Lucas Kierulff Balabram / Mbed 2 deprecated Telemetria_RX

RX

Dependencies:   mbed BufferedSerial SX1276GenericLib X_NUCLEO_IKS01A2

UbxGpsNavSol.cpp@2:e7d7e80256cc, 2019-06-17 (annotated)

Committer:
LucasKB
Date:
Mon Jun 17 00:10:40 2019 +0000
Revision:
2:e7d7e80256cc
RX;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LucasKB 2:e7d7e80256cc 1 #include "UbxGpsNavSol.hh"
LucasKB 2:e7d7e80256cc 2 #include "mbed.h"
LucasKB 2:e7d7e80256cc 3
LucasKB 2:e7d7e80256cc 4 UbxGpsNavSol::UbxGpsNavSol(PinName tx, PinName rx, int baud):UARTSerial(tx, rx, baud){
LucasKB 2:e7d7e80256cc 5 this->carriagePosition = 0;
LucasKB 2:e7d7e80256cc 6 // this->setLength(52);
LucasKB 2:e7d7e80256cc 7 offsetClassProperties = 8;
LucasKB 2:e7d7e80256cc 8 offsetHeaders = 4;
LucasKB 2:e7d7e80256cc 9 }
LucasKB 2:e7d7e80256cc 10
LucasKB 2:e7d7e80256cc 11 UbxGpsNavSol::~UbxGpsNavSol(){}
LucasKB 2:e7d7e80256cc 12
LucasKB 2:e7d7e80256cc 13 bool UbxGpsNavSol::ready(){
LucasKB 2:e7d7e80256cc 14 unsigned char buffer[60];
LucasKB 2:e7d7e80256cc 15
LucasKB 2:e7d7e80256cc 16 if(this->readable()){
LucasKB 2:e7d7e80256cc 17 for(int k = 0; k < 60; k++)
LucasKB 2:e7d7e80256cc 18 buffer[k] = 0;
LucasKB 2:e7d7e80256cc 19
LucasKB 2:e7d7e80256cc 20 this->read(buffer, 60);
LucasKB 2:e7d7e80256cc 21 }
LucasKB 2:e7d7e80256cc 22
LucasKB 2:e7d7e80256cc 23 if(buffer[0] != UBX_NAV_SOL_HEADER_1 || buffer[1] != UBX_NAV_SOL_HEADER_2)
LucasKB 2:e7d7e80256cc 24 return false;
LucasKB 2:e7d7e80256cc 25
LucasKB 2:e7d7e80256cc 26 if(buffer[2] != UBX_NAV_SOL_CLASS || buffer[3] != UBX_NAV_SOL_ID)
LucasKB 2:e7d7e80256cc 27 return false;
LucasKB 2:e7d7e80256cc 28
LucasKB 2:e7d7e80256cc 29 payload_length = buffer[5];
LucasKB 2:e7d7e80256cc 30 payload_length = payload_length << 8;
LucasKB 2:e7d7e80256cc 31 payload_length = buffer[4];
LucasKB 2:e7d7e80256cc 32
LucasKB 2:e7d7e80256cc 33 if(payload_length != UBX_NAV_SOL_PAYLOAD_LENGTH)
LucasKB 2:e7d7e80256cc 34 return false;
LucasKB 2:e7d7e80256cc 35
LucasKB 2:e7d7e80256cc 36 // if(calculateChecksum(buffer) == false)
LucasKB 2:e7d7e80256cc 37 // return false;
LucasKB 2:e7d7e80256cc 38
LucasKB 2:e7d7e80256cc 39 iTOW = buffer[9] << 8;
LucasKB 2:e7d7e80256cc 40 iTOW |= buffer[8];
LucasKB 2:e7d7e80256cc 41 iTOW <<= 8;
LucasKB 2:e7d7e80256cc 42 iTOW |= buffer[7];
LucasKB 2:e7d7e80256cc 43 iTOW <<= 8;
LucasKB 2:e7d7e80256cc 44 iTOW |= buffer[6];
LucasKB 2:e7d7e80256cc 45
LucasKB 2:e7d7e80256cc 46 fTOW = buffer[13] << 8;
LucasKB 2:e7d7e80256cc 47 fTOW |= buffer[12];
LucasKB 2:e7d7e80256cc 48 fTOW <<= 8;
LucasKB 2:e7d7e80256cc 49 fTOW |= buffer[11];
LucasKB 2:e7d7e80256cc 50 fTOW <<= 8;
LucasKB 2:e7d7e80256cc 51 fTOW |= buffer[10];
LucasKB 2:e7d7e80256cc 52
LucasKB 2:e7d7e80256cc 53 week = buffer[15] << 8;
LucasKB 2:e7d7e80256cc 54 week |= buffer[14];
LucasKB 2:e7d7e80256cc 55
LucasKB 2:e7d7e80256cc 56 gpsFix = buffer[16];
LucasKB 2:e7d7e80256cc 57
LucasKB 2:e7d7e80256cc 58 flags = buffer[17];
LucasKB 2:e7d7e80256cc 59
LucasKB 2:e7d7e80256cc 60 ecefX = buffer[21] << 8;
LucasKB 2:e7d7e80256cc 61 ecefX |= buffer[20];
LucasKB 2:e7d7e80256cc 62 ecefX <<= 8;
LucasKB 2:e7d7e80256cc 63 ecefX |= buffer[19];
LucasKB 2:e7d7e80256cc 64 ecefX <<= 8;
LucasKB 2:e7d7e80256cc 65 ecefX |= buffer[18];
LucasKB 2:e7d7e80256cc 66
LucasKB 2:e7d7e80256cc 67 ecefY = buffer[25] << 8;
LucasKB 2:e7d7e80256cc 68 ecefY |= buffer[24];
LucasKB 2:e7d7e80256cc 69 ecefY <<= 8;
LucasKB 2:e7d7e80256cc 70 ecefY |= buffer[23];
LucasKB 2:e7d7e80256cc 71 ecefY <<= 8;
LucasKB 2:e7d7e80256cc 72 ecefY |= buffer[22];
LucasKB 2:e7d7e80256cc 73
LucasKB 2:e7d7e80256cc 74 ecefZ = buffer[29] << 8;
LucasKB 2:e7d7e80256cc 75 ecefZ |= buffer[28];
LucasKB 2:e7d7e80256cc 76 ecefZ <<= 8;
LucasKB 2:e7d7e80256cc 77 ecefZ |= buffer[27];
LucasKB 2:e7d7e80256cc 78 ecefZ <<= 8;
LucasKB 2:e7d7e80256cc 79 ecefZ |= buffer[26];
LucasKB 2:e7d7e80256cc 80
LucasKB 2:e7d7e80256cc 81 pAcc = buffer[33] << 8;
LucasKB 2:e7d7e80256cc 82 pAcc |= buffer[32];
LucasKB 2:e7d7e80256cc 83 pAcc <<= 8;
LucasKB 2:e7d7e80256cc 84 pAcc |= buffer[31];
LucasKB 2:e7d7e80256cc 85 pAcc <<= 8;
LucasKB 2:e7d7e80256cc 86 pAcc |= buffer[30];
LucasKB 2:e7d7e80256cc 87
LucasKB 2:e7d7e80256cc 88 ecefVX = buffer[37] << 8;
LucasKB 2:e7d7e80256cc 89 ecefVX |= buffer[36];
LucasKB 2:e7d7e80256cc 90 ecefVX <<= 8;
LucasKB 2:e7d7e80256cc 91 ecefVX |= buffer[35];
LucasKB 2:e7d7e80256cc 92 ecefVX <<= 8;
LucasKB 2:e7d7e80256cc 93 ecefVX |= buffer[34];
LucasKB 2:e7d7e80256cc 94
LucasKB 2:e7d7e80256cc 95 ecefVY = buffer[41] << 8;
LucasKB 2:e7d7e80256cc 96 ecefVY |= buffer[40];
LucasKB 2:e7d7e80256cc 97 ecefVY <<= 8;
LucasKB 2:e7d7e80256cc 98 ecefVY |= buffer[39];
LucasKB 2:e7d7e80256cc 99 ecefVY <<= 8;
LucasKB 2:e7d7e80256cc 100 ecefVY |= buffer[38];
LucasKB 2:e7d7e80256cc 101
LucasKB 2:e7d7e80256cc 102 ecefVZ = buffer[45] << 8;
LucasKB 2:e7d7e80256cc 103 ecefVZ |= buffer[44];
LucasKB 2:e7d7e80256cc 104 ecefVZ <<= 8;
LucasKB 2:e7d7e80256cc 105 ecefVZ |= buffer[43];
LucasKB 2:e7d7e80256cc 106 ecefVZ <<= 8;
LucasKB 2:e7d7e80256cc 107 ecefVZ |= buffer[42];
LucasKB 2:e7d7e80256cc 108
LucasKB 2:e7d7e80256cc 109 sAcc = buffer[49] << 8;
LucasKB 2:e7d7e80256cc 110 sAcc |= buffer[48];
LucasKB 2:e7d7e80256cc 111 sAcc <<= 8;
LucasKB 2:e7d7e80256cc 112 sAcc |= buffer[47];
LucasKB 2:e7d7e80256cc 113 sAcc <<= 8;
LucasKB 2:e7d7e80256cc 114 sAcc |= buffer[46];
LucasKB 2:e7d7e80256cc 115
LucasKB 2:e7d7e80256cc 116 pDOP = buffer[51] << 8;
LucasKB 2:e7d7e80256cc 117 pDOP |= buffer[50];
LucasKB 2:e7d7e80256cc 118
LucasKB 2:e7d7e80256cc 119 reserved1 = buffer[52];
LucasKB 2:e7d7e80256cc 120
LucasKB 2:e7d7e80256cc 121 numSV = buffer[53];
LucasKB 2:e7d7e80256cc 122
LucasKB 2:e7d7e80256cc 123 reserved2 = buffer[57] << 8;
LucasKB 2:e7d7e80256cc 124 reserved2 |= buffer[56];
LucasKB 2:e7d7e80256cc 125 reserved2 <<= 8;
LucasKB 2:e7d7e80256cc 126 reserved2 |= buffer[55];
LucasKB 2:e7d7e80256cc 127 reserved2 <<= 8;
LucasKB 2:e7d7e80256cc 128 reserved2 |= buffer[54];
LucasKB 2:e7d7e80256cc 129
LucasKB 2:e7d7e80256cc 130 return true;
LucasKB 2:e7d7e80256cc 131 }
LucasKB 2:e7d7e80256cc 132
LucasKB 2:e7d7e80256cc 133 bool UbxGpsNavSol::calculateChecksum(unsigned char *buffer){
LucasKB 2:e7d7e80256cc 134 uint8_t check_a, check_b;
LucasKB 2:e7d7e80256cc 135 check_a = check_b = 0;
LucasKB 2:e7d7e80256cc 136
LucasKB 2:e7d7e80256cc 137 for(int i = 2; i < 58; i++){
LucasKB 2:e7d7e80256cc 138 check_a += buffer[i];
LucasKB 2:e7d7e80256cc 139 check_b += check_a;
LucasKB 2:e7d7e80256cc 140 }
LucasKB 2:e7d7e80256cc 141
LucasKB 2:e7d7e80256cc 142 if(check_a == buffer[59] && check_b == buffer[58])
LucasKB 2:e7d7e80256cc 143 return true;
LucasKB 2:e7d7e80256cc 144
LucasKB 2:e7d7e80256cc 145 else
LucasKB 2:e7d7e80256cc 146 return false;
LucasKB 2:e7d7e80256cc 147 }
LucasKB 2:e7d7e80256cc 148
LucasKB 2:e7d7e80256cc 149 bool UbxGpsNavSol::enableNAVSOL(){
LucasKB 2:e7d7e80256cc 150 const uint8_t buffer[] = {
LucasKB 2:e7d7e80256cc 151 0xB5, // sync char 1
LucasKB 2:e7d7e80256cc 152 0x62, // sync char 2
LucasKB 2:e7d7e80256cc 153 0x06, // class
LucasKB 2:e7d7e80256cc 154 0x01, // id
LucasKB 2:e7d7e80256cc 155 0x08, // length
LucasKB 2:e7d7e80256cc 156 0x00, // length
LucasKB 2:e7d7e80256cc 157 0x01, // payload
LucasKB 2:e7d7e80256cc 158 0x06, // payload
LucasKB 2:e7d7e80256cc 159 0x00, // payload
LucasKB 2:e7d7e80256cc 160 0x00, // payload
LucasKB 2:e7d7e80256cc 161 0x01, // payload
LucasKB 2:e7d7e80256cc 162 0x00, // payload
LucasKB 2:e7d7e80256cc 163 0x00, // payload
LucasKB 2:e7d7e80256cc 164 0x00, // payload
LucasKB 2:e7d7e80256cc 165 0x17, // CK_A
LucasKB 2:e7d7e80256cc 166 0xD9, // CK_B
LucasKB 2:e7d7e80256cc 167 };
LucasKB 2:e7d7e80256cc 168 if(this->writable()){
LucasKB 2:e7d7e80256cc 169 this->write(buffer, 16);
LucasKB 2:e7d7e80256cc 170 return true;
LucasKB 2:e7d7e80256cc 171 }
LucasKB 2:e7d7e80256cc 172
LucasKB 2:e7d7e80256cc 173 return false;
LucasKB 2:e7d7e80256cc 174 }
LucasKB 2:e7d7e80256cc 175
LucasKB 2:e7d7e80256cc 176 bool UbxGpsNavSol::restoreDefaults(){
LucasKB 2:e7d7e80256cc 177 const uint8_t packet[] = {
LucasKB 2:e7d7e80256cc 178 0xB5, // sync char 1
LucasKB 2:e7d7e80256cc 179 0x62, // sync char 2
LucasKB 2:e7d7e80256cc 180 0x06, // class
LucasKB 2:e7d7e80256cc 181 0x09, // id
LucasKB 2:e7d7e80256cc 182 0x0D, // length
LucasKB 2:e7d7e80256cc 183 0x00, // length
LucasKB 2:e7d7e80256cc 184 0xFF, // payload
LucasKB 2:e7d7e80256cc 185 0xFF, // payload
LucasKB 2:e7d7e80256cc 186 0x00, // payload
LucasKB 2:e7d7e80256cc 187 0x00, // payload
LucasKB 2:e7d7e80256cc 188 0x00, // payload
LucasKB 2:e7d7e80256cc 189 0x00, // payload
LucasKB 2:e7d7e80256cc 190 0x00, // payload
LucasKB 2:e7d7e80256cc 191 0x00, // payload
LucasKB 2:e7d7e80256cc 192 0xFF, // payload
LucasKB 2:e7d7e80256cc 193 0xFF, // payload
LucasKB 2:e7d7e80256cc 194 0x00, // payload
LucasKB 2:e7d7e80256cc 195 0x00, // payload
LucasKB 2:e7d7e80256cc 196 0x17, // payload
LucasKB 2:e7d7e80256cc 197 0x2F, // CK_A
LucasKB 2:e7d7e80256cc 198 0xAE, // CK_B
LucasKB 2:e7d7e80256cc 199 };
LucasKB 2:e7d7e80256cc 200
LucasKB 2:e7d7e80256cc 201 if(this->writable()){
LucasKB 2:e7d7e80256cc 202 this->write(packet, 21);
LucasKB 2:e7d7e80256cc 203 return true;
LucasKB 2:e7d7e80256cc 204 }
LucasKB 2:e7d7e80256cc 205
LucasKB 2:e7d7e80256cc 206 return false;
LucasKB 2:e7d7e80256cc 207 }
LucasKB 2:e7d7e80256cc 208
LucasKB 2:e7d7e80256cc 209 void UbxGpsNavSol::disableNmea(){
LucasKB 2:e7d7e80256cc 210 const uint8_t messages[][2] = {
LucasKB 2:e7d7e80256cc 211 {0xF0, 0x0A},
LucasKB 2:e7d7e80256cc 212 {0xF0, 0x09},
LucasKB 2:e7d7e80256cc 213 {0xF0, 0x00},
LucasKB 2:e7d7e80256cc 214 {0xF0, 0x01},
LucasKB 2:e7d7e80256cc 215 {0xF0, 0x0D},
LucasKB 2:e7d7e80256cc 216 {0xF0, 0x06},
LucasKB 2:e7d7e80256cc 217 {0xF0, 0x02},
LucasKB 2:e7d7e80256cc 218 {0xF0, 0x07},
LucasKB 2:e7d7e80256cc 219 {0xF0, 0x03},
LucasKB 2:e7d7e80256cc 220 {0xF0, 0x04},
LucasKB 2:e7d7e80256cc 221 {0xF0, 0x0E},
LucasKB 2:e7d7e80256cc 222 {0xF0, 0x0F},
LucasKB 2:e7d7e80256cc 223 {0xF0, 0x05},
LucasKB 2:e7d7e80256cc 224 {0xF0, 0x08},
LucasKB 2:e7d7e80256cc 225 {0xF1, 0x00},
LucasKB 2:e7d7e80256cc 226 {0xF1, 0x01},
LucasKB 2:e7d7e80256cc 227 {0xF1, 0x03},
LucasKB 2:e7d7e80256cc 228 {0xF1, 0x04},
LucasKB 2:e7d7e80256cc 229 {0xF1, 0x05},
LucasKB 2:e7d7e80256cc 230 {0xF1, 0x06},
LucasKB 2:e7d7e80256cc 231 };
LucasKB 2:e7d7e80256cc 232
LucasKB 2:e7d7e80256cc 233 // CFG-MSG packet buffer
LucasKB 2:e7d7e80256cc 234 uint8_t packet[] = {
LucasKB 2:e7d7e80256cc 235 0xB5, // sync char 1
LucasKB 2:e7d7e80256cc 236 0x62, // sync char 2
LucasKB 2:e7d7e80256cc 237 0x06, // class
LucasKB 2:e7d7e80256cc 238 0x01, // id
LucasKB 2:e7d7e80256cc 239 0x03, // length
LucasKB 2:e7d7e80256cc 240 0x00, // length
LucasKB 2:e7d7e80256cc 241 0x00, // payload (first byte from messages array element)
LucasKB 2:e7d7e80256cc 242 0x00, // payload (second byte from messages array element)
LucasKB 2:e7d7e80256cc 243 0x00, // payload (not changed in the case)
LucasKB 2:e7d7e80256cc 244 0x00, // CK_A
LucasKB 2:e7d7e80256cc 245 0x00, // CK_B
LucasKB 2:e7d7e80256cc 246 };
LucasKB 2:e7d7e80256cc 247
LucasKB 2:e7d7e80256cc 248 uint8_t packetSize = sizeof(packet);
LucasKB 2:e7d7e80256cc 249
LucasKB 2:e7d7e80256cc 250 // Offset to the place where payload starts
LucasKB 2:e7d7e80256cc 251 uint8_t payloadOffset = 6;
LucasKB 2:e7d7e80256cc 252
LucasKB 2:e7d7e80256cc 253 // Iterate over the messages array
LucasKB 2:e7d7e80256cc 254 for (uint8_t i = 0; i < sizeof(messages) / sizeof(*messages); i++)
LucasKB 2:e7d7e80256cc 255 {
LucasKB 2:e7d7e80256cc 256 // Copy two bytes of payload to the packet buffer
LucasKB 2:e7d7e80256cc 257 for (uint8_t j = 0; j < sizeof(*messages); j++)
LucasKB 2:e7d7e80256cc 258 {
LucasKB 2:e7d7e80256cc 259 packet[payloadOffset + j] = messages[i][j];
LucasKB 2:e7d7e80256cc 260 }
LucasKB 2:e7d7e80256cc 261
LucasKB 2:e7d7e80256cc 262 // Set checksum bytes to the null
LucasKB 2:e7d7e80256cc 263 packet[packetSize - 2] = 0x00;
LucasKB 2:e7d7e80256cc 264 packet[packetSize - 1] = 0x00;
LucasKB 2:e7d7e80256cc 265
LucasKB 2:e7d7e80256cc 266 // Calculate checksum over the packet buffer excluding sync (first two) and checksum chars (last two)
LucasKB 2:e7d7e80256cc 267 for (uint8_t j = 0; j < packetSize - 4; j++)
LucasKB 2:e7d7e80256cc 268 {
LucasKB 2:e7d7e80256cc 269 packet[packetSize - 2] += packet[2 + j];
LucasKB 2:e7d7e80256cc 270 packet[packetSize - 1] += packet[packetSize - 2];
LucasKB 2:e7d7e80256cc 271 }
LucasKB 2:e7d7e80256cc 272
LucasKB 2:e7d7e80256cc 273 if(this->writable()){
LucasKB 2:e7d7e80256cc 274 this->write(packet, packetSize);
LucasKB 2:e7d7e80256cc 275 }
LucasKB 2:e7d7e80256cc 276 }
LucasKB 2:e7d7e80256cc 277 }
LucasKB 2:e7d7e80256cc 278
LucasKB 2:e7d7e80256cc 279 bool UbxGpsNavSol::changeBaudrate(){
LucasKB 2:e7d7e80256cc 280 const uint8_t packet[] = {
LucasKB 2:e7d7e80256cc 281 0xB5, // sync char 1
LucasKB 2:e7d7e80256cc 282 0x62, // sync char 2
LucasKB 2:e7d7e80256cc 283 0x06, // class
LucasKB 2:e7d7e80256cc 284 0x00, // id
LucasKB 2:e7d7e80256cc 285 0x14, // length
LucasKB 2:e7d7e80256cc 286 0x00, // length
LucasKB 2:e7d7e80256cc 287 0x01, // payload
LucasKB 2:e7d7e80256cc 288 0x00, // payload
LucasKB 2:e7d7e80256cc 289 0x00, // payload
LucasKB 2:e7d7e80256cc 290 0x00, // payload
LucasKB 2:e7d7e80256cc 291 0xD0, // payload
LucasKB 2:e7d7e80256cc 292 0x08, // payload
LucasKB 2:e7d7e80256cc 293 0x00, // payload
LucasKB 2:e7d7e80256cc 294 0x00, // payload
LucasKB 2:e7d7e80256cc 295 0x00, // payload
LucasKB 2:e7d7e80256cc 296 0xC2, // payload
LucasKB 2:e7d7e80256cc 297 0x01, // payload
LucasKB 2:e7d7e80256cc 298 0x00, // payload
LucasKB 2:e7d7e80256cc 299 0x07, // payload
LucasKB 2:e7d7e80256cc 300 0x00, // payload
LucasKB 2:e7d7e80256cc 301 0x03, // payload
LucasKB 2:e7d7e80256cc 302 0x00, // payload
LucasKB 2:e7d7e80256cc 303 0x00, // payload
LucasKB 2:e7d7e80256cc 304 0x00, // payload
LucasKB 2:e7d7e80256cc 305 0x00, // payload
LucasKB 2:e7d7e80256cc 306 0x00, // payload
LucasKB 2:e7d7e80256cc 307 0xC0, // CK_A
LucasKB 2:e7d7e80256cc 308 0x7E, // CK_B
LucasKB 2:e7d7e80256cc 309 };
LucasKB 2:e7d7e80256cc 310
LucasKB 2:e7d7e80256cc 311 if(this->writable()){
LucasKB 2:e7d7e80256cc 312 this->write(packet, sizeof(packet));
LucasKB 2:e7d7e80256cc 313 return true;
LucasKB 2:e7d7e80256cc 314 }
LucasKB 2:e7d7e80256cc 315
LucasKB 2:e7d7e80256cc 316 return false;
LucasKB 2:e7d7e80256cc 317 }
LucasKB 2:e7d7e80256cc 318
LucasKB 2:e7d7e80256cc 319 bool UbxGpsNavSol::disableUnnecessaryChannels(){
LucasKB 2:e7d7e80256cc 320 const uint8_t packet[] = {
LucasKB 2:e7d7e80256cc 321 0xB5, // sync char 1
LucasKB 2:e7d7e80256cc 322 0x62, // sync char 2
LucasKB 2:e7d7e80256cc 323 0x06, // class
LucasKB 2:e7d7e80256cc 324 0x3E, // id
LucasKB 2:e7d7e80256cc 325 0x24, // length
LucasKB 2:e7d7e80256cc 326 0x00, // length
LucasKB 2:e7d7e80256cc 327
LucasKB 2:e7d7e80256cc 328 0x00, 0x00, 0x16, 0x04, 0x00, 0x04, 0xFF, 0x00, // payload
LucasKB 2:e7d7e80256cc 329 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x03, 0x00, // payload
LucasKB 2:e7d7e80256cc 330 0x00, 0x00, 0x00, 0x01, 0x05, 0x00, 0x03, 0x00, // payload
LucasKB 2:e7d7e80256cc 331 0x00, 0x00, 0x00, 0x01, 0x06, 0x08, 0xFF, 0x00, // payload
LucasKB 2:e7d7e80256cc 332 0x00, 0x00, 0x00, 0x01, // payload
LucasKB 2:e7d7e80256cc 333
LucasKB 2:e7d7e80256cc 334 0xA4, // CK_A
LucasKB 2:e7d7e80256cc 335 0x25, // CK_B
LucasKB 2:e7d7e80256cc 336 };
LucasKB 2:e7d7e80256cc 337
LucasKB 2:e7d7e80256cc 338 if(this->writable()){
LucasKB 2:e7d7e80256cc 339 this->write(packet, sizeof(packet));
LucasKB 2:e7d7e80256cc 340 return true;
LucasKB 2:e7d7e80256cc 341 }
LucasKB 2:e7d7e80256cc 342
LucasKB 2:e7d7e80256cc 343 return false;
LucasKB 2:e7d7e80256cc 344 }
LucasKB 2:e7d7e80256cc 345
LucasKB 2:e7d7e80256cc 346 bool UbxGpsNavSol::changeFrequency(){
LucasKB 2:e7d7e80256cc 347 const uint8_t packet[] = {
LucasKB 2:e7d7e80256cc 348 0xB5, // sync char 1
LucasKB 2:e7d7e80256cc 349 0x62, // sync char 2
LucasKB 2:e7d7e80256cc 350 0x06, // class
LucasKB 2:e7d7e80256cc 351 0x08, // id
LucasKB 2:e7d7e80256cc 352 0x06, // length
LucasKB 2:e7d7e80256cc 353 0x00, // length
LucasKB 2:e7d7e80256cc 354 0x64, // payload
LucasKB 2:e7d7e80256cc 355 0x00, // payload
LucasKB 2:e7d7e80256cc 356 0x01, // payload
LucasKB 2:e7d7e80256cc 357 0x00, // payload
LucasKB 2:e7d7e80256cc 358 0x01, // payload
LucasKB 2:e7d7e80256cc 359 0x00, // payload
LucasKB 2:e7d7e80256cc 360 0x7A, // CK_A
LucasKB 2:e7d7e80256cc 361 0x12, // CK_B
LucasKB 2:e7d7e80256cc 362 };
LucasKB 2:e7d7e80256cc 363
LucasKB 2:e7d7e80256cc 364 if(this->writable()){
LucasKB 2:e7d7e80256cc 365 this->write(packet, sizeof(packet));
LucasKB 2:e7d7e80256cc 366 return true;
LucasKB 2:e7d7e80256cc 367 }
LucasKB 2:e7d7e80256cc 368
LucasKB 2:e7d7e80256cc 369 return false;
LucasKB 2:e7d7e80256cc 370 }
LucasKB 2:e7d7e80256cc 371
LucasKB 2:e7d7e80256cc 372 bool UbxGpsNavSol::disableGNSS(){
LucasKB 2:e7d7e80256cc 373 const uint8_t packet[] = {
LucasKB 2:e7d7e80256cc 374 0xB5, 0x62, 0x06, 0x3E, 0x3C, 0x00,
LucasKB 2:e7d7e80256cc 375 0x00, 0x00, 0x20, 0x07, 0x00, 0x08,
LucasKB 2:e7d7e80256cc 376 0x10, 0x00, 0x01, 0x00, 0x01, 0x01,
LucasKB 2:e7d7e80256cc 377 0x01, 0x01, 0x03, 0x00, 0x00, 0x00,
LucasKB 2:e7d7e80256cc 378 0x01, 0x01, 0x02, 0x04, 0x08, 0x00,
LucasKB 2:e7d7e80256cc 379 0x00, 0x00, 0x01, 0x01, 0x03, 0x08,
LucasKB 2:e7d7e80256cc 380 0x10, 0x00, 0x00, 0x00, 0x01, 0x01,
LucasKB 2:e7d7e80256cc 381 0x04, 0x00, 0x08, 0x00, 0x00, 0x00,
LucasKB 2:e7d7e80256cc 382 0x01, 0x01, 0x05, 0x00, 0x03, 0x00,
LucasKB 2:e7d7e80256cc 383 0x00, 0x00, 0x01, 0x01, 0x06, 0x08,
LucasKB 2:e7d7e80256cc 384 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01,
LucasKB 2:e7d7e80256cc 385 0x2C, 0x4D
LucasKB 2:e7d7e80256cc 386 };
LucasKB 2:e7d7e80256cc 387
LucasKB 2:e7d7e80256cc 388 if(this->writable()){
LucasKB 2:e7d7e80256cc 389 this->write(packet, sizeof(packet));
LucasKB 2:e7d7e80256cc 390 return true;
LucasKB 2:e7d7e80256cc 391 }
LucasKB 2:e7d7e80256cc 392
LucasKB 2:e7d7e80256cc 393 return false;
LucasKB 2:e7d7e80256cc 394 }
LucasKB 2:e7d7e80256cc 395
LucasKB 2:e7d7e80256cc 396 void UbxGpsNavSol::baud(int baud){
LucasKB 2:e7d7e80256cc 397 this->set_baud(baud);
LucasKB 2:e7d7e80256cc 398 }