u-blox
This class provides an API to communicate with a u-blox GNSS chip. The files here were originally part of the C027_Support library (https://developer.mbed.org/teams/ublox/code/C027_Support/ at revision 138:dafbbf31bf76) but have been separated out, primarily for use on the u-blox C030 board where the cellular interace portion of the C027_Support library will instead be provided through the new mbed Cellular API.
Dependents: example-ublox-at-cellular-interface-ext example-low-power-sleep example-C030-out-of-box-demo example-C030-out-of-box-demo ... more
Revision 6:56eda66d585b, committed 2017-06-14
- Comitter:
- rob.meades@u-blox.com
- Date:
- Wed Jun 14 20:44:42 2017 +0100
- Parent:
- 5:af4baf3c67f3
- Child:
- 7:bfbe9d5d6f56
- Child:
- 8:720841961804
- Commit message:
- Test passing on C027 and C030 platforms.
Changed in this revision
--- a/TESTS/unit_tests/default/main.cpp Sun Jun 11 13:45:56 2017 +0000
+++ b/TESTS/unit_tests/default/main.cpp Wed Jun 14 20:44:42 2017 +0100
@@ -3,9 +3,6 @@
#include "unity.h"
#include "utest.h"
#include "gnss.h"
-extern "C" {
-#include "c030_api.h"
-}
using namespace utest::v1;
@@ -58,47 +55,55 @@
char buffer[64];
int responseLength = 0;
int returnCode;
+ bool gotAck = false;
+ Timer timer;
GnssSerial *pGnss = new GnssSerial();
- // Initialise the GNSS chip and wait for it to start up
+ // Initialise the GNSS chip
pGnss->init(NC);
- wait_ms(1000);
- // See ublox7-V14_ReceiverDescrProtSpec section 30.11.15 (CFG-NAV5)
- // Set automotive mode, which should be acknowledged
- memset (buffer, 0, sizeof (buffer));
- buffer[0] = 0x00;
- buffer[1] = 0x01; // Set dynamic config only
- buffer[2] = 0x04; // Automotive
- // Send length is 32 bytes of payload + 6 bytes header + 2 bytes CRC
- TEST_ASSERT_EQUAL_INT (40, pGnss->sendUbx(0x06, 0x24, buffer, 32));
- while (responseLength == 0) {
- // Wait for the required Ack
- returnCode = pGnss->getMessage(buffer, sizeof(buffer));
- if ((returnCode != GnssSerial::WAIT) && (returnCode != GnssSerial::NOT_FOUND)) {
- responseLength = LENGTH(returnCode);
- if ((PROTOCOL(returnCode) == GnssSerial::UBX)) {
- printHex(buffer, responseLength);
- // Ack is 0xb5-62-05-00-02-00-msgclass-msgid-crcA-crcB
- // Nack is 0xb5-62-05-01-02-00-msgclass-msgid-crcA-crcB
- TEST_ASSERT_EQUAL_UINT8(0xb5, buffer[0]);
- TEST_ASSERT_EQUAL_UINT8(0x62, buffer[1]);
- TEST_ASSERT_EQUAL_UINT8(0x05, buffer[2]);
- TEST_ASSERT_EQUAL_UINT8(0x00, buffer[3]);
- TEST_ASSERT_EQUAL_UINT8(0x02, buffer[4]);
- TEST_ASSERT_EQUAL_UINT8(0x00, buffer[5]);
- TEST_ASSERT_EQUAL_UINT8(0x06, buffer[6]);
- TEST_ASSERT_EQUAL_UINT8(0x24, buffer[7]);
- } else if ((PROTOCOL(returnCode) == GnssSerial::NMEA)) {
- printf ("%.*s", responseLength, buffer);
- responseLength = 0;
- } else {
- printHex(buffer, responseLength);
- responseLength = 0;
+ // Try this a few times as we might get no response
+ // if the GNSS chip is busy
+ for (int x = 0; (x < 3) && !gotAck; x++) {
+ // See ublox7-V14_ReceiverDescrProtSpec section 30.11.15 (CFG-NAV5)
+ // Set automotive mode, which should be acknowledged
+ memset (buffer, 0, sizeof (buffer));
+ buffer[0] = 0x00;
+ buffer[1] = 0x01; // Mask: set dynamic config only
+ buffer[2] = 0x04; // Dynamic platform model: automotive
+ // Send length is 32 bytes of payload + 6 bytes header + 2 bytes CRC
+ TEST_ASSERT_EQUAL_INT (40, pGnss->sendUbx(0x06, 0x24, buffer, 32));
+ printf ("CFG_NAV5 command sent, try %d.\n", x);
+ timer.start();
+ while ((!gotAck) && (timer.read_ms() < 1000)) {
+ // Wait for the required Ack
+ returnCode = pGnss->getMessage(buffer, sizeof(buffer));
+ if ((returnCode != GnssSerial::WAIT) && (returnCode != GnssSerial::NOT_FOUND)) {
+ responseLength = LENGTH(returnCode);
+ if ((PROTOCOL(returnCode) == GnssSerial::UBX)) {
+ printHex(buffer, responseLength);
+ // Ack is 0xb5-62-05-00-02-00-msgclass-msgid-crcA-crcB
+ // Nack is 0xb5-62-05-01-02-00-msgclass-msgid-crcA-crcB
+ TEST_ASSERT_EQUAL_UINT8(0xb5, buffer[0]);
+ TEST_ASSERT_EQUAL_UINT8(0x62, buffer[1]);
+ TEST_ASSERT_EQUAL_UINT8(0x05, buffer[2]);
+ TEST_ASSERT_EQUAL_UINT8(0x00, buffer[3]);
+ TEST_ASSERT_EQUAL_UINT8(0x02, buffer[4]);
+ TEST_ASSERT_EQUAL_UINT8(0x00, buffer[5]);
+ TEST_ASSERT_EQUAL_UINT8(0x06, buffer[6]);
+ TEST_ASSERT_EQUAL_UINT8(0x24, buffer[7]);
+ gotAck = true;
+ } else if ((PROTOCOL(returnCode) == GnssSerial::NMEA)) {
+ printf ("%.*s", responseLength, buffer);
+ } else {
+ printHex(buffer, responseLength);
+ }
}
+ wait_ms (100);
}
- wait_ms (100);
+ timer.stop();
+ timer.reset();
}
}
@@ -216,8 +221,6 @@
int main() {
- c030_init(); // HACK
-
return !Harness::run(specification);
}
--- a/gnss.cpp Sun Jun 11 13:45:56 2017 +0000
+++ b/gnss.cpp Wed Jun 14 20:44:42 2017 +0100
@@ -45,7 +45,7 @@
void GnssParser::powerOff(void)
{
- // set the GNSS into backup mode using the command RMX-LPREQ
+ // Set the GNSS into backup mode using the command RMX-LPREQ
struct { unsigned long dur; unsigned long flags; } msg = {0/*endless*/,0/*backup*/};
sendUbx(0x02, 0x41, &msg, sizeof(msg));
}
@@ -103,7 +103,7 @@
char ch;
if (++o > len) return WAIT;
if ('$' != pipe->next()) return NOT_FOUND;
- // this needs to be extended by crc checking
+ // This needs to be extended by crc checking
for (;;)
{
if (++o > len) return WAIT;
@@ -203,13 +203,13 @@
const char* GnssParser::findNmeaItemPos(int ix, const char* start, const char* end)
{
- // find the start
+ // Find the start
for (; (start < end) && (ix > 0); start ++)
{
if (*start == ',')
ix --;
}
- // found and check bounds
+ // Found and check bounds
if ((ix == 0) && (start < end) &&
(*start != ',') && (*start != '*') && (*start != '\r') && (*start != '\n'))
return start;
@@ -221,11 +221,11 @@
{
char* end = &buf[len];
const char* pos = findNmeaItemPos(ix, buf, end);
- // find the start
+ // Find the start
if (!pos)
return false;
val = strtod(pos, &end);
- // restore the last character
+ // Restore the last character
return (end > pos);
}
@@ -233,7 +233,7 @@
{
char* end = &buf[len];
const char* pos = findNmeaItemPos(ix, buf, end);
- // find the start
+ // Find the start
if (!pos)
return false;
val = (int)strtol(pos, &end, base);
@@ -244,13 +244,13 @@
{
const char* end = &buf[len];
const char* pos = findNmeaItemPos(ix, buf, end);
- // find the start
+ // Find the start
if (!pos)
return false;
- // skip leading spaces
+ // Skip leading spaces
while ((pos < end) && isspace(*pos))
pos++;
- // check bound
+ // Check bound
if ((pos < end) &&
(*pos != ',') && (*pos != '*') && (*pos != '\r') && (*pos != '\n'))
{
@@ -296,20 +296,25 @@
bool GnssSerial::init(PinName pn)
{
+ Timer timer;
+ int size;
+
// Unused (kept only for compatibility with the I2C version)
(void)pn;
// Power up and enable the module
_powerOn();
- // send a byte to wakup the device again
+ // Send a byte to wakup the device again
putc(0xFF);
- // wait until we get some bytes
- int size = _pipeRx.size();
- Timer timer;
+ // Wait until we get some bytes
+ size = _pipeRx.size();
timer.start();
- while ((100 > timer.read_ms()) && (size == _pipeRx.size()))
- /* nothing / just wait */;
+ while ((timer.read_ms() < 1000) && (size == _pipeRx.size())) {
+ /* Nothing, just wait */
+ }
+ timer.stop();
+
return (size != _pipeRx.size());
}
@@ -357,13 +362,13 @@
int GnssI2C::getMessage(char* buf, int len)
{
- // fill the pipe
+ // Fill the pipe
int sz = _pipe.free();
if (sz)
sz = _get(buf, sz);
if (sz)
_pipe.put(buf, sz);
- // now parse it
+ // Now parse it
return _getMessage(&_pipe, buf, len);
}
--- a/gnss.h Sun Jun 11 13:45:56 2017 +0000 +++ b/gnss.h Wed Jun 14 20:44:42 2017 +0100 @@ -33,10 +33,10 @@ #endif #ifdef TARGET_UBLOX_C027 -#define GNSSEN GPSEN -#define GNSSTXD GPSTXD -#define GNSSRXD GPSRXD -#define GNSSBAUD GPSBAUD +# define GNSSEN GPSEN +# define GNSSTXD GPSTXD +# define GNSSRXD GPSRXD +# define GNSSBAUD GPSBAUD #endif /** Basic GNSS parser class.