Ublox6 Class Reference

API for the U-BLOX 6 and SIM28 GPS Modules. More...

Detailed Description

• ID: ublox6
• Name: Grove GPS
• Other Names: U-BLOX 6 SIM28
• Category: gps
• Manufacturer: seeed
• Link: http://www.seeedstudio.com/depot/Grove-GPS-p-959.html
• Connection: uart
• Kit: tsk

UPM support for the U-BLOX 6 GPS module. It is also compatible with the SIM28 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 accessible
  // 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, int len)
int	writeData (char *buffer, int len)
bool	setupTty (speed_t baud=B9600)

Protected Member Functions
int	ttyFd ()

Constructor & Destructor Documentation

Ublox6

(

int

uart

)

Ublox6 object constructor

Parameters

uart	Default UART to use (0 or 1)

~Ublox6

(

)

Ublox6 object destructor

Member Function Documentation

bool dataAvailable

(

)

Checks to see if there is data available for reading

Returns

True if there is data available for reading

int readData	(	char *	buffer,
		int	len
	)

Reads any available data in a user-supplied buffer. Note: the call blocks until data is available to be read. Use dataAvailable() to determine whether there is data available beforehand, to avoid blocking.

Parameters

buffer	Buffer to hold the data read
len	Length of the buffer

Returns

the Number of bytes read

int writeData	(	char *	buffer,
		int	len
	)

Writes the data in the buffer to the device

Parameters

buffer	Buffer to hold the data read
len	Length of the buffer

Returns

Number of bytes written

bool setupTty

(

speed_t

baud = B9600

)

Sets up proper tty I/O modes and the baud rate. The default baud rate is 9,600 (B9600).

Parameters

baud	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