 int crc = 0;
mazgch 3:c7cd4887560d 120 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 121 crc ^= *buf++;
mazgch 4:c959dd4c5fe8 122 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 123 i += _send(buf, len);
mazgch 3:c7cd4887560d 124 tail[1] = toHex[(crc > 4) & 0xF0];
mazgch 3:c7cd4887560d 125 tail[2] = toHex[(crc > 0) & 0x0F];
mazgch 4:c959dd4c5fe8 126 i += _send(tail, sizeof(tail));
mazgch 3:c7cd4887560d 127 return i;
mazgch 2:b6012cd91657 128 }
mazgch 2:b6012cd91657 129
mazgch 11:b084552b03fe 130 int GPSParser::sendUbx(unsigned char cls, unsigned char id, const void* buf /*= NULL*/, int len /*= 0*/)
mazgch 2:b6012cd91657 131 {
mazgch 3:c7cd4887560d 132 char head[6] = { 0xB5, 0x62, cls, id, len >> 0, len >> 8 };
mazgch 3:c7cd4887560d 133 char crc[2];
mazgch 3:c7cd4887560d 134 int i;
mazgch 3:c7cd4887560d 135 int ca = 0;
mazgch 3:c7cd4887560d 136 int cb = 0;
mazgch 3:c7cd4887560d 137 for (i = 2; i < 6; i ++)
mazgch 2:b6012cd91657 138 {
mazgch 3:c7cd4887560d 139 ca += head[i];
mazgch 3:c7cd4887560d 140 cb += ca;
mazgch 2:b6012cd91657 141 }
mazgch 3:c7cd4887560d 142 for (i = 0; i < len; i ++)
mazgch 3:c7cd4887560d 143 {
mazgch 3:c7cd4887560d 144 ca += ((char*)buf)[i];
mazgch 11:b084552b03fe 145 cb += ca;
mazgch 3:c7cd4887560d 146 }
mazgch 4:c959dd4c5fe8 147 i = _send(head, sizeof(head));
mazgch 4:c959dd4c5fe8 148 i += _send(buf, len);
mazgch 3:c7cd4887560d 149 crc[0] = ca & 0xFF;
mazgch 3:c7cd4887560d 150 crc[1] = cb & 0xFF;
mazgch 4:c959dd4c5fe8 151 i += _send(crc, sizeof(crc));
mazgch 3:c7cd4887560d 152 return i;
mazgch 2:b6012cd91657 153 }
mazgch 2:b6012cd91657 154
mazgch 2:b6012cd91657 155 const char* GPSParser::findNmeaItemPos(int ix, const char* start, const char* end)
mazgch 2:b6012cd91657 156 {
mazgch 2:b6012cd91657 157 // find the start
mazgch 2:b6012cd91657 158 for (; (start < end) && (ix > 0); start ++)
mazgch 2:b6012cd91657 159 {
mazgch 2:b6012cd91657 160 if (*start == ',')
mazgch 2:b6012cd91657 161 ix --;
mazgch 2:b6012cd91657 162 }
mazgch 2:b6012cd91657 163 // found and check bounds
mazgch 2:b6012cd91657 164 if ((ix == 0) && (start < end) &&
mazgch 2:b6012cd91657 165 (*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
mazgch 2:b6012cd91657 166 return start;
mazgch 2:b6012cd91657 167 else
mazgch 2:b6012cd91657 168 return NULL;
mazgch 2:b6012cd91657 169 }
mazgch 2:b6012cd91657 170
mazgch 2:b6012cd91657 171 bool GPSParser::getNmeaItem(int ix, char* buf, int len, double& val)
mazgch 2:b6012cd91657 172 {
mazgch 2:b6012cd91657 173 char* end = &buf[len];
mazgch 2:b6012cd91657 174 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 175 // find the start
mazgch 2:b6012cd91657 176 if (!pos)
mazgch 2:b6012cd91657 177 return false;
mazgch 2:b6012cd91657 178 val = strtod(pos, &end);
mazgch 2:b6012cd91657 179 // restore the last character
mazgch 2:b6012cd91657 180 return (end > pos);
mazgch 2:b6012cd91657 181 }
mazgch 2:b6012cd91657 182
mazgch 2:b6012cd91657 183 bool GPSParser::getNmeaItem(int ix, char* buf, int len, int& val, int base /*=10*/)
mazgch 2:b6012cd91657 184 {
mazgch 2:b6012cd91657 185 char* end = &buf[len];
mazgch 2:b6012cd91657 186 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 187 // find the start
mazgch 2:b6012cd91657 188 if (!pos)
mazgch 2:b6012cd91657 189 return false;
mazgch 2:b6012cd91657 190 val = (int)strtol(pos, &end, base);
mazgch 2:b6012cd91657 191 return (end > pos);
mazgch 2:b6012cd91657 192 }
mazgch 2:b6012cd91657 193
mazgch 2:b6012cd91657 194 bool GPSParser::getNmeaItem(int ix, char* buf, int len, char& val)
mazgch 2:b6012cd91657 195 {
mazgch 2:b6012cd91657 196 const char* end = &buf[len];
mazgch 2:b6012cd91657 197 const char* pos = findNmeaItemPos(ix, buf, end);
mazgch 2:b6012cd91657 198 // find the start
mazgch 2:b6012cd91657 199 if (!pos)
mazgch 2:b6012cd91657 200 return false;
mazgch 2:b6012cd91657 201 // skip leading spaces
mazgch 2:b6012cd91657 202 while ((pos < end) && isspace(*pos))
mazgch 2:b6012cd91657 203 pos++;
mazgch 2:b6012cd91657 204 // check bound
mazgch 2:b6012cd91657 205 if ((pos < end) &&
mazgch 2:b6012cd91657 206 (*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
mazgch 2:b6012cd91657 207 {
mazgch 2:b6012cd91657 208 val = *pos;
mazgch 2:b6012cd91657 209 return true;
mazgch 2:b6012cd91657 210 }
mazgch 2:b6012cd91657 211 return false;
mazgch 2:b6012cd91657 212 }
mazgch 2:b6012cd91657 213
mazgch 20:535ef78655df 214 bool GPSParser::getNmeaAngle(int ix, char* buf, int len, double& val)
mazgch 18:e5697801df29 215 {
mazgch 18:e5697801df29 216 char ch;
mazgch 18:e5697801df29 217 if (getNmeaItem(ix,buf,len,val) && getNmeaItem(ix+1,buf,len,ch) &&
mazgch 18:e5697801df29 218 ((ch == 'S') || (ch == 'N') || (ch == 'E') || (ch == 'W')))
mazgch 18:e5697801df29 219 {
mazgch 18:e5697801df29 220 val *= 0.01;
mazgch 20:535ef78655df 221 int i = (int)val;
mazgch 18:e5697801df29 222 val = (val - i) / 0.6 + i;
mazgch 18:e5697801df29 223 if (ch == 'S' || ch == 'W')
mazgch 18:e5697801df29 224 val = -val;
mazgch 18:e5697801df29 225 return true;
mazgch 18:e5697801df29 226 }
mazgch 18:e5697801df29 227 return false;
mazgch 18:e5697801df29 228 }
mazgch 18:e5697801df29 229
mazgch 2:b6012cd91657 230 const char GPSParser::toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
mazgch 2:b6012cd91657 231
mazgch 2:b6012cd91657 232 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 233 // Serial Implementation
mazgch 2:b6012cd91657 234 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 235
mazgch 9:e7a5959ffae1 236 GPSSerial::GPSSerial(PinName tx /*= GPSTXD*/, PinName rx /*= GPSRXD*/, int baudrate /*= GPSBAUD*/,
mazgch 9:e7a5959ffae1 237 int rxSize /*= 256*/, int txSize /*= 128*/) :
mazgch 15:5eda64e5b9d1 238 SerialPipe(tx, rx, rxSize, txSize)
mazgch 2:b6012cd91657 239 {
mazgch 2:b6012cd91657 240 baud(baudrate);
mazgch 2:b6012cd91657 241 }
mazgch 2:b6012cd91657 242
mazgch 2:b6012cd91657 243 int GPSSerial::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 244 {
mazgch 9:e7a5959ffae1 245 return _getMessage(&_pipeRx, buf, len);
mazgch 2:b6012cd91657 246 }
mazgch 2:b6012cd91657 247
mazgch 4:c959dd4c5fe8 248 int GPSSerial::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 249 {
mazgch 9:e7a5959ffae1 250 return put((const char*)buf, len, true/*=blocking*/);
mazgch 3:c7cd4887560d 251 }
mazgch 3:c7cd4887560d 252
mazgch 2:b6012cd91657 253 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 254 // I2C Implementation
mazgch 2:b6012cd91657 255 // ----------------------------------------------------------------
mazgch 2:b6012cd91657 256
mazgch 9:e7a5959ffae1 257 GPSI2C::GPSI2C(PinName sda /*= GPSSDA*/, PinName scl /*= GPSSCL*/,
mazgch 19:2b5d097ca15d 258 unsigned char i2cAdr /*=GPSADR*/, int rxSize /*= 256*/) :
mazgch 2:b6012cd91657 259 I2C(sda,scl),
mazgch 19:2b5d097ca15d 260 _pipe(rxSize),
mazgch 19:2b5d097ca15d 261 _i2cAdr(i2cAdr)
mazgch 2:b6012cd91657 262 {
mazgch 45:ebc2fd8dcf21 263 frequency(100000);
mazgch 2:b6012cd91657 264 found = false;
mazgch 2:b6012cd91657 265 }
mazgch 2:b6012cd91657 266
mazgch 2:b6012cd91657 267 bool GPSI2C::detect(void)
mazgch 2:b6012cd91657 268 {
mazgch 2:b6012cd91657 269 if (!found)
mazgch 2:b6012cd91657 270 {
mazgch 19:2b5d097ca15d 271 int w = I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM));
mazgch 2:b6012cd91657 272 if (w == 0)
mazgch 2:b6012cd91657 273 found = true;
mazgch 2:b6012cd91657 274 }
mazgch 2:b6012cd91657 275 return found;
mazgch 2:b6012cd91657 276 }
mazgch 2:b6012cd91657 277
mazgch 2:b6012cd91657 278 int GPSI2C::getMessage(char* buf, int len)
mazgch 2:b6012cd91657 279 {
mazgch 6:775aef3f1d1f 280 // fill the pipe
mazgch 6:775aef3f1d1f 281 int sz = _pipe.free();
mazgch 6:775aef3f1d1f 282 if (sz)
mazgch 6:775aef3f1d1f 283 sz = _get(buf, sz);
mazgch 2:b6012cd91657 284 if (sz)
mazgch 2:b6012cd91657 285 _pipe.put(buf, sz);
mazgch 6:775aef3f1d1f 286 // now parse it
mazgch 2:b6012cd91657 287 return _getMessage(&_pipe, buf, len);
mazgch 2:b6012cd91657 288 }
mazgch 2:b6012cd91657 289
mazgch 4:c959dd4c5fe8 290 int GPSI2C::send(const char* buf, int len)
mazgch 4:c959dd4c5fe8 291 {
mazgch 4:c959dd4c5fe8 292 int sent = 0;
mazgch 4:c959dd4c5fe8 293 if (len)
mazgch 4:c959dd4c5fe8 294 {
mazgch 19:2b5d097ca15d 295 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 296 sent = send(buf, len);
mazgch 10:3f1c13a8763d 297 found = (len == sent);
mazgch 4:c959dd4c5fe8 298 stop();
mazgch 4:c959dd4c5fe8 299 }
mazgch 4:c959dd4c5fe8 300 return sent;
mazgch 4:c959dd4c5fe8 301 }
mazgch 4:c959dd4c5fe8 302
mazgch 3:c7cd4887560d 303 int GPSI2C::sendNmea(const char* buf, int len)
mazgch 3:c7cd4887560d 304 {
mazgch 3:c7cd4887560d 305 int sent = 0;
mazgch 19:2b5d097ca15d 306 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 307 sent = GPSParser::sendNmea(buf, len);
mazgch 11:b084552b03fe 308 found = (len == sent);
mazgch 11:b084552b03fe 309 stop();
mazgch 3:c7cd4887560d 310 return sent;
mazgch 3:c7cd4887560d 311 }
mazgch 3:c7cd4887560d 312
mazgch 3:c7cd4887560d 313 int GPSI2C::sendUbx(unsigned char cls, unsigned char id, const void* buf, int len)
mazgch 3:c7cd4887560d 314 {
mazgch 3:c7cd4887560d 315 int sent = 0;
mazgch 19:2b5d097ca15d 316 if (!I2C::write(_i2cAdr,&REGSTREAM,sizeof(REGSTREAM),true))
mazgch 11:b084552b03fe 317 sent = GPSParser::sendUbx(cls, id, buf, len);
mazgch 11:b084552b03fe 318 found = (len == sent);
mazgch 15:5eda64e5b9d1 319 I2C::stop();
mazgch 3:c7cd4887560d 320 return sent;
mazgch 3:c7cd4887560d 321 }
mazgch 3:c7cd4887560d 322
mazgch 2:b6012cd91657 323 int GPSI2C::_get(char* buf, int len)
mazgch 2:b6012cd91657 324 {
mazgch 3:c7cd4887560d 325 int read = 0;
mazgch 2:b6012cd91657 326 unsigned char sz[2];
mazgch 19:2b5d097ca15d 327 if (!I2C::write(_i2cAdr,&REGLEN,sizeof(REGLEN),true) &&
mazgch 19:2b5d097ca15d 328 !I2C::read(_i2cAdr,(char*)sz,sizeof(sz),true))
mazgch 2:b6012cd91657 329 {
mazgch 2:b6012cd91657 330 int size = 256 * (int)sz[0] + sz[1];
mazgch 2:b6012cd91657 331 if (size > len)
mazgch 2:b6012cd91657 332 size = len;
mazgch 2:b6012cd91657 333 if (size > 0)
mazgch 19:2b5d097ca15d 334 read = !I2C::read(_i2cAdr,buf,size, true) ? size : 0;
mazgch 10:3f1c13a8763d 335 found = (read == size);
mazgch 2:b6012cd91657 336 }
mazgch 2:b6012cd91657 337 else
mazgch 2:b6012cd91657 338 found = false;
mazgch 2:b6012cd91657 339 I2C::stop();
mazgch 3:c7cd4887560d 340 return read;
mazgch 2:b6012cd91657 341 }
mazgch 2:b6012cd91657 342
mazgch 4:c959dd4c5fe8 343 int GPSI2C::_send(const void* buf, int len)
mazgch 3:c7cd4887560d 344 {
mazgch 19:2b5d097ca15d 345 return !I2C::write(_i2cAdr,(const char*)buf,len,true) ? len : 0;
mazgch 2:b6012cd91657 346 }
mazgch 2:b6012cd91657 347
mazgch 2:b6012cd91657 348 const char GPSI2C::REGLEN = 0xFD;
mazgch 2:b6012cd91657 349 const char GPSI2C::REGSTREAM = 0xFF;