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nmea_gps: add support for ubloc I2c reading of NMEA data

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These changes allow NMEA data to be read via I2C on UBLOX compliant
devices that support this capability, such as the LEA-6H based GPS
shield from DFRobot.

It adds a new init() function to the C code, and a new constructor to
the C++ code. It also adds 5 new examples for C, C++, Javascript,
Python, and Java.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
2016-08-26 16:34:13 -06:00
committed by Noel Eck
parent d456066277
commit 4a8ddc10ad
13 changed files with 526 additions and 11 deletions
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34
src/nmea_gps/nmea_gps.hpp
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@ -52,14 +52,23 @@ namespace upm {
* This driver was tested with a number of GPS devices that emit
* NMEA data via a serial interface of some sort (typically a UART).
*
* The I2C capablity was tested with a UBLOX LEA-6H based GPS shield
* from DFRobot. Currently, the I2C capability is only supported
* for UBLOX devices (or compatibles) that conform to the
* specifications outlined in the u-blox6 Receiver Description
* Protocol Specification, Chapter 4, DDC Port.
*
* An example using the UART.
* @snippet nmea_gps.cxx Interesting
* An example using I2C.
* @snippet nmea_gps_i2c.cxx Interesting
*/
class NMEAGPS {
public:
/**
* NMEAGPS object constructor
* NMEAGPS object constructor for a UART
*
* @param uart Specify which uart to use.
* @param baudrate Specify the baudrate to use. The device defaults
@ -68,7 +77,16 @@ namespace upm {
* -1 to not use an enable pin.
*/
NMEAGPS(unsigned int uart, unsigned int baudrate,
int enable_pin);
int enable_pin);
/**
* NMEAGPS object constructor for a UBLOX I2C interface
*
* @param bus Specify which the I2C bus to use.
* @param addr Specify the I2C address to use. For UBLOX devices,
* this typically defaults to 0x42.
*/
NMEAGPS(unsigned int bus, uint8_t addr);
/**
* NMEAGPS object destructor
@ -84,7 +102,8 @@ namespace upm {
std::string readStr(size_t size);
/**
* Write character data to the device.
* Write character data to the device. This is only valid for a
* UART device.
*
* @param buffer The string containing the data to write.
* @return The number of bytes written.
@ -102,14 +121,19 @@ namespace upm {
/**
* Set the baudrate of the device. By default, the constructor
* will set the baudrate to 9600.
* will set the baudrate to 9600. This is only valid for UART
* devices.
*
* @param baudrate The baud rate to set for the device.
*/
void setBaudrate(unsigned int baudrate);
/**
* Determine whether there is data available to be read.
* Determine whether there is data available to be read. In the
* case of a UART, this function will wait up to "millis"
* milliseconds for data to become available. In the case of an I2C
* device, the millis argument is ignored and the function will
* return immediately, indicating whether data is available.
*
* @param millis The number of milliseconds to wait for data to
* become available.