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

Diff: gnss_operations.cpp

Revision:
12:a04f7eeece23
Child:
14:4b22bd505b93
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gnss_operations.cpp	Thu May 31 10:59:11 2018 +0500
@@ -0,0 +1,407 @@
+#include "gnss_operations.h"
+
+#define FIRST_BYTE 0x000000FF
+#define SECOND_BYTE 0x0000FF00
+#define THIRD_BYTE 0x00FF0000
+#define FOURTH_BYTE 0xFF000000
+#define RETRY 5
+
+#define EXTRACT_BYTE(INDEX, BYTE, VALUE) ((VALUE & BYTE) >> (INDEX*8))
+
+/**
+ *
+ * Enable UBX-NAV-PVT using UBX-CFG-MSG
+ * @param return 	SUCCESS: 1
+ * 					FAILURE: 0
+ */
+int GnssOperations::enable_ubx_nav_pvt()
+{
+	int conf = RETRY;
+	unsigned char enable_ubx_nav_pvt[]={0x01, 0x07, 0x01};
+	conf = RETRY;
+	int length =0;
+
+	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))
+		{
+			printf("UBX-NAV-PVT was enabled\r\n");
+			printf("\r\nmessage length: %i\r\n\r\n", length);
+			wait(5);
+			break;
+		}
+		else
+		{
+			printf("enabling UBX-NAV-PVT...\r\n");
+			conf = conf - 1;
+		}
+	}
+
+	return (conf == 0) ? 0 : 1;
+}
+
+/**
+ *
+ * Disable UBX-NAV-PVT
+ * @param return 	SUCCESS: 1
+ * 					FAILURE: 0
+ */
+int GnssOperations::disable_ubx_nav_pvt()
+{
+	int conf = RETRY;
+		unsigned char enable_ubx_nav_pvt[]={0x01, 0x07, 0x00};
+		conf = RETRY;
+		int length =0;
+
+		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))
+			{
+				printf("UBX-NAV-PVT was disabled\r\n");
+				printf("\r\nmessage length: %i\r\n\r\n", length);
+				wait(5);
+				break;
+			}
+			else
+			{
+				printf("disabling UBX-NAV-PVT...\r\n");
+				conf = conf - 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[]={0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+					0x00, 0x00, 0x00, 0x00, EXTRACT_BYTE(0, FIRST_BYTE, acc), EXTRACT_BYTE(1, SECOND_BYTE, acc),
+					0x00, 0x00, 0x00, 0x00, 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))
+		{
+			printf("ubx_cfg_nav5 was enabled\r\n");
+			wait(5);
+			break;
+		}
+		else
+		{
+			printf("enabling ubx_cfg_nav5...\r\n");
+			conf = conf - 1;
+		}
+	}
+
+	return (conf == 0) ? 0 : 1;
+}
+
+/**
+ * Enabling UBX-ODOMETER using UBX-CFG-ODO
+ * @param return 	SUCCESS: 1
+ * 					FAILURE: 0
+ *
+ */
+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;
+
+	while(conf)
+	{
+		length = GnssSerial::sendUbx(0x06, 0x1E, ubx_cfg_odo, sizeof(ubx_cfg_odo));
+		if(length >= (int)(sizeof(ubx_cfg_odo) + UBX_FRAME_SIZE))
+		{
+			printf("UBX-ODO was enabled\r\n");
+			wait(5);
+			break;
+		}
+		else
+		{
+			printf("enabling UBX-ODO...\r\n");
+			conf = conf - 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;
+
+	while(conf)
+	{
+		length = GnssSerial::sendUbx(0x06, 0x1E, ubx_cfg_odo, sizeof(ubx_cfg_odo));
+		if(length >= (int)(sizeof(ubx_cfg_odo) + UBX_FRAME_SIZE))
+		{
+			printf("UBX-ODO was disabled\r\n");
+			wait(5);
+			break;
+		}
+		else
+		{
+			printf("disabling UBX-ODO...\r\n");
+			conf = conf - 1;
+		}
+	}
+
+	return (conf == 0) ? 0 : 1;
+}
+/**
+ * Enabling UBX-NAV-ODO messages using UBX-CFG-MSG
+ * @param return 	SUCCESS: 1
+ * 					FAILURE: 0
+ *
+ */
+int GnssOperations::enable_ubx_nav_odo()
+{
+	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))
+		{
+			printf("UBX-NAV-ODO was enabled\r\n");
+			wait(5);
+			break;
+		}
+		else
+		{
+			printf("enabling UBX-NAV-ODO...\r\n");
+			conf = conf - 1;
+		}
+	}
+
+	return (conf == 0) ? 0 : 1;
+}
+
+/**
+ * Disabling UBX-NAV-ODO messages using UBX-CFG-MSG
+ * @param return 	SUCCESS: 1
+ * 					FAILURE: 0
+ *
+ */
+int GnssOperations::disable_ubx_nav_odo()
+{
+	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))
+		{
+			printf("UBX-NAV-ODO was disabled\r\n");
+			wait(5);
+			break;
+		}
+		else
+		{
+			printf("disabling UBX-NAV-ODO...\r\n");
+			conf = conf - 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;
+
+	//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))
+		{
+			printf("UBX_LOG_BATCH was enabled\r\n");
+			wait(5);
+			break;
+		}
+		else
+		{
+			printf("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;
+
+	//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))
+		{
+			printf("UBX_LOG_BATCH was enabled\r\n");
+			wait(5);
+			break;
+		}
+		else
+		{
+			printf("enable ubx_batch_log...\r\n");
+			conf = conf - 1;
+		}
+	}
+	return (conf == 0) ? 0 : 1;
+}
+
+/**
+ *
+ * Configuring UBX-LOG-BATCH with UBX-CFG-BATCH
+ *
+ * @param obj struct containing the data to be send in payload
+ * @param return 	SUCCESS: 1
+ * 					FAIL:    0
+ *
+ */
+int GnssOperations::cfg_batch_feature(tUBX_CFG_BATCH *obj)
+{
+	int length =0;
+	const unsigned char cfg_batch_feature[] = {0x00, 0x01, EXTRACT_BYTE(0, FIRST_BYTE, obj->bufSize),
+						EXTRACT_BYTE(1, SECOND_BYTE, obj->bufSize), EXTRACT_BYTE(0, FIRST_BYTE, obj->notifThrs),
+						EXTRACT_BYTE(1, SECOND_BYTE, obj->notifThrs), obj->pioId, 0x00};
+
+	length = GnssSerial::sendUbx(0x06, 0x93, cfg_batch_feature, sizeof(cfg_batch_feature));
+
+	return (length >= (int)(sizeof(cfg_batch_feature) + UBX_FRAME_SIZE)) ? 1 : 0;
+}
+
+/*
+ *  Power mode configuration for GNSS receiver
+ *
+ *	Pending: Need to send extended power management configuration messages (UBX-CFG-PM2)
+ *
+ *
+ */
+int GnssOperations::cfg_power_mode(int power_mode)
+{
+	int length = 0;
+	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 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[] = {0x06, 0x00, 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00};
+
+	switch (power_mode)
+	{
+	case SEMI_CONTINOUS:
+		length = GnssSerial::sendUbx(0x06, 0x86, semi_continuous_pms, sizeof(semi_continuous_pms));
+		wait(5);
+		length = GnssSerial::sendUbx(0x06, 0x3B, semi_continuous_pm2, sizeof(semi_continuous_pm2));
+		wait(5);
+		length = GnssSerial::sendUbx(0x06, 0x08, semi_continuous_rate, sizeof(semi_continuous_rate));
+		break;
+
+	case AGGRESSIVE_CONTINUOS:
+		length = GnssSerial::sendUbx(0x06, 0x86, aggresive_continuous_pms, sizeof(aggresive_continuous_pms));
+		wait(5);
+		length = GnssSerial::sendUbx(0x06, 0x3B, aggresive_continuous_pm2, sizeof(aggresive_continuous_pm2));
+		wait(5);
+		length = GnssSerial::sendUbx(0x06, 0x08, aggressive_continuous_rate, sizeof(aggressive_continuous_rate));
+		break;
+
+	case CONSERVATIVE_CONTINOUS:
+		length = GnssSerial::sendUbx(0x06, 0x86, conservative_continuous_pms, sizeof(conservative_continuous_pms));
+		wait(5);
+		length = GnssSerial::sendUbx(0x06, 0x3B, conservative_continuous_pm2, sizeof(conservative_continuous_pm2));
+		wait(5);
+		length = GnssSerial::sendUbx(0x06, 0x08, conservative_continuous_rate, sizeof(conservative_continuous_rate));
+		break;
+
+	case FULL_POWER:
+		length = GnssSerial::sendUbx(0x06, 0x86, full_power_pms, sizeof(full_power_pms));
+		wait(5);
+		length = GnssSerial::sendUbx(0x06, 0x08, full_power_rate, sizeof(full_power_rate));
+		break;
+	}
+	return (length >= (int)(sizeof(semi_continuous_pms) + UBX_FRAME_SIZE)) ? 1 : 0;
+}
+
+/**
+ *  GNSS start modes (Hot/Warm/Cold start)
+ *
+ *	@param return 	SUCCESS: 1
+ * 					FAILURE:    0
+ *
+ */
+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};
+
+	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 COLD:
+		length = GnssSerial::sendUbx(0x06, 0x04, cold_start, sizeof(cold_start));
+		break;
+	}
+
+	return (length >= (int)(sizeof(hot_start) + UBX_FRAME_SIZE)) ? 1 : 0;
+}