CopernicusGPS Class Reference

Class for communication with Trimble Copernicus GPS chip. More...

#include <copernicus.h>

Public Member Functions
	CopernicusGPS (int serial=0)
ReportType	processOnePacket (bool block=false)
void	waitForPacket (ReportType type)
void	beginCommand (CommandID cmd)
void	writeDataBytes (const uint8_t *bytes, int n)
int	readDataBytes (uint8_t *dst, int n)
void	endCommand ()
bool	setFixMode (ReportType pos_fixmode, ReportType vel_fixmode, AltMode alt=ALT_NOCHANGE, PPSMode pps=PPS_NOCHANGE, GPSTimeMode time=TME_NOCHANGE, bool block=false)
HardwareSerial *	getSerial ()
const PosFix &	getPositionFix () const
const VelFix &	getVelocityFix () const
const GPSTime &	getGPSTime () const
const GPSStatus &	getStatus () const
bool	addPacketProcessor (GPSPacketProcessor *pcs)
void	removePacketProcessor (GPSPacketProcessor *pcs)

Detailed Description

Class for communication with Trimble Copernicus GPS chip.

Constructor & Destructor Documentation

CopernicusGPS::CopernicusGPS

(

int

serial_num = 0

)

Construct a new CopernicusGPS object.

Parameters

serial_num

Arduino serial stream to monitor. 0 is Serial, 1 is Serial1, etc.

Member Function Documentation

bool CopernicusGPS::addPacketProcessor

(

GPSPacketProcessor *

pcs

)

Add a GPSPacketProcessor to be notified of incoming TSIP packets. At most MAX_PKT_PROCESSORS (8) are supported at a time.

Parameters

pcs	Processor to add.

Returns

false if there was not enough space to add the processor, true otherwise.

void CopernicusGPS::beginCommand

(

CommandID

cmd

)

Begin a TSIP command by sending the header bytes for the given command type.

Parameters

cmd	Command to begin.

void CopernicusGPS::endCommand

(

)

End a command by sending the end-of-transmission byte sequence.

const GPSTime & CopernicusGPS::getGPSTime

(

)

const

Get the most recent GPS time report. For accurate current time, this datum must be correlated with a PPS pulse signal.

const PosFix & CopernicusGPS::getPositionFix

(

)

const

Get the most current position fix.

HardwareSerial * CopernicusGPS::getSerial

(

)

Get the monitored Serial IO object.

const GPSStatus & CopernicusGPS::getStatus

(

)

const

Get the status and health of the reciever. If the unit has a GPS lock, getStatus().health will equal HLTH_DOING_FIXES.

const VelFix & CopernicusGPS::getVelocityFix

(

)

const

Get the most current velocity fix.

ReportType CopernicusGPS::processOnePacket

(

bool

block = false

)

Process one TSIP packet from the stream, returning the ID of the packet processed. If block is false, this function will return RPT_NONE if no packet data was available. Otherwise, a valid packet ID or RPT_ERROR will be returned.

Must be called regularly or in response to serial events. Example usage:

 // flush packets in a tight loop:
 while (gps.processOnePacket(false) != RPT_NONE) {}

Event handling:

 ReportType evt;
 while ((evt = gps.processOnePacket(false)) != RPT_NONE) {
     switch (evt) {
         // respond to updates
     }
 }

Parameters

block

If true, will always wait for a complete packet to arrive.

Returns

The report ID of the processed packet, or RPT_NONE if block is false and no data was available.

int CopernicusGPS::readDataBytes	(	uint8_t *	dst,
		int	n
	)

Read data bytes from a TSIP report packet, unpacking any escape sequences in the process, placing n decoded bytes into dst. Blocks until n bytes are decoded, or the end of the packet is reached (in which case the two end-of-packet bytes will be consumed).

Parameters

dst	Destination buffer.
n	Number of decoded bytes to read.

Returns

Number of bytes actually written to dst.

void CopernicusGPS::removePacketProcessor

(

GPSPacketProcessor *

pcs

)

Cease to notify the given GPSPacketProcessor of incoming TSIP packets.

Parameters

pcs	Processor to remove.

bool CopernicusGPS::setFixMode	(	ReportType	pos_fixmode,
		ReportType	vel_fixmode,
		AltMode	alt = ALT_NOCHANGE,
		PPSMode	pps = PPS_NOCHANGE,
		GPSTimeMode	time = TME_NOCHANGE,
		bool	block = false
	)

Set the format of position, velocity, and altitude fixes. PPS settings and GPS time format may also be set with this command.

To leave a fix mode unchanged, pass RPT_NONE. Other mode settings have NOCHANGE constants which will preserve the current settings.

Parameters

pos_fixmode	New position fix format. Any of the RPT_FIX_POS_* constants, or RPT_NONE.
vel_fixmode	New velocity fix format. Any of the RPT_FIX_VEL_* constants, or RPT_NONE.
alt	New altitude format.
pps	New PPS setting.
time	New GPS time format.
block	Whether to wait for a confirmation from the receiver that the settings have taken effect.

Returns

true if the settings were change successfully, false if an I/O problem occurred.

void CopernicusGPS::waitForPacket

(

ReportType

type

)

Process packets/input until the header of a packet with type type is encountered, at which point the stream will be left for the caller to process. The caller should fully consume the packet, including the end-of-packet bytes.

Parameters

type	Type of packet to wait for.

void CopernicusGPS::writeDataBytes	(	const uint8_t *	bytes,
		int	n
	)

Encode n data bytes as part of a TSIP command packet and send them to the gps module. Must be called only if a command has been opened with a call to beginCommand(), and may be called multiple times before a call to endCommand().

Parameters

bytes	Data bytes to encode and send.
n	Number of bytes to encode.

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The documentation for this class was generated from the following files:

• copernicus/copernicus.h
• copernicus/copernicus.cpp