mirror
/
esp32-ogn-tracker
kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
1
0
Forkuj 0
Kod Zgłoszenia Projekty Wydania Wiki Aktywność

Control SBAS enable/disable from Parameters.GNSS

pull/30/head
Pawel Jalocha 2020-12-22 02:14:38 +00:00
rodzic 0d6cb0bc70
commit dfb115bffa
2 zmienionych plików z 31 dodań i 7 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

27
main/gps.cpp
Wyświetl plik

@ -270,24 +270,25 @@ static void GPS_BurstStart(void) // wh
CFG_RATE.navRate = 1;
CFG_RATE.timeRef = 0;
UBX_RxMsg::Send(0x06, 0x08, GPS_UART_Write, (uint8_t*)(&CFG_RATE), sizeof(CFG_RATE));
// #ifdef DEBUG_PRINT
#ifdef DEBUG_PRINT
Format_String(CONS_UART_Write, "GPS <- CFG-RATE: ");
UBX_RxMsg::Send(0x06, 0x08, CONS_HexDump, (uint8_t*)(&CFG_RATE), sizeof(CFG_RATE));
Format_String(CONS_UART_Write, "\n");
// #endif
#endif
}
{ UBX_CFG_NAV5 CFG_NAV5;
CFG_NAV5.setDynModel(Parameters.NavMode);
UBX_RxMsg::Send(0x06, 0x24, GPS_UART_Write, (uint8_t*)(&CFG_NAV5), sizeof(CFG_NAV5));
// #ifdef DEBUG_PRINT
#ifdef DEBUG_PRINT
Format_String(CONS_UART_Write, "GPS <- CFG-NAV5: ");
UBX_RxMsg::Send(0x06, 0x24, CONS_HexDump, (uint8_t*)(&CFG_NAV5), sizeof(CFG_NAV5));
Format_String(CONS_UART_Write, "\n");
// #endif
#endif
}
UBX_RxMsg::Send(0x06, 0x08, GPS_UART_Write); // send the query for the navigation rate
UBX_RxMsg::Send(0x06, 0x24, GPS_UART_Write); // send the query for the navigation mode setting
UBX_RxMsg::Send(0x06, 0x3E, GPS_UART_Write); // send the query for the GNSS configuration
UBX_RxMsg::Send(0x06, 0x16, GPS_UART_Write); // send the query for the SBAS configuration
// if(!GPS_Status.NMEA) // if NMEA sentences are not there
{ UBX_CFG_MSG CFG_MSG; // send CFG_MSG to enable the NMEA sentences
CFG_MSG.msgClass = 0xF0; // NMEA class
@ -634,7 +635,7 @@ static void GPS_NMEA(void) // wh
}
#ifdef WITH_GPS_UBX
#ifdef DEBUG_PRINT
// #ifdef DEBUG_PRINT
static void DumpUBX(void)
{ Format_String(CONS_UART_Write, "UBX: ");
Format_UnsDec(CONS_UART_Write, xTaskGetTickCount(), 6, 3);
@ -644,13 +645,15 @@ static void DumpUBX(void)
for(uint8_t Idx=0; Idx<UBX.Bytes; Idx++)
{ CONS_UART_Write(' '); Format_Hex(CONS_UART_Write, UBX.Byte[Idx]); }
Format_String(CONS_UART_Write, "\n"); }
#endif // DEBUG_PRINT
// #endif // DEBUG_PRINT
static void GPS_UBX(void) // when GPS gets an UBX packet
{ GPS_Status.UBX=1;
GPS_Status.BaudConfig = (GPS_getBaudRate() == GPS_TargetBaudRate);
LED_PCB_Flash(10);
// DumpUBX();
// #ifdef DEBUG_PRINT
DumpUBX();
// #endif
// GPS_Pos[GPS_PosIdx].ReadUBX(UBX);
#ifdef WITH_GPS_UBX_PASS
{ xSemaphoreTake(CONS_Mutex, portMAX_DELAY); // send ther UBX packet to the console
@ -706,6 +709,16 @@ static void GPS_UBX(void)
UBX.Send(GPS_UART_Write); // send this UBX packet
}
}
if(UBX.isCFG_SBAS()) // if CFG-SBAS
{ class UBX_CFG_SBAS *CFG = (class UBX_CFG_SBAS *)UBX.Word;
CFG->mode = Parameters.EnableSBAS;
CFG->usage=7;
CFG->maxSBAS=3;
CFG->scanmode1=0;
CFG->scanmode2=0;
UBX.RecalcCheck(); // reclaculate the check sum
UBX.Send(GPS_UART_Write); // send this UBX packet
}
#ifdef DEBUG_PRINT
if(UBX.isACK())
{ xSemaphoreTake(CONS_Mutex, portMAX_DELAY);

11
main/ubx.h
Wyświetl plik

@ -189,6 +189,16 @@ class UBX_CFG_RATE // 0x06 0x08
uint16_t timeRef; // 0=UTC, 1=GPS
} ;
class UBX_CFG_SBAS // 0x06 0x16
{ public:
uint8_t mode; // #0 = enabled, #1 = test
uint8_t usage; // #0 = range, #1 = diffCorr, #2 = integrity
uint8_t maxSBAS; // number of channels: 0..3
uint8_t scanmode2; // #0 = PRN152, ... #6 = PRN158
uint32_t scanmode1; // #0 = PRN120, ... #31 = PRN151
} ; // when polled from M6: 01 03 03 00 51 62 06 00
// for auto-select mode: 01 07 03 00 00 00 00 00
// for GPS: 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01 (enable)
// for SBAS: 0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01 (enable)
// for BeiDou: 0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01 (disable)
@ -373,6 +383,7 @@ class UBX_RxMsg // receiver for the UBX sentences
bool isACK_ACK (void) const { return isACK() && (ID==0x01); }
bool isCFG_PRT (void) const { return isCFG() && (ID==0x00); }
bool isCFG_SBAS (void) const { return isCFG() && (ID==0x16); }
bool isCFG_NAV5 (void) const { return isCFG() && (ID==0x24); }
} ;