Diff: gnss_operations.cpp

Revision:

31:9a1ce433f062

Parent:

27:405a5e611635

Child:

32:36bf0ff17131

--- a/gnss_operations.cpp	Wed Apr 03 11:53:35 2019 +0500
+++ b/gnss_operations.cpp	Wed Apr 03 16:32:30 2019 +0500
@@ -192,6 +192,35 @@
 	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(1);
+            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
@@ -514,6 +543,7 @@
 	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, 0x24, 0x00, 0x00, 0x29, 0x81};
 
 	this->_send(CFG_PMS, sizeof(CFG_PMS));
 	wait(1);
@@ -527,6 +557,9 @@
 	this->_send(CFG_NAV5, sizeof(CFG_NAV5));
 	wait(1);
 
+	this->_send(CFG_NAVX5, sizeof(CFG_NAVX5));
+	wait(1);
+
 	return true;
 }