u-blox
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
Diff: gnss_operations.cpp
- Revision:
- 33:75163fa7e453
- Parent:
- 32:36bf0ff17131
--- a/gnss_operations.cpp Wed Apr 24 17:55:48 2019 +0500
+++ b/gnss_operations.cpp Wed May 29 16:45:00 2019 +0500
@@ -22,109 +22,109 @@
*/
int GnssOperations::enable_ubx_nav_pvt()
{
- int conf = RETRY;
- unsigned char enable_ubx_nav_pvt[]={0x01, 0x07, 0x01};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char enable_ubx_nav_pvt[]= {0x01, 0x07, 0x01};
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
+ while(conf)
+ {
- length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_pvt, sizeof(enable_ubx_nav_pvt));
- if(length >= (int)(sizeof(enable_ubx_nav_pvt) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-NAV-PVT was enabled\r\n");
- wait(1);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enabling UBX-NAV-PVT...\r\n");
- conf = conf - 1;
- }
- }
+ length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_pvt, sizeof(enable_ubx_nav_pvt));
+ if(length >= (int)(sizeof(enable_ubx_nav_pvt) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-NAV-PVT was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enabling UBX-NAV-PVT...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
int GnssOperations::enable_ubx_nav_status() {
- int conf = RETRY;
- unsigned char enable_ubx_nav_status[]={0x01, 0x03, 0x01};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char enable_ubx_nav_status[]= {0x01, 0x03, 0x01};
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
+ while(conf)
+ {
- length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_status, sizeof(enable_ubx_nav_status));
- if(length >= (int)(sizeof(enable_ubx_nav_status) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-NAV-STATUS was enabled\r\n");
- wait(1);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
- conf = conf - 1;
- }
- }
+ length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_status, sizeof(enable_ubx_nav_status));
+ if(length >= (int)(sizeof(enable_ubx_nav_status) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-NAV-STATUS was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
int GnssOperations::enable_ubx_nav_sat() {
- int conf = RETRY;
- unsigned char enable_ubx_nav_sat[]={0x01, 0x35, 0x01};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char enable_ubx_nav_sat[]= {0x01, 0x35, 0x01};
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
+ while(conf)
+ {
- length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_sat, sizeof(enable_ubx_nav_sat));
- if(length >= (int)(sizeof(enable_ubx_nav_sat) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-NAV-STATUS was enabled\r\n");
- wait(1);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
- conf = conf - 1;
- }
- }
+ length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_sat, sizeof(enable_ubx_nav_sat));
+ if(length >= (int)(sizeof(enable_ubx_nav_sat) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-NAV-STATUS was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
int GnssOperations::enable_ubx_nav_sol() {
- int conf = RETRY;
- unsigned char enable_ubx_nav_status[]={0x01, 0x06, 0x0A};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char enable_ubx_nav_status[]= {0x01, 0x06, 0x0A};
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
+ while(conf)
+ {
- length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_status, sizeof(enable_ubx_nav_status));
- if(length >= (int)(sizeof(enable_ubx_nav_status) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-NAV-STATUS was enabled\r\n");
- wait(1);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
- conf = conf - 1;
- }
- }
+ length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_status, sizeof(enable_ubx_nav_status));
+ if(length >= (int)(sizeof(enable_ubx_nav_status) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-NAV-STATUS was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
@@ -137,59 +137,60 @@
*/
int GnssOperations::disable_ubx_nav_pvt()
{
- int conf = RETRY;
- unsigned char enable_ubx_nav_pvt[]={0x01, 0x07, 0x00};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char enable_ubx_nav_pvt[]= {0x01, 0x07, 0x00};
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
+ while(conf)
+ {
- length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_pvt, sizeof(enable_ubx_nav_pvt));
- if(length >= (int)(sizeof(enable_ubx_nav_pvt) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-NAV-PVT was disabled\r\n");
- wait(5);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("disabling UBX-NAV-PVT...\r\n");
- conf = conf - 1;
- }
- }
+ length = GnssSerial::sendUbx(0x06, 0x01, enable_ubx_nav_pvt, sizeof(enable_ubx_nav_pvt));
+ if(length >= (int)(sizeof(enable_ubx_nav_pvt) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-NAV-PVT was disabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("disabling UBX-NAV-PVT...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
int GnssOperations::enable_ubx_nav5(unsigned int acc)
{
- int conf = RETRY;
- conf = RETRY;
- int length =0;
- //convert unsigned int acc to hex
- //ask if positioning mask or time accuracy mask
- unsigned char ubx_cfg_nav5[]={0xFF, 0xFF, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
- 0x0A, 0x00, 0xFA, 0x00,0xFA, 0x00, (unsigned char)EXTRACT_BYTE(0, FIRST_BYTE, acc), (unsigned char)EXTRACT_BYTE(1, SECOND_BYTE, acc),
- 0x5E, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00};
+ int conf = RETRY;
+ conf = RETRY;
+ int length =0;
+ //convert unsigned int acc to hex
+ //ask if positioning mask or time accuracy mask
+ unsigned char ubx_cfg_nav5[]= {0xFF, 0xFF, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
+ 0x0A, 0x00, 0xFA, 0x00,0xFA, 0x00, (unsigned char)EXTRACT_BYTE(0, FIRST_BYTE, acc), (unsigned char)EXTRACT_BYTE(1, SECOND_BYTE, acc),
+ 0x5E, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00
+ };
- while(conf)
- {
- length = GnssSerial::sendUbx(0x06, 0x24, ubx_cfg_nav5, sizeof(ubx_cfg_nav5));
- if(length >= (int)(sizeof(ubx_cfg_nav5) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("ubx_cfg_nav5 was enabled\r\n");
- wait(1);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enabling ubx_cfg_nav5...\r\n");
- conf = conf - 1;
- }
- }
+ while(conf)
+ {
+ length = GnssSerial::sendUbx(0x06, 0x24, ubx_cfg_nav5, sizeof(ubx_cfg_nav5));
+ if(length >= (int)(sizeof(ubx_cfg_nav5) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("ubx_cfg_nav5 was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enabling ubx_cfg_nav5...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
int GnssOperations::enable_ubx_navx5()
@@ -199,8 +200,9 @@
int length =0;
//convert unsigned int acc to hex
//ask if positioning mask or time accuracy mask
- unsigned char ubx_cfg_navx5[]={0x28, 0x00, 0x02, 0x00, 0xFF, 0xFF, 0xFF, 0x02, 0x00, 0x00, 0x03, 0x02, 0x03, 0x20, 0x06, 0x00, 0x01, 0x01, 0x00, 0x00, 0x90,
- 0x07, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x02, 0x64, 0x64, 0x00, 0x00, 0x01, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF9, 0xF7};
+ unsigned char ubx_cfg_navx5[]= {0x28, 0x00, 0x02, 0x00, 0xFF, 0xFF, 0xFF, 0x02, 0x00, 0x00, 0x03, 0x02, 0x03, 0x20, 0x06, 0x00, 0x01, 0x01, 0x00, 0x00, 0x90,
+ 0x07, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x02, 0x64, 0x64, 0x00, 0x00, 0x01, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF9, 0xF7
+ };
while(conf)
{
@@ -208,7 +210,7 @@
if(length >= (int)(sizeof(ubx_cfg_navx5) + UBX_FRAME_SIZE))
{
SEND_LOGGING_MESSAGE("ubx_cfg_navx5 was enabled\r\n");
- wait(1);
+ wait(0.5);
break;
}
else
@@ -229,56 +231,58 @@
*/
int GnssOperations::enable_ubx_odo()
{
- int conf = RETRY;
- unsigned char ubx_cfg_odo[]={0x00, 0x00, 0x00, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x19, 0x46, 0x19, 0x66, 0x0A, 0x32, 0x00,
- 0x00, 0x99, 0x4C, 0x00, 0x00};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char ubx_cfg_odo[]= {0x00, 0x00, 0x00, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x19, 0x46, 0x19, 0x66, 0x0A, 0x32, 0x00,
+ 0x00, 0x99, 0x4C, 0x00, 0x00
+ };
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
- length = GnssSerial::sendUbx(0x06, 0x1E, ubx_cfg_odo, sizeof(ubx_cfg_odo));
- if(length >= (int)(sizeof(ubx_cfg_odo) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-ODO was enabled\r\n");
- wait(1);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enabling UBX-ODO...\r\n");
- conf = conf - 1;
- }
- }
+ while(conf)
+ {
+ length = GnssSerial::sendUbx(0x06, 0x1E, ubx_cfg_odo, sizeof(ubx_cfg_odo));
+ if(length >= (int)(sizeof(ubx_cfg_odo) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-ODO was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enabling UBX-ODO...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
int GnssOperations::disable_ubx_odo()
{
- int conf = RETRY;
- unsigned char ubx_cfg_odo[]={0x00, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x19, 0x46, 0x19, 0x66, 0x0A, 0x32, 0x00,
- 0x00, 0x99, 0x4C, 0x00, 0x00};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char ubx_cfg_odo[]= {0x00, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x19, 0x46, 0x19, 0x66, 0x0A, 0x32, 0x00,
+ 0x00, 0x99, 0x4C, 0x00, 0x00
+ };
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
- length = GnssSerial::sendUbx(0x06, 0x1E, ubx_cfg_odo, sizeof(ubx_cfg_odo));
- if(length >= (int)(sizeof(ubx_cfg_odo) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-ODO was disabled\r\n");
- wait(5);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("disabling UBX-ODO...\r\n");
- conf = conf - 1;
- }
- }
+ while(conf)
+ {
+ length = GnssSerial::sendUbx(0x06, 0x1E, ubx_cfg_odo, sizeof(ubx_cfg_odo));
+ if(length >= (int)(sizeof(ubx_cfg_odo) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-ODO was disabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("disabling UBX-ODO...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
/**
* Enabling UBX-NAV-ODO messages using UBX-CFG-MSG
@@ -288,28 +292,28 @@
*/
int GnssOperations::enable_ubx_nav_odo()
{
- int conf = RETRY;
- unsigned char ubx_nav_odo[]={0x01, 0x09, 0x01};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char ubx_nav_odo[]= {0x01, 0x09, 0x01};
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
- length = GnssSerial::sendUbx(0x06, 0x01, ubx_nav_odo, sizeof(ubx_nav_odo));
- if(length >= (int)(sizeof(ubx_nav_odo) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-NAV-ODO was enabled\r\n");
- wait(1);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enabling UBX-NAV-ODO...\r\n");
- conf = conf - 1;
- }
- }
+ while(conf)
+ {
+ length = GnssSerial::sendUbx(0x06, 0x01, ubx_nav_odo, sizeof(ubx_nav_odo));
+ if(length >= (int)(sizeof(ubx_nav_odo) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-NAV-ODO was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enabling UBX-NAV-ODO...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
/**
@@ -320,86 +324,86 @@
*/
int GnssOperations::disable_ubx_nav_odo()
{
- int conf = RETRY;
- unsigned char ubx_nav_odo[]={0x01, 0x09, 0x00};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char ubx_nav_odo[]= {0x01, 0x09, 0x00};
+ conf = RETRY;
+ int length =0;
- while(conf)
- {
- length = GnssSerial::sendUbx(0x06, 0x01, ubx_nav_odo, sizeof(ubx_nav_odo));
- if(length >= (int)(sizeof(ubx_nav_odo) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX-NAV-ODO was disabled\r\n");
- wait(5);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("disabling UBX-NAV-ODO...\r\n");
- conf = conf - 1;
- }
- }
+ while(conf)
+ {
+ length = GnssSerial::sendUbx(0x06, 0x01, ubx_nav_odo, sizeof(ubx_nav_odo));
+ if(length >= (int)(sizeof(ubx_nav_odo) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX-NAV-ODO was disabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("disabling UBX-NAV-ODO...\r\n");
+ conf = conf - 1;
+ }
+ }
- return (conf == 0) ? 0 : 1;
+ return (conf == 0) ? 0 : 1;
}
int GnssOperations::enable_ubx_batch_feature()
{
- int conf = RETRY;
- unsigned char enable_ubx_log_batch[]={0x00, 0x0D, 0x0A, 0x00, 0x07, 0x00, 0x00, 0x01};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char enable_ubx_log_batch[]= {0x00, 0x0D, 0x0A, 0x00, 0x07, 0x00, 0x00, 0x01};
+ conf = RETRY;
+ int length =0;
- //Disable NAV-ODO and NAV-PVT
- disable_ubx_nav_odo();
- disable_ubx_nav_pvt();
+ //Disable NAV-ODO and NAV-PVT
+ disable_ubx_nav_odo();
+ disable_ubx_nav_pvt();
- while(conf)
- {
- length = GnssSerial::sendUbx(0x06, 0x93, enable_ubx_log_batch, sizeof(enable_ubx_log_batch));
- if(length >= (int)(sizeof(enable_ubx_log_batch) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX_LOG_BATCH was enabled\r\n");
- wait(1);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enable ubx_batch_log...\r\n");
- conf = conf - 1;
- }
- }
- return (conf == 0) ? 0 : 1;
+ while(conf)
+ {
+ length = GnssSerial::sendUbx(0x06, 0x93, enable_ubx_log_batch, sizeof(enable_ubx_log_batch));
+ if(length >= (int)(sizeof(enable_ubx_log_batch) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX_LOG_BATCH was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enable ubx_batch_log...\r\n");
+ conf = conf - 1;
+ }
+ }
+ return (conf == 0) ? 0 : 1;
}
int GnssOperations::disable_ubx_batch_feature()
{
- int conf = RETRY;
- unsigned char enable_ubx_log_batch[]={0x00, 0x0C, 0x0A, 0x00, 0x07, 0x00, 0x00, 0x01};
- conf = RETRY;
- int length =0;
+ int conf = RETRY;
+ unsigned char enable_ubx_log_batch[]= {0x00, 0x0C, 0x0A, 0x00, 0x07, 0x00, 0x00, 0x01};
+ conf = RETRY;
+ int length =0;
- //Enable NAV-ODO and NAV-PVT
- enable_ubx_nav_odo();
- enable_ubx_nav_pvt();
+ //Enable NAV-ODO and NAV-PVT
+ enable_ubx_nav_odo();
+ enable_ubx_nav_pvt();
- while(conf)
- {
- length = GnssSerial::sendUbx(0x06, 0x93, enable_ubx_log_batch, sizeof(enable_ubx_log_batch));
- if(length >= (int)(sizeof(enable_ubx_log_batch) + UBX_FRAME_SIZE))
- {
- SEND_LOGGING_MESSAGE("UBX_LOG_BATCH was enabled\r\n");
- wait(5);
- break;
- }
- else
- {
- SEND_LOGGING_MESSAGE("enable ubx_batch_log...\r\n");
- conf = conf - 1;
- }
- }
- return (conf == 0) ? 0 : 1;
+ while(conf)
+ {
+ length = GnssSerial::sendUbx(0x06, 0x93, enable_ubx_log_batch, sizeof(enable_ubx_log_batch));
+ if(length >= (int)(sizeof(enable_ubx_log_batch) + UBX_FRAME_SIZE))
+ {
+ SEND_LOGGING_MESSAGE("UBX_LOG_BATCH was enabled\r\n");
+ wait(0.5);
+ break;
+ }
+ else
+ {
+ SEND_LOGGING_MESSAGE("enable ubx_batch_log...\r\n");
+ conf = conf - 1;
+ }
+ }
+ return (conf == 0) ? 0 : 1;
}
/**
@@ -413,14 +417,15 @@
*/
int GnssOperations::cfg_batch_feature(tUBX_CFG_BATCH *obj)
{
- int length =0;
- const unsigned char cfg_batch_feature[] = {0x00, 0x01, (unsigned char)EXTRACT_BYTE(0, FIRST_BYTE, obj->bufSize),
- (unsigned char) EXTRACT_BYTE(1, SECOND_BYTE, obj->bufSize), (unsigned char) EXTRACT_BYTE(0, FIRST_BYTE, obj->notifThrs),
- (unsigned char) EXTRACT_BYTE(1, SECOND_BYTE, obj->notifThrs), obj->pioId, 0x00};
+ int length =0;
+ const unsigned char cfg_batch_feature[] = {0x00, 0x01, (unsigned char)EXTRACT_BYTE(0, FIRST_BYTE, obj->bufSize),
+ (unsigned char) EXTRACT_BYTE(1, SECOND_BYTE, obj->bufSize), (unsigned char) EXTRACT_BYTE(0, FIRST_BYTE, obj->notifThrs),
+ (unsigned char) EXTRACT_BYTE(1, SECOND_BYTE, obj->notifThrs), obj->pioId, 0x00
+ };
- length = GnssSerial::sendUbx(0x06, 0x93, cfg_batch_feature, sizeof(cfg_batch_feature));
+ length = GnssSerial::sendUbx(0x06, 0x93, cfg_batch_feature, sizeof(cfg_batch_feature));
- return (length >= (int)(sizeof(cfg_batch_feature) + UBX_FRAME_SIZE)) ? 1 : 0;
+ return (length >= (int)(sizeof(cfg_batch_feature) + UBX_FRAME_SIZE)) ? 1 : 0;
}
/*
@@ -432,28 +437,31 @@
*/
int GnssOperations::cfg_power_mode(Powermodes power_mode, bool minimumAcqTimeZero)
{
- int length = 0;
- const int minimumAcqTime_index = 22;
- unsigned char semi_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
- unsigned char semi_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x02, 0x00, 0x43, 0x01, 0x10, 0x27, 0x00, 0x00, 0x10,
- 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x40, 0x00,
- 0x00, 0x87, 0x5A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
- unsigned char semi_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
+ int length = 0;
+ const int minimumAcqTime_index = 22;
+ unsigned char semi_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+ unsigned char semi_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x02, 0x00, 0x43, 0x01, 0x10, 0x27, 0x00, 0x00, 0x10,
+ 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x40, 0x00,
+ 0x00, 0x87, 0x5A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
+ };
+ unsigned char semi_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
- unsigned char aggresive_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
- unsigned char aggresive_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x02, 0x00, 0x43, 0x01, 0xE8, 0x03, 0x00, 0x00,
- 0x10, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x40,
- 0x00, 0x00, 0x87, 0x5A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
- unsigned char aggressive_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
+ unsigned char aggresive_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+ unsigned char aggresive_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x02, 0x00, 0x43, 0x01, 0xE8, 0x03, 0x00, 0x00,
+ 0x10, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x40,
+ 0x00, 0x00, 0x87, 0x5A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
+ };
+ unsigned char aggressive_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
- unsigned char conservative_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
- unsigned char conservative_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x00, 0x00, 0x43, 0x01, 0xE8, 0x03, 0x00, 0x00,
- 0x10, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x41,
- 0x00, 0x00, 0x88, 0x6A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
- unsigned char conservative_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
+ unsigned char conservative_continuous_pms[] = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+ unsigned char conservative_continuous_pm2[] = {0x02, 0x06, 0x00, 0x00, 0x00, 0x00, 0x43, 0x01, 0xE8, 0x03, 0x00, 0x00,
+ 0x10, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x2C, 0x01, 0x00, 0x00, 0xCF, 0x41,
+ 0x00, 0x00, 0x88, 0x6A, 0xA4, 0x46, 0xFE, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
+ };
+ unsigned char conservative_continuous_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
- unsigned char full_power_pms[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
- unsigned char full_power_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
+ unsigned char full_power_pms[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+ unsigned char full_power_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
unsigned char full_power_block_level_pms[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned char full_power_block_level_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
@@ -461,111 +469,111 @@
unsigned char full_power_building_level_pms[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned char full_power_building_level_rate[] = {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
- switch (power_mode)
- {
- case SEMI_CONTINOUS:
- SEND_LOGGING_MESSAGE("Configuring SEMI_CONTINOUS");
- length = GnssSerial::sendUbx(0x06, 0x86, semi_continuous_pms, sizeof(semi_continuous_pms));
- wait(1);
+ switch (power_mode)
+ {
+ case SEMI_CONTINOUS:
+ SEND_LOGGING_MESSAGE("Configuring SEMI_CONTINOUS");
+ length = GnssSerial::sendUbx(0x06, 0x86, semi_continuous_pms, sizeof(semi_continuous_pms));
+ wait(0.5);
- if(minimumAcqTimeZero) {
- semi_continuous_pm2[minimumAcqTime_index] = 0x00;
- semi_continuous_pm2[minimumAcqTime_index + 1] = 0x00;
- }
+ if(minimumAcqTimeZero) {
+ semi_continuous_pm2[minimumAcqTime_index] = 0x00;
+ semi_continuous_pm2[minimumAcqTime_index + 1] = 0x00;
+ }
- length = GnssSerial::sendUbx(0x06, 0x3B, semi_continuous_pm2, sizeof(semi_continuous_pm2));
- wait(1);
- length = GnssSerial::sendUbx(0x06, 0x08, semi_continuous_rate, sizeof(semi_continuous_rate));
- wait(1);
- break;
+ length = GnssSerial::sendUbx(0x06, 0x3B, semi_continuous_pm2, sizeof(semi_continuous_pm2));
+ wait(0.5);
+ length = GnssSerial::sendUbx(0x06, 0x08, semi_continuous_rate, sizeof(semi_continuous_rate));
+ wait(0.5);
+ break;
- case AGGRESSIVE_CONTINUOS:
- SEND_LOGGING_MESSAGE("Configuring AGGRESSIVE_CONTINUOS");
- length = GnssSerial::sendUbx(0x06, 0x86, aggresive_continuous_pms, sizeof(aggresive_continuous_pms));
- wait(1);
+ case AGGRESSIVE_CONTINUOS:
+ SEND_LOGGING_MESSAGE("Configuring AGGRESSIVE_CONTINUOS");
+ length = GnssSerial::sendUbx(0x06, 0x86, aggresive_continuous_pms, sizeof(aggresive_continuous_pms));
+ wait(0.5);
- if(minimumAcqTimeZero) {
- semi_continuous_pm2[minimumAcqTime_index] = 0x00;
- semi_continuous_pm2[minimumAcqTime_index + 1] = 0x00;
- }
+ if(minimumAcqTimeZero) {
+ semi_continuous_pm2[minimumAcqTime_index] = 0x00;
+ semi_continuous_pm2[minimumAcqTime_index + 1] = 0x00;
+ }
- length = GnssSerial::sendUbx(0x06, 0x3B, aggresive_continuous_pm2, sizeof(aggresive_continuous_pm2));
- wait(1);
- length = GnssSerial::sendUbx(0x06, 0x08, aggressive_continuous_rate, sizeof(aggressive_continuous_rate));
- wait(1);
- break;
+ length = GnssSerial::sendUbx(0x06, 0x3B, aggresive_continuous_pm2, sizeof(aggresive_continuous_pm2));
+ wait(0.5);
+ length = GnssSerial::sendUbx(0x06, 0x08, aggressive_continuous_rate, sizeof(aggressive_continuous_rate));
+ wait(0.5);
+ break;
- case CONSERVATIVE_CONTINOUS:
- SEND_LOGGING_MESSAGE("Configuring CONSERVATIVE_CONTINOUS");
- length = GnssSerial::sendUbx(0x06, 0x86, conservative_continuous_pms, sizeof(conservative_continuous_pms));
- wait(1);
+ case CONSERVATIVE_CONTINOUS:
+ SEND_LOGGING_MESSAGE("Configuring CONSERVATIVE_CONTINOUS");
+ length = GnssSerial::sendUbx(0x06, 0x86, conservative_continuous_pms, sizeof(conservative_continuous_pms));
+ wait(0.5);
- if(minimumAcqTimeZero) {
- semi_continuous_pm2[minimumAcqTime_index] = 0x00;
- semi_continuous_pm2[minimumAcqTime_index + 1] = 0x00;
- }
+ if(minimumAcqTimeZero) {
+ semi_continuous_pm2[minimumAcqTime_index] = 0x00;
+ semi_continuous_pm2[minimumAcqTime_index + 1] = 0x00;
+ }
- length = GnssSerial::sendUbx(0x06, 0x3B, conservative_continuous_pm2, sizeof(conservative_continuous_pm2));
- wait(1);
- length = GnssSerial::sendUbx(0x06, 0x08, conservative_continuous_rate, sizeof(conservative_continuous_rate));
- wait(1);
- break;
+ length = GnssSerial::sendUbx(0x06, 0x3B, conservative_continuous_pm2, sizeof(conservative_continuous_pm2));
+ wait(0.5);
+ length = GnssSerial::sendUbx(0x06, 0x08, conservative_continuous_rate, sizeof(conservative_continuous_rate));
+ wait(0.5);
+ break;
- case FULL_POWER:
- SEND_LOGGING_MESSAGE("Configuring FULL_POWER");
- length = GnssSerial::sendUbx(0x06, 0x86, full_power_pms, sizeof(full_power_pms));
- wait(1);
- length = GnssSerial::sendUbx(0x06, 0x08, full_power_rate, sizeof(full_power_rate));
- wait(1);
- break;
- case FULL_POWER_BLOCK_LEVEL:
- SEND_LOGGING_MESSAGE("Configuring FULL_POWER_BLOCK_LEVEL");
- length = GnssSerial::sendUbx(0x06, 0x86, full_power_block_level_pms, sizeof(full_power_block_level_pms));
- wait(1);
- length = GnssSerial::sendUbx(0x06, 0x08, full_power_block_level_rate, sizeof(full_power_block_level_rate));
- wait(1);
- break;
- case FULL_POWER_BUILDING_LEVEL:
- SEND_LOGGING_MESSAGE("Configuring FULL_POWER_BUILDING_LEVEL");
- length = GnssSerial::sendUbx(0x06, 0x86, full_power_building_level_pms, sizeof(full_power_building_level_pms));
- wait(1);
- length = GnssSerial::sendUbx(0x06, 0x08, full_power_building_level_rate, sizeof(full_power_building_level_rate));
- wait(1);
- break;
- case AVAILABLE_OPERATION:
- default : {
- SEND_LOGGING_MESSAGE("Invalid power mode");
- }
- break;
- }
+ case FULL_POWER:
+ SEND_LOGGING_MESSAGE("Configuring FULL_POWER");
+ length = GnssSerial::sendUbx(0x06, 0x86, full_power_pms, sizeof(full_power_pms));
+ wait(0.5);
+ length = GnssSerial::sendUbx(0x06, 0x08, full_power_rate, sizeof(full_power_rate));
+ wait(0.5);
+ break;
+ case FULL_POWER_BLOCK_LEVEL:
+ SEND_LOGGING_MESSAGE("Configuring FULL_POWER_BLOCK_LEVEL");
+ length = GnssSerial::sendUbx(0x06, 0x86, full_power_block_level_pms, sizeof(full_power_block_level_pms));
+ wait(0.5);
+ length = GnssSerial::sendUbx(0x06, 0x08, full_power_block_level_rate, sizeof(full_power_block_level_rate));
+ wait(0.5);
+ break;
+ case FULL_POWER_BUILDING_LEVEL:
+ SEND_LOGGING_MESSAGE("Configuring FULL_POWER_BUILDING_LEVEL");
+ length = GnssSerial::sendUbx(0x06, 0x86, full_power_building_level_pms, sizeof(full_power_building_level_pms));
+ wait(0.5);
+ length = GnssSerial::sendUbx(0x06, 0x08, full_power_building_level_rate, sizeof(full_power_building_level_rate));
+ wait(0.5);
+ break;
+ case AVAILABLE_OPERATION:
+ default : {
+ SEND_LOGGING_MESSAGE("Invalid power mode");
+ }
+ break;
+ }
- return (length >= (int)(sizeof(semi_continuous_pms) + UBX_FRAME_SIZE)) ? 1 : 0;
+ return (length >= (int)(sizeof(semi_continuous_pms) + UBX_FRAME_SIZE)) ? 1 : 0;
}
bool GnssOperations::verify_gnss_mode() {
- unsigned char CFG_PMS[] = {0xB5, 0x62, 0x06, 0x86, 0x00, 0x00, 0x8c, 0xAA};
- unsigned char CFG_PM2[] = {0xB5, 0x62, 0x06, 0x3B, 0x00, 0x00, 0x41, 0xC9};
- unsigned char CFG_RATE[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30};
- unsigned char CFG_NAV5[] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2A, 0x84};
- unsigned char CFG_NAVX5[] = {0xB5, 0x62, 0x06, 0x23, 0x00, 0x00, 0x29, 0x81};
+ unsigned char CFG_PMS[] = {0xB5, 0x62, 0x06, 0x86, 0x00, 0x00, 0x8c, 0xAA};
+ unsigned char CFG_PM2[] = {0xB5, 0x62, 0x06, 0x3B, 0x00, 0x00, 0x41, 0xC9};
+ unsigned char CFG_RATE[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30};
+ unsigned char CFG_NAV5[] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2A, 0x84};
+ unsigned char CFG_NAVX5[] = {0xB5, 0x62, 0x06, 0x23, 0x00, 0x00, 0x29, 0x81};
- this->_send(CFG_PMS, sizeof(CFG_PMS));
- wait(1);
+ this->_send(CFG_PMS, sizeof(CFG_PMS));
+ wait(0.5);
- this->_send(CFG_PM2, sizeof(CFG_PM2));
- wait(1);
+ this->_send(CFG_PM2, sizeof(CFG_PM2));
+ wait(0.5);
- this->_send(CFG_RATE, sizeof(CFG_RATE));
- wait(1);
+ this->_send(CFG_RATE, sizeof(CFG_RATE));
+ wait(0.5);
- this->_send(CFG_NAV5, sizeof(CFG_NAV5));
- wait(1);
+ this->_send(CFG_NAV5, sizeof(CFG_NAV5));
+ wait(0.5);
- this->_send(CFG_NAVX5, sizeof(CFG_NAVX5));
- wait(1);
+ this->_send(CFG_NAVX5, sizeof(CFG_NAVX5));
+ wait(0.5);
- return true;
+ return true;
}
/**
@@ -577,35 +585,35 @@
*/
int GnssOperations::start_mode(int start_mode)
{
- int length = 0;
- unsigned char hot_start[] = {0x00, 0x00, 0x02, 0x00};
- unsigned char warm_start[] = {0x01, 0x00, 0x02, 0x00};
- unsigned char cold_start[] = {0xFF, 0xFF, 0x02, 0x00};
+ int length = 0;
+ unsigned char hot_start[] = {0x00, 0x00, 0x02, 0x00};
+ unsigned char warm_start[] = {0x01, 0x00, 0x02, 0x00};
+ unsigned char cold_start[] = {0xFF, 0xFF, 0x02, 0x00};
- switch (start_mode)
- {
- case HOT:
- length = GnssSerial::sendUbx(0x06, 0x04, hot_start, sizeof(hot_start));
- break;
+ switch (start_mode)
+ {
+ case HOT:
+ length = GnssSerial::sendUbx(0x06, 0x04, hot_start, sizeof(hot_start));
+ break;
- case WARM:
- length = GnssSerial::sendUbx(0x06, 0x04, warm_start, sizeof(warm_start));
- break;
+ case WARM:
+ length = GnssSerial::sendUbx(0x06, 0x04, warm_start, sizeof(warm_start));
+ break;
- case COLD:
- length = GnssSerial::sendUbx(0x06, 0x04, cold_start, sizeof(cold_start));
- break;
- }
+ case COLD:
+ length = GnssSerial::sendUbx(0x06, 0x04, cold_start, sizeof(cold_start));
+ break;
+ }
- return (length >= (int)(sizeof(hot_start) + UBX_FRAME_SIZE)) ? 1 : 0;
+ return (length >= (int)(sizeof(hot_start) + UBX_FRAME_SIZE)) ? 1 : 0;
}
void GnssOperations::send_to_gnss(char rChar)
{
- GnssSerial::putc(rChar);
+ GnssSerial::putc(rChar);
}
void GnssOperations::power_on_gnss()
{
- GnssSerial::_powerOn();
+ GnssSerial::_powerOn();
}