Ublox6 Class Reference

C++ API for the U-BLOX 6 GPS module. More...

Detailed Description

• ID: ublox6
• Name: GPS module
• Category: gps
• Manufacturer: seeed
• Link: http://www.seeedstudio.com/depot/Grove-GPS-p-959.html
• Connection: uart

UPM support for the U-BLOX 6 GPS Module

  // Instantiate a Ublox6 GPS device on uart 0.
  upm::Ublox6* nmea = new upm::Ublox6(0);

  // 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
    }

Public Member Functions
	Ublox6 (int uart)
	~Ublox6 ()
bool	dataAvailable ()
int	readData (char *buffer, size_t len)
int	writeData (char *buffer, size_t len)
bool	setupTty (speed_t baud=B9600)

Protected Member Functions
int	ttyFd ()
int	setTtyFd (int fd)

Constructor & Destructor Documentation

Ublox6

(

int

uart

)

U-BLOX 6 GPS module constructor

Parameters

uart	defualt uart to use (0 or 1)

~Ublox6

(

)

U-BLOX 6 GPS module Destructor

Member Function Documentation

bool dataAvailable

(

)

Check to see if there is data available for reading

Returns

true if there is data available to be read

int readData	(	char *	buffer,
		size_t	len
	)

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.

Parameters

buffer	the buffer to hold the data read
len	the length of the buffer

Returns

the number of bytes read

int writeData	(	char *	buffer,
		size_t	len
	)

write the data in buffer to the device

Parameters

buffer	the buffer to hold the data read
len	the length of the buffer

Returns

the number of bytes written

bool setupTty

(

speed_t

baud = B9600

)

setup the proper tty i/o modes and the baudrate. The default baud rate is 9600 (B9600).

Parameters

baud	the desired baud rate.

Returns

true if successful

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

• /var/lib/jenkins/workspace/upm-doc-stable/src/ublox6/ublox6.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/ublox6/ublox6.cxx