1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
|
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string>
#include <iostream>
#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <sys/time.h>
#include <sys/select.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <mraa/uart.h>
const int UBLOX6_DEFAULT_UART = 0;
namespace upm {
/**
* @brief UBLOX6 & SIM28 GPS Module library
* @defgroup ublox6 libupm-ublox6
* @ingroup seeed uart gps tsk
*/
/**
* @library ublox6
* @sensor ublox6
* @comname Grove GPS
* @altname U-BLOX 6 SIM28
* @type gps
* @man seeed
* @web http://www.seeedstudio.com/depot/Grove-GPS-p-959.html
* @con uart
* @kit tsk
*
* @brief API for the U-BLOX 6 and SIM28 GPS Modules
*
* UPM support for the U-BLOX 6 GPS module. It is also compatible with
* the SIM28 GPS module.
*
* @image html ublox6.jpg
* @snippet ublox6.cxx Interesting
*/
class Ublox6 {
public:
/**
* Ublox6 object constructor
*
* @param uart Default UART to use (0 or 1)
*/
Ublox6(int uart);
/**
* Ublox6 object destructor
*/
~Ublox6();
/**
* Checks to see if there is data available for reading
*
* @return True if there is data available for reading
*/
bool dataAvailable();
/**
* Reads any available data in a user-supplied buffer. Note: the
* call blocks until data is available to be read. Use
* dataAvailable() to determine whether there is data available
* beforehand, to avoid blocking.
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return the Number of bytes read
*/
int readData(char *buffer, int len);
/**
* Writes the data in the buffer to the device
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return Number of bytes written
*/
int writeData(char *buffer, int len);
/**
* Sets up proper tty I/O modes and the baud rate. The default
* baud rate is 9,600 (B9600).
*
* @param baud Desired baud rate
* @return True if successful
*/
bool setupTty(speed_t baud=B9600);
protected:
int ttyFd() { return m_ttyFd; };
private:
mraa_uart_context m_uart;
int m_ttyFd;
};
}
|
