Xinlei Cao / C027_Support

Own fork of C027_Support

Dependents:   MbedSmartRestMain MbedSmartRestMain

Fork of C027_Support by u-blox

GPS.h@74:208e3e32d263, 2014-05-15 (annotated)

Committer:
mazgch
Date:
Thu May 15 22:20:42 2014 +0000
Revision:
74:208e3e32d263
Parent:
51:e7b81c31baec
Child:
75:ce6e12067d0c
initial version of restructured u-blox library

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 74:208e3e32d263 8 #define _IF(onboard, shield) onboard
mazgch 19:2b5d097ca15d 9 #else
mazgch 74:208e3e32d263 10 #define _IF(onboard, shield) shield
mazgch 19:2b5d097ca15d 11 #endif
mazgch 9:e7a5959ffae1 12
mazgch 38:e6cab4632d84 13 /** basic gps parser class
mazgch 38:e6cab4632d84 14 */
mazgch 2:b6012cd91657 15 class GPSParser
mazgch 2:b6012cd91657 16 {
mazgch 2:b6012cd91657 17 public:
mazgch 74:208e3e32d263 18
mazgch 74:208e3e32d263 19 //! Constructor
mazgch 74:208e3e32d263 20 ~GPSParser(void);
mazgch 74:208e3e32d263 21
mazgch 74:208e3e32d263 22 /** Power on / Wake up the gps
mazgch 74:208e3e32d263 23 */
mazgch 74:208e3e32d263 24 virtual bool init(void) = 0;
mazgch 74:208e3e32d263 25
mazgch 51:e7b81c31baec 26 enum {
mazgch 51:e7b81c31baec 27 // getLine Responses
mazgch 51:e7b81c31baec 28 WAIT = -1, //!< wait for more incoming data (the start of a message was found, or no data available)
mazgch 51:e7b81c31baec 29 NOT_FOUND = 0, //!< a parser concluded the the current offset of the pipe doe not contain a valid message
mazgch 39:9b4b9433e220 30
mazgch 51:e7b81c31baec 31 #define LENGTH(x) (x & 0x00FFFF) //!< extract/mask the length
mazgch 51:e7b81c31baec 32 #define PROTOCOL(x) (x & 0xFF0000) //!< extract/mask the type
mazgch 39:9b4b9433e220 33
mazgch 51:e7b81c31baec 34 UNKNOWN = 0x000000, //!< message type is unknown
mazgch 51:e7b81c31baec 35 UBX = 0x100000, //!< message if of protocol NMEA
mazgch 51:e7b81c31baec 36 NMEA = 0x200000 //!< message if of protocol UBX
mazgch 51:e7b81c31baec 37 };
mazgch 51:e7b81c31baec 38
mazgch 39:9b4b9433e220 39 /** Get a line from the physical interface. This fucntion
mazgch 39:9b4b9433e220 40 needs to be implemented in the inherited class.
mazgch 39:9b4b9433e220 41 \param buf the buffer to store it
mazgch 39:9b4b9433e220 42 \param len size of the buffer
mazgch 39:9b4b9433e220 43 \return type and length if something was found,
mazgch 39:9b4b9433e220 44 WAIT if not enough data is available
mazgch 39:9b4b9433e220 45 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 46 */
mazgch 39:9b4b9433e220 47 virtual int getMessage(char* buf, int len) = 0;
mazgch 2:b6012cd91657 48
mazgch 39:9b4b9433e220 49 /** send a buffer
mazgch 39:9b4b9433e220 50 \param buf the buffer to write
mazgch 39:9b4b9433e220 51 \param len size of the buffer to write
mazgch 39:9b4b9433e220 52 \return bytes written
mazgch 39:9b4b9433e220 53 */
mazgch 4:c959dd4c5fe8 54 virtual int send(const char* buf, int len);
mazgch 39:9b4b9433e220 55
mazgch 39:9b4b9433e220 56 /** send a NMEA message, this function just takes the
mazgch 39:9b4b9433e220 57 payload and calculates and adds checksum. ($ and *XX\r\n will be added)
mazgch 39:9b4b9433e220 58 \param buf the message payload to write
mazgch 39:9b4b9433e220 59 \param len size of the message payload to write
mazgch 39:9b4b9433e220 60 \return total bytes written
mazgch 39:9b4b9433e220 61 */
mazgch 4:c959dd4c5fe8 62 virtual int sendNmea(const char* buf, int len);
mazgch 39:9b4b9433e220 63
mazgch 39:9b4b9433e220 64 /** send a UBX message, this function just takes the
mazgch 39:9b4b9433e220 65 payload and calculates and adds checksum.
mazgch 39:9b4b9433e220 66 \param cls the UBX class id
mazgch 39:9b4b9433e220 67 \param id the UBX message id
mazgch 39:9b4b9433e220 68 \param buf the message payload to write
mazgch 39:9b4b9433e220 69 \param len size of the message payload to write
mazgch 39:9b4b9433e220 70 \return total bytes written
mazgch 39:9b4b9433e220 71 */
mazgch 40:295099ff5338 72 virtual int sendUbx(unsigned char cls, unsigned char id,
mazgch 40:295099ff5338 73 const void* buf = NULL, int len = 0);
mazgch 74:208e3e32d263 74
mazgch 39:9b4b9433e220 75 /** Power off the gps, it can be again woken up by an
mazgch 39:9b4b9433e220 76 edge on the serial port on the external interrupt pin.
mazgch 39:9b4b9433e220 77 */
mazgch 31:a0bed6c1e05d 78 void powerOff(void);
mazgch 2:b6012cd91657 79
mazgch 39:9b4b9433e220 80 /** get the first character of a NMEA field
mazgch 39:9b4b9433e220 81 \param ix the index of the field to find
mazgch 39:9b4b9433e220 82 \param start the start of the buffer
mazgch 39:9b4b9433e220 83 \param end the end of the buffer
mazgch 39:9b4b9433e220 84 \return the pointer to the first character of the field.
mazgch 39:9b4b9433e220 85 */
mazgch 2:b6012cd91657 86 static const char* findNmeaItemPos(int ix, const char* start, const char* end);
mazgch 39:9b4b9433e220 87
mazgch 39:9b4b9433e220 88 /** extract a double value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 89 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 90 \param buf the NMEA message
mazgch 39:9b4b9433e220 91 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 92 \param val the extracted value
mazgch 39:9b4b9433e220 93 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 94 */
mazgch 2:b6012cd91657 95 static bool getNmeaItem(int ix, char* buf, int len, double& val);
mazgch 39:9b4b9433e220 96
mazgch 39:9b4b9433e220 97 /** extract a interger value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 98 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 99 \param buf the NMEA message
mazgch 39:9b4b9433e220 100 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 101 \param val the extracted value
mazgch 39:9b4b9433e220 102 \param base the numeric base to be used (e.g. 8, 10 or 16)
mazgch 39:9b4b9433e220 103 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 104 */
mazgch 2:b6012cd91657 105 static bool getNmeaItem(int ix, char* buf, int len, int& val, int base/*=10*/);
mazgch 39:9b4b9433e220 106
mazgch 39:9b4b9433e220 107 /** extract a char value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 108 \param ix the index of the field to extract
mazgch 39:9b4b9433e220 109 \param buf the NMEA message
mazgch 39:9b4b9433e220 110 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 111 \param val the extracted value
mazgch 39:9b4b9433e220 112 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 113 */
mazgch 2:b6012cd91657 114 static bool getNmeaItem(int ix, char* buf, int len, char& val);
mazgch 39:9b4b9433e220 115
mazgch 39:9b4b9433e220 116 /** extract a latitude/longitude value from a buffer containing a NMEA message
mazgch 39:9b4b9433e220 117 \param ix the index of the field to extract (will extract ix and ix + 1)
mazgch 39:9b4b9433e220 118 \param buf the NMEA message
mazgch 39:9b4b9433e220 119 \param len the size of the NMEA message
mazgch 39:9b4b9433e220 120 \param val the extracted latitude or longitude
mazgch 39:9b4b9433e220 121 \return true if successful, false otherwise
mazgch 39:9b4b9433e220 122 */
mazgch 20:535ef78655df 123 static bool getNmeaAngle(int ix, char* buf, int len, double& val);
mazgch 39:9b4b9433e220 124
mazgch 2:b6012cd91657 125 protected:
mazgch 39:9b4b9433e220 126 /** Get a line from the physical interface.
mazgch 39:9b4b9433e220 127 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 128 \param buf the buffer to store it
mazgch 39:9b4b9433e220 129 \param len size of the buffer
mazgch 39:9b4b9433e220 130 \return type and length if something was found,
mazgch 39:9b4b9433e220 131 WAIT if not enough data is available
mazgch 39:9b4b9433e220 132 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 133 */
mazgch 2:b6012cd91657 134 static int _getMessage(Pipe<char>* pipe, char* buf, int len);
mazgch 39:9b4b9433e220 135
mazgch 39:9b4b9433e220 136 /** Check if the current offset of the pipe contains a NMEA message.
mazgch 39:9b4b9433e220 137 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 138 \param len numer of bytes to parse at maximum
mazgch 39:9b4b9433e220 139 \return length if something was found (including the NMEA frame)
mazgch 39:9b4b9433e220 140 WAIT if not enough data is available
mazgch 39:9b4b9433e220 141 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 142 */
mazgch 2:b6012cd91657 143 static int _parseNmea(Pipe<char>* pipe, int len);
mazgch 39:9b4b9433e220 144
mazgch 39:9b4b9433e220 145 /** Check if the current offset of the pipe contains a UBX message.
mazgch 39:9b4b9433e220 146 \param pipe the receiveing pipe to parse messages
mazgch 39:9b4b9433e220 147 \param len numer of bytes to parse at maximum
mazgch 39:9b4b9433e220 148 \return length if something was found (including the UBX frame)
mazgch 39:9b4b9433e220 149 WAIT if not enough data is available
mazgch 39:9b4b9433e220 150 NOT_FOUND if nothing was found
mazgch 39:9b4b9433e220 151 */
mazgch 2:b6012cd91657 152 static int _parseUbx(Pipe<char>* pipe, int len);
mazgch 39:9b4b9433e220 153
mazgch 39:9b4b9433e220 154 /** Write bytes to the physical interface. This function
mazgch 39:9b4b9433e220 155 needs to be implemented by the inherited class.
mazgch 39:9b4b9433e220 156 \param buf the buffer to write
mazgch 39:9b4b9433e220 157 \param len size of the buffer to write
mazgch 39:9b4b9433e220 158 \return bytes written
mazgch 39:9b4b9433e220 159 */
mazgch 4:c959dd4c5fe8 160 virtual int _send(const void* buf, int len) = 0;
mazgch 39:9b4b9433e220 161
mazgch 39:9b4b9433e220 162 static const char toHex[16]; //!< num to hex conversion
mazgch 74:208e3e32d263 163 #ifdef TARGET_UBLOX_C027
mazgch 74:208e3e32d263 164 bool _onboard;
mazgch 74:208e3e32d263 165 #endif
mazgch 2:b6012cd91657 166 };
mazgch 2:b6012cd91657 167
mazgch 38:e6cab4632d84 168 /** gps class which uses a serial port
mazgch 38:e6cab4632d84 169 as physical interface.
mazgch 38:e6cab4632d84 170 */
mazgch 9:e7a5959ffae1 171 class GPSSerial : public SerialPipe, public GPSParser
mazgch 1:f41579f4e2ed 172 {
mazgch 1:f41579f4e2ed 173 public:
mazgch 38:e6cab4632d84 174 /** Constructor
mazgch 38:e6cab4632d84 175 \param tx is the serial ports transmit pin (gps to CPU)
mazgch 38:e6cab4632d84 176 \param rx is the serial ports receive pin (CPU to gps)
mazgch 38:e6cab4632d84 177 \param baudrate the baudrate of the gps use 9600
mazgch 38:e6cab4632d84 178 \param rxSize the size of the serial rx buffer
mazgch 38:e6cab4632d84 179 \param txSize the size of the serial tx buffer
mazgch 38:e6cab4632d84 180 */
mazgch 74:208e3e32d263 181 GPSSerial(PinName tx _IF( = GPSTXD, /* = D8 */), // resistor on shield not populated
mazgch 74:208e3e32d263 182 PinName rx _IF( = GPSRXD, /* = D9 */), // resistor on shield not populated
mazgch 74:208e3e32d263 183 int baudrate _IF( = GPSBAUD, = 9600 ),
mazgch 19:2b5d097ca15d 184 int rxSize = 256 ,
mazgch 19:2b5d097ca15d 185 int txSize = 128 );
mazgch 39:9b4b9433e220 186
mazgch 74:208e3e32d263 187 virtual bool init(void);
mazgch 74:208e3e32d263 188
mazgch 38:e6cab4632d84 189 /** Get a line from the physical interface.
mazgch 38:e6cab4632d84 190 \param buf the buffer to store it
mazgch 38:e6cab4632d84 191 \param len size of the buffer
mazgch 38:e6cab4632d84 192 \return type and length if something was found,
mazgch 38:e6cab4632d84 193 WAIT if not enough data is available
mazgch 38:e6cab4632d84 194 NOT_FOUND if nothing was found
mazgch 38:e6cab4632d84 195 */
mazgch 2:b6012cd91657 196 virtual int getMessage(char* buf, int len);
mazgch 39:9b4b9433e220 197
mazgch 2:b6012cd91657 198 protected:
mazgch 38:e6cab4632d84 199 /** Write bytes to the physical interface.
mazgch 38:e6cab4632d84 200 \param buf the buffer to write
mazgch 38:e6cab4632d84 201 \param len size of the buffer to write
mazgch 38:e6cab4632d84 202 \return bytes written
mazgch 38:e6cab4632d84 203 */
mazgch 4:c959dd4c5fe8 204 virtual int _send(const void* buf, int len);
mazgch 1:f41579f4e2ed 205 };
mazgch 2:b6012cd91657 206
mazgch 38:e6cab4632d84 207 /** gps class which uses a i2c as physical interface.
mazgch 38:e6cab4632d84 208 */
mazgch 2:b6012cd91657 209 class GPSI2C : public I2C, public GPSParser
mazgch 2:b6012cd91657 210 {
mazgch 2:b6012cd91657 211 public:
mazgch 38:e6cab4632d84 212 /** Constructor
mazgch 38:e6cab4632d84 213 \param sda is the I2C SDA pin (between CPU and GPS)
mazgch 38:e6cab4632d84 214 \param scl is the I2C SCL pin (CPU to GPS)
mazgch 38:e6cab4632d84 215 \param adr the I2C address of the GPS set to (66<<1)
mazgch 38:e6cab4632d84 216 \param rxSize the size of the serial rx buffer
mazgch 38:e6cab4632d84 217 */
mazgch 74:208e3e32d263 218 GPSI2C(PinName sda _IF( = GPSSDA, = D14 ),
mazgch 74:208e3e32d263 219 PinName scl _IF( = GPSSCL, = D15 ),
mazgch 74:208e3e32d263 220 unsigned char i2cAdr _IF( = GPSADR, = (66<<1) ),
mazgch 19:2b5d097ca15d 221 int rxSize = 256 );
mazgch 74:208e3e32d263 222
mazgch 38:e6cab4632d84 223 /** helper function to probe the i2c device
mazgch 38:e6cab4632d84 224 \return true if successfully detected the gps.
mazgch 38:e6cab4632d84 225 */
mazgch 74:208e3e32d263 226 virtual bool init(void);
mazgch 2:b6012cd91657 227
mazgch 38:e6cab4632d84 228 /** Get a line from the physical interface.
mazgch 38:e6cab4632d84 229 \param buf the buffer to store it
mazgch 38:e6cab4632d84 230 \param len size of the buffer
mazgch 38:e6cab4632d84 231 \return type and length if something was found,
mazgch 38:e6cab4632d84 232 WAIT if not enough data is available
mazgch 38:e6cab4632d84 233 NOT_FOUND if nothing was found
mazgch 38:e6cab4632d84 234 */
mazgch 2:b6012cd91657 235 virtual int getMessage(char* buf, int len);
mazgch 38:e6cab4632d84 236
mazgch 38:e6cab4632d84 237 /** send a buffer
mazgch 38:e6cab4632d84 238 \param buf the buffer to write
mazgch 38:e6cab4632d84 239 \param len size of the buffer to write
mazgch 38:e6cab4632d84 240 \return bytes written
mazgch 38:e6cab4632d84 241 */
mazgch 4:c959dd4c5fe8 242 virtual int send(const char* buf, int len);
mazgch 38:e6cab4632d84 243
mazgch 38:e6cab4632d84 244 /** send a NMEA message, this function just takes the
mazgch 38:e6cab4632d84 245 payload and calculates and adds checksum. ($ and *XX\r\n will be added)
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 3:c7cd4887560d 250 virtual int sendNmea(const char* buf, int len);
mazgch 38:e6cab4632d84 251
mazgch 38:e6cab4632d84 252 /** send a UBX message, this function just takes the
mazgch 38:e6cab4632d84 253 payload and calculates and adds checksum.
mazgch 38:e6cab4632d84 254 \param cls the UBX class id
mazgch 38:e6cab4632d84 255 \param id the UBX message id
mazgch 38:e6cab4632d84 256 \param buf the message payload to write
mazgch 38:e6cab4632d84 257 \param len size of the message payload to write
mazgch 38:e6cab4632d84 258 \return total bytes written
mazgch 38:e6cab4632d84 259 */
mazgch 39:9b4b9433e220 260 virtual int sendUbx(unsigned char cls, unsigned char id,
mazgch 39:9b4b9433e220 261 const void* buf = NULL, int len = 0);
mazgch 39:9b4b9433e220 262
mazgch 2:b6012cd91657 263 protected:
mazgch 38:e6cab4632d84 264 /** check if the port is writeable (like SerialPipe)
mazgch 38:e6cab4632d84 265 \return true if writeable
mazgch 38:e6cab4632d84 266 */
mazgch 9:e7a5959ffae1 267 bool writeable(void) { return true; }
mazgch 39:9b4b9433e220 268
mazgch 38:e6cab4632d84 269 /** Write a character (like SerialPipe)
mazgch 38:e6cab4632d84 270 \param c the character to write
mazgch 38:e6cab4632d84 271 \return true if succesffully written
mazgch 38:e6cab4632d84 272 */
mazgch 9:e7a5959ffae1 273 bool putc(int c) { char ch = c; return send(&ch, 1); }
mazgch 39:9b4b9433e220 274
mazgch 38:e6cab4632d84 275 /** Write bytes to the physical interface.
mazgch 38:e6cab4632d84 276 \param buf the buffer to write
mazgch 38:e6cab4632d84 277 \param len size of the buffer to write
mazgch 38:e6cab4632d84 278 \return bytes written
mazgch 38:e6cab4632d84 279 */
mazgch 4:c959dd4c5fe8 280 virtual int _send(const void* buf, int len);
mazgch 39:9b4b9433e220 281
mazgch 38:e6cab4632d84 282 /** read bytes from the physical interface.
mazgch 38:e6cab4632d84 283 \param buf the buffer to read into
mazgch 38:e6cab4632d84 284 \param len size of the read buffer
mazgch 38:e6cab4632d84 285 \return bytes read
mazgch 38:e6cab4632d84 286 */
mazgch 38:e6cab4632d84 287 int _get(char* buf, int len);
mazgch 3:c7cd4887560d 288
mazgch 38:e6cab4632d84 289 Pipe<char> _pipe; //!< the rx pipe
mazgch 38:e6cab4632d84 290 unsigned char _i2cAdr; //!< the i2c address
mazgch 38:e6cab4632d84 291 static const char REGLEN; //!< the length i2c register address
mazgch 38:e6cab4632d84 292 static const char REGSTREAM;//!< the stream i2c register address
mazgch 2:b6012cd91657 293 };