1 /*
2  * Author: Jon Trulson <jtrulson@ics.com>
3  * Copyright (c) 2014 Intel Corporation.
4  *
5  * Permission is hereby granted, free of charge, to any person obtaining
6  * a copy of this software and associated documentation files (the
7  * "Software"), to deal in the Software without restriction, including
8  * without limitation the rights to use, copy, modify, merge, publish,
9  * distribute, sublicense, and/or sell copies of the Software, and to
10  * permit persons to whom the Software is furnished to do so, subject to
11  * the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 #pragma once
25 
26 #include <string>
27 #include <iostream>
28 
29 #include <stdint.h>
30 #include <stdlib.h>
31 #include <unistd.h>
32 #include <string.h>
33 #include <fcntl.h>
34 #include <errno.h>
35 #include <termios.h>
36 #include <sys/time.h>
37 #include <sys/select.h>
38 #include <sys/types.h>
39 #include <sys/stat.h>
40 
41 #include <mraa/uart.h>
42 
43 const int  UBLOX6_DEFAULT_UART = 0;
44 
45 namespace upm {
46     /**
47      * @brief UBLOX6 & SIM28 GPS Module library
48      * @defgroup ublox6 libupm-ublox6
49      * @ingroup seeed uart gps tsk
50      */
51     /**
52      * @library ublox6
53      * @sensor ublox6
54      * @comname Grove GPS
55      * @altname U-BLOX 6 SIM28
56      * @type gps
57      * @man seeed
58      * @web http://www.seeedstudio.com/depot/Grove-GPS-p-959.html
59      * @con uart
60      * @kit tsk
61      *
62      * @brief API for the U-BLOX 6 and SIM28 GPS Modules
63      *
64      * UPM support for the U-BLOX 6 GPS module. It is also compatible with
65      * the SIM28 GPS module.
66      *
67      * @image html ublox6.jpg
68      * @snippet ublox6.cxx Interesting
69      */
70   class Ublox6 {
71   public:
72     /**
73      * Ublox6 object constructor
74      *
75      * @param uart Default UART to use (0 or 1)
76      */
77     Ublox6(int uart);
78 
79     /**
80      * Ublox6 object destructor
81      */
82     ~Ublox6();
83 
84     /**
85      * Checks to see if there is data available for reading
86      *
87      * @return True if there is data available for reading
88      */
89     bool dataAvailable();
90 
91     /**
92      * Reads any available data in a user-supplied buffer. Note: the
93      * call blocks until data is available to be read. Use
94      * dataAvailable() to determine whether there is data available
95      * beforehand, to avoid blocking.
96      *
97      * @param buffer Buffer to hold the data read
98      * @param len Length of the buffer
99      * @return the Number of bytes read
100      */
101     int readData(char *buffer, int len);
102 
103     /**
104      * Writes the data in the buffer to the device
105      *
106      * @param buffer Buffer to hold the data read
107      * @param len Length of the buffer
108      * @return Number of bytes written
109      */
110     int writeData(char *buffer, int len);
111 
112     /**
113      * Sets up proper tty I/O modes and the baud rate. The default
114      * baud rate is 9,600 (B9600).
115      *
116      * @param baud Desired baud rate
117      * @return True if successful
118      */
119     bool setupTty(speed_t baud=B9600);
120 
121   protected:
ttyFd()122     int ttyFd() { return m_ttyFd; };
123 
124   private:
125     mraa_uart_context m_uart;
126     int m_ttyFd;
127   };
128 }
129 
130 
131