uBlox.cpp

00001 /*
00002  * uBlox.cpp
00003  *
00004  *  Created on: 16.05.2016
00005  *      Author: Adrian
00006  */
00007 
00008 #include "uBlox.h "
00009 
00010 uBlox::uBlox(mbed::RawSerial* serial) {
00011     decoder = new Decoder(serial);
00012     this->serial = serial;
00013     this->config = new uBloxConfig();
00014 }
00015 
00016 uBlox::~uBlox() {
00017     delete decoder;
00018 }
00019 
00020 unsigned long uBlox::getTimeOfWeekMs(){
00021     return decoder->getLastPoslhh().iTOW;
00022 }
00023 
00024 float uBlox::getLongitude(){
00025     return (float) (decoder->getLastPoslhh().lon) / 10000000;
00026 }
00027 
00028 float uBlox::getLatitude(){
00029     return (float) (decoder->getLastPoslhh().lat) / 10000000;
00030 }
00031 
00032 signed long uBlox::getHeightAboveEllipsoid(){
00033     return decoder->getLastPoslhh().height;
00034 }
00035 
00036 signed long uBlox::getHeightAboveMeanSeaLevel(){
00037     return decoder->getLastPoslhh().hMSL;
00038 }
00039 
00040 unsigned long uBlox::getHorizontalAccuracyEstimate(){
00041     return decoder->getLastPoslhh().hAcc;
00042 }
00043 
00044 unsigned long uBlox::getVerticalAccuracyEstimate(){
00045     return decoder->getLastPoslhh().vAcc;
00046 }
00047 
00048 void uBlox::init(uBLOX_MODE desiredMode){
00049     config->build(desiredMode);
00050     std::vector< std::vector<uint8_t> > initialConfigurationStrings = config->getInitialConfigurationString();
00051 
00052     for(uint8_t i = 0 ; i < initialConfigurationStrings.size() ; i++){
00053         sendConfigurationString( initialConfigurationStrings.at(i) );
00054     }
00055 
00056 }
00057 
00058 void uBlox::sendConfigurationString(std::vector<uint8_t> commandString){
00059     for(uint8_t i = 0 ; i < commandString.size() ; i++){
00060         uint8_t character = commandString.at(i);
00061         serial->putc(character);
00062     }
00063 
00064     osDelay(100);
00065 }
00066 
00067 
00068 
00069