Diff: gnss_operations.cpp

Revision:

20:bc678f383db1

Parent:

19:119e7c15ff97

Child:

21:f91c0334d017

--- a/gnss_operations.cpp	Fri Oct 05 17:28:16 2018 +0500
+++ b/gnss_operations.cpp	Fri Oct 05 18:46:48 2018 +0500
@@ -358,6 +358,7 @@
 		length = GnssSerial::sendUbx(0x06, 0x3B, semi_continuous_pm2, sizeof(semi_continuous_pm2));
 		wait(1);
 		length = GnssSerial::sendUbx(0x06, 0x08, semi_continuous_rate, sizeof(semi_continuous_rate));
+		wait(1);
 		break;
 
 	case AGGRESSIVE_CONTINUOS:
@@ -367,6 +368,7 @@
 		length = GnssSerial::sendUbx(0x06, 0x3B, aggresive_continuous_pm2, sizeof(aggresive_continuous_pm2));
 		wait(1);
 		length = GnssSerial::sendUbx(0x06, 0x08, aggressive_continuous_rate, sizeof(aggressive_continuous_rate));
+		wait(1);
 		break;
 
 	case CONSERVATIVE_CONTINOUS:
@@ -376,6 +378,7 @@
 		length = GnssSerial::sendUbx(0x06, 0x3B, conservative_continuous_pm2, sizeof(conservative_continuous_pm2));
 		wait(1);
 		length = GnssSerial::sendUbx(0x06, 0x08, conservative_continuous_rate, sizeof(conservative_continuous_rate));
+		wait(1);
 		break;
 
 	case FULL_POWER:
@@ -383,23 +386,49 @@
 		length = GnssSerial::sendUbx(0x06, 0x86, full_power_pms, sizeof(full_power_pms));
 		wait(1);
 		length = GnssSerial::sendUbx(0x06, 0x08, full_power_rate, sizeof(full_power_rate));
+		wait(1);
 		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(1);
 		length = GnssSerial::sendUbx(0x06, 0x08, full_power_block_level_rate, sizeof(full_power_block_level_rate));
+		wait(1);
 		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(1);
 		length = GnssSerial::sendUbx(0x06, 0x08, full_power_building_level_rate, sizeof(full_power_building_level_rate));
+		wait(1);
 		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};
+
+	this->_send(CFG_PMS, sizeof(CFG_PMS));
+	wait(1);
+
+	this->_send(CFG_PM2, sizeof(CFG_PM2));
+	wait(1);
+
+	this->_send(CFG_RATE, sizeof(CFG_RATE));
+	wait(1);
+
+	this->_send(CFG_NAV5, sizeof(CFG_NAV5));
+	wait(1);
+
+	return true;
+}
+
 /**
  *  GNSS start modes (Hot/Warm/Cold start)
  *