Xinlei Cao / C027_Support

Own fork of C027_Support

Dependents:   MbedSmartRestMain MbedSmartRestMain

Fork of C027_Support by u-blox

GPS.h@51:e7b81c31baec, 2014-05-12 (annotated)

Committer:
mazgch
Date:
Mon May 12 07:09:31 2014 +0000
Revision:
51:e7b81c31baec
Parent:
40:295099ff5338
Child:
74:208e3e32d263
convert defines to enums to avoid duplicate defines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazgch 1:f41579f4e2ed 1 #pragma once
mazgch 1:f41579f4e2ed 2
mazgch 2:b6012cd91657 3 #include "mbed.h"
mazgch 2:b6012cd91657 4 #include "Pipe.h"
mazgch 1:f41579f4e2ed 5 #include "SerialPipe.h"
mazgch 2:b6012cd91657 6
mazgch 19:2b5d097ca15d 7 #ifdef TARGET_UBLOX_C027
mazgch 19:2b5d097ca15d 8 // if we detect the C027 platform we will assign the
mazgch 19:2b5d097ca15d 9 // default pinname and baudrate in the constructor
mazgch 19:2b5d097ca15d 10 // this helper macro will be used.
mazgch 19:2b5d097ca15d 11 #define _C027DEFAULT(name) = name
mazgch 19:2b5d097ca15d 12 #else
mazgch 19:2b5d097ca15d 13 #define _C027DEFAULT(name)
mazgch 19:2b5d097ca15d 14 #endif
mazgch 9:e7a5959ffae1 15
mazgch 38:e6cab4632d84 16 /** basic gps parser class
mazgch 38:e6cab4632d84 17 */
mazgch 2:b6012cd91657 18 class GPSParser
mazgch 2:b6012cd91657 19 {
mazgch 2:b6012cd91657 20 public:
mazgch 51:e7b81c31baec 21 enum {
mazgch 51:e7b81c31baec 22 // getLine Responses
mazgch 51:e7b81c31baec 23 WAIT = -1, //!< wait for more incoming data (the start of a message was found, or no data available)
mazgch 51:e7b81c31baec 24 NOT_FOUND = 0, //!< a parser concluded the the current offset of the pipe doe not contain a valid message
mazgch 39:9b4b9433e220 25
mazgch 51:e7b81c31baec 26 #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length
mazgch 51:e7b81c31baec 27 #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type
mazgch 39:9b4b9433e220 28
mazgch 51:e7b81c31baec 29 UNKNOWN = 0x000000, //!< message type is unknown
mazgch 51:e7b81c31baec 30 UBX = 0x100000, //!< message if of protocol NMEA
mazgch 51:e7b81c31baec 31 NMEA = 0x200000 //!< message if of protocol UBX
mazgch 51:e7b81c31baec 32 };
mazgch 51:e7b81c31baec 33
mazgch 39:9b4b9433e220 34 /** Get a line from the physical interface. This fucntion
mazgch 39:9b4b9433e220 35 needs to be implemented in the inherited class.
mazgch 39:9b4b9433e220 36 \param buf the buffer to store it
mazgch 39:9b4b9433e220 37 \param len size of the buffer
mazgch 39:9b4b9433e220 38 \return type and length if something was found,
mazgch 39:9b4b9433e220 39 WAIT if not enough data is available
mazgch 39:9b4b9433e220 40 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 41 */
mazgch 39:9b4b9433e220 42 virtual int getMessage(char* buf, int len) = 0;
mazgch 2:b6012cd91657 43
mazgch 39:9b4b9433e220 44 /** send a buffer
mazgch 39:9b4b9433e220 45 \param buf the buffer to write
mazgch 39:9b4b9433e220 46 \param len size of the buffer to write
mazgch 39:9b4b9433e220 47 \return bytes written
mazgch 39:9b4b9433e220 48 */
mazgch 4:c959dd4c5fe8 49 virtual int send(const char* buf, int len);
mazgch 39:9b4b9433e220 50
mazgch 39:9b4b9433e220 51 /** send a NMEA message, this function just takes the
mazgch 39:9b4b9433e220 52 payload and calculates and adds checksum. ($ and *XX\r\n will be added)
mazgch 39:9b4b9433e220 53 \param buf the message payload to write
mazgch 39:9b4b9433e220 54 \param len size of the message payload to write
mazgch 39:9b4b9433e220 55 \return total bytes written
mazgch 39:9b4b9433e220 56 */
mazgch 4:c959dd4c5fe8 57 virtual int sendNmea(const char* buf, int len);
mazgch 39:9b4b9433e220 58
mazgch 39:9b4b9433e220 59 /** send a UBX message, this function just takes the
mazgch 39:9b4b9433e220 60 payload and calculates and adds checksum.
mazgch 39:9b4b9433e220 61 \param cls the UBX class id
mazgch 39:9b4b9433e220 62 \param id the UBX message id
mazgch 39:9b4b9433e220 63 \param buf the message payload to write
mazgch 39:9b4b9433e220 64 \param len size of the message payload to write
mazgch 39:9b4b9433e220 65 \return total bytes written
mazgch 39:9b4b9433e220 66 */
mazgch 40:295099ff5338 67 virtual int sendUbx(unsigned char cls, unsigned char id,
mazgch 40:295099ff5338 68 const void* buf = NULL, int len = 0);
mazgch 40:295099ff5338 69
mazgch 39:9b4b9433e220 70 /** Power off the gps, it can be again woken up by an
mazgch 39:9b4b9433e220 71 edge on the serial port on the external interrupt pin.
mazgch 39:9b4b9433e220 72 */
mazgch 31:a0bed6c1e05d 73 void powerOff(void);
mazgch 2:b6012cd91657 74
mazgch 39:9b4b9433e220 75 /** get the first character of a NMEA field
mazgch 39:9b4b9433e220 76 \param ix the index of the field to find
mazgch 39:9b4b9433e220 77 \param start the start of the buffer
mazgch 39:9b4b9433e220 78 \param end the end of the buffer
mazgch 39:9b4b9433e220 79 \return the pointer to the first character of the field.
mazgch 39:9b4b9433e220 80 */
mazgch 2:b6012cd91657 81 static const char* findNmeaItemPos(int ix, const char* start, const char* end);
mazgch 39:9b4b9433e220 82
mazgch 39:9b4b9433e220 83 /** extract a double value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 84 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 85 \param buf the NMEA message
mazgch 39:9b4b9433e220 86 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 87 \param val the extracted value
mazgch 39:9b4b9433e220 88 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 89 */
mazgch 2:b6012cd91657 90 static bool getNmeaItem(int ix, char* buf, int len, double& val);
mazgch 39:9b4b9433e220 91
mazgch 39:9b4b9433e220 92 /** extract a interger value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 93 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 94 \param buf the NMEA message
mazgch 39:9b4b9433e220 95 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 96 \param val the extracted value
mazgch 39:9b4b9433e220 97 \param base the numeric base to be used (e.g. 8, 10 or 16)
mazgch 39:9b4b9433e220 98 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 99 */
mazgch 2:b6012cd91657 100 static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
mazgch 39:9b4b9433e220 101
mazgch 39:9b4b9433e220 102 /** extract a char value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 103 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 104 \param buf the NMEA message
mazgch 39:9b4b9433e220 105 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 106 \param val the extracted value
mazgch 39:9b4b9433e220 107 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 108 */
mazgch 2:b6012cd91657 109 static bool getNmeaItem(int ix, char* buf, int len, char& val);
mazgch 39:9b4b9433e220 110
mazgch 39:9b4b9433e220 111 /** extract a latitude/longitude value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 112 \param ix the index of the field to extract (will extract ix and ix + 1)
mazgch 39:9b4b9433e220 113 \param buf the NMEA message
mazgch 39:9b4b9433e220 114 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 115 \param val the extracted latitude or longitude
mazgch 39:9b4b9433e220 116 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 117 */
mazgch 20:535ef78655df 118 static bool getNmeaAngle(int ix, char* buf, int len, double& val);
mazgch 39:9b4b9433e220 119
mazgch 2:b6012cd91657 120 protected:
mazgch 39:9b4b9433e220 121 /** Get a line from the physical interface.
mazgch 39:9b4b9433e220 122 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 123 \param buf the buffer to store it
mazgch 39:9b4b9433e220 124 \param len size of the buffer
mazgch 39:9b4b9433e220 125 \return type and length if something was found,
mazgch 39:9b4b9433e220 126 WAIT if not enough data is available
mazgch 39:9b4b9433e220 127 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 128 */
mazgch 2:b6012cd91657 129 static int _getMessage(Pipe<char>* pipe, char* buf, int len);
mazgch 39:9b4b9433e220 130
mazgch 39:9b4b9433e220 131 /** Check if the current offset of the pipe contains a NMEA message.
mazgch 39:9b4b9433e220 132 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 133 \param len numer of bytes to parse at maximum
mazgch 39:9b4b9433e220 134 \return length if something was found (including the NMEA frame)
mazgch 39:9b4b9433e220 135 WAIT if not enough data is available
mazgch 39:9b4b9433e220 136 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 137 */
mazgch 2:b6012cd91657 138 static int _parseNmea(Pipe<char>* pipe, int len);
mazgch 39:9b4b9433e220 139
mazgch 39:9b4b9433e220 140 /** Check if the current offset of the pipe contains a UBX message.
mazgch 39:9b4b9433e220 141 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 142 \param len numer of bytes to parse at maximum
mazgch 39:9b4b9433e220 143 \return length if something was found (including the UBX frame)
mazgch 39:9b4b9433e220 144 WAIT if not enough data is available
mazgch 39:9b4b9433e220 145 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 146 */
mazgch 2:b6012cd91657 147 static int _parseUbx(Pipe<char>* pipe, int len);
mazgch 39:9b4b9433e220 148
mazgch 39:9b4b9433e220 149 /** Write bytes to the physical interface. This function
mazgch 39:9b4b9433e220 150 needs to be implemented by the inherited class.
mazgch 39:9b4b9433e220 151 \param buf the buffer to write
mazgch 39:9b4b9433e220 152 \param len size of the buffer to write
mazgch 39:9b4b9433e220 153 \return bytes written
mazgch 39:9b4b9433e220 154 */
mazgch 4:c959dd4c5fe8 155 virtual int _send(const void* buf, int len) = 0;
mazgch 39:9b4b9433e220 156
mazgch 39:9b4b9433e220 157 static const char toHex[16]; //!< num to hex conversion
mazgch 2:b6012cd91657 158 };
mazgch 2:b6012cd91657 159
mazgch 38:e6cab4632d84 160 /** gps class which uses a serial port
mazgch 38:e6cab4632d84 161 as physical interface.
mazgch 38:e6cab4632d84 162 */
mazgch 9:e7a5959ffae1 163 class GPSSerial : public SerialPipe, public GPSParser
mazgch 1:f41579f4e2ed 164 {
mazgch 1:f41579f4e2ed 165 public:
mazgch 38:e6cab4632d84 166 /** Constructor
mazgch 38:e6cab4632d84 167 \param tx is the serial ports transmit pin (gps to CPU)
mazgch 38:e6cab4632d84 168 \param rx is the serial ports receive pin (CPU to gps)
mazgch 38:e6cab4632d84 169 \param baudrate the baudrate of the gps use 9600
mazgch 38:e6cab4632d84 170 \param rxSize the size of the serial rx buffer
mazgch 38:e6cab4632d84 171 \param txSize the size of the serial tx buffer
mazgch 38:e6cab4632d84 172 */
mazgch 19:2b5d097ca15d 173 GPSSerial(PinName tx _C027DEFAULT( GPSTXD ),
mazgch 19:2b5d097ca15d 174 PinName rx _C027DEFAULT( GPSRXD ),
mazgch 19:2b5d097ca15d 175 int baudrate _C027DEFAULT( GPSBAUD ),
mazgch 19:2b5d097ca15d 176 int rxSize = 256 ,
mazgch 19:2b5d097ca15d 177 int txSize = 128 );
mazgch 39:9b4b9433e220 178
mazgch 38:e6cab4632d84 179 /** Get a line from the physical interface.
mazgch 38:e6cab4632d84 180 \param buf the buffer to store it
mazgch 38:e6cab4632d84 181 \param len size of the buffer
mazgch 38:e6cab4632d84 182 \return type and length if something was found,
mazgch 38:e6cab4632d84 183 WAIT if not enough data is available
mazgch 38:e6cab4632d84 184 NOT_FOUND if nothing was found
mazgch 38:e6cab4632d84 185 */
mazgch 2:b6012cd91657 186 virtual int getMessage(char* buf, int len);
mazgch 39:9b4b9433e220 187
mazgch 2:b6012cd91657 188 protected:
mazgch 38:e6cab4632d84 189 /** Write bytes to the physical interface.
mazgch 38:e6cab4632d84 190 \param buf the buffer to write
mazgch 38:e6cab4632d84 191 \param len size of the buffer to write
mazgch 38:e6cab4632d84 192 \return bytes written
mazgch 38:e6cab4632d84 193 */
mazgch 4:c959dd4c5fe8 194 virtual int _send(const void* buf, int len);
mazgch 1:f41579f4e2ed 195 };
mazgch 2:b6012cd91657 196
mazgch 38:e6cab4632d84 197 /** gps class which uses a i2c as physical interface.
mazgch 38:e6cab4632d84 198 */
mazgch 2:b6012cd91657 199 class GPSI2C : public I2C, public GPSParser
mazgch 2:b6012cd91657 200 {
mazgch 2:b6012cd91657 201 public:
mazgch 38:e6cab4632d84 202 /** Constructor
mazgch 38:e6cab4632d84 203 \param sda is the I2C SDA pin (between CPU and GPS)
mazgch 38:e6cab4632d84 204 \param scl is the I2C SCL pin (CPU to GPS)
mazgch 38:e6cab4632d84 205 \param adr the I2C address of the GPS set to (66<<1)
mazgch 38:e6cab4632d84 206 \param rxSize the size of the serial rx buffer
mazgch 38:e6cab4632d84 207 */
mazgch 19:2b5d097ca15d 208 GPSI2C(PinName sda _C027DEFAULT( GPSSDA ),
mazgch 19:2b5d097ca15d 209 PinName scl _C027DEFAULT( GPSSCL ),
mazgch 19:2b5d097ca15d 210 unsigned char i2cAdr _C027DEFAULT( GPSADR ),
mazgch 19:2b5d097ca15d 211 int rxSize = 256 );
mazgch 39:9b4b9433e220 212
mazgch 38:e6cab4632d84 213 /** helper function to probe the i2c device
mazgch 38:e6cab4632d84 214 \return true if successfully detected the gps.
mazgch 38:e6cab4632d84 215 */
mazgch 2:b6012cd91657 216 bool detect(void);
mazgch 2:b6012cd91657 217
mazgch 38:e6cab4632d84 218 /** Get a line from the physical interface.
mazgch 38:e6cab4632d84 219 \param buf the buffer to store it
mazgch 38:e6cab4632d84 220 \param len size of the buffer
mazgch 38:e6cab4632d84 221 \return type and length if something was found,
mazgch 38:e6cab4632d84 222 WAIT if not enough data is available
mazgch 38:e6cab4632d84 223 NOT_FOUND if nothing was found
mazgch 38:e6cab4632d84 224 */
mazgch 2:b6012cd91657 225 virtual int getMessage(char* buf, int len);
mazgch 38:e6cab4632d84 226
mazgch 38:e6cab4632d84 227 /** send a buffer
mazgch 38:e6cab4632d84 228 \param buf the buffer to write
mazgch 38:e6cab4632d84 229 \param len size of the buffer to write
mazgch 38:e6cab4632d84 230 \return bytes written
mazgch 38:e6cab4632d84 231 */
mazgch 4:c959dd4c5fe8 232 virtual int send(const char* buf, int len);
mazgch 38:e6cab4632d84 233
mazgch 38:e6cab4632d84 234 /** send a NMEA message, this function just takes the
mazgch 38:e6cab4632d84 235 payload and calculates and adds checksum. ($ and *XX\r\n will be added)
mazgch 38:e6cab4632d84 236 \param buf the message payload to write
mazgch 38:e6cab4632d84 237 \param len size of the message payload to write
mazgch 38:e6cab4632d84 238 \return total bytes written
mazgch 38:e6cab4632d84 239 */
mazgch 3:c7cd4887560d 240 virtual int sendNmea(const char* buf, int len);
mazgch 38:e6cab4632d84 241
mazgch 38:e6cab4632d84 242 /** send a UBX message, this function just takes the
mazgch 38:e6cab4632d84 243 payload and calculates and adds checksum.
mazgch 38:e6cab4632d84 244 \param cls the UBX class id
mazgch 38:e6cab4632d84 245 \param id the UBX message id
mazgch 38:e6cab4632d84 246 \param buf the message payload to write
mazgch 38:e6cab4632d84 247 \param len size of the message payload to write
mazgch 38:e6cab4632d84 248 \return total bytes written
mazgch 38:e6cab4632d84 249 */
mazgch 39:9b4b9433e220 250 virtual int sendUbx(unsigned char cls, unsigned char id,
mazgch 39:9b4b9433e220 251 const void* buf = NULL, int len = 0);
mazgch 39:9b4b9433e220 252
mazgch 2:b6012cd91657 253 protected:
mazgch 38:e6cab4632d84 254 /** check if the port is writeable (like SerialPipe)
mazgch 38:e6cab4632d84 255 \return true if writeable
mazgch 38:e6cab4632d84 256 */
mazgch 9:e7a5959ffae1 257 bool writeable(void) { return true; }
mazgch 39:9b4b9433e220 258
mazgch 38:e6cab4632d84 259 /** Write a character (like SerialPipe)
mazgch 38:e6cab4632d84 260 \param c the character to write
mazgch 38:e6cab4632d84 261 \return true if succesffully written
mazgch 38:e6cab4632d84 262 */
mazgch 9:e7a5959ffae1 263 bool putc(int c) { char ch = c; return send(&ch, 1); }
mazgch 39:9b4b9433e220 264
mazgch 38:e6cab4632d84 265 /** Write bytes to the physical interface.
mazgch 38:e6cab4632d84 266 \param buf the buffer to write
mazgch 38:e6cab4632d84 267 \param len size of the buffer to write
mazgch 38:e6cab4632d84 268 \return bytes written
mazgch 38:e6cab4632d84 269 */
mazgch 4:c959dd4c5fe8 270 virtual int _send(const void* buf, int len);
mazgch 39:9b4b9433e220 271
mazgch 38:e6cab4632d84 272 /** read bytes from the physical interface.
mazgch 38:e6cab4632d84 273 \param buf the buffer to read into
mazgch 38:e6cab4632d84 274 \param len size of the read buffer
mazgch 38:e6cab4632d84 275 \return bytes read
mazgch 38:e6cab4632d84 276 */
mazgch 38:e6cab4632d84 277 int _get(char* buf, int len);
mazgch 3:c7cd4887560d 278
mazgch 38:e6cab4632d84 279 Pipe<char> _pipe; //!< the rx pipe
mazgch 38:e6cab4632d84 280 bool found; //!< flag if device is detected.
mazgch 38:e6cab4632d84 281 unsigned char _i2cAdr; //!< the i2c address
mazgch 38:e6cab4632d84 282 static const char REGLEN; //!< the length i2c register address
mazgch 38:e6cab4632d84 283 static const char REGSTREAM;//!< the stream i2c register address
mazgch 2:b6012cd91657 284 };