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A second round of cleanup on GPS.h. (#5433)

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* Move yet more stuff out of GPS.h and into file scope.

* Protect code macros from eating semicolons.

* Remove unused (and unimplemented) getDOPString.

* clang-format with project style file on affected files.

Signed-off-by: Christopher Hoover <ch@murgatroid.com>
This commit is contained in:
Christopher Hoover 2024-11-25 03:32:04 -08:00 committed by GitHub
parent 6018c0a830
commit 0048e3cdcb
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GPG Key ID: B5690EEEBB952194
4 changed files with 86 additions and 133 deletions
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46
src/gps/GPS.cpp
View File

@ -33,24 +33,26 @@ HardwareSerial *GPS::_serial_gps = &Serial1;
#elif defined(ARCH_RP2040) #elif defined(ARCH_RP2040)
SerialUART *GPS::_serial_gps = &Serial1; SerialUART *GPS::_serial_gps = &Serial1;
#else #else
HardwareSerial *GPS::_serial_gps = NULL; HardwareSerial *GPS::_serial_gps = nullptr;
#endif #endif
GPS *gps = nullptr; GPS *gps = nullptr;
GPSUpdateScheduling scheduling; static const char *ACK_SUCCESS_MESSAGE = "Get ack success!";
static GPSUpdateScheduling scheduling;
/// Multiple GPS instances might use the same serial port (in sequence), but we can /// Multiple GPS instances might use the same serial port (in sequence), but we can
/// only init that port once. /// only init that port once.
static bool didSerialInit; static bool didSerialInit;
struct uBloxGnssModelInfo info; static struct uBloxGnssModelInfo info;
uint8_t uBloxProtocolVersion; static uint8_t uBloxProtocolVersion;
#define GPS_SOL_EXPIRY_MS 5000 // in millis. give 1 second time to combine different sentences. NMEA Frequency isn't higher anyway #define GPS_SOL_EXPIRY_MS 5000 // in millis. give 1 second time to combine different sentences. NMEA Frequency isn't higher anyway
#define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc) #define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc)
// For logging // For logging
const char *getGPSPowerStateString(GPSPowerState state) static const char *getGPSPowerStateString(GPSPowerState state)
{ {
switch (state) { switch (state) {
case GPS_ACTIVE: case GPS_ACTIVE:
@ -69,7 +71,7 @@ const char *getGPSPowerStateString(GPSPowerState state)
} }
} }
void GPS::UBXChecksum(uint8_t *message, size_t length) static void UBXChecksum(uint8_t *message, size_t length)
{ {
uint8_t CK_A = 0, CK_B = 0; uint8_t CK_A = 0, CK_B = 0;
@ -85,7 +87,7 @@ void GPS::UBXChecksum(uint8_t *message, size_t length)
} }
// Calculate the checksum for a CAS packet // Calculate the checksum for a CAS packet
void GPS::CASChecksum(uint8_t *message, size_t length) static void CASChecksum(uint8_t *message, size_t length)
{ {
uint32_t cksum = ((uint32_t)message[5] << 24); // Message ID uint32_t cksum = ((uint32_t)message[5] << 24); // Message ID
cksum += ((uint32_t)message[4]) << 16; // Class cksum += ((uint32_t)message[4]) << 16; // Class
@ -419,7 +421,6 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
*/ */
bool GPS::setup() bool GPS::setup()
{ {
if (!didSerialInit) { if (!didSerialInit) {
int msglen = 0; int msglen = 0;
if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) { if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) {
@ -718,6 +719,7 @@ GPS::~GPS()
// we really should unregister our sleep observer // we really should unregister our sleep observer
notifyDeepSleepObserver.unobserve(&notifyDeepSleep); notifyDeepSleepObserver.unobserve(&notifyDeepSleep);
} }
// Put the GPS hardware into a specified state // Put the GPS hardware into a specified state
void GPS::setPowerState(GPSPowerState newState, uint32_t sleepTime) void GPS::setPowerState(GPSPowerState newState, uint32_t sleepTime)
{ {
@ -882,17 +884,17 @@ void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
if (gnssModel != GNSS_MODEL_UBLOX10) { if (gnssModel != GNSS_MODEL_UBLOX10) {
// Encode the sleep time in millis into the packet // Encode the sleep time in millis into the packet
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
gps->_message_PMREQ[0 + i] = sleepMs >> (i * 8); _message_PMREQ[0 + i] = sleepMs >> (i * 8);
// Record the message length // Record the message length
msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ), gps->_message_PMREQ); msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ), _message_PMREQ);
} else { } else {
// Encode the sleep time in millis into the packet // Encode the sleep time in millis into the packet
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
gps->_message_PMREQ_10[4 + i] = sleepMs >> (i * 8); _message_PMREQ_10[4 + i] = sleepMs >> (i * 8);
// Record the message length // Record the message length
msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ_10), gps->_message_PMREQ_10); msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ_10), _message_PMREQ_10);
} }
// Send the UBX packet // Send the UBX packet
@ -1099,17 +1101,19 @@ int GPS::prepareDeepSleep(void *unused)
return 0; return 0;
} }
const char *PROBE_MESSAGE = "Trying %s (%s)..."; static const char *PROBE_MESSAGE = "Trying %s (%s)...";
const char *DETECTED_MESSAGE = "%s detected, using %s Module"; static const char *DETECTED_MESSAGE = "%s detected, using %s Module";
#define PROBE_SIMPLE(CHIP, TOWRITE, RESPONSE, DRIVER, TIMEOUT, ...) \ #define PROBE_SIMPLE(CHIP, TOWRITE, RESPONSE, DRIVER, TIMEOUT, ...) \
LOG_DEBUG(PROBE_MESSAGE, TOWRITE, CHIP); \ do { \
clearBuffer(); \ LOG_DEBUG(PROBE_MESSAGE, TOWRITE, CHIP); \
_serial_gps->write(TOWRITE "\r\n"); \ clearBuffer(); \
if (getACK(RESPONSE, TIMEOUT) == GNSS_RESPONSE_OK) { \ _serial_gps->write(TOWRITE "\r\n"); \
LOG_INFO(DETECTED_MESSAGE, CHIP, #DRIVER); \ if (getACK(RESPONSE, TIMEOUT) == GNSS_RESPONSE_OK) { \
return DRIVER; \ LOG_INFO(DETECTED_MESSAGE, CHIP, #DRIVER); \
} return DRIVER; \
} \
} while (0)
GnssModel_t GPS::probe(int serialSpeed) GnssModel_t GPS::probe(int serialSpeed)
{ {

53
src/gps/GPS.h
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@ -54,9 +54,6 @@ enum GPSPowerState : uint8_t {
GPS_OFF // Powered off indefinitely GPS_OFF // Powered off indefinitely
}; };
// Generate a string representation of DOP
const char *getDOPString(uint32_t dop);
/** /**
* A gps class that only reads from the GPS periodically and keeps the gps powered down except when reading * A gps class that only reads from the GPS periodically and keeps the gps powered down except when reading
* *
@ -207,52 +204,6 @@ class GPS : private concurrency::OSThread
#else #else
static HardwareSerial *_serial_gps; static HardwareSerial *_serial_gps;
#endif #endif
static uint8_t _message_PMREQ[];
static uint8_t _message_PMREQ_10[];
static const uint8_t _message_CFG_RXM_PSM[];
static const uint8_t _message_CFG_RXM_ECO[];
static const uint8_t _message_CFG_PM2[];
static const uint8_t _message_GNSS_7[];
static const uint8_t _message_GNSS_8[];
static const uint8_t _message_JAM_6_7[];
static const uint8_t _message_JAM_8[];
static const uint8_t _message_NAVX5[];
static const uint8_t _message_NAVX5_8[];
static const uint8_t _message_NMEA[];
static const uint8_t _message_DISABLE_TXT_INFO[];
static const uint8_t _message_1HZ[];
static const uint8_t _message_GLL[];
static const uint8_t _message_GSA[];
static const uint8_t _message_GSV[];
static const uint8_t _message_VTG[];
static const uint8_t _message_RMC[];
static const uint8_t _message_AID[];
static const uint8_t _message_GGA[];
static const uint8_t _message_PMS[];
static const uint8_t _message_SAVE[];
static const uint8_t _message_SAVE_10[];
// VALSET Commands for M10
static const uint8_t _message_VALSET_PM[];
static const uint8_t _message_VALSET_PM_RAM[];
static const uint8_t _message_VALSET_PM_BBR[];
static const uint8_t _message_VALSET_ITFM_RAM[];
static const uint8_t _message_VALSET_ITFM_BBR[];
static const uint8_t _message_VALSET_DISABLE_NMEA_RAM[];
static const uint8_t _message_VALSET_DISABLE_NMEA_BBR[];
static const uint8_t _message_VALSET_DISABLE_TXT_INFO_RAM[];
static const uint8_t _message_VALSET_DISABLE_TXT_INFO_BBR[];
static const uint8_t _message_VALSET_ENABLE_NMEA_RAM[];
static const uint8_t _message_VALSET_ENABLE_NMEA_BBR[];
static const uint8_t _message_VALSET_DISABLE_SBAS_RAM[];
static const uint8_t _message_VALSET_DISABLE_SBAS_BBR[];
// CASIC commands for ATGM336H
static const uint8_t _message_CAS_CFG_RST_FACTORY[];
static const uint8_t _message_CAS_CFG_NAVX_CONF[];
static const uint8_t _message_CAS_CFG_RATE_1HZ[];
const char *ACK_SUCCESS_MESSAGE = "Get ack success!";
// Create a ublox packet for editing in memory // Create a ublox packet for editing in memory
uint8_t makeUBXPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg); uint8_t makeUBXPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg);
@ -273,10 +224,6 @@ class GPS : private concurrency::OSThread
/// always returns 0 to indicate okay to sleep /// always returns 0 to indicate okay to sleep
int prepareDeepSleep(void *unused); int prepareDeepSleep(void *unused);
// Calculate checksum
void UBXChecksum(uint8_t *message, size_t length);
void CASChecksum(uint8_t *message, size_t length);
/** Set power with EN pin, if relevant /** Set power with EN pin, if relevant
*/ */
void writePinEN(bool on); void writePinEN(bool on);

8
src/gps/cas.h
View File

@ -21,7 +21,7 @@
// CFG-RST (0x06, 0x02) // CFG-RST (0x06, 0x02)
// Factory reset // Factory reset
const uint8_t GPS::_message_CAS_CFG_RST_FACTORY[] = { static const uint8_t _message_CAS_CFG_RST_FACTORY[] = {
0xFF, 0x03, // Fields to clear 0xFF, 0x03, // Fields to clear
0x01, // Reset Mode: Controlled Software reset 0x01, // Reset Mode: Controlled Software reset
0x03 // Startup Mode: Factory 0x03 // Startup Mode: Factory
@ -30,7 +30,7 @@ const uint8_t GPS::_message_CAS_CFG_RST_FACTORY[] = {
// CFG_RATE (0x06, 0x01) // CFG_RATE (0x06, 0x01)
// 1HZ update rate, this should always be the case after // 1HZ update rate, this should always be the case after
// factory reset but update it regardless // factory reset but update it regardless
const uint8_t GPS::_message_CAS_CFG_RATE_1HZ[] = { static const uint8_t _message_CAS_CFG_RATE_1HZ[] = {
0xE8, 0x03, // Update Rate: 0x03E8 = 1000ms 0xE8, 0x03, // Update Rate: 0x03E8 = 1000ms
0x00, 0x00 // Reserved 0x00, 0x00 // Reserved
}; };
@ -39,7 +39,7 @@ const uint8_t GPS::_message_CAS_CFG_RATE_1HZ[] = {
// Initial ATGM33H-5N configuration, Updates for Dynamic Mode, Fix Mode, and SV system // Initial ATGM33H-5N configuration, Updates for Dynamic Mode, Fix Mode, and SV system
// Qwirk: The ATGM33H-5N-31 should only support GPS+BDS, however it will happily enable // Qwirk: The ATGM33H-5N-31 should only support GPS+BDS, however it will happily enable
// and use GPS+BDS+GLONASS iff the correct CFG_NAVX command is used. // and use GPS+BDS+GLONASS iff the correct CFG_NAVX command is used.
const uint8_t GPS::_message_CAS_CFG_NAVX_CONF[] = { static const uint8_t _message_CAS_CFG_NAVX_CONF[] = {
0x03, 0x01, 0x00, 0x00, // Update Mask: Dynamic Mode, Fix Mode, Nav Settings 0x03, 0x01, 0x00, 0x00, // Update Mask: Dynamic Mode, Fix Mode, Nav Settings
0x03, // Dynamic Mode: Automotive 0x03, // Dynamic Mode: Automotive
0x03, // Fix Mode: Auto 2D/3D 0x03, // Fix Mode: Auto 2D/3D
@ -60,4 +60,4 @@ const uint8_t GPS::_message_CAS_CFG_NAVX_CONF[] = {
0x00, 0x00, 0x00, 0x00, // Position Accuracy Max 0x00, 0x00, 0x00, 0x00, // Position Accuracy Max
0x00, 0x00, 0x00, 0x00, // Time Accuracy Max 0x00, 0x00, 0x00, 0x00, // Time Accuracy Max
0x00, 0x00, 0x00, 0x00 // Static Hold Threshold 0x00, 0x00, 0x00, 0x00 // Static Hold Threshold
}; };

112
src/gps/ubx.h
View File

@ -1,20 +1,22 @@
const char *failMessage = "Unable to %s"; static const char *failMessage = "Unable to %s";
#define SEND_UBX_PACKET(TYPE, ID, DATA, ERRMSG, TIMEOUT) \ #define SEND_UBX_PACKET(TYPE, ID, DATA, ERRMSG, TIMEOUT) \
msglen = makeUBXPacket(TYPE, ID, sizeof(DATA), DATA); \ do { \
_serial_gps->write(UBXscratch, msglen); \ msglen = makeUBXPacket(TYPE, ID, sizeof(DATA), DATA); \
if (getACK(TYPE, ID, TIMEOUT) != GNSS_RESPONSE_OK) { \ _serial_gps->write(UBXscratch, msglen); \
LOG_WARN(failMessage, #ERRMSG); \ if (getACK(TYPE, ID, TIMEOUT) != GNSS_RESPONSE_OK) { \
} LOG_WARN(failMessage, #ERRMSG); \
} \
} while (0)
// Power Management // Power Management
uint8_t GPS::_message_PMREQ[] PROGMEM = { static uint8_t _message_PMREQ[] PROGMEM = {
0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds) 0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
0x02, 0x00, 0x00, 0x00 // Bitfield, set backup = 1 0x02, 0x00, 0x00, 0x00 // Bitfield, set backup = 1
}; };
uint8_t GPS::_message_PMREQ_10[] PROGMEM = { static uint8_t _message_PMREQ_10[] PROGMEM = {
0x00, // version (0 for this version) 0x00, // version (0 for this version)
0x00, 0x00, 0x00, // Reserved 1 0x00, 0x00, 0x00, // Reserved 1
0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds) 0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
@ -22,18 +24,18 @@ uint8_t GPS::_message_PMREQ_10[] PROGMEM = {
0x08, 0x00, 0x00, 0x00 // wakeupSources Wake on uartrx 0x08, 0x00, 0x00, 0x00 // wakeupSources Wake on uartrx
}; };
const uint8_t GPS::_message_CFG_RXM_PSM[] PROGMEM = { static const uint8_t _message_CFG_RXM_PSM[] PROGMEM = {
0x08, // Reserved 0x08, // Reserved
0x01 // Power save mode 0x01 // Power save mode
}; };
// only for Neo-6 // only for Neo-6
const uint8_t GPS::_message_CFG_RXM_ECO[] PROGMEM = { static const uint8_t _message_CFG_RXM_ECO[] PROGMEM = {
0x08, // Reserved 0x08, // Reserved
0x04 // eco mode 0x04 // eco mode
}; };
const uint8_t GPS::_message_CFG_PM2[] PROGMEM = { static const uint8_t _message_CFG_PM2[] PROGMEM = {
0x01, // version 0x01, // version
0x00, // Reserved 1, set to 0x06 by u-Center 0x00, // Reserved 1, set to 0x06 by u-Center
0x00, // Reserved 2 0x00, // Reserved 2
@ -58,7 +60,7 @@ const uint8_t GPS::_message_CFG_PM2[] PROGMEM = {
// Constallation setup, none required for Neo-6 // Constallation setup, none required for Neo-6
// For Neo-7 GPS & SBAS // For Neo-7 GPS & SBAS
const uint8_t GPS::_message_GNSS_7[] = { static const uint8_t _message_GNSS_7[] = {
0x00, // msgVer (0 for this version) 0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0) 0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available) 0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
@ -76,7 +78,7 @@ const uint8_t GPS::_message_GNSS_7[] = {
// There is also a possibility that the module may be GPS-only. // There is also a possibility that the module may be GPS-only.
// For M8 GPS, GLONASS, Galileo, SBAS, QZSS // For M8 GPS, GLONASS, Galileo, SBAS, QZSS
const uint8_t GPS::_message_GNSS_8[] = { static const uint8_t _message_GNSS_8[] = {
0x00, // msgVer (0 for this version) 0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0) 0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available) 0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
@ -90,7 +92,7 @@ const uint8_t GPS::_message_GNSS_8[] = {
}; };
/* /*
// For M8 GPS, GLONASS, BeiDou, SBAS, QZSS // For M8 GPS, GLONASS, BeiDou, SBAS, QZSS
const uint8_t GPS::_message_GNSS_8_B[] = { static const uint8_t _message_GNSS_8_B[] = {
0x00, // msgVer (0 for this version) 0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0) 0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available) read only for protocol >23 0xff, // numTrkChUse (max number of channels to use, 0xff = max available) read only for protocol >23
@ -105,7 +107,7 @@ const uint8_t GPS::_message_GNSS_8_B[] = {
*/ */
// For M8 we want to enable NMEA version 4.10 messages to allow for Galileo and or BeiDou // For M8 we want to enable NMEA version 4.10 messages to allow for Galileo and or BeiDou
const uint8_t GPS::_message_NMEA[]{ static const uint8_t _message_NMEA[]{
0x00, // filter flags 0x00, // filter flags
0x41, // NMEA Version 0x41, // NMEA Version
0x00, // Max number of SVs to report per TaklerId 0x00, // Max number of SVs to report per TaklerId
@ -121,13 +123,13 @@ const uint8_t GPS::_message_NMEA[]{
// Enable jamming/interference monitor // Enable jamming/interference monitor
// For Neo-6, Max-7 and Neo-7 // For Neo-6, Max-7 and Neo-7
const uint8_t GPS::_message_JAM_6_7[] = { static const uint8_t _message_JAM_6_7[] = {
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable = 1, reserved bits 0x16B156 0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable = 1, reserved bits 0x16B156
0x1e, 0x03, 0x00, 0x00 // config2 antennaSetting Unknown = 0, reserved 3, = 0x00,0x00, reserved 2 = 0x31E 0x1e, 0x03, 0x00, 0x00 // config2 antennaSetting Unknown = 0, reserved 3, = 0x00,0x00, reserved 2 = 0x31E
}; };
// For M8 // For M8
const uint8_t GPS::_message_JAM_8[] = { static const uint8_t _message_JAM_8[] = {
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable1 = 1, reserved bits 0x16B156 0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable1 = 1, reserved bits 0x16B156
0x1e, 0x43, 0x00, 0x00 // config2 antennaSetting Unknown = 0, enable2 = 1, generalBits = 0x31E 0x1e, 0x43, 0x00, 0x00 // config2 antennaSetting Unknown = 0, enable2 = 1, generalBits = 0x31E
}; };
@ -137,7 +139,7 @@ const uint8_t GPS::_message_JAM_8[] = {
// ToDo: check UBX-MON-VER for module type and protocol version // ToDo: check UBX-MON-VER for module type and protocol version
// For the Neo-6 // For the Neo-6
const uint8_t GPS::_message_NAVX5[] = { static const uint8_t _message_NAVX5[] = {
0x00, 0x00, // msgVer (0 for this version) 0x00, 0x00, // msgVer (0 for this version)
0x4c, 0x66, // mask1 0x4c, 0x66, // mask1
0x00, 0x00, 0x00, 0x00, // Reserved 0 0x00, 0x00, 0x00, 0x00, // Reserved 0
@ -166,7 +168,7 @@ const uint8_t GPS::_message_NAVX5[] = {
0x00, 0x00, 0x00, 0x00 // Reserved 4 0x00, 0x00, 0x00, 0x00 // Reserved 4
}; };
// For the M8 // For the M8
const uint8_t GPS::_message_NAVX5_8[] = { static const uint8_t _message_NAVX5_8[] = {
0x02, 0x00, // msgVer (2 for this version) 0x02, 0x00, // msgVer (2 for this version)
0x4c, 0x66, // mask1 0x4c, 0x66, // mask1
0x00, 0x00, 0x00, 0x00, // mask2 0x00, 0x00, 0x00, 0x00, // mask2
@ -197,7 +199,7 @@ const uint8_t GPS::_message_NAVX5_8[] = {
// Additionally, for some new modules like the M9/M10, an update rate lower than 5Hz // Additionally, for some new modules like the M9/M10, an update rate lower than 5Hz
// is recommended to avoid a known issue with satellites disappearing. // is recommended to avoid a known issue with satellites disappearing.
// The module defaults for M8, M9, M10 are the same as we use here so no update is necessary // The module defaults for M8, M9, M10 are the same as we use here so no update is necessary
const uint8_t GPS::_message_1HZ[] = { static const uint8_t _message_1HZ[] = {
0xE8, 0x03, // Measurement Rate (1000ms for 1Hz) 0xE8, 0x03, // Measurement Rate (1000ms for 1Hz)
0x01, 0x00, // Navigation rate, always 1 in GPS mode 0x01, 0x00, // Navigation rate, always 1 in GPS mode
0x01, 0x00 // Time reference 0x01, 0x00 // Time reference
@ -205,7 +207,7 @@ const uint8_t GPS::_message_1HZ[] = {
// Disable GLL. GLL - Geographic position (latitude and longitude), which provides the current geographical // Disable GLL. GLL - Geographic position (latitude and longitude), which provides the current geographical
// coordinates. // coordinates.
const uint8_t GPS::_message_GLL[] = { static const uint8_t _message_GLL[] = {
0xF0, 0x01, // NMEA ID for GLL 0xF0, 0x01, // NMEA ID for GLL
0x00, // Rate for DDC 0x00, // Rate for DDC
0x00, // Rate for UART1 0x00, // Rate for UART1
@ -217,7 +219,7 @@ const uint8_t GPS::_message_GLL[] = {
// Disable GSA. GSA - GPS DOP and active satellites, used for detailing the satellites used in the positioning and // Disable GSA. GSA - GPS DOP and active satellites, used for detailing the satellites used in the positioning and
// the DOP (Dilution of Precision) // the DOP (Dilution of Precision)
const uint8_t GPS::_message_GSA[] = { static const uint8_t _message_GSA[] = {
0xF0, 0x02, // NMEA ID for GSA 0xF0, 0x02, // NMEA ID for GSA
0x00, // Rate for DDC 0x00, // Rate for DDC
0x00, // Rate for UART1 0x00, // Rate for UART1
@ -228,7 +230,7 @@ const uint8_t GPS::_message_GSA[] = {
}; };
// Disable GSV. GSV - Satellites in view, details the number and location of satellites in view. // Disable GSV. GSV - Satellites in view, details the number and location of satellites in view.
const uint8_t GPS::_message_GSV[] = { static const uint8_t _message_GSV[] = {
0xF0, 0x03, // NMEA ID for GSV 0xF0, 0x03, // NMEA ID for GSV
0x00, // Rate for DDC 0x00, // Rate for DDC
0x00, // Rate for UART1 0x00, // Rate for UART1
@ -240,7 +242,7 @@ const uint8_t GPS::_message_GSV[] = {
// Disable VTG. VTG - Track made good and ground speed, which provides course and speed information relative to // Disable VTG. VTG - Track made good and ground speed, which provides course and speed information relative to
// the ground. // the ground.
const uint8_t GPS::_message_VTG[] = { static const uint8_t _message_VTG[] = {
0xF0, 0x05, // NMEA ID for VTG 0xF0, 0x05, // NMEA ID for VTG
0x00, // Rate for DDC 0x00, // Rate for DDC
0x00, // Rate for UART1 0x00, // Rate for UART1
@ -251,7 +253,7 @@ const uint8_t GPS::_message_VTG[] = {
}; };
// Enable RMC. RMC - Recommended Minimum data, the essential gps pvt (position, velocity, time) data. // Enable RMC. RMC - Recommended Minimum data, the essential gps pvt (position, velocity, time) data.
const uint8_t GPS::_message_RMC[] = { static const uint8_t _message_RMC[] = {
0xF0, 0x04, // NMEA ID for RMC 0xF0, 0x04, // NMEA ID for RMC
0x00, // Rate for DDC 0x00, // Rate for DDC
0x01, // Rate for UART1 0x01, // Rate for UART1
@ -262,7 +264,7 @@ const uint8_t GPS::_message_RMC[] = {
}; };
// Enable GGA. GGA - Global Positioning System Fix Data, which provides 3D location and accuracy data. // Enable GGA. GGA - Global Positioning System Fix Data, which provides 3D location and accuracy data.
const uint8_t GPS::_message_GGA[] = { static const uint8_t _message_GGA[] = {
0xF0, 0x00, // NMEA ID for GGA 0xF0, 0x00, // NMEA ID for GGA
0x00, // Rate for DDC 0x00, // Rate for DDC
0x01, // Rate for UART1 0x01, // Rate for UART1
@ -274,7 +276,7 @@ const uint8_t GPS::_message_GGA[] = {
// Disable UBX-AID-ALPSRV as it may confuse TinyGPS. The Neo-6 seems to send this message // Disable UBX-AID-ALPSRV as it may confuse TinyGPS. The Neo-6 seems to send this message
// whether the AID Autonomous is enabled or not // whether the AID Autonomous is enabled or not
const uint8_t GPS::_message_AID[] = { static const uint8_t _message_AID[] = {
0x0B, 0x32, // NMEA ID for UBX-AID-ALPSRV 0x0B, 0x32, // NMEA ID for UBX-AID-ALPSRV
0x00, // Rate for DDC 0x00, // Rate for DDC
0x00, // Rate for UART1 0x00, // Rate for UART1
@ -287,7 +289,7 @@ const uint8_t GPS::_message_AID[] = {
// Turn off TEXT INFO Messages for all but M10 series // Turn off TEXT INFO Messages for all but M10 series
// B5 62 06 02 0A 00 01 00 00 00 03 03 00 03 03 00 1F 20 // B5 62 06 02 0A 00 01 00 00 00 03 03 00 03 03 00 1F 20
const uint8_t GPS::_message_DISABLE_TXT_INFO[] = { static const uint8_t _message_DISABLE_TXT_INFO[] = {
0x01, // Protocol ID for NMEA 0x01, // Protocol ID for NMEA
0x00, 0x00, 0x00, // Reserved 0x00, 0x00, 0x00, // Reserved
0x03, // I2C 0x03, // I2C
@ -310,7 +312,7 @@ const uint8_t GPS::_message_DISABLE_TXT_INFO[] = {
// and must be smaller than the period. It is only valid when the powerSetupValue is set to Interval; otherwise, // and must be smaller than the period. It is only valid when the powerSetupValue is set to Interval; otherwise,
// it must be set to '0'. // it must be set to '0'.
// This command applies to M8 products // This command applies to M8 products
const uint8_t GPS::_message_PMS[] = { static const uint8_t _message_PMS[] = {
0x00, // Version (0) 0x00, // Version (0)
0x03, // Power setup value 3 = Agresssive 1Hz 0x03, // Power setup value 3 = Agresssive 1Hz
0x00, 0x00, // period: not applicable, set to 0 0x00, 0x00, // period: not applicable, set to 0
@ -318,14 +320,14 @@ const uint8_t GPS::_message_PMS[] = {
0x00, 0x00 // reserved, generated by u-center 0x00, 0x00 // reserved, generated by u-center
}; };
const uint8_t GPS::_message_SAVE[] = { static const uint8_t _message_SAVE[] = {
0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared 0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections 0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded 0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
0x17 // deviceMask: BBR, Flash, EEPROM, and SPI Flash 0x17 // deviceMask: BBR, Flash, EEPROM, and SPI Flash
}; };
const uint8_t GPS::_message_SAVE_10[] = { static const uint8_t _message_SAVE_10[] = {
0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared 0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections 0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded 0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
@ -375,12 +377,12 @@ LIMITPEAKCURRENT L 1
// b5 62 06 8a 26 00 00 02 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0 // b5 62 06 8a 26 00 00 02 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
// 10 01 8c 03 // 10 01 8c 03
*/ */
const uint8_t GPS::_message_VALSET_PM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40, static const uint8_t _message_VALSET_PM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40,
0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0, 0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0,
0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01}; 0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
const uint8_t GPS::_message_VALSET_PM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40, static const uint8_t _message_VALSET_PM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40,
0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0, 0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0,
0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01}; 0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
/* /*
CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM and one for BBR CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM and one for BBR
@ -394,10 +396,10 @@ CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM an
b5 62 06 8a 0e 00 00 01 00 00 0d 00 41 10 01 13 00 41 10 01 63 c6 b5 62 06 8a 0e 00 00 01 00 00 0d 00 41 10 01 13 00 41 10 01 63 c6
*/ */
const uint8_t GPS::_message_VALSET_ITFM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x41, static const uint8_t _message_VALSET_ITFM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x41,
0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01}; 0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
const uint8_t GPS::_message_VALSET_ITFM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x0d, 0x00, 0x41, static const uint8_t _message_VALSET_ITFM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x0d, 0x00, 0x41,
0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01}; 0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
// Turn off all NMEA messages: // Turn off all NMEA messages:
// Ram layer config message: // Ram layer config message:
@ -407,13 +409,13 @@ const uint8_t GPS::_message_VALSET_ITFM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x0d, 0
// BBR layer config message: // BBR layer config message:
// b5 62 06 8a 13 00 00 02 00 00 ca 00 91 20 00 c5 00 91 20 00 b1 00 91 20 00 f8 4e // b5 62 06 8a 13 00 00 02 00 00 ca 00 91 20 00 c5 00 91 20 00 b1 00 91 20 00 f8 4e
const uint8_t GPS::_message_VALSET_DISABLE_NMEA_RAM[] = { static const uint8_t _message_VALSET_DISABLE_NMEA_RAM[] = {
/*0x00, 0x01, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00 */ /*0x00, 0x01, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00 */
0x00, 0x01, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91, 0x00, 0x01, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91,
0x20, 0x00, 0xac, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x00}; 0x20, 0x00, 0xac, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x00};
const uint8_t GPS::_message_VALSET_DISABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, static const uint8_t _message_VALSET_DISABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5,
0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00}; 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00};
// Turn off text info messages: // Turn off text info messages:
// Ram layer config message: // Ram layer config message:
@ -432,17 +434,17 @@ const uint8_t GPS::_message_VALSET_DISABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00,
// b5 62 06 8a 0e 00 00 04 00 00 bb 00 91 20 01 ac 00 91 20 01 6d b6 // b5 62 06 8a 0e 00 00 04 00 00 bb 00 91 20 01 ac 00 91 20 01 6d b6
// Doing this for the FLASH layer isn't really required since we save the config to flash later // Doing this for the FLASH layer isn't really required since we save the config to flash later
const uint8_t GPS::_message_VALSET_DISABLE_TXT_INFO_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03}; static const uint8_t _message_VALSET_DISABLE_TXT_INFO_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
const uint8_t GPS::_message_VALSET_DISABLE_TXT_INFO_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03}; static const uint8_t _message_VALSET_DISABLE_TXT_INFO_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
const uint8_t GPS::_message_VALSET_ENABLE_NMEA_RAM[] = {0x00, 0x01, 0x00, 0x00, 0xbb, 0x00, 0x91, static const uint8_t _message_VALSET_ENABLE_NMEA_RAM[] = {0x00, 0x01, 0x00, 0x00, 0xbb, 0x00, 0x91,
0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01}; 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
const uint8_t GPS::_message_VALSET_ENABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xbb, 0x00, 0x91, static const uint8_t _message_VALSET_ENABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xbb, 0x00, 0x91,
0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01}; 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
const uint8_t GPS::_message_VALSET_DISABLE_SBAS_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x20, 0x00, 0x31, static const uint8_t _message_VALSET_DISABLE_SBAS_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x20, 0x00, 0x31,
0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00}; 0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
const uint8_t GPS::_message_VALSET_DISABLE_SBAS_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x20, 0x00, 0x31, static const uint8_t _message_VALSET_DISABLE_SBAS_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x20, 0x00, 0x31,
0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00}; 0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
/* /*
Operational issues with the M10: Operational issues with the M10:
@ -475,4 +477,4 @@ b5 62 06 8a 0e 00 00 01 00 00 20 00 31 10 00 05 00 31 10 00 46 87
BBR layer config message: BBR layer config message:
b5 62 06 8a 0e 00 00 02 00 00 20 00 31 10 00 05 00 31 10 00 47 94 b5 62 06 8a 0e 00 00 02 00 00 20 00 31 10 00 05 00 31 10 00 47 94
*/ */