Copernicus  1.0
An Arduino module for the Trimble Copernicus GPS receiver
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copernicus.h
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1 /*
2  * File: copernicus.h
3  * Author: tbabb
4  *
5  * Created on October 5, 2013, 10:35 PM
6  *
7  * Note: It would be entirely possible, and not difficult, to extract
8  * this module's dependency on the Arduino by replacing m_serial with
9  * any reasonable buffered serial IO class.
10  */
11 
12 //TODO: support GPS time
13 //TODO: add commands
14 //TODO: fixp support
15 
16 #ifndef COPERNICUS_H
17 #define COPERNICUS_H
18 
19 #define CTRL_DLE 0x10
20 #define CTRL_ETX 0x03
21 
32 // arduino doesn't support std::vector
33 // so today we will be violating the zero/one/infinity rule.
34 #define MAX_PKT_PROCESSORS 8
35 
36 #define TSIP_BAUD_RATE 38400
37 
38 #include "gpstype.h"
39 #include "Arduino.h"
40 
41 class CopernicusGPS; // fwd decl
42 
43 /***************************
44  * Listener class *
45  ***************************/
46 
56 class GPSPacketProcessor {
57 public:
58  virtual ~GPSPacketProcessor();
59 
71  virtual PacketStatus gpsPacket(ReportType type, CopernicusGPS *gps) = 0;
72 };
73 
74 /***************************
75  * copernicus class *
76  ***************************/
77 
78 // - what does the fix time mean / how does it relate to GPS time?
79 // - the fix time is the time at which the fix was acquired. it will generally
80 // be a few seconds in the past. Use your sync'd current GPS time
81 // to figure out how that relates to "now".
82 // - how does the GPS time relate to the last/next PPS?
83 // - reported GPS time is that of the last PPS. So at the next
84 // PPS pulse, add 1 to the captured GPS time, and that's the current time.
85 
89 class CopernicusGPS {
90 public:
91  CopernicusGPS(int serial=0);
92 
93  ReportType processOnePacket(bool block=false);
94  void waitForPacket(ReportType type);
95 
96  void beginCommand(CommandID cmd);
97  void writeDataBytes(const uint8_t *bytes, int n);
98  int readDataBytes(uint8_t *dst, int n);
99  void endCommand();
100 
101  bool setFixMode(ReportType pos_fixmode,
102  ReportType vel_fixmode,
103  AltMode alt=ALT_NOCHANGE,
104  PPSMode pps=PPS_NOCHANGE,
105  GPSTimeMode time=TME_NOCHANGE,
106  bool block=false);
107 
108  HardwareSerial *getSerial();
109  const PosFix& getPositionFix() const;
110  const VelFix& getVelocityFix() const;
111  const GPSTime& getGPSTime() const;
112  const GPSStatus& getStatus() const;
113 
114  bool addPacketProcessor(GPSPacketProcessor *pcs);
115  void removePacketProcessor(GPSPacketProcessor *pcs);
116 
117 private:
118 
119  ReportType implProcessOnePacket(bool block, ReportType haltAt);
120 
121  bool processReport(ReportType type);
122 
123  bool process_p_LLA_32();
124  bool process_p_LLA_64();
125  bool process_p_XYZ_32();
126  bool process_p_XYZ_64();
127  bool process_v_XYZ();
128  bool process_v_ENU();
129  bool process_GPSTime();
130  bool process_health();
131  bool process_addl_status();
132  bool process_sbas_status();
133 
134  // todo: fix this busy wait.
135  inline void blockForData() { while (m_serial->available() <= 0) {} }
136  bool flushToNextPacket(bool block=true);
137  bool endReport();
138 
139  HardwareSerial *m_serial;
140  PosFix m_pfix;
141  VelFix m_vfix;
142  GPSTime m_time;
143  GPSStatus m_status;
144  GPSPacketProcessor *m_listeners[MAX_PKT_PROCESSORS];
145  uint8_t m_n_listeners;
146 };
147 
149 
150 #endif /* COPERNICUS_H */
151 
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