u-blox / gnss

This class provides an API to communicate with a u-blox GNSS chip. The files here were originally part of the C027_Support library (https://developer.mbed.org/teams/ublox/code/C027_Support/ at revision 138:dafbbf31bf76) but have been separated out, primarily for use on the u-blox C030 board where the cellular interace portion of the C027_Support library will instead be provided through the new mbed Cellular API.

Dependents:   example-ublox-at-cellular-interface-ext example-low-power-sleep example-C030-out-of-box-demo example-C030-out-of-box-demo ... more

gnss_operations.cpp@21:f91c0334d017, 2018-10-08 (annotated)

Committer:
fahim.alavi@u-blox.com
Date:
Mon Oct 08 14:22:33 2018 +0500
Revision:
21:f91c0334d017
Parent:
20:bc678f383db1
Child:
22:d8cd4cf0fcc0
NAV-Status message supported

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bilal Qamar 12:a04f7eeece23 1 #include "gnss_operations.h"
Bilal Qamar 12:a04f7eeece23 2
fahim.alavi@u-blox.com 16:cb9861f0f4d8 3 #ifndef UBLOX_WEARABLE_FRAMEWORK
fahim.alavi@u-blox.com 16:cb9861f0f4d8 4 #define SEND_LOGGING_MESSAGE printf
fahim.alavi@u-blox.com 16:cb9861f0f4d8 5 #else
fahim.alavi@u-blox.com 16:cb9861f0f4d8 6 #include "MessageView.h"
fahim.alavi@u-blox.com 16:cb9861f0f4d8 7 #endif
fahim.alavi@u-blox.com 16:cb9861f0f4d8 8
Bilal Qamar 12:a04f7eeece23 9 #define FIRST_BYTE 0x000000FF
Bilal Qamar 12:a04f7eeece23 10 #define SECOND_BYTE 0x0000FF00
Bilal Qamar 12:a04f7eeece23 11 #define THIRD_BYTE 0x00FF0000
Bilal Qamar 12:a04f7eeece23 12 #define FOURTH_BYTE 0xFF000000
Bilal Qamar 12:a04f7eeece23 13 #define RETRY 5
Bilal Qamar 12:a04f7eeece23 14
Bilal Qamar 12:a04f7eeece23 15 #define EXTRACT_BYTE(INDEX, BYTE, VALUE) ((VALUE & BYTE) >> (INDEX*8))
Bilal Qamar 12:a04f7eeece23 16
Bilal Qamar 12:a04f7eeece23 17 /**
Bilal Qamar 12:a04f7eeece23 18 *
Bilal Qamar 12:a04f7eeece23 19 * Enable UBX-NAV-PVT using UBX-CFG-MSG
Bilal Qamar 12:a04f7eeece23 20 * @param return SUCCESS: 1
Bilal Qamar 12:a04f7eeece23 21 * FAILURE: 0
Bilal Qamar 12:a04f7eeece23 22 */
Bilal Qamar 12:a04f7eeece23 23 int GnssOperations::enable_ubx_nav_pvt()
Bilal Qamar 12:a04f7eeece23 24 {
Bilal Qamar 12:a04f7eeece23 25 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 26 unsigned char enable_ubx_nav_pvt[]={0x01, 0x07, 0x01};
Bilal Qamar 12:a04f7eeece23 27 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 28 int length =0;
Bilal Qamar 12:a04f7eeece23 29
Bilal Qamar 12:a04f7eeece23 30 while(conf)
Bilal Qamar 12:a04f7eeece23 31 {
Bilal Qamar 12:a04f7eeece23 32
Bilal Qamar 12:a04f7eeece23 33 length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_pvt, sizeof(enable_ubx_nav_pvt));
Bilal Qamar 12:a04f7eeece23 34 if(length >= (int)(sizeof(enable_ubx_nav_pvt) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 35 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 36 SEND_LOGGING_MESSAGE("UBX-NAV-PVT was enabled\r\n");
wajahat.abbas@u-blox.com 19:119e7c15ff97 37 wait(1);
Bilal Qamar 12:a04f7eeece23 38 break;
Bilal Qamar 12:a04f7eeece23 39 }
Bilal Qamar 12:a04f7eeece23 40 else
Bilal Qamar 12:a04f7eeece23 41 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 42 SEND_LOGGING_MESSAGE("enabling UBX-NAV-PVT...\r\n");
Bilal Qamar 12:a04f7eeece23 43 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 44 }
Bilal Qamar 12:a04f7eeece23 45 }
Bilal Qamar 12:a04f7eeece23 46
Bilal Qamar 12:a04f7eeece23 47 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 48 }
Bilal Qamar 12:a04f7eeece23 49
fahim.alavi@u-blox.com 21:f91c0334d017 50 int GnssOperations::enable_ubx_nav_status() {
fahim.alavi@u-blox.com 21:f91c0334d017 51 int conf = RETRY;
fahim.alavi@u-blox.com 21:f91c0334d017 52 unsigned char enable_ubx_nav_status[]={0x01, 0x03, 0x01};
fahim.alavi@u-blox.com 21:f91c0334d017 53 conf = RETRY;
fahim.alavi@u-blox.com 21:f91c0334d017 54 int length =0;
fahim.alavi@u-blox.com 21:f91c0334d017 55
fahim.alavi@u-blox.com 21:f91c0334d017 56 while(conf)
fahim.alavi@u-blox.com 21:f91c0334d017 57 {
fahim.alavi@u-blox.com 21:f91c0334d017 58
fahim.alavi@u-blox.com 21:f91c0334d017 59 length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_status, sizeof(enable_ubx_nav_status));
fahim.alavi@u-blox.com 21:f91c0334d017 60 if(length >= (int)(sizeof(enable_ubx_nav_status) + UBX_FRAME_SIZE))
fahim.alavi@u-blox.com 21:f91c0334d017 61 {
fahim.alavi@u-blox.com 21:f91c0334d017 62 SEND_LOGGING_MESSAGE("UBX-NAV-STATUS was enabled\r\n");
fahim.alavi@u-blox.com 21:f91c0334d017 63 wait(1);
fahim.alavi@u-blox.com 21:f91c0334d017 64 break;
fahim.alavi@u-blox.com 21:f91c0334d017 65 }
fahim.alavi@u-blox.com 21:f91c0334d017 66 else
fahim.alavi@u-blox.com 21:f91c0334d017 67 {
fahim.alavi@u-blox.com 21:f91c0334d017 68 SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
fahim.alavi@u-blox.com 21:f91c0334d017 69 conf = conf - 1;
fahim.alavi@u-blox.com 21:f91c0334d017 70 }
fahim.alavi@u-blox.com 21:f91c0334d017 71 }
fahim.alavi@u-blox.com 21:f91c0334d017 72
fahim.alavi@u-blox.com 21:f91c0334d017 73 return (conf == 0) ? 0 : 1;
fahim.alavi@u-blox.com 21:f91c0334d017 74
fahim.alavi@u-blox.com 21:f91c0334d017 75 }
fahim.alavi@u-blox.com 21:f91c0334d017 76
Bilal Qamar 12:a04f7eeece23 77 /**
Bilal Qamar 12:a04f7eeece23 78 *
Bilal Qamar 12:a04f7eeece23 79 * Disable UBX-NAV-PVT
Bilal Qamar 12:a04f7eeece23 80 * @param return SUCCESS: 1
Bilal Qamar 12:a04f7eeece23 81 * FAILURE: 0
Bilal Qamar 12:a04f7eeece23 82 */
Bilal Qamar 12:a04f7eeece23 83 int GnssOperations::disable_ubx_nav_pvt()
Bilal Qamar 12:a04f7eeece23 84 {
Bilal Qamar 12:a04f7eeece23 85 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 86 unsigned char enable_ubx_nav_pvt[]={0x01, 0x07, 0x00};
Bilal Qamar 12:a04f7eeece23 87 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 88 int length =0;
Bilal Qamar 12:a04f7eeece23 89
Bilal Qamar 12:a04f7eeece23 90 while(conf)
Bilal Qamar 12:a04f7eeece23 91 {
Bilal Qamar 12:a04f7eeece23 92
Bilal Qamar 12:a04f7eeece23 93 length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_pvt, sizeof(enable_ubx_nav_pvt));
Bilal Qamar 12:a04f7eeece23 94 if(length >= (int)(sizeof(enable_ubx_nav_pvt) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 95 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 96 SEND_LOGGING_MESSAGE("UBX-NAV-PVT was disabled\r\n");
Bilal Qamar 12:a04f7eeece23 97 wait(5);
Bilal Qamar 12:a04f7eeece23 98 break;
Bilal Qamar 12:a04f7eeece23 99 }
Bilal Qamar 12:a04f7eeece23 100 else
Bilal Qamar 12:a04f7eeece23 101 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 102 SEND_LOGGING_MESSAGE("disabling UBX-NAV-PVT...\r\n");
Bilal Qamar 12:a04f7eeece23 103 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 104 }
Bilal Qamar 12:a04f7eeece23 105 }
Bilal Qamar 12:a04f7eeece23 106
Bilal Qamar 12:a04f7eeece23 107 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 108 }
Bilal Qamar 12:a04f7eeece23 109
Bilal Qamar 12:a04f7eeece23 110 int GnssOperations::enable_ubx_nav5(unsigned int acc)
Bilal Qamar 12:a04f7eeece23 111 {
Bilal Qamar 12:a04f7eeece23 112 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 113 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 114 int length =0;
Bilal Qamar 12:a04f7eeece23 115 //convert unsigned int acc to hex
Bilal Qamar 12:a04f7eeece23 116 //ask if positioning mask or time accuracy mask
bqam 18:7adca4350499 117 unsigned char ubx_cfg_nav5[]={0xFF, 0xFF, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
bqam 18:7adca4350499 118 0x0A, 0x00, 0xFA, 0x00,0xFA, 0x00, EXTRACT_BYTE(0, FIRST_BYTE, acc), EXTRACT_BYTE(1, SECOND_BYTE, acc),
bqam 18:7adca4350499 119 0x5E, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 120
Bilal Qamar 12:a04f7eeece23 121 while(conf)
Bilal Qamar 12:a04f7eeece23 122 {
Bilal Qamar 12:a04f7eeece23 123 length = GnssSerial::sendUbx(0x06, 0x24, ubx_cfg_nav5, sizeof(ubx_cfg_nav5));
Bilal Qamar 12:a04f7eeece23 124 if(length >= (int)(sizeof(ubx_cfg_nav5) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 125 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 126 SEND_LOGGING_MESSAGE("ubx_cfg_nav5 was enabled\r\n");
wajahat.abbas@u-blox.com 19:119e7c15ff97 127 wait(1);
Bilal Qamar 12:a04f7eeece23 128 break;
Bilal Qamar 12:a04f7eeece23 129 }
Bilal Qamar 12:a04f7eeece23 130 else
Bilal Qamar 12:a04f7eeece23 131 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 132 SEND_LOGGING_MESSAGE("enabling ubx_cfg_nav5...\r\n");
Bilal Qamar 12:a04f7eeece23 133 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 134 }
Bilal Qamar 12:a04f7eeece23 135 }
Bilal Qamar 12:a04f7eeece23 136
Bilal Qamar 12:a04f7eeece23 137 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 138 }
Bilal Qamar 12:a04f7eeece23 139
Bilal Qamar 12:a04f7eeece23 140 /**
Bilal Qamar 12:a04f7eeece23 141 * Enabling UBX-ODOMETER using UBX-CFG-ODO
Bilal Qamar 12:a04f7eeece23 142 * @param return SUCCESS: 1
Bilal Qamar 12:a04f7eeece23 143 * FAILURE: 0
Bilal Qamar 12:a04f7eeece23 144 *
Bilal Qamar 12:a04f7eeece23 145 */
Bilal Qamar 12:a04f7eeece23 146 int GnssOperations::enable_ubx_odo()
Bilal Qamar 12:a04f7eeece23 147 {
Bilal Qamar 12:a04f7eeece23 148 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 149 unsigned char ubx_cfg_odo[]={0x00, 0x00, 0x00, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x19, 0x46, 0x19, 0x66, 0x0A, 0x32, 0x00,
Bilal Qamar 12:a04f7eeece23 150 0x00, 0x99, 0x4C, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 151 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 152 int length =0;
Bilal Qamar 12:a04f7eeece23 153
Bilal Qamar 12:a04f7eeece23 154 while(conf)
Bilal Qamar 12:a04f7eeece23 155 {
Bilal Qamar 12:a04f7eeece23 156 length = GnssSerial::sendUbx(0x06, 0x1E, ubx_cfg_odo, sizeof(ubx_cfg_odo));
Bilal Qamar 12:a04f7eeece23 157 if(length >= (int)(sizeof(ubx_cfg_odo) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 158 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 159 SEND_LOGGING_MESSAGE("UBX-ODO was enabled\r\n");
wajahat.abbas@u-blox.com 19:119e7c15ff97 160 wait(1);
Bilal Qamar 12:a04f7eeece23 161 break;
Bilal Qamar 12:a04f7eeece23 162 }
Bilal Qamar 12:a04f7eeece23 163 else
Bilal Qamar 12:a04f7eeece23 164 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 165 SEND_LOGGING_MESSAGE("enabling UBX-ODO...\r\n");
Bilal Qamar 12:a04f7eeece23 166 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 167 }
Bilal Qamar 12:a04f7eeece23 168 }
Bilal Qamar 12:a04f7eeece23 169
Bilal Qamar 12:a04f7eeece23 170 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 171 }
Bilal Qamar 12:a04f7eeece23 172
Bilal Qamar 12:a04f7eeece23 173 int GnssOperations::disable_ubx_odo()
Bilal Qamar 12:a04f7eeece23 174 {
Bilal Qamar 12:a04f7eeece23 175 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 176 unsigned char ubx_cfg_odo[]={0x00, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x19, 0x46, 0x19, 0x66, 0x0A, 0x32, 0x00,
Bilal Qamar 12:a04f7eeece23 177 0x00, 0x99, 0x4C, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 178 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 179 int length =0;
Bilal Qamar 12:a04f7eeece23 180
Bilal Qamar 12:a04f7eeece23 181 while(conf)
Bilal Qamar 12:a04f7eeece23 182 {
Bilal Qamar 12:a04f7eeece23 183 length = GnssSerial::sendUbx(0x06, 0x1E, ubx_cfg_odo, sizeof(ubx_cfg_odo));
Bilal Qamar 12:a04f7eeece23 184 if(length >= (int)(sizeof(ubx_cfg_odo) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 185 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 186 SEND_LOGGING_MESSAGE("UBX-ODO was disabled\r\n");
Bilal Qamar 12:a04f7eeece23 187 wait(5);
Bilal Qamar 12:a04f7eeece23 188 break;
Bilal Qamar 12:a04f7eeece23 189 }
Bilal Qamar 12:a04f7eeece23 190 else
Bilal Qamar 12:a04f7eeece23 191 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 192 SEND_LOGGING_MESSAGE("disabling UBX-ODO...\r\n");
Bilal Qamar 12:a04f7eeece23 193 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 194 }
Bilal Qamar 12:a04f7eeece23 195 }
Bilal Qamar 12:a04f7eeece23 196
Bilal Qamar 12:a04f7eeece23 197 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 198 }
Bilal Qamar 12:a04f7eeece23 199 /**
Bilal Qamar 12:a04f7eeece23 200 * Enabling UBX-NAV-ODO messages using UBX-CFG-MSG
Bilal Qamar 12:a04f7eeece23 201 * @param return SUCCESS: 1
Bilal Qamar 12:a04f7eeece23 202 * FAILURE: 0
Bilal Qamar 12:a04f7eeece23 203 *
Bilal Qamar 12:a04f7eeece23 204 */
Bilal Qamar 12:a04f7eeece23 205 int GnssOperations::enable_ubx_nav_odo()
Bilal Qamar 12:a04f7eeece23 206 {
Bilal Qamar 12:a04f7eeece23 207 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 208 unsigned char ubx_nav_odo[]={0x01, 0x09, 0x01};
Bilal Qamar 12:a04f7eeece23 209 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 210 int length =0;
Bilal Qamar 12:a04f7eeece23 211
Bilal Qamar 12:a04f7eeece23 212 while(conf)
Bilal Qamar 12:a04f7eeece23 213 {
Bilal Qamar 12:a04f7eeece23 214 length = GnssSerial::sendUbx(0x06, 0x01, ubx_nav_odo, sizeof(ubx_nav_odo));
Bilal Qamar 12:a04f7eeece23 215 if(length >= (int)(sizeof(ubx_nav_odo) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 216 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 217 SEND_LOGGING_MESSAGE("UBX-NAV-ODO was enabled\r\n");
wajahat.abbas@u-blox.com 19:119e7c15ff97 218 wait(1);
Bilal Qamar 12:a04f7eeece23 219 break;
Bilal Qamar 12:a04f7eeece23 220 }
Bilal Qamar 12:a04f7eeece23 221 else
Bilal Qamar 12:a04f7eeece23 222 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 223 SEND_LOGGING_MESSAGE("enabling UBX-NAV-ODO...\r\n");
Bilal Qamar 12:a04f7eeece23 224 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 225 }
Bilal Qamar 12:a04f7eeece23 226 }
Bilal Qamar 12:a04f7eeece23 227
Bilal Qamar 12:a04f7eeece23 228 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 229 }
Bilal Qamar 12:a04f7eeece23 230
Bilal Qamar 12:a04f7eeece23 231 /**
Bilal Qamar 12:a04f7eeece23 232 * Disabling UBX-NAV-ODO messages using UBX-CFG-MSG
Bilal Qamar 12:a04f7eeece23 233 * @param return SUCCESS: 1
Bilal Qamar 12:a04f7eeece23 234 * FAILURE: 0
Bilal Qamar 12:a04f7eeece23 235 *
Bilal Qamar 12:a04f7eeece23 236 */
Bilal Qamar 12:a04f7eeece23 237 int GnssOperations::disable_ubx_nav_odo()
Bilal Qamar 12:a04f7eeece23 238 {
Bilal Qamar 12:a04f7eeece23 239 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 240 unsigned char ubx_nav_odo[]={0x01, 0x09, 0x00};
Bilal Qamar 12:a04f7eeece23 241 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 242 int length =0;
Bilal Qamar 12:a04f7eeece23 243
Bilal Qamar 12:a04f7eeece23 244 while(conf)
Bilal Qamar 12:a04f7eeece23 245 {
Bilal Qamar 12:a04f7eeece23 246 length = GnssSerial::sendUbx(0x06, 0x01, ubx_nav_odo, sizeof(ubx_nav_odo));
Bilal Qamar 12:a04f7eeece23 247 if(length >= (int)(sizeof(ubx_nav_odo) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 248 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 249 SEND_LOGGING_MESSAGE("UBX-NAV-ODO was disabled\r\n");
Bilal Qamar 12:a04f7eeece23 250 wait(5);
Bilal Qamar 12:a04f7eeece23 251 break;
Bilal Qamar 12:a04f7eeece23 252 }
Bilal Qamar 12:a04f7eeece23 253 else
Bilal Qamar 12:a04f7eeece23 254 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 255 SEND_LOGGING_MESSAGE("disabling UBX-NAV-ODO...\r\n");
Bilal Qamar 12:a04f7eeece23 256 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 257 }
Bilal Qamar 12:a04f7eeece23 258 }
Bilal Qamar 12:a04f7eeece23 259
Bilal Qamar 12:a04f7eeece23 260 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 261 }
Bilal Qamar 12:a04f7eeece23 262
Bilal Qamar 12:a04f7eeece23 263 int GnssOperations::enable_ubx_batch_feature()
Bilal Qamar 12:a04f7eeece23 264 {
Bilal Qamar 12:a04f7eeece23 265 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 266 unsigned char enable_ubx_log_batch[]={0x00, 0x0D, 0x0A, 0x00, 0x07, 0x00, 0x00, 0x01};
Bilal Qamar 12:a04f7eeece23 267 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 268 int length =0;
Bilal Qamar 12:a04f7eeece23 269
Bilal Qamar 12:a04f7eeece23 270 //Disable NAV-ODO and NAV-PVT
Bilal Qamar 12:a04f7eeece23 271 disable_ubx_nav_odo();
Bilal Qamar 12:a04f7eeece23 272 disable_ubx_nav_pvt();
Bilal Qamar 12:a04f7eeece23 273
Bilal Qamar 12:a04f7eeece23 274 while(conf)
Bilal Qamar 12:a04f7eeece23 275 {
Bilal Qamar 12:a04f7eeece23 276 length = GnssSerial::sendUbx(0x06, 0x93, enable_ubx_log_batch, sizeof(enable_ubx_log_batch));
Bilal Qamar 12:a04f7eeece23 277 if(length >= (int)(sizeof(enable_ubx_log_batch) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 278 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 279 SEND_LOGGING_MESSAGE("UBX_LOG_BATCH was enabled\r\n");
wajahat.abbas@u-blox.com 19:119e7c15ff97 280 wait(1);
Bilal Qamar 12:a04f7eeece23 281 break;
Bilal Qamar 12:a04f7eeece23 282 }
Bilal Qamar 12:a04f7eeece23 283 else
Bilal Qamar 12:a04f7eeece23 284 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 285 SEND_LOGGING_MESSAGE("enable ubx_batch_log...\r\n");
Bilal Qamar 12:a04f7eeece23 286 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 287 }
Bilal Qamar 12:a04f7eeece23 288 }
Bilal Qamar 12:a04f7eeece23 289 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 290 }
Bilal Qamar 12:a04f7eeece23 291
Bilal Qamar 12:a04f7eeece23 292 int GnssOperations::disable_ubx_batch_feature()
Bilal Qamar 12:a04f7eeece23 293 {
Bilal Qamar 12:a04f7eeece23 294 int conf = RETRY;
Bilal Qamar 12:a04f7eeece23 295 unsigned char enable_ubx_log_batch[]={0x00, 0x0C, 0x0A, 0x00, 0x07, 0x00, 0x00, 0x01};
Bilal Qamar 12:a04f7eeece23 296 conf = RETRY;
Bilal Qamar 12:a04f7eeece23 297 int length =0;
Bilal Qamar 12:a04f7eeece23 298
Bilal Qamar 12:a04f7eeece23 299 //Enable NAV-ODO and NAV-PVT
Bilal Qamar 12:a04f7eeece23 300 enable_ubx_nav_odo();
Bilal Qamar 12:a04f7eeece23 301 enable_ubx_nav_pvt();
Bilal Qamar 12:a04f7eeece23 302
Bilal Qamar 12:a04f7eeece23 303 while(conf)
Bilal Qamar 12:a04f7eeece23 304 {
Bilal Qamar 12:a04f7eeece23 305 length = GnssSerial::sendUbx(0x06, 0x93, enable_ubx_log_batch, sizeof(enable_ubx_log_batch));
Bilal Qamar 12:a04f7eeece23 306 if(length >= (int)(sizeof(enable_ubx_log_batch) + UBX_FRAME_SIZE))
Bilal Qamar 12:a04f7eeece23 307 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 308 SEND_LOGGING_MESSAGE("UBX_LOG_BATCH was enabled\r\n");
Bilal Qamar 12:a04f7eeece23 309 wait(5);
Bilal Qamar 12:a04f7eeece23 310 break;
Bilal Qamar 12:a04f7eeece23 311 }
Bilal Qamar 12:a04f7eeece23 312 else
Bilal Qamar 12:a04f7eeece23 313 {
fahim.alavi@u-blox.com 16:cb9861f0f4d8 314 SEND_LOGGING_MESSAGE("enable ubx_batch_log...\r\n");
Bilal Qamar 12:a04f7eeece23 315 conf = conf - 1;
Bilal Qamar 12:a04f7eeece23 316 }
Bilal Qamar 12:a04f7eeece23 317 }
Bilal Qamar 12:a04f7eeece23 318 return (conf == 0) ? 0 : 1;
Bilal Qamar 12:a04f7eeece23 319 }
Bilal Qamar 12:a04f7eeece23 320
Bilal Qamar 12:a04f7eeece23 321 /**
Bilal Qamar 12:a04f7eeece23 322 *
Bilal Qamar 12:a04f7eeece23 323 * Configuring UBX-LOG-BATCH with UBX-CFG-BATCH
Bilal Qamar 12:a04f7eeece23 324 *
Bilal Qamar 12:a04f7eeece23 325 * @param obj struct containing the data to be send in payload
Bilal Qamar 12:a04f7eeece23 326 * @param return SUCCESS: 1
Bilal Qamar 12:a04f7eeece23 327 * FAIL: 0
Bilal Qamar 12:a04f7eeece23 328 *
Bilal Qamar 12:a04f7eeece23 329 */
Bilal Qamar 12:a04f7eeece23 330 int GnssOperations::cfg_batch_feature(tUBX_CFG_BATCH *obj)
Bilal Qamar 12:a04f7eeece23 331 {
Bilal Qamar 12:a04f7eeece23 332 int length =0;
Bilal Qamar 12:a04f7eeece23 333 const unsigned char cfg_batch_feature[] = {0x00, 0x01, EXTRACT_BYTE(0, FIRST_BYTE, obj->bufSize),
Bilal Qamar 12:a04f7eeece23 334 EXTRACT_BYTE(1, SECOND_BYTE, obj->bufSize), EXTRACT_BYTE(0, FIRST_BYTE, obj->notifThrs),
Bilal Qamar 12:a04f7eeece23 335 EXTRACT_BYTE(1, SECOND_BYTE, obj->notifThrs), obj->pioId, 0x00};
Bilal Qamar 12:a04f7eeece23 336
Bilal Qamar 12:a04f7eeece23 337 length = GnssSerial::sendUbx(0x06, 0x93, cfg_batch_feature, sizeof(cfg_batch_feature));
Bilal Qamar 12:a04f7eeece23 338
Bilal Qamar 12:a04f7eeece23 339 return (length >= (int)(sizeof(cfg_batch_feature) + UBX_FRAME_SIZE)) ? 1 : 0;
Bilal Qamar 12:a04f7eeece23 340 }
Bilal Qamar 12:a04f7eeece23 341
Bilal Qamar 12:a04f7eeece23 342 /*
Bilal Qamar 12:a04f7eeece23 343 * Power mode configuration for GNSS receiver
Bilal Qamar 12:a04f7eeece23 344 *
Bilal Qamar 12:a04f7eeece23 345 * Pending: Need to send extended power management configuration messages (UBX-CFG-PM2)
Bilal Qamar 12:a04f7eeece23 346 *
Bilal Qamar 12:a04f7eeece23 347 *
Bilal Qamar 12:a04f7eeece23 348 */
fahim.alavi@u-blox.com 16:cb9861f0f4d8 349 int GnssOperations::cfg_power_mode(Powermodes power_mode)
Bilal Qamar 12:a04f7eeece23 350 {
Bilal Qamar 12:a04f7eeece23 351 int length = 0;
Bilal Qamar 12:a04f7eeece23 352 unsigned char semi_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 353 unsigned char semi_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x02, 0x00, 0x43, 0x01, 0x10, 0x27, 0x00, 0x00, 0x10,
Bilal Qamar 12:a04f7eeece23 354 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x40, 0x00,
Bilal Qamar 12:a04f7eeece23 355 0x00, 0x87, 0x5A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 356 unsigned char semi_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
Bilal Qamar 12:a04f7eeece23 357
Bilal Qamar 12:a04f7eeece23 358 unsigned char aggresive_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 359 unsigned char aggresive_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x02, 0x00, 0x43, 0x01, 0xE8, 0x03, 0x00, 0x00,
Bilal Qamar 12:a04f7eeece23 360 0x10, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x40,
Bilal Qamar 12:a04f7eeece23 361 0x00, 0x00, 0x87, 0x5A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 362 unsigned char aggressive_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
Bilal Qamar 12:a04f7eeece23 363
Bilal Qamar 12:a04f7eeece23 364 unsigned char conservative_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 365 unsigned char conservative_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x00, 0x00, 0x43, 0x01, 0xE8, 0x03, 0x00, 0x00,
Bilal Qamar 12:a04f7eeece23 366 0x10, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x41,
Bilal Qamar 12:a04f7eeece23 367 0x00, 0x00, 0x88, 0x6A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
Bilal Qamar 12:a04f7eeece23 368 unsigned char conservative_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
Bilal Qamar 12:a04f7eeece23 369
Bilal Qamar 12:a04f7eeece23 370 unsigned char full_power_pms[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
bqam 18:7adca4350499 371 unsigned char full_power_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
bqam 18:7adca4350499 372
bqam 18:7adca4350499 373 unsigned char full_power_block_level_pms[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
bqam 18:7adca4350499 374 unsigned char full_power_block_level_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
bqam 18:7adca4350499 375
bqam 18:7adca4350499 376 unsigned char full_power_building_level_pms[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
bqam 18:7adca4350499 377 unsigned char full_power_building_level_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
Bilal Qamar 12:a04f7eeece23 378
Bilal Qamar 12:a04f7eeece23 379 switch (power_mode)
Bilal Qamar 12:a04f7eeece23 380 {
Bilal Qamar 12:a04f7eeece23 381 case SEMI_CONTINOUS:
fahim.alavi@u-blox.com 16:cb9861f0f4d8 382 SEND_LOGGING_MESSAGE("Configuring SEMI_CONTINOUS");
Bilal Qamar 12:a04f7eeece23 383 length = GnssSerial::sendUbx(0x06, 0x86, semi_continuous_pms, sizeof(semi_continuous_pms));
wajahat.abbas@u-blox.com 19:119e7c15ff97 384 wait(1);
Bilal Qamar 12:a04f7eeece23 385 length = GnssSerial::sendUbx(0x06, 0x3B, semi_continuous_pm2, sizeof(semi_continuous_pm2));
wajahat.abbas@u-blox.com 19:119e7c15ff97 386 wait(1);
Bilal Qamar 12:a04f7eeece23 387 length = GnssSerial::sendUbx(0x06, 0x08, semi_continuous_rate, sizeof(semi_continuous_rate));
fahim.alavi@u-blox.com 20:bc678f383db1 388 wait(1);
Bilal Qamar 12:a04f7eeece23 389 break;
Bilal Qamar 12:a04f7eeece23 390
Bilal Qamar 12:a04f7eeece23 391 case AGGRESSIVE_CONTINUOS:
fahim.alavi@u-blox.com 16:cb9861f0f4d8 392 SEND_LOGGING_MESSAGE("Configuring AGGRESSIVE_CONTINUOS");
Bilal Qamar 12:a04f7eeece23 393 length = GnssSerial::sendUbx(0x06, 0x86, aggresive_continuous_pms, sizeof(aggresive_continuous_pms));
wajahat.abbas@u-blox.com 19:119e7c15ff97 394 wait(1);
Bilal Qamar 12:a04f7eeece23 395 length = GnssSerial::sendUbx(0x06, 0x3B, aggresive_continuous_pm2, sizeof(aggresive_continuous_pm2));
wajahat.abbas@u-blox.com 19:119e7c15ff97 396 wait(1);
Bilal Qamar 12:a04f7eeece23 397 length = GnssSerial::sendUbx(0x06, 0x08, aggressive_continuous_rate, sizeof(aggressive_continuous_rate));
fahim.alavi@u-blox.com 20:bc678f383db1 398 wait(1);
Bilal Qamar 12:a04f7eeece23 399 break;
Bilal Qamar 12:a04f7eeece23 400
Bilal Qamar 12:a04f7eeece23 401 case CONSERVATIVE_CONTINOUS:
fahim.alavi@u-blox.com 16:cb9861f0f4d8 402 SEND_LOGGING_MESSAGE("Configuring CONSERVATIVE_CONTINOUS");
Bilal Qamar 12:a04f7eeece23 403 length = GnssSerial::sendUbx(0x06, 0x86, conservative_continuous_pms, sizeof(conservative_continuous_pms));
wajahat.abbas@u-blox.com 19:119e7c15ff97 404 wait(1);
Bilal Qamar 12:a04f7eeece23 405 length = GnssSerial::sendUbx(0x06, 0x3B, conservative_continuous_pm2, sizeof(conservative_continuous_pm2));
wajahat.abbas@u-blox.com 19:119e7c15ff97 406 wait(1);
Bilal Qamar 12:a04f7eeece23 407 length = GnssSerial::sendUbx(0x06, 0x08, conservative_continuous_rate, sizeof(conservative_continuous_rate));
fahim.alavi@u-blox.com 20:bc678f383db1 408 wait(1);
Bilal Qamar 12:a04f7eeece23 409 break;
Bilal Qamar 12:a04f7eeece23 410
Bilal Qamar 12:a04f7eeece23 411 case FULL_POWER:
fahim.alavi@u-blox.com 16:cb9861f0f4d8 412 SEND_LOGGING_MESSAGE("Configuring FULL_POWER");
Bilal Qamar 12:a04f7eeece23 413 length = GnssSerial::sendUbx(0x06, 0x86, full_power_pms, sizeof(full_power_pms));
wajahat.abbas@u-blox.com 19:119e7c15ff97 414 wait(1);
Bilal Qamar 12:a04f7eeece23 415 length = GnssSerial::sendUbx(0x06, 0x08, full_power_rate, sizeof(full_power_rate));
fahim.alavi@u-blox.com 20:bc678f383db1 416 wait(1);
Bilal Qamar 12:a04f7eeece23 417 break;
bqam 18:7adca4350499 418 case FULL_POWER_BLOCK_LEVEL:
bqam 18:7adca4350499 419 SEND_LOGGING_MESSAGE("Configuring FULL_POWER_BLOCK_LEVEL");
bqam 18:7adca4350499 420 length = GnssSerial::sendUbx(0x06, 0x86, full_power_block_level_pms, sizeof(full_power_block_level_pms));
wajahat.abbas@u-blox.com 19:119e7c15ff97 421 wait(1);
bqam 18:7adca4350499 422 length = GnssSerial::sendUbx(0x06, 0x08, full_power_block_level_rate, sizeof(full_power_block_level_rate));
fahim.alavi@u-blox.com 20:bc678f383db1 423 wait(1);
bqam 18:7adca4350499 424 break;
bqam 18:7adca4350499 425 case FULL_POWER_BUILDING_LEVEL:
bqam 18:7adca4350499 426 SEND_LOGGING_MESSAGE("Configuring FULL_POWER_BUILDING_LEVEL");
bqam 18:7adca4350499 427 length = GnssSerial::sendUbx(0x06, 0x86, full_power_building_level_pms, sizeof(full_power_building_level_pms));
wajahat.abbas@u-blox.com 19:119e7c15ff97 428 wait(1);
bqam 18:7adca4350499 429 length = GnssSerial::sendUbx(0x06, 0x08, full_power_building_level_rate, sizeof(full_power_building_level_rate));
fahim.alavi@u-blox.com 20:bc678f383db1 430 wait(1);
bqam 18:7adca4350499 431 break;
Bilal Qamar 12:a04f7eeece23 432 }
fahim.alavi@u-blox.com 20:bc678f383db1 433
Bilal Qamar 12:a04f7eeece23 434 return (length >= (int)(sizeof(semi_continuous_pms) + UBX_FRAME_SIZE)) ? 1 : 0;
Bilal Qamar 12:a04f7eeece23 435 }
Bilal Qamar 12:a04f7eeece23 436
fahim.alavi@u-blox.com 20:bc678f383db1 437 bool GnssOperations::verify_gnss_mode() {
fahim.alavi@u-blox.com 20:bc678f383db1 438
fahim.alavi@u-blox.com 20:bc678f383db1 439 unsigned char CFG_PMS[] = {0xB5, 0x62, 0x06, 0x86, 0x00, 0x00, 0x8c, 0xAA};
fahim.alavi@u-blox.com 20:bc678f383db1 440 unsigned char CFG_PM2[] = {0xB5, 0x62, 0x06, 0x3B, 0x00, 0x00, 0x41, 0xC9};
fahim.alavi@u-blox.com 20:bc678f383db1 441 unsigned char CFG_RATE[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30};
fahim.alavi@u-blox.com 20:bc678f383db1 442 unsigned char CFG_NAV5[] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2A, 0x84};
fahim.alavi@u-blox.com 20:bc678f383db1 443
fahim.alavi@u-blox.com 20:bc678f383db1 444 this->_send(CFG_PMS, sizeof(CFG_PMS));
fahim.alavi@u-blox.com 20:bc678f383db1 445 wait(1);
fahim.alavi@u-blox.com 20:bc678f383db1 446
fahim.alavi@u-blox.com 20:bc678f383db1 447 this->_send(CFG_PM2, sizeof(CFG_PM2));
fahim.alavi@u-blox.com 20:bc678f383db1 448 wait(1);
fahim.alavi@u-blox.com 20:bc678f383db1 449
fahim.alavi@u-blox.com 20:bc678f383db1 450 this->_send(CFG_RATE, sizeof(CFG_RATE));
fahim.alavi@u-blox.com 20:bc678f383db1 451 wait(1);
fahim.alavi@u-blox.com 20:bc678f383db1 452
fahim.alavi@u-blox.com 20:bc678f383db1 453 this->_send(CFG_NAV5, sizeof(CFG_NAV5));
fahim.alavi@u-blox.com 20:bc678f383db1 454 wait(1);
fahim.alavi@u-blox.com 20:bc678f383db1 455
fahim.alavi@u-blox.com 20:bc678f383db1 456 return true;
fahim.alavi@u-blox.com 20:bc678f383db1 457 }
fahim.alavi@u-blox.com 20:bc678f383db1 458
Bilal Qamar 12:a04f7eeece23 459 /**
Bilal Qamar 12:a04f7eeece23 460 * GNSS start modes (Hot/Warm/Cold start)
Bilal Qamar 12:a04f7eeece23 461 *
Bilal Qamar 12:a04f7eeece23 462 * @param return SUCCESS: 1
Bilal Qamar 12:a04f7eeece23 463 * FAILURE: 0
Bilal Qamar 12:a04f7eeece23 464 *
Bilal Qamar 12:a04f7eeece23 465 */
Bilal Qamar 12:a04f7eeece23 466 int GnssOperations::start_mode(int start_mode)
Bilal Qamar 12:a04f7eeece23 467 {
Bilal Qamar 12:a04f7eeece23 468 int length = 0;
Bilal Qamar 12:a04f7eeece23 469 unsigned char hot_start[] = {0x00, 0x00, 0x02, 0x00};
Bilal Qamar 12:a04f7eeece23 470 unsigned char warm_start[] = {0x01, 0x00, 0x02, 0x00};
Bilal Qamar 12:a04f7eeece23 471 unsigned char cold_start[] = {0xFF, 0xFF, 0x02, 0x00};
Bilal Qamar 12:a04f7eeece23 472
Bilal Qamar 12:a04f7eeece23 473 switch (start_mode)
Bilal Qamar 12:a04f7eeece23 474 {
Bilal Qamar 12:a04f7eeece23 475 case HOT:
Bilal Qamar 12:a04f7eeece23 476 length = GnssSerial::sendUbx(0x06, 0x04, hot_start, sizeof(hot_start));
Bilal Qamar 12:a04f7eeece23 477 break;
Bilal Qamar 12:a04f7eeece23 478
Bilal Qamar 12:a04f7eeece23 479 case WARM:
Bilal Qamar 12:a04f7eeece23 480 length = GnssSerial::sendUbx(0x06, 0x04, warm_start, sizeof(warm_start));
Bilal Qamar 12:a04f7eeece23 481 break;
Bilal Qamar 12:a04f7eeece23 482
Bilal Qamar 12:a04f7eeece23 483 case COLD:
Bilal Qamar 12:a04f7eeece23 484 length = GnssSerial::sendUbx(0x06, 0x04, cold_start, sizeof(cold_start));
Bilal Qamar 12:a04f7eeece23 485 break;
Bilal Qamar 12:a04f7eeece23 486 }
Bilal Qamar 12:a04f7eeece23 487
Bilal Qamar 12:a04f7eeece23 488 return (length >= (int)(sizeof(hot_start) + UBX_FRAME_SIZE)) ? 1 : 0;
Bilal Qamar 12:a04f7eeece23 489 }
bqam 14:4b22bd505b93 490
bqam 14:4b22bd505b93 491 void GnssOperations::send_to_gnss(char rChar)
bqam 14:4b22bd505b93 492 {
bqam 14:4b22bd505b93 493 GnssSerial::putc(rChar);
bqam 14:4b22bd505b93 494 }
bqam 14:4b22bd505b93 495
bqam 14:4b22bd505b93 496 void GnssOperations::power_on_gnss()
bqam 14:4b22bd505b93 497 {
bqam 14:4b22bd505b93 498 GnssSerial::_powerOn();
bqam 14:4b22bd505b93 499 }