bool setNavPosLLH(){
uint8_t buf[]={0x06, 0x01, 0x08, 0x00, 0x01, 0x02, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
CK_A = 0x00, CK_B = 0x00;
for(int x=0;x<12;x++)
{
CK_A = CK_A + buf[x];
CK_B = CK_B + CK_A;
}
uint8_t setport[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x02, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, CK_A, CK_B};//don't forget to calculate checksum (page84) then add that to end of array - done
unsigned long starttime = millis();
while(!gps_set_success)
{
/* if (millis() - starttime > gps_timeout){
gps_set_success=0;
return false;
}*/
sendUBX(setport, sizeof(setport)/sizeof(uint8_t));
gps_set_success=getUBX_ACK(setport);
}
gps_set_success=0;
return true;
}
//
// Exported functions
//
void gps_setup() {
int gps_success = 0;
strcpy(gps_time, "000000");
strcpy(gps_aprs_lat, "0000.00N");
strcpy(gps_aprs_lon, "00000.00E");
#ifdef GPS_USING_UBLOX
// Setup for the uBLOX MAX-6/7/8
// Check to see if we need to power up the GPS
#ifdef GPS_POWER_PIN
pinMode(GPS_POWER_PIN, OUTPUT);
pin_write(GPS_POWER_PIN, LOW);
#endif
#ifdef GPS_POWER_SLEEP_TIME
// Add a bit of a delay here to allow the GPS a chance to wake up
// (even if we aren't powering it via a digital pin)
delay(GPS_POWER_SLEEP_TIME);
#endif
#ifdef GPS_LED_PIN
// LED for GPS Status
pinMode(GPS_LED_PIN, OUTPUT);
pin_write(GPS_LED_PIN, LOW);
#endif
// Set MAX-6 to flight mode
int setup_attempts_remaining = 120;
while (!gps_success && (setup_attempts_remaining--) >= 0) {
sendUBX(setNav, sizeof(setNav)/sizeof(uint8_t));
gps_success = getUBX_ACK(setNav);
if (!gps_success) {
// Should find a better way to indicate a problem?
#ifdef GPS_LED_PIN
pin_write(GPS_LED_PIN, HIGH);
#endif
delay(500);
}
}
#ifdef GPS_LED_PIN
pin_write(GPS_LED_PIN, LOW);
#endif
// Finally turn off any NMEA sentences we don't need (in this case it's
// everything except GGA and RMC)
sendUBX(setGLL, sizeof(setGLL)/sizeof(uint8_t)); // Disable GGL
sendUBX(setGSA, sizeof(setGSA)/sizeof(uint8_t)); // Disable GSA
sendUBX(setGSV, sizeof(setGSV)/sizeof(uint8_t)); // Disable GSV
sendUBX(setVTG, sizeof(setVTG)/sizeof(uint8_t)); // Disable VTG
#endif
}
void setGPS_MaxPerformanceMode(void) {
//Set GPS for Max Performance Mode
int gps_set_sucess = 0;
uint32_t len;
uint8_t setMax[] = { 0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x00, 0x21,
0x91 }; // Setup for Max Power Mode
len = sizeof(setMax) / sizeof(uint8_t);
while (!gps_set_sucess) {
bcm8235_i2cbb_puts(&gpsi2c, setMax, len);
delay(100);
gps_set_sucess = getUBX_ACK(setMax);
}
}
void setGPS_PowerSaveMode(void) {
// Power Save Mode
int gps_set_sucess = 0;
uint32_t len;
uint8_t setPSM[] = { 0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22,
0x92 }; // Setup for Power Save Mode (Default Cyclic 1s)
len = sizeof(setPSM) / sizeof(uint8_t);
while (!gps_set_sucess) {
bcm8235_i2cbb_puts(&gpsi2c, setPSM, len);
delay(100);
gps_set_sucess = getUBX_ACK(setPSM);
}
}
void resetGPS(void) {
int gps_set_sucess = 0;
uint32_t len;
uint8_t set_reset[] = { 0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0xFF, 0xFF,
0x00, 0x00, 0x0C, 0x5D };
printf("enter reset\n");
len = sizeof(set_reset) / sizeof(uint8_t);
while (!gps_set_sucess) {
bcm8235_i2cbb_puts(&gpsi2c, set_reset, len);
delay(500);
gps_set_sucess = getUBX_ACK(set_reset);
gps_set_sucess = 1;
}
printf("reset success\n");
}
void setGPS_DynamicModel3(void) {
int gps_set_sucess = 0;
uint32_t len;
uint8_t setdm3[] = { 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x03,
0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00,
0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x13, 0x76 };
len = sizeof(setdm3) / sizeof(uint8_t);
while (!gps_set_sucess) {
bcm8235_i2cbb_puts(&gpsi2c, setdm3, len);
delay(100);
gps_set_sucess = getUBX_ACK(setdm3);
}
}
void setGPS_NMEAoff(void) {
int gps_set_sucess = 0;
uint32_t len;
uint8_t setNMEAoff[] = { 0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x00, 0x00,
0x00, 0x00, 0x84, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03,
0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xA2, 0xA6 };
len = sizeof(setNMEAoff) / sizeof(uint8_t);
//printf("enter NMEAoff\n");
while (!gps_set_sucess) {
bcm8235_i2cbb_puts(&gpsi2c, setNMEAoff, len);
delay(500);
gps_set_sucess = getUBX_ACK(setNMEAoff);
}
//printf("NMEA switched off\n");
}
void setGPS_DynamicModel6(void) {
int gps_set_sucess = 0;
uint32_t len;
uint8_t setdm6[] = { 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06,
0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00,
0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x16, 0xDC };
len = sizeof(setdm6) / sizeof(uint8_t);
while (!gps_set_sucess) {
bcm8235_i2cbb_puts(&gpsi2c, setdm6, len);
delay(100);
gps_set_sucess = getUBX_ACK(setdm6);
}
printf("Flight mode set\n");
}
uint8_t gps_check_nav(void) {
// check gps navigation mode (needs to return 6 for high altitude mode)
uint8_t request[] = { 0xB5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2A, 0x84 };
uint8_t data[45];
uint16_t len;
bcm8235_i2cbb_puts(&gpsi2c, request, 8);
delay(50);
// Get the message back from the GPS
len = fromGPS();
//printf("nav mode returned %i bytes \n", len);
bcm8235_i2cbb_gets(&gpsi2c, data, 44);
getUBX_ACK(request);
// Return the navigation mode and let the caller analyse it
return (uint8_t) *(data + 8);
}
bool setSeaMode(){
uint8_t B[]={0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x05, 0x01, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
CK_A = 0x00, CK_B = 0x00;
for(int I=0;I<40;I++)
{
CK_A = CK_A + B[I];
CK_B = CK_B + CK_A;
}
uint8_t setNav[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x05, 0x01, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, CK_A, CK_B };
unsigned long starttime = millis();
while(!gps_set_success)
{
/*if (millis() - starttime > gps_timeout){
gps_set_success=0;
return false;
}*/
sendUBX(setNav, sizeof(setNav)/sizeof(uint8_t));
gps_set_success=getUBX_ACK(setNav);
}
gps_set_success=0;
Serial.println("Sea mode set.");
return true;
}
