kopia lustrzana https://github.com/cyoung/stratux
add CFG-NMEA, change NMEA protocol version to 4.1, clean-up config code
VirusPilot
rodzic
2a65adaaa7
commit
5f4dc68fd9
81
main/gps.go
81
main/gps.go
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@ -263,32 +263,9 @@ func initGPSSerial() bool {
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log.Printf("Finished writing SiRF GPS config to %s. Opening port to test connection.\n", device)
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}
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} else {
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// Byte order for UBX configuration is little endian.
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/*
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Set navigation settings.
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nav := make([]byte, 36)
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nav[0] = 0x05 // Set dyn and fixMode only.
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nav[1] = 0x00
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dyn.
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nav[2] = 0x07 // "Airborne with >2g Acceleration".
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nav[3] = 0x02 // 3D only.
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p.Write(makeUBXCFG(0x06, 0x24, 36, nav))
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// Turn off "time pulse" (usually drives an LED).
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tp5 := make([]byte, 32)
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tp5[4] = 0x32
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tp5[8] = 0x40
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tp5[9] = 0x42
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tp5[10] = 0x0F
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tp5[12] = 0x40
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tp5[13] = 0x42
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tp5[14] = 0x0F
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tp5[28] = 0xE7
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p.Write(makeUBXCFG(0x06, 0x31, 32, tp5))
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*/
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// GNSS configuration CFG-GNSS for ublox 7 and higher, p. 125 (v8)
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// Notes: ublox8 is multi-GNSS capable (simultaneous decoding of GPS and GLONASS, or
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@ -302,18 +279,26 @@ func initGPSSerial() bool {
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p.Write(makeUBXCFG(0x06, 0x09, 13, []byte{0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x17}))
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time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
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if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
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// UBX-CFG-NMEA (change NMEA protocol version to 4.1)
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p.Write(makeUBXCFG(0x06, 0x17, 20, []byte{0x00, 0x41, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}))
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if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 {
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if globalSettings.DEBUG {
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log.Printf("ublox 8 or unknown device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
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log.Printf("ublox 9 detected\n")
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}
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// ublox 9: use default GNSS configuration
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} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
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if globalSettings.DEBUG {
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log.Printf("ublox 8 detected\n")
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}
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// ublox 8
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cfgGnss := []byte{0x00, 0x20, 0x20, 0x06}
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gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
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sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable SBAS
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// sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels
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beidou := []byte{0x03, 0x04, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables BEIDOU
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qzss := []byte{0x05, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables QZSS
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glonass := []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GLONASS with 8-14 tracking channels
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galileo := []byte{0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x01} // enable Galileo with 4-10 tracking channels, ublox 8 does only support up to 10
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gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
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sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable SBAS
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beidou := []byte{0x03, 0x04, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // disable BEIDOU
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qzss := []byte{0x05, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable QZSS
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glonass := []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GLONASS with 8-14 tracking channels
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galileo := []byte{0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x01} // enable Galileo with 4-10 tracking channels, ublox 8 does only support up to 10
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cfgGnss = append(cfgGnss, gps...)
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cfgGnss = append(cfgGnss, sbas...)
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cfgGnss = append(cfgGnss, beidou...)
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@ -322,15 +307,18 @@ func initGPSSerial() bool {
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cfgGnss = append(cfgGnss, galileo...)
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p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss))
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p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS off
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// p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS on & Auto Mode
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} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX7) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX6) { // ublox 6,7
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} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX7) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX6) {
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if globalSettings.DEBUG {
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log.Printf("ublox 6 or 7 detected\n")
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}
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// ublox 6,7
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cfgGnss := []byte{0x00, 0x20, 0x20, 0x06}
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gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
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sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels
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beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables BEIDOU
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qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables QZSS
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glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
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galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo
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gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
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sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels
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beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // disable BEIDOU
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qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable QZSS
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glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // disable GLONASS
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galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // disable Galileo
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cfgGnss = append(cfgGnss, gps...)
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cfgGnss = append(cfgGnss, sbas...)
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cfgGnss = append(cfgGnss, beidou...)
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@ -353,13 +341,6 @@ func initGPSSerial() bool {
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// UBX-CFG-NAV5 |mask1...| dyn
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p.Write(makeUBXCFG(0x06, 0x24, 36, []byte{0x01, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Dynamic platform model: airborne with <1g acceleration
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// UBX-CFG-NAVX5 |version.| |mask1...| |mask2...............| |reserved| minSV maxSV
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// p.Write(makeUBXCFG(0x06, 0x23, 40, []byte{0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x48, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // minSVs=3, maxSVs=72
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// UBX-CFG-TP5 U1 U1 | U1[2] | | I2 | | I2 | | U4 | | U4 | | U4 | | U4 | | I4 | | X4 |
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// p.Write(makeUBXCFG(0x06, 0x31, 32, []byte{0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x19, 0x99, 0x99, 0x9A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6F}))
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// p.Write(makeUBXCFG(0x06, 0x31, 32, []byte{0x01, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x19, 0x99, 0x99, 0x9A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6F}))
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// UBX-CFG-MSG (NMEA Standard Messages) msg msg Ports 1-6 (only GGA enabled)
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// Class ID DDC UART1 UART2 USB I2C Res
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x00, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // GGA - Global positioning system fix data, enabled every 10th message
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@ -383,10 +364,6 @@ func initGPSSerial() bool {
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox - Satellite Status, enabled every 10th message
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox - Time of Day and Clock Information, enabled every 10th message
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// todo:
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// p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Ublox - Set NMEA message output rate
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// p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x41, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Ublox - Set Protocols and Baudrate
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// Reconfigure serial port.
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cfg := make([]byte, 20)
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cfg[0] = 0x01 // portID.
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