Thiago Lima / Mbed 2 deprecated Telemetria_RX_SD_GPS_copy

RX

Dependencies:   mbed BufferedSerial SX1276GenericLib X_NUCLEO_IKS01A2

UbxGpsNavSol.cpp@0:674f1e460248, 2019-06-05 (annotated)

Committer:
TMRL123
Date:
Wed Jun 05 00:23:37 2019 +0000
Revision:
0:674f1e460248
Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TMRL123 0:674f1e460248 1 #include "UbxGpsNavSol.hh"
TMRL123 0:674f1e460248 2 #include "mbed.h"
TMRL123 0:674f1e460248 3
TMRL123 0:674f1e460248 4 UbxGpsNavSol::UbxGpsNavSol(PinName tx, PinName rx, int baud):UARTSerial(tx, rx, baud){
TMRL123 0:674f1e460248 5 this->carriagePosition = 0;
TMRL123 0:674f1e460248 6 // this->setLength(52);
TMRL123 0:674f1e460248 7 this->offsetClassProperties = 8;
TMRL123 0:674f1e460248 8 this->offsetHeaders = 4;
TMRL123 0:674f1e460248 9 }
TMRL123 0:674f1e460248 10
TMRL123 0:674f1e460248 11 UbxGpsNavSol::~UbxGpsNavSol(){}
TMRL123 0:674f1e460248 12
TMRL123 0:674f1e460248 13 bool UbxGpsNavSol::ready(){
TMRL123 0:674f1e460248 14 //unsigned char buffer[60];
TMRL123 0:674f1e460248 15
TMRL123 0:674f1e460248 16 if(this->readable()){
TMRL123 0:674f1e460248 17 for(int k = 0; k < 60; k++)
TMRL123 0:674f1e460248 18 this->buffer[k] = 0;
TMRL123 0:674f1e460248 19
TMRL123 0:674f1e460248 20 this->read(this->buffer, 60);
TMRL123 0:674f1e460248 21 }
TMRL123 0:674f1e460248 22
TMRL123 0:674f1e460248 23 if(this->buffer[0] != UBX_NAV_SOL_HEADER_1 || this->buffer[1] != UBX_NAV_SOL_HEADER_2)
TMRL123 0:674f1e460248 24 return false;
TMRL123 0:674f1e460248 25
TMRL123 0:674f1e460248 26 if(this->buffer[2] != UBX_NAV_SOL_CLASS || this->buffer[3] != UBX_NAV_SOL_ID)
TMRL123 0:674f1e460248 27 return false;
TMRL123 0:674f1e460248 28
TMRL123 0:674f1e460248 29 payload_length = this->buffer[5];
TMRL123 0:674f1e460248 30 payload_length = payload_length << 8;
TMRL123 0:674f1e460248 31 payload_length = this->buffer[4];
TMRL123 0:674f1e460248 32
TMRL123 0:674f1e460248 33 if(payload_length != UBX_NAV_SOL_PAYLOAD_LENGTH)
TMRL123 0:674f1e460248 34 return false;
TMRL123 0:674f1e460248 35
TMRL123 0:674f1e460248 36 if(calculateChecksum(buffer) == false)
TMRL123 0:674f1e460248 37 return false;
TMRL123 0:674f1e460248 38
TMRL123 0:674f1e460248 39 iTOW = this->buffer[9] << 8;
TMRL123 0:674f1e460248 40 iTOW |= this->buffer[8];
TMRL123 0:674f1e460248 41 iTOW <<= 8;
TMRL123 0:674f1e460248 42 iTOW |= this->buffer[7];
TMRL123 0:674f1e460248 43 iTOW <<= 8;
TMRL123 0:674f1e460248 44 iTOW |= this->buffer[6];
TMRL123 0:674f1e460248 45
TMRL123 0:674f1e460248 46 fTOW = this->buffer[13] << 8;
TMRL123 0:674f1e460248 47 fTOW |= this->buffer[12];
TMRL123 0:674f1e460248 48 fTOW <<= 8;
TMRL123 0:674f1e460248 49 fTOW |= this->buffer[11];
TMRL123 0:674f1e460248 50 fTOW <<= 8;
TMRL123 0:674f1e460248 51 fTOW |= this->buffer[10];
TMRL123 0:674f1e460248 52
TMRL123 0:674f1e460248 53 week = this->buffer[15] << 8;
TMRL123 0:674f1e460248 54 week |= this->buffer[14];
TMRL123 0:674f1e460248 55
TMRL123 0:674f1e460248 56 gpsFix = this->buffer[16];
TMRL123 0:674f1e460248 57
TMRL123 0:674f1e460248 58 flags = this->buffer[17];
TMRL123 0:674f1e460248 59
TMRL123 0:674f1e460248 60 ecefX = this->buffer[21] << 8;
TMRL123 0:674f1e460248 61 ecefX |= this->buffer[20];
TMRL123 0:674f1e460248 62 ecefX <<= 8;
TMRL123 0:674f1e460248 63 ecefX |= this->buffer[19];
TMRL123 0:674f1e460248 64 ecefX <<= 8;
TMRL123 0:674f1e460248 65 ecefX |= this->buffer[18];
TMRL123 0:674f1e460248 66
TMRL123 0:674f1e460248 67 ecefY = this->buffer[25] << 8;
TMRL123 0:674f1e460248 68 ecefY |= this->buffer[24];
TMRL123 0:674f1e460248 69 ecefY <<= 8;
TMRL123 0:674f1e460248 70 ecefY |= this->buffer[23];
TMRL123 0:674f1e460248 71 ecefY <<= 8;
TMRL123 0:674f1e460248 72 ecefY |= this->buffer[22];
TMRL123 0:674f1e460248 73
TMRL123 0:674f1e460248 74 ecefZ = this->buffer[29] << 8;
TMRL123 0:674f1e460248 75 ecefZ |= this->buffer[28];
TMRL123 0:674f1e460248 76 ecefZ <<= 8;
TMRL123 0:674f1e460248 77 ecefZ |= this->buffer[27];
TMRL123 0:674f1e460248 78 ecefZ <<= 8;
TMRL123 0:674f1e460248 79 ecefZ |= this->buffer[26];
TMRL123 0:674f1e460248 80
TMRL123 0:674f1e460248 81 pAcc = this->buffer[33] << 8;
TMRL123 0:674f1e460248 82 pAcc |= this->buffer[32];
TMRL123 0:674f1e460248 83 pAcc <<= 8;
TMRL123 0:674f1e460248 84 pAcc |= this->buffer[31];
TMRL123 0:674f1e460248 85 pAcc <<= 8;
TMRL123 0:674f1e460248 86 pAcc |= this->buffer[30];
TMRL123 0:674f1e460248 87
TMRL123 0:674f1e460248 88 ecefVX = this->buffer[37] << 8;
TMRL123 0:674f1e460248 89 ecefVX |= this->buffer[36];
TMRL123 0:674f1e460248 90 ecefVX <<= 8;
TMRL123 0:674f1e460248 91 ecefVX |= this->buffer[35];
TMRL123 0:674f1e460248 92 ecefVX <<= 8;
TMRL123 0:674f1e460248 93 ecefVX |= this->buffer[34];
TMRL123 0:674f1e460248 94
TMRL123 0:674f1e460248 95 ecefVY = this->buffer[41] << 8;
TMRL123 0:674f1e460248 96 ecefVY |= this->buffer[40];
TMRL123 0:674f1e460248 97 ecefVY <<= 8;
TMRL123 0:674f1e460248 98 ecefVY |= this->buffer[39];
TMRL123 0:674f1e460248 99 ecefVY <<= 8;
TMRL123 0:674f1e460248 100 ecefVY |= this->buffer[38];
TMRL123 0:674f1e460248 101
TMRL123 0:674f1e460248 102 ecefVZ = this->buffer[45] << 8;
TMRL123 0:674f1e460248 103 ecefVZ |= this->buffer[44];
TMRL123 0:674f1e460248 104 ecefVZ <<= 8;
TMRL123 0:674f1e460248 105 ecefVZ |= this->buffer[43];
TMRL123 0:674f1e460248 106 ecefVZ <<= 8;
TMRL123 0:674f1e460248 107 ecefVZ |= this->buffer[42];
TMRL123 0:674f1e460248 108
TMRL123 0:674f1e460248 109 sAcc = this->buffer[49] << 8;
TMRL123 0:674f1e460248 110 sAcc |= this->buffer[48];
TMRL123 0:674f1e460248 111 sAcc <<= 8;
TMRL123 0:674f1e460248 112 sAcc |= this->buffer[47];
TMRL123 0:674f1e460248 113 sAcc <<= 8;
TMRL123 0:674f1e460248 114 sAcc |= this->buffer[46];
TMRL123 0:674f1e460248 115
TMRL123 0:674f1e460248 116 pDOP = this->buffer[51] << 8;
TMRL123 0:674f1e460248 117 pDOP |= this->buffer[50];
TMRL123 0:674f1e460248 118
TMRL123 0:674f1e460248 119 reserved1 = this->buffer[52];
TMRL123 0:674f1e460248 120
TMRL123 0:674f1e460248 121 numSV = this->buffer[53];
TMRL123 0:674f1e460248 122
TMRL123 0:674f1e460248 123 reserved2 = this->buffer[57] << 8;
TMRL123 0:674f1e460248 124 reserved2 |= this->buffer[56];
TMRL123 0:674f1e460248 125 reserved2 <<= 8;
TMRL123 0:674f1e460248 126 reserved2 |= this->buffer[55];
TMRL123 0:674f1e460248 127 reserved2 <<= 8;
TMRL123 0:674f1e460248 128 reserved2 |= this->buffer[54];
TMRL123 0:674f1e460248 129
TMRL123 0:674f1e460248 130 return true;
TMRL123 0:674f1e460248 131 }
TMRL123 0:674f1e460248 132
TMRL123 0:674f1e460248 133 bool UbxGpsNavSol::calculateChecksum(unsigned char *buffer){
TMRL123 0:674f1e460248 134 uint8_t check_a, check_b;
TMRL123 0:674f1e460248 135 check_a = check_b = 0;
TMRL123 0:674f1e460248 136
TMRL123 0:674f1e460248 137 for(int i = 2; i < 58; i++){
TMRL123 0:674f1e460248 138 check_a += buffer[i];
TMRL123 0:674f1e460248 139 check_b += check_a;
TMRL123 0:674f1e460248 140 }
TMRL123 0:674f1e460248 141
TMRL123 0:674f1e460248 142 if(check_a == buffer[59] && check_b == buffer[58])
TMRL123 0:674f1e460248 143 return true;
TMRL123 0:674f1e460248 144
TMRL123 0:674f1e460248 145 else
TMRL123 0:674f1e460248 146 return false;
TMRL123 0:674f1e460248 147 }
TMRL123 0:674f1e460248 148
TMRL123 0:674f1e460248 149 bool UbxGpsNavSol::enableNAVSOL(){
TMRL123 0:674f1e460248 150 const uint8_t buffer[] = {
TMRL123 0:674f1e460248 151 0xB5, // sync char 1 1
TMRL123 0:674f1e460248 152 0x62, // sync char 2 2
TMRL123 0:674f1e460248 153 0x06, // class 3
TMRL123 0:674f1e460248 154 0x01, // id 4
TMRL123 0:674f1e460248 155 0x02, // length 5
TMRL123 0:674f1e460248 156 0x00, // length 6
TMRL123 0:674f1e460248 157 0x01, // payload 7
TMRL123 0:674f1e460248 158 0x06, // payload 8
TMRL123 0:674f1e460248 159 0x10,//CKA
TMRL123 0:674f1e460248 160 0x39,//CKB
TMRL123 0:674f1e460248 161
TMRL123 0:674f1e460248 162 };
TMRL123 0:674f1e460248 163 if(this->writable()){
TMRL123 0:674f1e460248 164 this->write(buffer, 10);
TMRL123 0:674f1e460248 165 return true;
TMRL123 0:674f1e460248 166 }
TMRL123 0:674f1e460248 167
TMRL123 0:674f1e460248 168 return false;
TMRL123 0:674f1e460248 169 }
TMRL123 0:674f1e460248 170
TMRL123 0:674f1e460248 171 bool UbxGpsNavSol::restoreDefaults(){
TMRL123 0:674f1e460248 172 const uint8_t packet[] = {
TMRL123 0:674f1e460248 173 0xB5, // sync char 1
TMRL123 0:674f1e460248 174 0x62, // sync char 2
TMRL123 0:674f1e460248 175 0x06, // class
TMRL123 0:674f1e460248 176 0x09, // id
TMRL123 0:674f1e460248 177 0x0D, // length
TMRL123 0:674f1e460248 178 0x00, // length
TMRL123 0:674f1e460248 179 0xFF, // payload
TMRL123 0:674f1e460248 180 0xFF, // payload
TMRL123 0:674f1e460248 181 0x00, // payload
TMRL123 0:674f1e460248 182 0x00, // payload
TMRL123 0:674f1e460248 183 0x00, // payload
TMRL123 0:674f1e460248 184 0x00, // payload
TMRL123 0:674f1e460248 185 0x00, // payload
TMRL123 0:674f1e460248 186 0x00, // payload
TMRL123 0:674f1e460248 187 0xFF, // payload
TMRL123 0:674f1e460248 188 0xFF, // payload
TMRL123 0:674f1e460248 189 0x00, // payload
TMRL123 0:674f1e460248 190 0x00, // payload
TMRL123 0:674f1e460248 191 0x17, // payload
TMRL123 0:674f1e460248 192 0x2F, // CK_A
TMRL123 0:674f1e460248 193 0xAE, // CK_B
TMRL123 0:674f1e460248 194 };
TMRL123 0:674f1e460248 195
TMRL123 0:674f1e460248 196 if(this->writable()){
TMRL123 0:674f1e460248 197 this->write(packet, 21);
TMRL123 0:674f1e460248 198 return true;
TMRL123 0:674f1e460248 199 }
TMRL123 0:674f1e460248 200
TMRL123 0:674f1e460248 201 return false;
TMRL123 0:674f1e460248 202 }
TMRL123 0:674f1e460248 203
TMRL123 0:674f1e460248 204 void UbxGpsNavSol::disableNmea(){
TMRL123 0:674f1e460248 205 const uint8_t messages[][2] = {
TMRL123 0:674f1e460248 206 {0xF0, 0x0A},
TMRL123 0:674f1e460248 207 {0xF0, 0x09},
TMRL123 0:674f1e460248 208 {0xF0, 0x00},
TMRL123 0:674f1e460248 209 {0xF0, 0x01},
TMRL123 0:674f1e460248 210 {0xF0, 0x0D},
TMRL123 0:674f1e460248 211 {0xF0, 0x06},
TMRL123 0:674f1e460248 212 {0xF0, 0x02},
TMRL123 0:674f1e460248 213 {0xF0, 0x07},
TMRL123 0:674f1e460248 214 {0xF0, 0x03},
TMRL123 0:674f1e460248 215 {0xF0, 0x04},
TMRL123 0:674f1e460248 216 {0xF0, 0x0E},
TMRL123 0:674f1e460248 217 {0xF0, 0x0F},
TMRL123 0:674f1e460248 218 {0xF0, 0x05},
TMRL123 0:674f1e460248 219 {0xF0, 0x08},
TMRL123 0:674f1e460248 220 {0xF1, 0x00},
TMRL123 0:674f1e460248 221 {0xF1, 0x01},
TMRL123 0:674f1e460248 222 {0xF1, 0x03},
TMRL123 0:674f1e460248 223 {0xF1, 0x04},
TMRL123 0:674f1e460248 224 {0xF1, 0x05},
TMRL123 0:674f1e460248 225 {0xF1, 0x06},
TMRL123 0:674f1e460248 226 };
TMRL123 0:674f1e460248 227
TMRL123 0:674f1e460248 228 // CFG-MSG packet buffer
TMRL123 0:674f1e460248 229 uint8_t packet[] = {
TMRL123 0:674f1e460248 230 0xB5, // sync char 1
TMRL123 0:674f1e460248 231 0x62, // sync char 2
TMRL123 0:674f1e460248 232 0x06, // class
TMRL123 0:674f1e460248 233 0x01, // id
TMRL123 0:674f1e460248 234 0x03, // length
TMRL123 0:674f1e460248 235 0x00, // length
TMRL123 0:674f1e460248 236 0x00, // payload (first byte from messages array element)
TMRL123 0:674f1e460248 237 0x00, // payload (second byte from messages array element)
TMRL123 0:674f1e460248 238 0x00, // payload (not changed in the case)
TMRL123 0:674f1e460248 239 0x00, // CK_A
TMRL123 0:674f1e460248 240 0x00, // CK_B
TMRL123 0:674f1e460248 241 };
TMRL123 0:674f1e460248 242
TMRL123 0:674f1e460248 243 uint8_t packetSize = sizeof(packet);
TMRL123 0:674f1e460248 244
TMRL123 0:674f1e460248 245 // Offset to the place where payload starts
TMRL123 0:674f1e460248 246 uint8_t payloadOffset = 6;
TMRL123 0:674f1e460248 247
TMRL123 0:674f1e460248 248 // Iterate over the messages array
TMRL123 0:674f1e460248 249 for (uint8_t i = 0; i < sizeof(messages) / sizeof(*messages); i++)
TMRL123 0:674f1e460248 250 {
TMRL123 0:674f1e460248 251 // Copy two bytes of payload to the packet buffer
TMRL123 0:674f1e460248 252 for (uint8_t j = 0; j < sizeof(*messages); j++)
TMRL123 0:674f1e460248 253 {
TMRL123 0:674f1e460248 254 packet[payloadOffset + j] = messages[i][j];
TMRL123 0:674f1e460248 255 }
TMRL123 0:674f1e460248 256
TMRL123 0:674f1e460248 257 // Set checksum bytes to the null
TMRL123 0:674f1e460248 258 packet[packetSize - 2] = 0x00;
TMRL123 0:674f1e460248 259 packet[packetSize - 1] = 0x00;
TMRL123 0:674f1e460248 260
TMRL123 0:674f1e460248 261 // Calculate checksum over the packet buffer excluding sync (first two) and checksum chars (last two)
TMRL123 0:674f1e460248 262 for (uint8_t j = 0; j < packetSize - 4; j++)
TMRL123 0:674f1e460248 263 {
TMRL123 0:674f1e460248 264 packet[packetSize - 2] += packet[2 + j];
TMRL123 0:674f1e460248 265 packet[packetSize - 1] += packet[packetSize - 2];
TMRL123 0:674f1e460248 266 }
TMRL123 0:674f1e460248 267
TMRL123 0:674f1e460248 268 if(this->writable()){
TMRL123 0:674f1e460248 269 this->write(packet, packetSize);
TMRL123 0:674f1e460248 270 }
TMRL123 0:674f1e460248 271 }
TMRL123 0:674f1e460248 272 }
TMRL123 0:674f1e460248 273
TMRL123 0:674f1e460248 274 bool UbxGpsNavSol::changeBaudrate(){
TMRL123 0:674f1e460248 275 const uint8_t packet[] = {
TMRL123 0:674f1e460248 276 0xB5, // sync char 1
TMRL123 0:674f1e460248 277 0x62, // sync char 2
TMRL123 0:674f1e460248 278 0x06, // class
TMRL123 0:674f1e460248 279 0x00, // id
TMRL123 0:674f1e460248 280 0x20, // length
TMRL123 0:674f1e460248 281 0x00, // length
TMRL123 0:674f1e460248 282 0x02, // payload - portID
TMRL123 0:674f1e460248 283 0x00, // payload - reserved0
TMRL123 0:674f1e460248 284 0x00, // payload - txReady
TMRL123 0:674f1e460248 285 0x00, // payload - txReady
TMRL123 0:674f1e460248 286 0xD0, // payload - mode
TMRL123 0:674f1e460248 287 0x08, // payload - mode
TMRL123 0:674f1e460248 288 0x00, // payload - mode
TMRL123 0:674f1e460248 289 0x00, // payload - mode
TMRL123 0:674f1e460248 290 0x00, // payload - reserved3
TMRL123 0:674f1e460248 291 0xC2, // payload - reserved3
TMRL123 0:674f1e460248 292 0x01, // payload - reserved3
TMRL123 0:674f1e460248 293 0x00, // payload - reserved3
TMRL123 0:674f1e460248 294 0x07, // payload - inProtoMask
TMRL123 0:674f1e460248 295 0x00, // payload - inProtoMask
TMRL123 0:674f1e460248 296 0x03, // payload - outProtoMask --> activate NMEA???
TMRL123 0:674f1e460248 297 0x00, // payload - outProtoMask
TMRL123 0:674f1e460248 298 0x00, // payload - flags
TMRL123 0:674f1e460248 299 0x00, // payload - flags
TMRL123 0:674f1e460248 300 0x00, // payload - reserved5
TMRL123 0:674f1e460248 301 0x00, // payload - reserved5
TMRL123 0:674f1e460248 302 0xCC, // CK_A
TMRL123 0:674f1e460248 303 0xBA, // CK_B
TMRL123 0:674f1e460248 304 };
TMRL123 0:674f1e460248 305
TMRL123 0:674f1e460248 306 if(this->writable()){
TMRL123 0:674f1e460248 307 this->write(packet, sizeof(packet));
TMRL123 0:674f1e460248 308 return true;
TMRL123 0:674f1e460248 309 }
TMRL123 0:674f1e460248 310
TMRL123 0:674f1e460248 311 return false;
TMRL123 0:674f1e460248 312 }
TMRL123 0:674f1e460248 313
TMRL123 0:674f1e460248 314 bool UbxGpsNavSol::disableUnnecessaryChannels(){
TMRL123 0:674f1e460248 315 const uint8_t packet[] = {
TMRL123 0:674f1e460248 316 0xB5, // sync char 1
TMRL123 0:674f1e460248 317 0x62, // sync char 2
TMRL123 0:674f1e460248 318 0x06, // class
TMRL123 0:674f1e460248 319 0x3E, // id
TMRL123 0:674f1e460248 320 0x24, // length
TMRL123 0:674f1e460248 321 0x00, // length
TMRL123 0:674f1e460248 322
TMRL123 0:674f1e460248 323 0x00, 0x00, 0x16, 0x04, 0x00, 0x04, 0xFF, 0x00, // payload
TMRL123 0:674f1e460248 324 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x03, 0x00, // payload
TMRL123 0:674f1e460248 325 0x00, 0x00, 0x00, 0x01, 0x05, 0x00, 0x03, 0x00, // payload
TMRL123 0:674f1e460248 326 0x00, 0x00, 0x00, 0x01, 0x06, 0x08, 0xFF, 0x00, // payload
TMRL123 0:674f1e460248 327 0x00, 0x00, 0x00, 0x01, // payload
TMRL123 0:674f1e460248 328
TMRL123 0:674f1e460248 329 0xA4, // CK_A
TMRL123 0:674f1e460248 330 0x25, // CK_B
TMRL123 0:674f1e460248 331 };
TMRL123 0:674f1e460248 332
TMRL123 0:674f1e460248 333 if(this->writable()){
TMRL123 0:674f1e460248 334 this->write(packet, sizeof(packet));
TMRL123 0:674f1e460248 335 return true;
TMRL123 0:674f1e460248 336 }
TMRL123 0:674f1e460248 337
TMRL123 0:674f1e460248 338 return false;
TMRL123 0:674f1e460248 339 }
TMRL123 0:674f1e460248 340
TMRL123 0:674f1e460248 341 bool UbxGpsNavSol::changeFrequency(){
TMRL123 0:674f1e460248 342 const uint8_t packet[] = {
TMRL123 0:674f1e460248 343 0xB5, // sync char 1
TMRL123 0:674f1e460248 344 0x62, // sync char 2
TMRL123 0:674f1e460248 345 0x06, // class
TMRL123 0:674f1e460248 346 0x08, // id
TMRL123 0:674f1e460248 347 0x06, // length
TMRL123 0:674f1e460248 348 0x00, // length
TMRL123 0:674f1e460248 349 0x64, // payload
TMRL123 0:674f1e460248 350 0x00, // payload
TMRL123 0:674f1e460248 351 0x01, // payload
TMRL123 0:674f1e460248 352 0x00, // payload
TMRL123 0:674f1e460248 353 0x01, // payload
TMRL123 0:674f1e460248 354 0x00, // payload
TMRL123 0:674f1e460248 355 0x7A, // CK_A
TMRL123 0:674f1e460248 356 0x12, // CK_B
TMRL123 0:674f1e460248 357 };
TMRL123 0:674f1e460248 358
TMRL123 0:674f1e460248 359 if(this->writable()){
TMRL123 0:674f1e460248 360 this->write(packet, sizeof(packet));
TMRL123 0:674f1e460248 361 return true;
TMRL123 0:674f1e460248 362 }
TMRL123 0:674f1e460248 363
TMRL123 0:674f1e460248 364 return false;
TMRL123 0:674f1e460248 365 }
TMRL123 0:674f1e460248 366
TMRL123 0:674f1e460248 367 bool UbxGpsNavSol::disableGNSS(){
TMRL123 0:674f1e460248 368 const uint8_t packet[] = {
TMRL123 0:674f1e460248 369 0xB5, 0x62, 0x06, 0x3E, 0x3C, 0x00,
TMRL123 0:674f1e460248 370 0x00, 0x00, 0x20, 0x07, 0x00, 0x08,
TMRL123 0:674f1e460248 371 0x10, 0x00, 0x01, 0x00, 0x01, 0x01,
TMRL123 0:674f1e460248 372 0x01, 0x01, 0x03, 0x00, 0x00, 0x00,
TMRL123 0:674f1e460248 373 0x01, 0x01, 0x02, 0x04, 0x08, 0x00,
TMRL123 0:674f1e460248 374 0x00, 0x00, 0x01, 0x01, 0x03, 0x08,
TMRL123 0:674f1e460248 375 0x10, 0x00, 0x00, 0x00, 0x01, 0x01,
TMRL123 0:674f1e460248 376 0x04, 0x00, 0x08, 0x00, 0x00, 0x00,
TMRL123 0:674f1e460248 377 0x01, 0x01, 0x05, 0x00, 0x03, 0x00,
TMRL123 0:674f1e460248 378 0x00, 0x00, 0x01, 0x01, 0x06, 0x08,
TMRL123 0:674f1e460248 379 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01,
TMRL123 0:674f1e460248 380 0x2C, 0x4D
TMRL123 0:674f1e460248 381 };
TMRL123 0:674f1e460248 382
TMRL123 0:674f1e460248 383 if(this->writable()){
TMRL123 0:674f1e460248 384 this->write(packet, sizeof(packet));
TMRL123 0:674f1e460248 385 return true;
TMRL123 0:674f1e460248 386 }
TMRL123 0:674f1e460248 387
TMRL123 0:674f1e460248 388 return false;
TMRL123 0:674f1e460248 389 }
TMRL123 0:674f1e460248 390
TMRL123 0:674f1e460248 391 void UbxGpsNavSol::baud(int baud){
TMRL123 0:674f1e460248 392 this->set_baud(baud);
TMRL123 0:674f1e460248 393 }
TMRL123 0:674f1e460248 394
TMRL123 0:674f1e460248 395 bool UbxGpsNavSol::saveConfiguration() {
TMRL123 0:674f1e460248 396 const uint8_t packet[] = {
TMRL123 0:674f1e460248 397 0xB5, // sync char 1
TMRL123 0:674f1e460248 398 0x62, // sync char 2
TMRL123 0:674f1e460248 399 0x06, // class
TMRL123 0:674f1e460248 400 0x09, // id
TMRL123 0:674f1e460248 401 0x0D, // length
TMRL123 0:674f1e460248 402 0x00, // length
TMRL123 0:674f1e460248 403 0x00, // payload
TMRL123 0:674f1e460248 404 0x00, // payload
TMRL123 0:674f1e460248 405 0x00, // payload
TMRL123 0:674f1e460248 406 0x00, // payload
TMRL123 0:674f1e460248 407 0xFF, // payload
TMRL123 0:674f1e460248 408 0xFF, // payload
TMRL123 0:674f1e460248 409 0x00, // payload
TMRL123 0:674f1e460248 410 0x00, // payload
TMRL123 0:674f1e460248 411 0x00, // payload
TMRL123 0:674f1e460248 412 0x00, // payload
TMRL123 0:674f1e460248 413 0x00, // payload
TMRL123 0:674f1e460248 414 0x00, // payload
TMRL123 0:674f1e460248 415 0x17, // payload
TMRL123 0:674f1e460248 416 0x31, // CK_A
TMRL123 0:674f1e460248 417 0xBF, // CK_B
TMRL123 0:674f1e460248 418 };
TMRL123 0:674f1e460248 419
TMRL123 0:674f1e460248 420 if(this->writable()){
TMRL123 0:674f1e460248 421 this->write(packet, sizeof(packet));
TMRL123 0:674f1e460248 422 return true;
TMRL123 0:674f1e460248 423 }
TMRL123 0:674f1e460248 424
TMRL123 0:674f1e460248 425 return false;
TMRL123 0:674f1e460248 426 }
TMRL123 0:674f1e460248 427