ublox6: Initial implementation

jrvandr: removed unnecessary mraa_init() and mraa_deinit()

The module implements support for the ublox-6 GPS sensor.  It was
tested on a Grove GPS device.

This module simply allows data to be retrieved from the device in the
form of NMEA sentences, and provides a method to write commands to the
device for configuration purposes.

It does not attempt to parse NMEA data -- that is a project in itself.
There are libraries available on the Internet, such as tinyGPS++ that
can handle that for you.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>

examples/CMakeLists.txt

@@ -66,6 +66,7 @@ add_executable (grovewater-example grovewater.cxx)
 add_executable (guvas12d-example guvas12d.cxx)
 add_executable (groveloudness-example groveloudness.cxx)
 add_executable (mpr121-example mpr121.cxx)
+add_executable (ublox6-example ublox6.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -119,6 +120,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/grovewater)
 include_directories (${PROJECT_SOURCE_DIR}/src/guvas12d)
 include_directories (${PROJECT_SOURCE_DIR}/src/groveloudness)
 include_directories (${PROJECT_SOURCE_DIR}/src/mpr121)
+include_directories (${PROJECT_SOURCE_DIR}/src/ublox6)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -188,3 +190,4 @@ target_link_libraries (grovewater-example grovewater ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (guvas12d-example guvas12d ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveloudness-example groveloudness ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (mpr121-example mpr121 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (ublox6-example ublox6 ${CMAKE_THREAD_LIBS_INIT})

examples/javascript/ublox6.js

@@ -0,0 +1,99 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+/*global */
+/*
+* Author: Zion Orent <zorent@ics.com>
+* Copyright (c) 2014 Intel Corporation.
+*
+* Permission is hereby granted, free of charge, to any person obtaining
+* a copy of this software and associated documentation files (the
+* "Software"), to deal in the Software without restriction, including
+* without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to
+* permit persons to whom the Software is furnished to do so, subject to
+* the following conditions:
+*
+* The above copyright notice and this permission notice shall be
+* included in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+var GPSSensor = require('jsupm_ublox6');
+
+// Instantiate a Ublox6 GPS device on uart 0 (/dev/ttyS0).  This
+// works for the galileo G2.  
+
+// The Edison uses a different serial port, /dev/ttyMFD1, so if you
+// are using this example on an Edison board, specify the proper
+// port on the command line, eg: 'node ublox6.js /dev/ttyMFD1'
+// process.argv.length contains all command-line strings
+// argument 0 is "node"
+// argument 1 is "ublox6.js"
+// argument 2, if it exists, will be the override port,
+//    such as /dev/ttyMFD1 on Edison
+
+var defaultPort = "/dev/ttyS0";
+if (process.argv.length > 2)
+	defaultPort = process.argv[2];
+
+var myGPSSensor = new GPSSensor.Ublox6(0, defaultPort);
+
+if (!myGPSSensor.setupTty(GPSSensor.int_B9600))
+{
+	console.log("Failed to setup tty port parameters");
+	process.exit(0);
+}
+
+// Collect and output NMEA data.
+
+// 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.
+
+var bufferLength = 256;
+var nmeaBuffer  = new GPSSensor.charArray(bufferLength);
+
+function getGPSInfo()
+{
+	// we don't want the read to block in this example, so always
+	// check to see if data is available first.
+	if (myGPSSensor.dataAvailable())
+	{
+		var rv = myGPSSensor.readData(nmeaBuffer, bufferLength);
+
+		var GPSData, dataCharCode, isNewLine, lastNewLine;
+		var numlines= 0;
+		if (rv > 0)
+		{
+			GPSData = "";
+			// read only the number of characters
+			// specified by myGPSSensor.readData
+			for (var x = 0; x < rv; x++)
+				GPSData += nmeaBuffer.getitem(x);
+			process.stdout.write(GPSData)
+		}
+
+		if (rv < 0) // some sort of read error occured
+		{
+			console.log("Port read error.");
+			process.exit(0);
+		}
+	}
+}
+
+setInterval(getGPSInfo, 100);
+
+// Print message when exiting
+process.on('SIGINT', function()
+{
+	console.log("Exiting...");
+	process.exit(0);
+});

examples/ublox6.cxx

@@ -0,0 +1,107 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "ublox6.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+const size_t bufferLength = 256;
+
+int main (int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // Instantiate a Ublox6 GPS device on uart 0 (/dev/ttyS0).  This
+  // works for the galileo G2.  
+
+  // The Edison uses a different serial port, /dev/ttyMFD1, so if you
+  // are using this example on an Edison board, specify the proper
+  // port on the command line, eg: './ublox6-example /dev/ttyMFD1' 
+
+  const char *defaultPort = "/dev/ttyS0";
+  if (argc > 1)
+    defaultPort = argv[1];
+
+  upm::Ublox6* nmea = new upm::Ublox6(0, defaultPort);
+
+  // 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
+    }
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete nmea;
+  return 0;
+}

src/ublox6/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "ublox6")
+set (libdescription "upm u-blox 6 GPS UART support module")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/ublox6/jsupm_ublox6.i

@@ -0,0 +1,13 @@
+%module jsupm_ublox6
+%include "../upm.i"
+%include "stdint.i"
+%include "carrays.i"
+
+%{
+    #include "ublox6.h"
+    speed_t int_B9600 = B9600;
+%}
+
+%include "ublox6.h"
+speed_t int_B9600 = B9600;
+%array_class(char, charArray);

src/ublox6/pyupm_ublox6.i

@@ -0,0 +1,9 @@
+%module pyupm_ublox6
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "ublox6.h"
+%{
+    #include "ublox6.h"
+%}

src/ublox6/ublox6.cxx

@@ -0,0 +1,140 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+
+#include "ublox6.h"
+
+using namespace upm;
+using namespace std;
+
+Ublox6::Ublox6(int uart, const char *tty) :
+  m_ttyFd(-1)
+{
+  mraa_init();
+
+  if ( !(m_uart = mraa_uart_init(uart)) )
+    {
+      cerr << __FUNCTION__ << ": mraa_uart_init() failed" << endl;
+      return;
+    }
+
+  // now open the tty
+  if ( (m_ttyFd = open(tty, O_RDWR)) == -1)
+    {
+      cerr << __FUNCTION__ << ": open of " << tty << " failed: " 
+           << strerror(errno) << endl;
+      return;
+    }
+}
+
+Ublox6::~Ublox6()
+{
+  if (m_ttyFd != -1)
+    close(m_ttyFd);
+}
+
+bool Ublox6::dataAvailable()
+{
+  if (m_ttyFd == -1)
+    return false;
+
+  struct timeval timeout;
+
+  // no waiting
+  timeout.tv_sec = 0;
+  timeout.tv_usec = 0;
+
+  int nfds;  
+  fd_set readfds;
+
+  FD_ZERO(&readfds);
+
+  FD_SET(m_ttyFd, &readfds);
+  
+  if (select(m_ttyFd + 1, &readfds, NULL, NULL, &timeout) > 0)
+    return true;                // data is ready
+  else
+    return false;
+}
+
+int Ublox6::readData(char *buffer, size_t len)
+{
+  if (m_ttyFd == -1)
+    return(-1);
+
+  int rv = read(m_ttyFd, buffer, len);
+
+  if (rv < 0)
+    cerr << __FUNCTION__ << ": read failed: " << strerror(errno) << endl;
+
+  return rv;
+}
+
+int Ublox6::writeData(char * buffer, size_t len)
+{
+  if (m_ttyFd == -1)
+    return(-1);
+
+  int rv = write(m_ttyFd, buffer, len);
+
+  if (rv < 0)
+    {
+      cerr << __FUNCTION__ << ": write failed: " << strerror(errno) << endl;
+      return rv;
+    }
+
+  tcdrain(m_ttyFd);
+
+  return rv;
+}
+
+bool Ublox6::setupTty(speed_t baud)
+{
+  if (m_ttyFd == -1)
+    return(false);
+  
+  struct termios termio;
+
+  // get current modes
+  tcgetattr(m_ttyFd, &termio);
+
+  // setup for a 'raw' mode.  81N, no echo or special character
+  // handling, such as flow control.
+  cfmakeraw(&termio);
+
+  // set our baud rates
+  cfsetispeed(&termio, baud);
+  cfsetospeed(&termio, baud);
+
+  // make it so
+  int rv;
+  if ( (rv = tcsetattr(m_ttyFd, TCSAFLUSH, &termio)) < 0)
+    {
+      cerr << __FUNCTION__ << ": tcsetattr failed: " << strerror(errno) << endl;
+      return false;
+    }
+
+  return true;
+}

src/ublox6/ublox6.h

@@ -0,0 +1,117 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <string>
+#include <iostream>
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+#include <sys/time.h>
+#include <sys/select.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+
+#include <mraa/uart.h>
+
+const int  UBLOX6_DEFAULT_UART = 0;
+
+namespace upm {
+
+  /**
+   * @brief C++ API for the U-BLOX 6 GPS module
+   *
+   * UPM support for the U-BLOX 6 GPS Module
+   *
+   * @ingroup grove uart
+   * @snippet ublox6.cxx Interesting
+   */
+  class Ublox6 {
+  public:
+    /**
+     * U-BLOX 6 GPS module constructor
+     *
+     * @param uart defualt uart to use (0 or 1)
+     * @param tty tty device to use
+     */
+    Ublox6(int uart, const char *tty);
+
+    /**
+     * U-BLOX 6 GPS module Destructor
+     */
+    ~Ublox6();
+
+    /**
+     * Check to see if there is data available for reading
+     *
+     * @return true if there is data available to be read
+     */
+    bool dataAvailable();
+
+    /**
+     * 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.
+     *
+     * @param buffer the buffer to hold the data read
+     * @param len the length of the buffer
+     * @return the number of bytes read
+     */
+    int readData(char *buffer, size_t len);
+
+    /**
+     * write the data in buffer to the device
+     *
+     * @param buffer the buffer to hold the data read
+     * @param len the length of the buffer
+     * @return the number of bytes written
+     */
+    int writeData(char *buffer, size_t len);
+
+    /**
+     * setup the proper tty i/o modes and the baudrate.  The default
+     * baud rate is 9600 (B9600).
+     *
+     * @param baud the desired baud rate.  
+     * @return true if successful
+     */
+    bool setupTty(speed_t baud=B9600);
+
+  protected:
+    int ttyFd() { return m_ttyFd; };
+    int setTtyFd(int fd) { m_ttyFd = fd; };
+
+  private:
+    mraa_uart_context m_uart;
+    int m_ttyFd;
+  };
+}
+
+