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log UBX Init

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This commit is contained in:
Thomas Göttgens 2022-05-17 19:54:29 +02:00
parent 894b091553
commit 7f9bb5748e
1 changed files with 53 additions and 7 deletions
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60
src/gps/GPS.cpp
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@ -22,6 +22,52 @@ GPS *gps;
/// only init that port once. /// only init that port once.
static bool didSerialInit; static bool didSerialInit;
bool GPS::getACK(uint8_t c, uint8_t i) {
uint8_t b;
uint8_t ack = 0;
uint8_t ackP[2] = {c, i};
uint8_t buf[250];
unsigned long startTime = millis();
buf[0] = 0xB5;
buf[1] = 0x62;
buf[2] = 0x05;
buf[3] = 0x01;
buf[4] = 0x02;
buf[5] = 0x00;
buf[8] = 0x00;
buf[9] = 0x00;
for (int i = 2; i < 6; i++) {
buf[8] += buf[i];
buf[9] += buf[8];
}
for (int i = 0; i < 2; i++) {
buf[6+i] = ackP[i];
buf[8] += buf[6+i];
buf[9] += buf[8];
}
while (1) {
if (ack > 9) {
return true;
}
if (millis() - startTime > 2000) {
return false;
}
if (_serial_gps->available()) {
b = _serial_gps->read();
if (b == buf[ack]) {
ack++;
}
else {
ack = 0;
}
}
}
}
bool GPS::setupGPS() bool GPS::setupGPS()
{ {
if (_serial_gps && !didSerialInit) { if (_serial_gps && !didSerialInit) {
@ -64,37 +110,37 @@ bool GPS::setupGPS()
byte _message_nmea[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00, byte _message_nmea[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00,
0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0xAF}; 0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0xAF};
_serial_gps->write(_message_nmea, sizeof(_message_nmea)); _serial_gps->write(_message_nmea, sizeof(_message_nmea));
delay(250); if (!getACK(0x06, 0x00)) DEBUG_MSG("WARNING: Unable to set UART.\n");
// disable GGL // disable GGL
byte _message_GGL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x05, 0x3A}; byte _message_GGL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x05, 0x3A};
_serial_gps->write(_message_GGL, sizeof(_message_GGL)); _serial_gps->write(_message_GGL, sizeof(_message_GGL));
delay(250); if (!getACK(0x06, 0x01)) DEBUG_MSG("WARNING: Unable to disable NMEA GGL.\n");
// disable GSA // disable GSA
byte _message_GSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x06, 0x41}; byte _message_GSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x06, 0x41};
_serial_gps->write(_message_GSA, sizeof(_message_GSA)); _serial_gps->write(_message_GSA, sizeof(_message_GSA));
delay(250); if (!getACK(0x06, 0x01)) DEBUG_MSG("WARNING: Unable to disable NMEA GSA.\n");
// disable GSV // disable GSV
byte _message_GSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x07, 0x48}; byte _message_GSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x07, 0x48};
_serial_gps->write(_message_GSV, sizeof(_message_GSV)); _serial_gps->write(_message_GSV, sizeof(_message_GSV));
delay(250); if (!getACK(0x06, 0x01)) DEBUG_MSG("WARNING: Unable to disable NMEA GSV.\n");
// disable VTG // disable VTG
byte _message_VTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x09, 0x56}; byte _message_VTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x09, 0x56};
_serial_gps->write(_message_VTG, sizeof(_message_VTG)); _serial_gps->write(_message_VTG, sizeof(_message_VTG));
delay(250); if (!getACK(0x06, 0x01)) DEBUG_MSG("WARNING: Unable to disable NMEA VTG.\n");
// enable RMC // enable RMC
byte _message_RMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x09, 0x54}; byte _message_RMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x09, 0x54};
_serial_gps->write(_message_RMC, sizeof(_message_RMC)); _serial_gps->write(_message_RMC, sizeof(_message_RMC));
delay(250); if (!getACK(0x06, 0x01)) DEBUG_MSG("WARNING: Unable to enable NMEA RMC.\n");
// enable GGA // enable GGA
byte _message_GGA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x38}; byte _message_GGA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x38};
_serial_gps->write(_message_GGA, sizeof(_message_GGA)); _serial_gps->write(_message_GGA, sizeof(_message_GGA));
delay(250); if (!getACK(0x06, 0x01)) DEBUG_MSG("WARNING: Unable to enable NMEA GGA.\n");
#endif #endif
} }