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0048e3cdcb
* 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>
64 lines
2.4 KiB
C
64 lines
2.4 KiB
C
#pragma once
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// CASIC binary message definitions
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// Reference: https://www.icofchina.com/d/file/xiazai/2020-09-22/20f1b42b3a11ac52089caf3603b43fb5.pdf
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// ATGM33H-5N: https://www.icofchina.com/pro/mokuai/2016-08-01/4.html
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// (https://www.icofchina.com/d/file/xiazai/2016-12-05/b5c57074f4b1fcc62ba8c7868548d18a.pdf)
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// NEMA (Class ID - 0x4e) message IDs
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#define CAS_NEMA_GGA 0x00
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#define CAS_NEMA_GLL 0x01
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#define CAS_NEMA_GSA 0x02
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#define CAS_NEMA_GSV 0x03
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#define CAS_NEMA_RMC 0x04
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#define CAS_NEMA_VTG 0x05
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#define CAS_NEMA_GST 0x07
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#define CAS_NEMA_ZDA 0x08
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#define CAS_NEMA_DHV 0x0D
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// Size of a CAS-ACK-(N)ACK message (14 bytes)
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#define CAS_ACK_NACK_MSG_SIZE 0x0E
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// CFG-RST (0x06, 0x02)
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// Factory reset
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static const uint8_t _message_CAS_CFG_RST_FACTORY[] = {
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0xFF, 0x03, // Fields to clear
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0x01, // Reset Mode: Controlled Software reset
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0x03 // Startup Mode: Factory
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};
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// CFG_RATE (0x06, 0x01)
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// 1HZ update rate, this should always be the case after
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// factory reset but update it regardless
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static const uint8_t _message_CAS_CFG_RATE_1HZ[] = {
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0xE8, 0x03, // Update Rate: 0x03E8 = 1000ms
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0x00, 0x00 // Reserved
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};
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// CFG-NAVX (0x06, 0x07)
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// Initial ATGM33H-5N configuration, Updates for Dynamic Mode, Fix Mode, and SV system
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// Qwirk: The ATGM33H-5N-31 should only support GPS+BDS, however it will happily enable
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// and use GPS+BDS+GLONASS iff the correct CFG_NAVX command is used.
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static const uint8_t _message_CAS_CFG_NAVX_CONF[] = {
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0x03, 0x01, 0x00, 0x00, // Update Mask: Dynamic Mode, Fix Mode, Nav Settings
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0x03, // Dynamic Mode: Automotive
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0x03, // Fix Mode: Auto 2D/3D
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0x00, // Min SV
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0x00, // Max SVs
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0x00, // Min CNO
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0x00, // Reserved1
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0x00, // Init 3D fix
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0x00, // Min Elevation
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0x00, // Dr Limit
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0x07, // Nav System: 2^0 = GPS, 2^1 = BDS 2^2 = GLONASS: 2^3
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// 3=GPS+BDS, 7=GPS+BDS+GLONASS
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0x00, 0x00, // Rollover Week
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0x00, 0x00, 0x00, 0x00, // Fix Altitude
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0x00, 0x00, 0x00, 0x00, // Fix Height Error
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0x00, 0x00, 0x00, 0x00, // PDOP Maximum
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0x00, 0x00, 0x00, 0x00, // TDOP Maximum
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0x00, 0x00, 0x00, 0x00, // Position Accuracy Max
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0x00, 0x00, 0x00, 0x00, // Time Accuracy Max
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0x00, 0x00, 0x00, 0x00 // Static Hold Threshold
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};
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