kopia lustrzana https://github.com/lightaprs/LightAPRS-1.0
2024 Update LightAPRS-hab.ino
- Reworked status messages - Updated telemetry message - Updated failsafe mode message - Additional tweaks from Josh V updates to LightAPRS-2.0-W updatespull/16/head
ssamjung2
GitHub
rodzic
f5ceb22d60
commit
27bf4a4d9e
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@ -4,6 +4,7 @@
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#include <LowPower.h> //https://github.com/rocketscream/Low-Power
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#include <Wire.h>
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#include <Adafruit_BMP085.h>//https://github.com/adafruit/Adafruit-BMP085-Library
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#include <Adafruit_BME280.h>
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#include <avr/wdt.h>
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#define RfPDPin 19
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@ -17,6 +18,7 @@
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#define ADC_REFERENCE REF_3V3
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#define OPEN_SQUELCH false
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//Macros
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#define GpsON digitalWrite(GpsVccPin, LOW)//PNP
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#define GpsOFF digitalWrite(GpsVccPin, HIGH)
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#define RfON digitalWrite(RfPDPin, HIGH)
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@ -28,33 +30,39 @@
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#define AprsPinInput pinMode(12,INPUT);pinMode(13,INPUT);pinMode(14,INPUT);pinMode(15,INPUT)
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#define AprsPinOutput pinMode(12,OUTPUT);pinMode(13,OUTPUT);pinMode(14,OUTPUT);pinMode(15,OUTPUT)
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//#define DEVMODE // Development mode. Uncomment to enable for debugging.
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#define DEVMODE // Development mode. Uncomment to enable for debugging.
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//****************************************************************************
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char CallSign[7]="NOCALL"; //DO NOT FORGET TO CHANGE YOUR CALLSIGN
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char CallSign[7]="KW9D"; //DO NOT FORGET TO CHANGE YOUR CALLSIGN
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int CallNumber=11; //SSID http://www.aprs.org/aprs11/SSIDs.txt
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char Symbol='O'; // '/O' for balloon, '/>' for car, for more info : http://www.aprs.org/symbols/symbols-new.txt
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bool alternateSymbolTable = false ; //false = '/' , true = '\'
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bool alternateSymbolTable = false ; //false = '/' , true = '\'
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char Frequency[9]="144.3900"; //default frequency. 144.3900 for US, 144.8000 for Europe
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char comment[50] = "#BalloonName";// Max 50 char
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char StatusMessage[50] = "Bloomington IL School Name";
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char Frequency[9]="144.3900"; //default frequency. 144.3900 for US, 144.8000 for Europe
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char comment[50] = "http://www.lightaprs.com"; // Max 50 char
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char StatusMessage[50] = "LightAPRS by TA9OHC & TA2MUN";
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//*****************************************************************************
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unsigned int BeaconWait=49; //seconds sleep for next beacon (TX) -- actual TX is BeaconWait + ~11 seconds (runtime)
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unsigned int BattWait=60; //seconds sleep if super capacitors/batteries are below BattMin (important if power source is solar panel)
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unsigned int StatusWait=25; //seconds sleep to send Status after Location is sent
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unsigned int BeaconWait=60; //seconds sleep for next beacon (TX).
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unsigned int BattWait=60; //seconds sleep if super capacitors/batteries are below BattMin (important if power source is solar panel)
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float BattMin=4.5; // min Volts to wake up.
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float DraHighVolt=8.0; // min Volts for radio module (DRA818V) to transmit (TX) 1 Watt, below this transmit 0.5 Watt. You don't need 1 watt on a balloon. Do not change this.
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//float GpsMinVolt=4.0; //min Volts for GPS to wake up. (important if power source is solar panel)
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//float GpsMinVolt=4.0; //min Volts for GPS to wake up. (important if power source is solar panel)
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boolean aliveStatus = true; //for tx status message on first wake-up just once.
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boolean aliveStatus = true; //for tx status message on first wake-up just once.
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boolean beaconViaARISS = false; //try to beacon via ARISS (International Space Station) https://www.amsat.org/amateur-radio-on-the-iss/
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unsigned int ARISSWait=5; //minutes between attempts at using ARISS (International Space Station)
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unsigned long ARISSAlt=75000; //altitude (feet) to opportunistically attempt ARISS based on ARISSWait interval (ISS pass takes ~90 mins) https://spotthestation.nasa.gov/tracking_map.cfm
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//do not change WIDE path settings below if you don't know what you are doing :)
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byte Wide1=1; // 1 for WIDE1-1 path
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byte Wide2=1; // 1 for WIDE2-1 path
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//*****************************************************************************
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/**
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Airborne stations above a few thousand feet should ideally use NO path at all, or at the maximum just WIDE2-1 alone.
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Due to their extended transmit range due to elevation, multiple digipeater hops are not required by airborne stations.
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@ -64,17 +72,43 @@ NEVER use WIDE1-1 in an airborne path, since this can potentially trigger hundre
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int pathSize=2; // 2 for WIDE1-N,WIDE2-N ; 1 for WIDE2-N
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boolean autoPathSizeHighAlt = true; //force path to WIDE2-N only for high altitude (airborne) beaconing (over 1.000 meters (3.280 feet))
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//*****************************************************************************
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/**
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In the event of GPS failing to maintain telemtery lock, send status APRS messages anyways. This will ensure sensor data is still tx despite
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location information is unavaliable. When the tracker is in this condition, the Status interval is disregarded the TX Beacon interval is now
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used to determine when to send status messages. Additionally, when the tracker is in this condition, there is optional support for high performance
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mdode to increase the chances of the GPS achieving a lock at the cost of additional power consumption. This is not recommended for pico balloon.
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*/
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boolean gpsLock = false; //Keep track if we have a valid GPS lock or not
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//*****************************************************************************
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unsigned status;
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//boolean GpsFirstFix=false;
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boolean ublox_high_alt_mode = false;
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char telemetry_buff[100]; // telemetry buffer
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static char telemetry_buff[100];// telemetry buffer
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uint16_t TxCount = 1;
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// TX Counters
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word TxCount = 0;
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word TelemetryCount = 0;
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word StatusCount = 0;
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word NoGPS = 0;
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// ARISS Mode
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boolean arissModEnabled = false;
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// Balloon pop free fall
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unsigned long LowestPressure = 0;
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boolean ExpressReturn = false;
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//*****************************************************************************
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TinyGPSPlus gps;
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Adafruit_BMP085 bmp;
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Adafruit_BME280 bme;
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String serialCommand;
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void setup() {
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wdt_enable(WDTO_8S);
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analogReference(INTERNAL2V56);
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@ -91,11 +125,11 @@ void setup() {
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RfPttOFF;
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AprsPinInput;
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Serial.begin(57600);
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Serial.begin(115200);
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Serial1.begin(9600);
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#if defined(DEVMODE)
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Serial.println(F("Start"));
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#endif
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#if defined(DEVMODE)
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Serial.println(F("Booting..."));
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#endif
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APRS_init(ADC_REFERENCE, OPEN_SQUELCH);
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APRS_setCallsign(CallSign,CallNumber);
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@ -105,83 +139,151 @@ void setup() {
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APRS_setPath2("WIDE2", Wide2);
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APRS_useAlternateSymbolTable(alternateSymbolTable);
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APRS_setSymbol(Symbol);
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//increase following value (for example to 500UL) if you experience packet loss/decode issues.
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//increase following value (for example to 500UL), default 350, if you experience packet loss/decode issues.
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APRS_setPreamble(350UL);
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APRS_setPathSize(pathSize);
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configDra818(Frequency);
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bmp.begin();
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// You can also pass in a Wire library object like &Wire2
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// status = bme.begin(0x76, &Wire2)
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status = bme.begin(BME280_ADDRESS_ALTERNATE);
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#if defined(DEVMODE)
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Serial.print(F("SensorID was: 0x")); Serial.println(bme.sensorID(),16);
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Serial.print(F(" ID of 0xFF probably means a bad address, a BMP 180 or BMP 085\n"));
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Serial.print(F(" ID of 0x56-0x58 represents a BMP 280,\n"));
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Serial.print(F(" ID of 0x60 represents a BME 280.\n"));
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Serial.print(F(" ID of 0x61 represents a BME 680.\n"));
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#endif
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if (!status) {
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Serial.println(F("Could not find a valid BME280 sensor, check wiring, address, sensor ID!"));
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//while (true) delay(10);
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}
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}
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void loop() {
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wdt_reset();
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wdt_reset();
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//
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// Battery must be above min level; solar cell and super caps
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//
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if (readBatt() > BattMin) {
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if(aliveStatus){
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//send status tx on startup once (before gps fix)
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#if defined(DEVMODE)
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Serial.println(F("Sending"));
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#endif
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sendStatus();
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#if defined(DEVMODE)
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Serial.println(F("Sent"));
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#endif
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aliveStatus = false;
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}
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//
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// Startup TX status (before GPS fix)
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//
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if(aliveStatus){
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#if defined(DEVMODE)
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Serial.println(F("Starting up..."));
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#endif
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sendStatus(StatusMessage);
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aliveStatus = false;
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}
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//
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// Update GPS telemtery
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//
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updateGpsData(1000);
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gpsDebug();
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//
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// Check GPS data
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//
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if ((gps.location.age() < 1000 || gps.location.isUpdated()) && gps.location.isValid()) {
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if (gps.satellites.isValid() && (gps.satellites.value() > 3)) {
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updatePosition();
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updateTelemetry();
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//GpsOFF;
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setGPS_PowerSaveMode();
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//GpsFirstFix=true;
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if(autoPathSizeHighAlt && gps.altitude.feet()>3000){
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//force to use high altitude settings (WIDE2-n)
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APRS_setPathSize(1);
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gpsLock = true;
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updatePosition();
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updateTelemetry();
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//GpsOFF;
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//setGPS_PowerSaveMode();
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//GpsFirstFix=true;
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//
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// Set APRS based on altitude
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//
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if (beaconViaARISS && gps.altitude.feet() > ARISSAlt){
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//Opportunistically attempt ARISS while very high altitude
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configureFreqbyAltitude();
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} else if(autoPathSizeHighAlt && gps.altitude.feet()>3000){
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//force to use high altitude settings (WIDE2-n)
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APRS_setPathSize(1);
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} else {
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//use defualt settings
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APRS_setPathSize(pathSize);
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//use default APRS settings
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APRS_setPathSize(pathSize);
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}
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//send status message every 60 minutes
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if(gps.time.minute() == 30){
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sendStatus();
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// Send telemetry
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sendLocation();
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// Send status message based on status interval
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if(gps.time.minute() % 10 == 0){
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sleepSeconds(StatusWait); // Wait before sending Status TX (after previous Telemetry message)
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sendStatus(StatusMessage);
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sleepSeconds(30); // Wait before sending Location TX (after Status message)
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} else {
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sleepSeconds(BeaconWait); // Wait before sending TX next time
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}
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freeMem();
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Serial.flush();
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NoGPS = 0;
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} else {
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sendLocation();
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#if defined(DEVMODE)
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Serial.println(F("Not enough sattelites"));
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#endif
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failsafe_mode(30);
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}
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freeMem();
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Serial.flush();
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sleepSeconds(BeaconWait);
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} else {
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#if defined(DEVMODE)
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Serial.println(F("Not enough sattelites"));
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#endif
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}
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}
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} else {
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failsafe_mode(30);
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}
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} else {
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//
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// Sleep and wait for battery
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//
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sleepSeconds(BattWait);
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}
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}
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void failsafe_mode(int sec){
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if (!gps.location.isUpdated() || !gps.location.isValid()) {
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gpsLock = false;
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}
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#if defined(DEVMODE)
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Serial.print(F("No GPS count: ")); Serial.println(NoGPS);
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Serial.print(F("GPS Lock: ")); Serial.println(gpsLock);
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#endif
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float pressure = bme.readPressure() / 100.0; //Pa to hPa
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if ((pressure - LowestPressure == 50) && (pressure > LowestPressure)){
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ExpressReturn = true;
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}
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#if defined(DEVMODE)
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Serial.print(F("Current pressure: ")); Serial.println(pressure);
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Serial.print(F("Lowest pressure: ")); Serial.println(LowestPressure);
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Serial.print(F("Express route back to earth: ")); Serial.println(ExpressReturn);
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#endif
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NoGPS++;
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if ((NoGPS > 15) || ((ExpressReturn) && !gps.location.isUpdated() && !gps.location.isValid())) {
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char msg[100];
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sprintf(msg, "No Gps Lock: Time %02d-%02d-%02d %02d:%02d:%02d, %4.0fM, %6.0fPa", gps.date.year(), gps.date.month(), gps.date.day(), gps.time.hour(), gps.time.minute(), gps.time.second(), gps.altitude.meters(), pressure);
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sleepSeconds(sec);
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sendStatus(msg);
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//setGps_MaxPerformanceMode(); // Experimental
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}
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}
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void aprs_msg_callback(struct AX25Msg *msg) {
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@ -198,11 +300,9 @@ void sleepSeconds(int sec) {
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//if(readBatt() < GpsMinVolt) GpsOFF; //(for pico balloon only)
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LowPower.powerDown(SLEEP_1S, ADC_OFF, BOD_ON);
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}
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wdt_enable(WDTO_8S);
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wdt_enable(WDTO_8S);
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}
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byte configDra818(char *freq)
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{
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SoftwareSerial Serial_dra(PIN_DRA_RX, PIN_DRA_TX);
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@ -215,8 +315,7 @@ byte configDra818(char *freq)
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sprintf(cmd, "AT+DMOSETGROUP=0,%s,%s,0000,4,0000", freq, freq);
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Serial_dra.println(cmd);
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ack[2] = 0;
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while (ack[2] != 0xa)
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{
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while (ack[2] != 0xa){
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if (Serial_dra.available() > 0) {
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ack[0] = ack[1];
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ack[1] = ack[2];
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@ -226,12 +325,38 @@ byte configDra818(char *freq)
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Serial_dra.end();
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RfOFF;
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pinMode(PIN_DRA_TX,INPUT);
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#if defined(DEVMODE)
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if (ack[0] == 0x30) Serial.println(F("Frequency updated...")); else Serial.println(F("Frequency update error!"));
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#endif
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#if defined(DEVMODE)
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if (ack[0] == 0x30){
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Serial.println(F("Frequency set..."));
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} else {
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Serial.println(F("Frequency update error!"));
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}
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#endif
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return (ack[0] == 0x30) ? 1 : 0;
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}
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void configureFreqbyAltitude() {
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//
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// Opportunistically attempt ARISS ISS repeater, avoid loss of normal APRS telemetry
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//
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if (gps.time.minute() % ARISSWait == 0){
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// Setup ARISS APRS
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APRS_setPath1("ARISS", Wide1);
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APRS_setPath2("WIDE2", Wide2);
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APRS_setPathSize(2);
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configDra818("145.8250");
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arissModEnabled = true;
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} else {
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// Otherwise use auto altitude settting
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APRS_setPath1("WIDE1", Wide1);
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APRS_setPath2("WIDE2", Wide2);
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APRS_setPathSize(1);
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configDra818(Frequency);
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arissModEnabled = false;
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}
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}
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void updatePosition() {
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// Convert and set latitude NMEA string Degree Minute Hundreths of minutes ddmm.hh[S,N].
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char latStr[10];
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@ -293,9 +418,18 @@ void updatePosition() {
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APRS_setLon(lonStr);
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}
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// blank
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void blankline(char* msg, int msg_len){
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for (int i=1; i < msg_len; i++){
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msg[i] = ' ';
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}
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}
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void updateTelemetry() {
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//
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// Updating telemetry string - Max 67 chars
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//
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blankline(telemetry_buff, 67);
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sprintf(telemetry_buff, "%03d", gps.course.isValid() ? (int)gps.course.deg() : 0);
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telemetry_buff[3] += '/';
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sprintf(telemetry_buff + 4, "%03d", gps.speed.isValid() ? (int)gps.speed.knots() : 0);
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@ -319,26 +453,38 @@ void updateTelemetry() {
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telemetry_buff[42] = ' ';
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dtostrf(readBatt(), 5, 2, telemetry_buff + 43);
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telemetry_buff[48] = 'V';
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telemetry_buff[49] = ' ';
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sprintf(telemetry_buff + 50, "%02d", gps.satellites.isValid() ? (int)gps.satellites.value() : 0);
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telemetry_buff[52] = 'S';
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telemetry_buff[53] = ' ';
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sprintf(telemetry_buff + 54, "%s", comment);
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telemetry_buff[49] = ' '; tempC = bme.readTemperature();//-21.4//
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dtostrf(tempC, 4, 2, telemetry_buff + 50);
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telemetry_buff[54] = 'C';
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telemetry_buff[55] = ' '; pressure = bme.readPressure() / 100.0; //Pa to hPa
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dtostrf(pressure, 4, 2, telemetry_buff + 56);
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telemetry_buff[60] = 'h';
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telemetry_buff[61] = ' '; float humidty = bme.readHumidity();// 21.1%
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dtostrf(humidty, 4, 2, telemetry_buff + 62);
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telemetry_buff[66] = '%';
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telemetry_buff[67] = ' ';
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#if defined(DEVMODE)
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Serial.println(telemetry_buff);
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#endif
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#if defined(DEVMODE)
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Serial.print(F("Telemtery buff: "));
|
||||
Serial.println(telemetry_buff);
|
||||
#endif
|
||||
|
||||
pressure = bme.readPressure() / 100.0; //Pa to hPa
|
||||
if (pressure < LowestPressure){
|
||||
LowestPressure = pressure;
|
||||
}
|
||||
}
|
||||
|
||||
void sendLocation() {
|
||||
|
||||
#if defined(DEVMODE)
|
||||
Serial.println(F("Location sending with comment"));
|
||||
#endif
|
||||
if ((readBatt() > DraHighVolt) && (readBatt() < 10)) RfPwrHigh; //DRA Power 1 Watt
|
||||
else RfPwrLow; //DRA Power 0.5 Watt
|
||||
#if defined(DEVMODE)
|
||||
Serial.println(F("==> Sending location"));
|
||||
#endif
|
||||
if ((readBatt() > DraHighVolt) && (readBatt() < 10)){
|
||||
RfPwrHigh; //DRA Power 1 Watt
|
||||
} else {
|
||||
RfPwrLow; //DRA Power 0.5 Watt
|
||||
}
|
||||
|
||||
int hh = gps.time.hour();
|
||||
int mm = gps.time.minute();
|
||||
|
|
@ -351,8 +497,19 @@ void sendLocation() {
|
|||
sprintf(timestamp_buff + 4, "%02d", gps.time.isValid() ? (int)gps.time.second() : 0);
|
||||
timestamp_buff[6] = 'h';
|
||||
|
||||
#if defined(DEVMODE)
|
||||
Serial.print(F("Telemetry buffer length: "));
|
||||
Serial.println(String(strlen(telemetry_buff)));
|
||||
Serial.println(F("Turning RF ON"));
|
||||
#endif
|
||||
|
||||
RfON;
|
||||
delay(2000);
|
||||
|
||||
#if defined(DEVMODE)
|
||||
Serial.println(F("Turning on PTT"));
|
||||
#endif
|
||||
|
||||
RfPttON;
|
||||
delay(1000);
|
||||
|
||||
|
|
@ -363,37 +520,72 @@ void sendLocation() {
|
|||
delay(50);
|
||||
RfPttOFF;
|
||||
RfOFF;
|
||||
#if defined(DEVMODE)
|
||||
Serial.println(F("Location sent with comment"));
|
||||
#endif
|
||||
|
||||
TxCount++;
|
||||
#if defined(DEVMODE)
|
||||
Serial.print(F("Location sent (Freq: "));
|
||||
Serial.print(Frequency);
|
||||
Serial.print(F(") - "));
|
||||
Serial.println(TelemetryCount);
|
||||
#endif
|
||||
|
||||
TxCount+=1;
|
||||
TelemetryCount+=1;
|
||||
}
|
||||
|
||||
void sendStatus() {
|
||||
if ((readBatt() > DraHighVolt) && (readBatt() < 10)) RfPwrHigh; //DRA Power 1 Watt
|
||||
else RfPwrLow; //DRA Power 0.5 Watt
|
||||
void sendStatus(const char *msg) {
|
||||
|
||||
#if defined(DEVMODE)
|
||||
Serial.println(F("==> Sending status"));
|
||||
#endif
|
||||
|
||||
if ((readBatt() > DraHighVolt) && (readBatt() < 10)){
|
||||
RfPwrHigh; //DRA Power 1 Watt
|
||||
} else {
|
||||
RfPwrLow; //DRA Power 0.5 Watt
|
||||
}
|
||||
|
||||
RfON;
|
||||
delay(2000);
|
||||
|
||||
#if defined(DEVMODE)
|
||||
Serial.println(F("Turning PTT ON"));
|
||||
#endif
|
||||
RfPttON;
|
||||
delay(1000);
|
||||
|
||||
APRS_sendStatus(StatusMessage, strlen(StatusMessage));
|
||||
|
||||
char batt[8];
|
||||
char status[105];
|
||||
dtostrf(readBatt(), 5, 2, batt);
|
||||
// sprintf(msg, "No GPS Lock: Bat %5.2fv, Time %d-%d-%d %d:%d:%d, %4.0fM, %6.0fPa", readBatt(), gps.date.year(), gps.date.month(), gps.date.day(), gps.time.hour(), gps.time.minute(), gps.time.second(), gps.altitude.meters(), pressure);
|
||||
sprintf(status, "High Altitude Payload %sv, %003dTxC, %003dSxC, %003dTxC, %02dS, %05dH - ", batt, TxCount, StatusCount, TelemetryCount, gps.satellites.isValid() ? (int)gps.satellites.value() : 0, gps.hdop.isValid() ? (int)gps.hdop.value() : 0 );
|
||||
strcat(status, msg);
|
||||
|
||||
#if defined(DEVMODE)
|
||||
Serial.println(F("Sending status message:"));
|
||||
Serial.println(status);
|
||||
#endif
|
||||
|
||||
delay(500);
|
||||
APRS_sendStatus(status, strlen(status));
|
||||
delay(10);
|
||||
|
||||
while(digitalRead(1)){;}//LibAprs TX Led pin PB1
|
||||
delay(50);
|
||||
RfPttOFF;
|
||||
RfOFF;
|
||||
#if defined(DEVMODE)
|
||||
Serial.println(F("Status sent"));
|
||||
#endif
|
||||
|
||||
TxCount++;
|
||||
#if defined(DEVMODE)
|
||||
Serial.print(F("Status sent (Freq: "));
|
||||
Serial.print(Frequency);
|
||||
Serial.print(F(") - "));
|
||||
Serial.println(StatusCount);
|
||||
#endif
|
||||
|
||||
TxCount+=1;
|
||||
StatusCount+=1;
|
||||
|
||||
}
|
||||
|
||||
|
||||
static void updateGpsData(int ms)
|
||||
{
|
||||
GpsON;
|
||||
|
|
@ -416,6 +608,7 @@ static void updateGpsData(int ms)
|
|||
char c;
|
||||
c=Serial1.read();
|
||||
gps.encode(c);
|
||||
Serial.print(c);
|
||||
bekle= millis();
|
||||
}
|
||||
if (bekle!=0 && bekle+10<millis())break;
|
||||
|
|
@ -470,7 +663,6 @@ void gpsDebug() {
|
|||
#endif
|
||||
}
|
||||
|
||||
|
||||
static void printFloat(float val, bool valid, int len, int prec)
|
||||
{
|
||||
#if defined(DEVMODE)
|
||||
|
|
@ -544,22 +736,22 @@ static void printStr(const char *str, int len)
|
|||
Serial.print(i < slen ? str[i] : ' ');
|
||||
#endif
|
||||
}
|
||||
|
||||
//following GPS code from : https://github.com/HABduino/HABduino/blob/master/Software/habduino_v4/habduino_v4.ino
|
||||
void setGPS_DynamicModel6()
|
||||
{
|
||||
int gps_set_sucess=0;
|
||||
uint8_t setdm6[] = {
|
||||
0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06,
|
||||
0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
|
||||
0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C,
|
||||
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
|
||||
|
||||
while(!gps_set_sucess)
|
||||
{
|
||||
sendUBX(setdm6, sizeof(setdm6)/sizeof(uint8_t));
|
||||
gps_set_sucess=getUBX_ACK(setdm6);
|
||||
}
|
||||
int gps_set_sucess=0;
|
||||
uint8_t setdm6[] = {
|
||||
0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06,
|
||||
0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
|
||||
0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C,
|
||||
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
|
||||
while(!gps_set_sucess)
|
||||
{
|
||||
sendUBX(setdm6, sizeof(setdm6)/sizeof(uint8_t));
|
||||
gps_set_sucess=getUBX_ACK(setdm6);
|
||||
}
|
||||
}
|
||||
|
||||
void setGPS_DynamicModel3()
|
||||
|
|
@ -570,7 +762,7 @@ void setGPS_DynamicModel3()
|
|||
0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
|
||||
0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C,
|
||||
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x76 };
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x76 };
|
||||
while(!gps_set_sucess)
|
||||
{
|
||||
sendUBX(setdm3, sizeof(setdm3)/sizeof(uint8_t));
|
||||
|
|
@ -578,69 +770,71 @@ void setGPS_DynamicModel3()
|
|||
}
|
||||
}
|
||||
|
||||
void sendUBX(uint8_t *MSG, uint8_t len) {
|
||||
Serial1.flush();
|
||||
Serial1.write(0xFF);
|
||||
_delay_ms(500);
|
||||
for(int i=0; i<len; i++) {
|
||||
Serial1.write(MSG[i]);
|
||||
}
|
||||
void setGps_MaxPerformanceMode() {
|
||||
//Set GPS for Max Performance Mode
|
||||
uint8_t setMax[] = {
|
||||
0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x00, 0x21, 0x91 }; // Setup for Max Power Mode
|
||||
sendUBX(setMax, sizeof(setMax)/sizeof(uint8_t));
|
||||
}
|
||||
|
||||
void sendUBX(uint8_t *MSG, uint8_t len) {
|
||||
Serial1.flush();
|
||||
Serial1.write(0xFF);
|
||||
_delay_ms(500);
|
||||
for(int i=0; i<len; i++) {
|
||||
Serial1.write(MSG[i]);
|
||||
}
|
||||
}
|
||||
|
||||
boolean getUBX_ACK(uint8_t *MSG) {
|
||||
uint8_t b;
|
||||
uint8_t ackByteID = 0;
|
||||
uint8_t ackPacket[10];
|
||||
unsigned long startTime = millis();
|
||||
uint8_t b;
|
||||
uint8_t ackByteID = 0;
|
||||
uint8_t ackPacket[10];
|
||||
unsigned long startTime = millis();
|
||||
|
||||
// Construct the expected ACK packet
|
||||
ackPacket[0] = 0xB5; // header
|
||||
ackPacket[1] = 0x62; // header
|
||||
ackPacket[2] = 0x05; // class
|
||||
ackPacket[3] = 0x01; // id
|
||||
ackPacket[4] = 0x02; // length
|
||||
ackPacket[5] = 0x00;
|
||||
ackPacket[6] = MSG[2]; // ACK class
|
||||
ackPacket[7] = MSG[3]; // ACK id
|
||||
ackPacket[8] = 0; // CK_A
|
||||
ackPacket[9] = 0; // CK_B
|
||||
// Construct the expected ACK packet
|
||||
ackPacket[0] = 0xB5; // header
|
||||
ackPacket[1] = 0x62; // header
|
||||
ackPacket[2] = 0x05; // class
|
||||
ackPacket[3] = 0x01; // id
|
||||
ackPacket[4] = 0x02; // length
|
||||
ackPacket[5] = 0x00;
|
||||
ackPacket[6] = MSG[2]; // ACK class
|
||||
ackPacket[7] = MSG[3]; // ACK id
|
||||
ackPacket[8] = 0; // CK_A
|
||||
ackPacket[9] = 0; // CK_B
|
||||
|
||||
// Calculate the checksums
|
||||
for (uint8_t ubxi=2; ubxi<8; ubxi++) {
|
||||
ackPacket[8] = ackPacket[8] + ackPacket[ubxi];
|
||||
ackPacket[9] = ackPacket[9] + ackPacket[8];
|
||||
}
|
||||
|
||||
while (1) {
|
||||
|
||||
// Test for success
|
||||
if (ackByteID > 9) {
|
||||
// All packets in order!
|
||||
return true;
|
||||
}
|
||||
|
||||
// Timeout if no valid response in 3 seconds
|
||||
if (millis() - startTime > 3000) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Make sure data is available to read
|
||||
if (Serial1.available()) {
|
||||
b = Serial1.read();
|
||||
|
||||
// Check that bytes arrive in sequence as per expected ACK packet
|
||||
if (b == ackPacket[ackByteID]) {
|
||||
ackByteID++;
|
||||
}
|
||||
else {
|
||||
ackByteID = 0; // Reset and look again, invalid order
|
||||
}
|
||||
}
|
||||
}
|
||||
// Calculate the checksums
|
||||
for (uint8_t ubxi=2; ubxi<8; ubxi++) {
|
||||
ackPacket[8] = ackPacket[8] + ackPacket[ubxi];
|
||||
ackPacket[9] = ackPacket[9] + ackPacket[8];
|
||||
}
|
||||
while (1) {
|
||||
// Test for success
|
||||
if (ackByteID > 9) {
|
||||
// All packets in order!
|
||||
return true;
|
||||
}
|
||||
// Timeout if no valid response in 3 seconds
|
||||
if (millis() - startTime > 3000) {
|
||||
return false;
|
||||
}
|
||||
// Make sure data is available to read
|
||||
if (Serial1.available()) {
|
||||
b = Serial1.read();
|
||||
// Check that bytes arrive in sequence as per expected ACK packet
|
||||
if (b == ackPacket[ackByteID]) {
|
||||
ackByteID++;
|
||||
} else {
|
||||
ackByteID = 0; // Reset and look again, invalid order
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void setGPS_PowerSaveMode() {
|
||||
// Power Save Mode
|
||||
uint8_t setPSM[] = {
|
||||
0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92 }; // Setup for Power Save Mode (Default Cyclic 1s)
|
||||
sendUBX(setPSM, sizeof(setPSM)/sizeof(uint8_t));
|
||||
0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92 }; // Setup for Power Save Mode (Default Cyclic 1s)
|
||||
sendUBX(setPSM, sizeof(setPSM)/sizeof(uint8_t));
|
||||
}
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue