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
gnss_operations.cpp
- Committer:
- wajahat.abbas@u-blox.com
- Date:
- 2019-07-29
- Revision:
- 34:d6a65d4c902a
- Parent:
- 33:75163fa7e453
File content as of revision 34:d6a65d4c902a:
#include "gnss_operations.h"
#ifndef UBLOX_WEARABLE_FRAMEWORK
#define SEND_LOGGING_MESSAGE printf
#else
#include "MessageView.h"
#endif
#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))
{
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;
}
int GnssOperations::enable_ubx_nav_status() {
int conf = RETRY;
unsigned char enable_ubx_nav_status[]= {0x01, 0x03, 0x01};
conf = RETRY;
int length =0;
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(0.5);
break;
}
else
{
SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
conf = conf - 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;
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(0.5);
break;
}
else
{
SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\r\n");
conf = conf - 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;
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(0.5);
break;
}
else
{
SEND_LOGGING_MESSAGE("enabling UBX-NAV-STATUS...\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))
{
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;
}
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
};
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;
}
int GnssOperations::enable_ubx_navx5()
{
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_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)
{
length = GnssSerial::sendUbx(0x06, 0x23, ubx_cfg_navx5, sizeof(ubx_cfg_navx5));
if(length >= (int)(sizeof(ubx_cfg_navx5) + UBX_FRAME_SIZE))
{
SEND_LOGGING_MESSAGE("ubx_cfg_navx5 was enabled\r\n");
wait(0.5);
break;
}
else
{
SEND_LOGGING_MESSAGE("enabling ubx_cfg_navx5...\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))
{
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;
}
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))
{
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;
}
/**
* 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))
{
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;
}
/**
* 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))
{
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;
}
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))
{
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;
//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(0.5);
break;
}
else
{
SEND_LOGGING_MESSAGE("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, (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));
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(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};
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[] = {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};
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(0.5);
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(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(0.5);
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(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(0.5);
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(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(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;
}
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};
this->_send(CFG_PMS, sizeof(CFG_PMS));
wait(0.5);
this->_send(CFG_PM2, sizeof(CFG_PM2));
wait(0.5);
this->_send(CFG_RATE, sizeof(CFG_RATE));
wait(0.5);
this->_send(CFG_NAV5, sizeof(CFG_NAV5));
wait(0.5);
this->_send(CFG_NAVX5, sizeof(CFG_NAVX5));
wait(0.5);
return true;
}
/**
* 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;
}
void GnssOperations::send_to_gnss(char rChar)
{
GnssSerial::putc(rChar);
}
void GnssOperations::power_on_gnss()
{
GnssSerial::_powerOn();
}