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ublox6: Initial implementation

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jrvandr: removed unnecessary mraa_init() and mraa_deinit()

The module implements support for the ublox-6 GPS sensor.  It was
tested on a Grove GPS device.

This module simply allows data to be retrieved from the device in the
form of NMEA sentences, and provides a method to write commands to the
device for configuration purposes.

It does not attempt to parse NMEA data -- that is a project in itself.
There are libraries available on the Internet, such as tinyGPS++ that
can handle that for you.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>
This commit is contained in:
Jon Trulson 2014-12-30 15:48:41 -07:00 committed by John Van Drasek
parent 0c63500b36
commit f53fab80fd
8 changed files with 493 additions and 0 deletions
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3
examples/CMakeLists.txt
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@ -66,6 +66,7 @@ add_executable (grovewater-example grovewater.cxx)
add_executable (guvas12d-example guvas12d.cxx)
add_executable (groveloudness-example groveloudness.cxx)
add_executable (mpr121-example mpr121.cxx)
add_executable (ublox6-example ublox6.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@ -119,6 +120,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/grovewater)
include_directories (${PROJECT_SOURCE_DIR}/src/guvas12d)
include_directories (${PROJECT_SOURCE_DIR}/src/groveloudness)
include_directories (${PROJECT_SOURCE_DIR}/src/mpr121)
include_directories (${PROJECT_SOURCE_DIR}/src/ublox6)
target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@ -188,3 +190,4 @@ target_link_libraries (grovewater-example grovewater ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (guvas12d-example guvas12d ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveloudness-example groveloudness ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (mpr121-example mpr121 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (ublox6-example ublox6 ${CMAKE_THREAD_LIBS_INIT})

99
examples/javascript/ublox6.js Normal file
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@ -0,0 +1,99 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*global */
/*
* Author: Zion Orent <zorent@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.
*/
var GPSSensor = require('jsupm_ublox6');
// Instantiate a Ublox6 GPS device on uart 0 (/dev/ttyS0). This
// works for the galileo G2.
// The Edison uses a different serial port, /dev/ttyMFD1, so if you
// are using this example on an Edison board, specify the proper
// port on the command line, eg: 'node ublox6.js /dev/ttyMFD1'
// process.argv.length contains all command-line strings
// argument 0 is "node"
// argument 1 is "ublox6.js"
// argument 2, if it exists, will be the override port,
// such as /dev/ttyMFD1 on Edison
var defaultPort = "/dev/ttyS0";
if (process.argv.length > 2)
defaultPort = process.argv[2];
var myGPSSensor = new GPSSensor.Ublox6(0, defaultPort);
if (!myGPSSensor.setupTty(GPSSensor.int_B9600))
{
console.log("Failed to setup tty port parameters");
process.exit(0);
}
// Collect and output NMEA data.
// This device also supports numerous configuration options, which
// you can set with writeData(). Please refer to the Ublox-6 data
// sheet for further information on the formats of the data sent and
// received, and the various operating modes available.
var bufferLength = 256;
var nmeaBuffer = new GPSSensor.charArray(bufferLength);
function getGPSInfo()
{
// we don't want the read to block in this example, so always
// check to see if data is available first.
if (myGPSSensor.dataAvailable())
{
var rv = myGPSSensor.readData(nmeaBuffer, bufferLength);
var GPSData, dataCharCode, isNewLine, lastNewLine;
var numlines= 0;
if (rv > 0)
{
GPSData = "";
// read only the number of characters
// specified by myGPSSensor.readData
for (var x = 0; x < rv; x++)
GPSData += nmeaBuffer.getitem(x);
process.stdout.write(GPSData)
}
if (rv < 0) // some sort of read error occured
{
console.log("Port read error.");
process.exit(0);
}
}
}
setInterval(getGPSInfo, 100);
// Print message when exiting
process.on('SIGINT', function()
{
console.log("Exiting...");
process.exit(0);
});

107
examples/ublox6.cxx Normal file
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@ -0,0 +1,107 @@
/*
* 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.
*/
#include <unistd.h>
#include <iostream>
#include <signal.h>
#include "ublox6.h"
using namespace std;
bool shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
const size_t bufferLength = 256;
int main (int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a Ublox6 GPS device on uart 0 (/dev/ttyS0). This
// works for the galileo G2.
// The Edison uses a different serial port, /dev/ttyMFD1, so if you
// are using this example on an Edison board, specify the proper
// port on the command line, eg: './ublox6-example /dev/ttyMFD1'
const char *defaultPort = "/dev/ttyS0";
if (argc > 1)
defaultPort = argv[1];
upm::Ublox6* nmea = new upm::Ublox6(0, defaultPort);
// make sure port is initialized properly. 9600 baud is the default.
if (!nmea->setupTty(B9600))
{
cerr << "Failed to setup tty port parameters" << endl;
return 1;
}
// Collect and output NMEA data. There are various libraries out on
// the Internet, such as tinyGPS or tinyGPS++ that can handle
// decoding NMEA data and presenting it in a more easily accessable
// format. This example will just check for, and read raw NMEA data
// from the device and output it on stdout.
// This device also supports numerous configuration options, which
// you can set with writeData(). Please refer to the Ublox-6 data
// sheet for further information on the formats of the data sent and
// received, and the various operating modes available.
char nmeaBuffer[bufferLength];
while (shouldRun)
{
// we don't want the read to block in this example, so always
// check to see if data is available first.
if (nmea->dataAvailable())
{
int rv = nmea->readData(nmeaBuffer, bufferLength);
if (rv > 0)
write(1, nmeaBuffer, rv);
if (rv < 0) // some sort of read error occured
{
cerr << "Port read error." << endl;
break;
}
continue;
}
usleep(100000); // 100ms
}
//! [Interesting]
cout << "Exiting..." << endl;
delete nmea;
return 0;
}

5
src/ublox6/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
set (libname "ublox6")
set (libdescription "upm u-blox 6 GPS UART support module")
set (module_src ${libname}.cxx)
set (module_h ${libname}.h)
upm_module_init()

13
src/ublox6/jsupm_ublox6.i Normal file
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@ -0,0 +1,13 @@
%module jsupm_ublox6
%include "../upm.i"
%include "stdint.i"
%include "carrays.i"
%{
#include "ublox6.h"
speed_t int_B9600 = B9600;
%}
%include "ublox6.h"
speed_t int_B9600 = B9600;
%array_class(char, charArray);

9
src/ublox6/pyupm_ublox6.i Normal file
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@ -0,0 +1,9 @@
%module pyupm_ublox6
%include "../upm.i"
%feature("autodoc", "3");
%include "ublox6.h"
%{
#include "ublox6.h"
%}

140
src/ublox6/ublox6.cxx Normal file
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@ -0,0 +1,140 @@
/*
* 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.
*/
#include <iostream>
#include "ublox6.h"
using namespace upm;
using namespace std;
Ublox6::Ublox6(int uart, const char *tty) :
m_ttyFd(-1)
{
mraa_init();
if ( !(m_uart = mraa_uart_init(uart)) )
{
cerr << __FUNCTION__ << ": mraa_uart_init() failed" << endl;
return;
}
// now open the tty
if ( (m_ttyFd = open(tty, O_RDWR)) == -1)
{
cerr << __FUNCTION__ << ": open of " << tty << " failed: "
<< strerror(errno) << endl;
return;
}
}
Ublox6::~Ublox6()
{
if (m_ttyFd != -1)
close(m_ttyFd);
}
bool Ublox6::dataAvailable()
{
if (m_ttyFd == -1)
return false;
struct timeval timeout;
// no waiting
timeout.tv_sec = 0;
timeout.tv_usec = 0;
int nfds;
fd_set readfds;
FD_ZERO(&readfds);
FD_SET(m_ttyFd, &readfds);
if (select(m_ttyFd + 1, &readfds, NULL, NULL, &timeout) > 0)
return true; // data is ready
else
return false;
}
int Ublox6::readData(char *buffer, size_t len)
{
if (m_ttyFd == -1)
return(-1);
int rv = read(m_ttyFd, buffer, len);
if (rv < 0)
cerr << __FUNCTION__ << ": read failed: " << strerror(errno) << endl;
return rv;
}
int Ublox6::writeData(char * buffer, size_t len)
{
if (m_ttyFd == -1)
return(-1);
int rv = write(m_ttyFd, buffer, len);
if (rv < 0)
{
cerr << __FUNCTION__ << ": write failed: " << strerror(errno) << endl;
return rv;
}
tcdrain(m_ttyFd);
return rv;
}
bool Ublox6::setupTty(speed_t baud)
{
if (m_ttyFd == -1)
return(false);
struct termios termio;
// get current modes
tcgetattr(m_ttyFd, &termio);
// setup for a 'raw' mode. 81N, no echo or special character
// handling, such as flow control.
cfmakeraw(&termio);
// set our baud rates
cfsetispeed(&termio, baud);
cfsetospeed(&termio, baud);
// make it so
int rv;
if ( (rv = tcsetattr(m_ttyFd, TCSAFLUSH, &termio)) < 0)
{
cerr << __FUNCTION__ << ": tcsetattr failed: " << strerror(errno) << endl;
return false;
}
return true;
}

117
src/ublox6/ublox6.h Normal file
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@ -0,0 +1,117 @@
/*
* 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 C++ API for the U-BLOX 6 GPS module
*
* UPM support for the U-BLOX 6 GPS Module
*
* @ingroup grove uart
* @snippet ublox6.cxx Interesting
*/
class Ublox6 {
public:
/**
* U-BLOX 6 GPS module constructor
*
* @param uart defualt uart to use (0 or 1)
* @param tty tty device to use
*/
Ublox6(int uart, const char *tty);
/**
* U-BLOX 6 GPS module Destructor
*/
~Ublox6();
/**
* Check to see if there is data available for reading
*
* @return true if there is data available to be read
*/
bool dataAvailable();
/**
* read any available data into a user-supplied buffer. Note, the
* call will block until data is available to be read. Use
* dataAvailable() to determine whether there is data available
* beforehand, to avoid blocking.
*
* @param buffer the buffer to hold the data read
* @param len the length of the buffer
* @return the number of bytes read
*/
int readData(char *buffer, size_t len);
/**
* write the data in buffer to the device
*
* @param buffer the buffer to hold the data read
* @param len the length of the buffer
* @return the number of bytes written
*/
int writeData(char *buffer, size_t len);
/**
* setup the proper tty i/o modes and the baudrate. The default
* baud rate is 9600 (B9600).
*
* @param baud the desired baud rate.
* @return true if successful
*/
bool setupTty(speed_t baud=B9600);
protected:
int ttyFd() { return m_ttyFd; };
int setTtyFd(int fd) { m_ttyFd = fd; };
private:
mraa_uart_context m_uart;
int m_ttyFd;
};
}