Aria: ArTrimbleGPS Class Reference

- Main Page
- Classes
- Files
- Related Pages

- Alphabetical List
- Class List
- Class Hierarchy
- Class Members

# ArTrimbleGPS Class Reference

`#include <ArTrimbleGPS.h>`

Inheritance diagram for ArTrimbleGPS:

List of all members.

## Detailed Description

GPS subclass to support the Trimble AgGPS and other Trimble GPS devices.

This subclass extends ArGPS to send initialization commands specific to Trimble GPS devices, and to handle the PTNLAG001 message which is specific to the Trimble GPS (this message contains data received from an auxilliary device connected to the GPS; ArTrimbleGPS simply parses its contents as a new NMEA message; i.e. data received by the Trimble is assumed to be NMEA messages that it forwards via the PTNLAG001 message.)

Note:
  You must also configure the ports using the Trimble AgRemote program (http://www.trimble.com/support_trl.asp?pt=AgRemote&Nav=Collection-1545). Enable the following messages on whichever GPS port the computer is connected to: GPRMC, GPGGA, GPGSA, GPGSV, GPGST, GPMSS, and set input (I) protocol to TSIP 38k baud, and output protocol (O) to NMEA 38k baud. This configuration is done by MobileRobots when shipping a Trimble AgGPS but you may need to do this if the GPS loses its configuration or after changing any other settings (Note that AgRemote resets the port settings each time it connects, so you must reset them each time before exiting AgRemote!)

## Public Member Functions
bool | sendTSIPCommand (char command, const char *data, size_t dataLen)
## Protected Member Functions
virtual bool | initDevice ()

## Member Function Documentation

bool ArTrimbleGPS::sendTSIPCommand | ( | char | command,
|  | const char * | data,
|  | size_t | dataLen |
| ) |  |  |

Send a TSIP command to the Trimble GPS. See the TSIP Reference guide for details. Note, the data must be 66 characters or less.

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

- ArTrimbleGPS.h