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BMsg838.cpp
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#include "BMsg838.h"
#define _GPRMC_TERM "GPRMC"
#define _GPGGA_TERM "GPGGA"
#define ACK 0x02
#define NACK 0x01
fix_cb_t fix_callback = NULL; // TJS:
void BMsg838::add_callback(fix_cb_t fct_ptr){
fix_callback = fct_ptr;
}
BMsg838::BMsg838()
: _time(GPS_INVALID_TIME)
, _date(GPS_INVALID_DATE)
, _latitude(GPS_INVALID_ANGLE)
, _longitude(GPS_INVALID_ANGLE)
, _altitude(GPS_INVALID_ALTITUDE)
, _speed(GPS_INVALID_SPEED)
, _course(GPS_INVALID_ANGLE)
, _last_time_fix(GPS_INVALID_FIX_TIME)
, _last_position_fix(GPS_INVALID_FIX_TIME)
, _parity(0)
, _is_checksum_term(false)
, _sentence_type(_GPS_SENTENCE_OTHER)
, _term_number(0)
, _term_offset(0)
, _gps_data_good(false)
#ifndef _GPS_NO_STATS
, _encoded_characters(0)
, _good_sentences(0)
, _failed_checksum(0)
#endif
{
_term[0] = '\0';
}
BMsg838::~BMsg838()
{
}
//
// public methods
//
/*---------------------------------------------------------------------*/
/*================= Binary message checksum function==================*/
/* CS = 0, N=PL;
For n = 0 to N
CS = CS ^ <Payload Byte # n>*/
/*---------------------------------------------------------------------*/
uint8_t BMsg838::checksum(byte* buffer, int len)
{
uint8_t cs = 0;
while (len) {
cs ^= *buffer;
buffer++;
len--;
}
return cs;
}
//get message type among Ack, response, NAck an error
/*Make binary message of venus 838LPx GPS receiver
The sytax of the Message is shown below.
<0xA0,0xA1><PL><Message ID><Message Body><CS><0x0D,0x0A>
Payload : Binary Message String
id : message id
len: Message Payload length
subflag: message type
return total length of Binary message made
*/
uint8_t BMsg838::MakeBinaryMessage(int len){
char checkingsum=0;
char temp[128];
memcpy(temp,SendStream,128);
checkingsum=checksum(SendStream, len);
SendStream[0]=0xA0;
SendStream[1]=0xA1;
SendStream[2]=(len>>8)&0xFF;
SendStream[3]=len;
for(int j=0;j<len;j++){
SendStream[j+4]=temp[j];
}
SendStream[len+4]=checkingsum;
SendStream[len+5]=0x0D;
SendStream[len+6]=0x0A;
return len+7;
}
/*This is a request which will reset and restart the GNSS receiver. */
uint8_t BMsg838::ResetGNSS(uint8_t startmode, uint16_t year, uint8_t month, uint8_t day,uint8_t hour, uint8_t minute, uint8_t second, int16_t latitude, int16_t longitude, int16_t altitude)
{
memset(SendStream,0,128);
SendStream[0]=1;
SendStream[1]=startmode;
SendStream[2]=year>>8;
SendStream[3]=year;
SendStream[4]=month;
SendStream[5]=day;
SendStream[6]=hour;
SendStream[7]=minute;
SendStream[8]=second;
SendStream[9]=(latitude*100)>>8;
SendStream[10]=latitude*100;
SendStream[11]=(longitude*100)>>8;
SendStream[12]=longitude*100;
SendStream[13]=altitude>>8;
SendStream[14]=altitude;
return MakeBinaryMessage(15);
}
/*This is a request to configure SBAS parameters of GNSS receiver. */
uint8_t BMsg838::ConfigureSBAS(boolean en_SBAS, uint8_t ranging, uint8_t URA_mask, boolean en_corr,
uint8_t channels, uint8_t subsys_mask, uint8_t attributes)
{
memset(SendStream,0,128);
SendStream[0]=0x62;
SendStream[1]=1;
SendStream[2]=en_SBAS;
SendStream[3]=ranging;
SendStream[4]=URA_mask;
SendStream[5]=en_corr;
SendStream[6]=channels;
SendStream[7]=(1<<subsys_mask);
SendStream[8]=attributes;
return MakeBinaryMessage(9);
}
/*This is a request to configure QZSS parameters of GNSS receiver. */
uint8_t BMsg838::SetQZSS(uint8_t Enable,uint8_t channel,uint8_t attribute)
{
memset(SendStream,0,128);
SendStream[0]=0x62;
SendStream[1]=3;
SendStream[2]=Enable;
SendStream[3]=channel;
SendStream[4]=attribute;
return MakeBinaryMessage(5);
}
/*Make Stream to request message of Softversion*/
uint8_t BMsg838::GetSoftVersion(){
memset(SendStream,0,128);
SendStream[0]=0x02;
SendStream[1]=0x00;
return MakeBinaryMessage(2);
}
/*Get version information of GPS receiver
return : 1->get success, 0-> checksum error, -1->timeout, 3->
*/
GPSSoftVersiondata* BMsg838::ResponseSoftVersion()
{
//return SendMessage(SendStream, 1000);
if(RecVBinarybuf[4]==0x80){
softversion.type=RecVBinarybuf[5];
softversion.Kversion=(RecVBinarybuf[6]<<24)|(RecVBinarybuf[7]<<16)|(RecVBinarybuf[8]<<8)|RecVBinarybuf[9];
softversion.ODMversion=(RecVBinarybuf[10]<<24)|(RecVBinarybuf[11]<<16)|(RecVBinarybuf[12]<<8)|RecVBinarybuf[13];
softversion.revision=(RecVBinarybuf[14]<<24)|(RecVBinarybuf[15]<<16)|(RecVBinarybuf[16]<<8)|RecVBinarybuf[17];
softversion.ckecksumOK =(checksum(RecVBinarybuf+4, 14)==RecVBinarybuf[18]);
return &softversion;
}
else
return NULL;
}
/*Get SoftwareCRC information of GPS receiver
return binaysteam size in byte unit.
*/
uint8_t BMsg838::GetSoftCRC()
{
memset(SendStream,0,128);
SendStream[0]=0x03;
SendStream[1]=0x00;
return MakeBinaryMessage(2);
}
/*Response message process of SoftwareCRC information of GPS receiver
type: Software type: 0?Reserved:(1)System code
CRC:CRC value
timeout: ack waiting time
return : 1->get success, 0-> checksum error, -1->timeout, 3->NACK
Two Binary messages are used in this function
of which id are is 0x03,x81
*/
uint8_t BMsg838::ResponseSoftCRC(uint8_t*Type, uint16_t*CRCinfo){
//SendMessage(SendStream, 1000);
if(RecVBinarybuf[4]==0x81){
*Type=RecVBinarybuf[5];
*CRCinfo=(RecVBinarybuf[6]<<8)|RecVBinarybuf[7];
return (checksum(RecVBinarybuf+4, 4)==RecVBinarybuf[8]);
}
else
return -1;
}
/*Set Factory Default
timeout : response wating time
return : ack(0x02) or 0x03(Nack) or -1(timeput) , 0(checksum error)
*/
uint8_t BMsg838::SetFactoryDefalt(){
memset(SendStream,0,128);
SendStream[0]=0x04;
SendStream[1]=0x00;
return MakeBinaryMessage(2);
}
/*=================================================================/
Set SerialPort Baudrate
baudrate: com1 baudrae of GPS to set
atribute: pdatetype: 0(RAM) or 1(both fo ram and flash)
timeout : response wating time
return : ack(0x02) or 0x03(Nack) or -1(timeput) , 0(checksum error)
/====================================================================*/
uint8_t BMsg838::SetSerialPort(int Baudrate, uint8_t Atribute){
memset(SendStream,0,128);
int baudR[9]={4800,9600,19200,38400,57600,115200,230400,460800,921600};
SendStream[0]=0x05;
SendStream[1]=0x00;
for(int i=0;i<9;i++)
if(baudR[i]==Baudrate){
SendStream[2]=i;
break;
}
SendStream[3]=Atribute;
return MakeBinaryMessage(4);
}
/*=================================================================/
Set BinaryMessagetype
timeout : response wating time
return : ack(0x02) or 0x03(Nack) or -1(timeput) , 0(checksum error)
/=================================================================*/
uint8_t BMsg838::SetBinaryMessagetype(){
SendStream[0]=0x09;
SendStream[1]=0x02; //Message type : Binary message Mode
SendStream[2]=0x01; //atribute: pdatetype: 0(RAM) or 1(both fo ram and flash)
return MakeBinaryMessage(3);
}
/*Set powermode binary message steeam make
*/
uint8_t BMsg838::SetPowerMode(uint8_t mode, uint8_t Atribute)
{
memset(SendStream,0,128);
SendStream[0]=12;
SendStream[1]=mode;
SendStream[2]=Atribute;
return MakeBinaryMessage(3);
}
/*making binary message stream setting of position update rate */
uint8_t BMsg838::SetPositionRate(uint8_t Rate)
{
memset(SendStream,0,128);
SendStream[0]=0x0E;
SendStream[1]=Rate; //update rate
SendStream[2]=1; //0:Ram 1:both of RAM amd Flush
return MakeBinaryMessage(3);
}
/*Get Position update rate
return : stream length
*/
uint8_t BMsg838::GetPositionRate()
{
memset(SendStream,0,128);
SendStream[0]=0x10;
return MakeBinaryMessage(1);
}
/*Response Message process to query of Position update rate
rate: positon update rate is one of {1,2,4,5,8,10,20,25,40,50}
timout wating time of ACK
return : 1->get success, 0-> checksum error, -1->timeout, 3->nack
*/
uint8_t BMsg838::ResponsePositionRate(uint8_t* rate)
{
if(RecVBinarybuf[4]==0x86){
*rate=RecVBinarybuf[5];
return (checksum(RecVBinarybuf+4, 2)==RecVBinarybuf[6]);
}
else
return -1;
}
/*=================================================================/
Set Navigation Interval
interval: value of Navigation Interval of GPS to set
return : ack(0x02) or 0x03(Nack) or -1(timeput) , 0(checksum error)
/====================================================================*/
uint8_t BMsg838::SetNavigationInterval(uint8_t interval) //interval[7]
{
memset(SendStream,0,128);
SendStream[0]=17;
SendStream[1]=interval;
SendStream[2]=1;
return MakeBinaryMessage(3);
}
/*=================================================================/
Set Position Datum
Set parameter:
uint16_t index,
uint8_t EllipIdx,
uint16_t DeltaX,
uint16_t DeltaY,
uint16_t DeltaZ,
uint32_t Semiaxis,
uint8_t InversedFlatten
return : ack(0x02) or 0x03(Nack) or -1(timeput) , 0(checksum error)
/====================================================================*/
uint8_t BMsg838::SetPositionDatum(uint16_t index, uint8_t EllipIdx, uint16_t DeltaX, uint16_t DeltaY, uint16_t DeltaZ,uint32_t Semiaxis, uint8_t InversedFlatten)
{
memset(SendStream,0,128);
SendStream[0]=0x29;
SendStream[1]=(index>>8)&0xFF;
SendStream[2]=index&0xFF;
SendStream[3]=EllipIdx;
SendStream[4]=(DeltaX>>8)&0xFF;
SendStream[5]=DeltaX&0xFF;
SendStream[6]=(DeltaY>>8)&0xFF;
SendStream[7]=(DeltaY)&0xFF;
SendStream[8]=(DeltaZ>>8)&0xFF;
SendStream[9]=(DeltaZ)&0xFF;
SendStream[10]=(Semiaxis>>24)&0xFF;
SendStream[11]=(Semiaxis>>16)&0xFF;
SendStream[12]=(Semiaxis>>8)&0xFF;
SendStream[13]=(Semiaxis)&0xFF;
SendStream[14]=(InversedFlatten>>24)&0xFF;
SendStream[15]=(InversedFlatten>>16)&0xFF;
SendStream[16]=(InversedFlatten>>8)&0xFF;
SendStream[17]=InversedFlatten&0xFF;
SendStream[18]=1;
return MakeBinaryMessage(19);
}
/*return : 1->get success, 0-> checksum error, -1->timeout, 3->*/
uint8_t BMsg838::Getdatum(){
memset(SendStream,0,128);
SendStream[0]=0x2D;
return MakeBinaryMessage(1);
//SendMessage(SendStream, 1000);
}
/*return : 1->get success, 0-> checksum error, -1->timeout, 3->*/
uint8_t BMsg838::Responsedatum(uint16_t* Datum){
if(RecVBinarybuf[4]==0xAE){
*Datum=(RecVBinarybuf[5]<<8)|RecVBinarybuf[6];
return (checksum(RecVBinarybuf+4, 3)==RecVBinarybuf[7]);
}
else
return -1;
}
/*Enable or disable position pinning of
GNSS receiver
return : binary message length*/
uint8_t BMsg838::SetPositionPinning(uint8_t positionpinning)
{
memset(SendStream,0,128);
SendStream[0]=0x39;
SendStream[1]=positionpinning;
SendStream[2]=1;
return MakeBinaryMessage(3);
}
/*Query position pinning status of the
GNSS receiver
return : binary message length*/
uint8_t BMsg838::GetPositionPinning(){
memset(SendStream,0,128);
SendStream[0]=0x3A;
return MakeBinaryMessage(1);
}
/*return : 1->get success, 0-> checksum error, -1->timeout, 3->*/
uint8_t BMsg838::ResponsePositionPinning(uint8_t*status, uint16_t* speed, uint16_t* cnt,uint16_t* upspeed,uint16_t* upcnt,uint16_t* updsit){
//return SendMessage(SendStream, 1000);
if(RecVBinarybuf[4]==0xB4){
*status=RecVBinarybuf[5];
*speed=(RecVBinarybuf[6]<<8)|RecVBinarybuf[7];
*cnt=(RecVBinarybuf[8]<<8)|RecVBinarybuf[9];
*upspeed=(RecVBinarybuf[10]<<8)|RecVBinarybuf[11];
*upcnt=(RecVBinarybuf[12]<<8)|RecVBinarybuf[13];
*updsit=(RecVBinarybuf[14]<<8)|RecVBinarybuf[15];
return (checksum(RecVBinarybuf+4, 12)==RecVBinarybuf[16]);;
}
else
return -1;
}
/*Set position pinning parameters of GNSS
receiver
return: binary message strem length*/
uint8_t BMsg838::SetPositionPinningParam(uint16_t speed,uint16_t cnt,uint16_t upspeed,uint16_t upcnt,uint16_t updistance){
memset(SendStream,0,128);
SendStream[0]=0x3B;
SendStream[1]=(speed>>8)&0xFF;
SendStream[2]=(speed)&0xFF;
SendStream[3]=(cnt>>8)&0xFF;
SendStream[4]=(cnt)&0xFF;
SendStream[5]=(upspeed>>8)&0xFF;
SendStream[6]=(upspeed)&0xFF;
SendStream[7]=(upcnt>>8)&0xFF;
SendStream[8]=(upcnt)&0xFF;
SendStream[9]=(updistance>>8)&0xFF;
SendStream[10]=(updistance)&0xFF;
SendStream[11]=1;
return MakeBinaryMessage(12);
}
/*Query 1PPS timing of the GNSS receiver
return : binary message stream length in byte unit*/
uint8_t BMsg838::Get1PPSTiming( ){
char SendStream[128];
memset(SendStream,0,128);
SendStream[0]=0x44;
return MakeBinaryMessage(1);
}
/* processing Response message to Query 1PPS timing of the GNSS receiver
return : 1->get success, 0-> checksum error, -1->timeout, NACK->*/
uint8_t BMsg838::Response1PPSTiming(uint8_t* mode,uint32_t* len,uint32_t* standev,DPFP* savelati,DPFP* savelong,SPFP* savealti,uint8_t* runtimemode,uint32_t* runtimelen){
if(RecVBinarybuf[4]==0xC2){
*mode=RecVBinarybuf[5];
*len=(RecVBinarybuf[6]<<24)|(RecVBinarybuf[7]<<16)|(RecVBinarybuf[8]<<8)|RecVBinarybuf[9];
// *standev=(RecVBinarybuf[10]<<24)|(RecVBinarybuf[11]<<16)|(RecVBinarybuf[12]<<8)|RecVBinarybuf[13];
// *savelati=(RecVBinarybuf[14]<<56)|(RecVBinarybuf[15]<<48)|(RecVBinarybuf[16]<<40)|(RecVBinarybuf[17]<<32)|(RecVBinarybuf[18]<<24)|(RecVBinarybuf[19]<<16)|(RecVBinarybuf[20]<<8)|RecVBinarybuf[21];
// *savelong=(RecVBinarybuf[22]<<56)|(RecVBinarybuf[23]<<48)|(RecVBinarybuf[24]<<40)|(RecVBinarybuf[25]<<32)|(RecVBinarybuf[25]<<26)|(RecVBinarybuf[27]<<16)|(RecVBinarybuf[28]<<8)|RecVBinarybuf[29];
// *savealti=(RecVBinarybuf[30]<<24)|(RecVBinarybuf[31]<<16)|(RecVBinarybuf[32]<<8)|RecVBinarybuf[33];
*runtimemode=RecVBinarybuf[34];
*runtimelen=(RecVBinarybuf[35]<<24)|(RecVBinarybuf[36]<<16)|(RecVBinarybuf[37]<<8)|RecVBinarybuf[38];
return (checksum(RecVBinarybuf+4, 35)==RecVBinarybuf[39]);
}
else
return -1;
}
/*Configure cable delay of 1PPS timing*/
uint8_t BMsg838::Set1PPSCabledelay(uint32_t Cabledelay){
char SendStream[128];
memset(SendStream,0,128);
SendStream[0]=0x45;
SendStream[1]=Cabledelay>>24;
SendStream[2]=Cabledelay>>16;
SendStream[3]=Cabledelay>>8;
SendStream[4]=Cabledelay;
SendStream[5]=1;
return MakeBinaryMessage(6);
}
/*Cable delay of 1PPS timing mode . Get value in unit of 1/100 ns. edelayThe
value is stored in Cabledelay [-500000,500000]
return : 1->get success, 0-> checksum error, -1->timeout, NACK->
*/
uint8_t BMsg838::Get1PPSCabledelay(){
memset(SendStream,0,128);
SendStream[0]=0x46;
return MakeBinaryMessage(1);
//SendMessage(SendStream, 1000);
}
uint8_t BMsg838::Response1PPSCabledelay(uint32_t *Cabledelay){
if(RecVBinarybuf[4]==0xBB){
*Cabledelay=(RecVBinarybuf[5]<<24)|(RecVBinarybuf[6]<<16)|(RecVBinarybuf[7]<<8)|RecVBinarybuf[8];
return (checksum(RecVBinarybuf+4, 5)==RecVBinarybuf[9]);
}
else
return -1;
}
/*Configure the navigation mode of GNSS
receiver
return: Binary Message stream length*/
uint8_t BMsg838::SetGNSSNavigationMode(uint8_t mode){
memset(SendStream,0,128);
SendStream[0]=0x64;
SendStream[1]=0x17;
SendStream[2]=mode;
SendStream[3]=1;
return MakeBinaryMessage(4);
}
/*Query the navigation mode of GNSS
receiver
return: Binary Message stream length*/
int8_t BMsg838::GetGNSSNavigationMode(){
memset(SendStream,0,128);
SendStream[0]=0x64;
SendStream[1]=0x18;
return MakeBinaryMessage(2);
}
/*Processing response message to query the navigation mode
return : 1->get success, 0-> checksum error, -1->timeout, NACK->*/
int8_t BMsg838::ResponseGNSSNavigationMode(char* mode){
if(RecVBinarybuf[5]==0x8B){
switch (RecVBinarybuf[6])
{
case 0:
sprintf(mode, "%s","auto");//mode="auto";
break;
case 1:
//mode="prdestrain";
sprintf(mode, "%s","prdestrain");
break;
case 2:
//mode="car";
sprintf(mode, "%s","car");
break;
case 3:
//mode="marine";
sprintf(mode, "%s","marine");
break;
case 4:
//mode="ballon";
sprintf(mode, "%s","ballon");
break;
case 5:
//mode="airborne";
sprintf(mode, "%s","airborne");
break;
}
return (checksum(RecVBinarybuf+4, 3)==RecVBinarybuf[7]);
}
else
return -1;
}
/*binary message stream make for Configure the GNSS constellation type
used for navigation solution
return stream length*/
uint8_t BMsg838::SetGNSSConstelGPStype(){
memset(SendStream,0,128);
SendStream[0]=0x64;
SendStream[1]=0x19;
SendStream[2]=0;
SendStream[3]=0;
SendStream[4]=1;
return MakeBinaryMessage(5);
}
/*make binary message stream to Query the GNSS constellation type used
for navigation solution
return : binay message stream size in byte*/
uint8_t BMsg838::GetGNSSConstellationtype(){
memset(SendStream,0,128);
SendStream[0]=0x64;
SendStream[1]=0x1A;
return MakeBinaryMessage(2);
}
/*Response message processing to Query the GNSS constellation type used
for navigation solution
return : 1->get success, 0-> checksum error, -1->timeout, NACK->*/
uint8_t BMsg838::ResponseGNSSConstellationtype(char *mode){
//SendMessage(SendStream, 1000);
char Navimode[4][10]={"GPS","Glonass","Galileo","Beido"};
if(RecVBinarybuf[5]==0x8C){
if(RecVBinarybuf[7]&1){
sprintf(mode, "%s",Navimode[0]);
//mode="GPS";
}if(RecVBinarybuf[7]&2){
if(mode)
strcat(mode,Navimode[1]);
else
sprintf(mode, "%s",Navimode[1]);
}if(RecVBinarybuf[7]&4){
if(mode)
strcat(mode,Navimode[2]);
else
sprintf(mode, "%s",Navimode[2]);
}if(RecVBinarybuf[7]&8){
if(mode)
strcat(mode,Navimode[3]);
else
sprintf(mode, "%s",Navimode[3]);
}
return (checksum(RecVBinarybuf+4, 4)==RecVBinarybuf[8]);
}
else
return -1;
}
/*Make binary message stream for Configure GPS/UTC leap seconds of
GNSS receiver
return binary message stream size*/
uint8_t BMsg838::SetGPSUTCSecond(uint8_t leapsecond)
{
memset(SendStream,0,128);
SendStream[0]=0x64;
SendStream[1]=0x1F;
SendStream[2]=leapsecond;
SendStream[3]=1;
return MakeBinaryMessage(4);
}
/*Make binary message stream for Query GPS time of GNSS receiver
return binary message stream size*/
uint8_t BMsg838::GetGPSTime(){
memset(SendStream,0,128);
SendStream[0]=0x64;
SendStream[1]=0x20;
return MakeBinaryMessage(2);
//SendMessage(SendStream, timeout);
}
/*response message processing to Query GPS time of GNSS receiver
return message length*/
uint8_t BMsg838::respondGPSTime(uint32_t *Timeofweek, uint32_t *SubTimeofweek, uint16_t *weeknumber, uint8_t *Defleapsecond,int8_t *curleapsecond, uint8_t *Valid){
if(RecVBinarybuf[5]==0x8E){
*Timeofweek=(RecVBinarybuf[6]<<24)|(RecVBinarybuf[7]<<16)|(RecVBinarybuf[8]<<8)|RecVBinarybuf[9];
*SubTimeofweek=(RecVBinarybuf[10]<<24)|(RecVBinarybuf[11]<<16)|(RecVBinarybuf[12]<<8)|RecVBinarybuf[13];
*weeknumber=(RecVBinarybuf[14]<<8)|RecVBinarybuf[15];
*Defleapsecond=RecVBinarybuf[16];
*curleapsecond=RecVBinarybuf[17];
*Valid=RecVBinarybuf[18];
return (checksum(RecVBinarybuf+4, 15)==RecVBinarybuf[19]);
}
else
return -1;
}
/*Make binary message stream for Configure GNSS datum index of GNSS
receiver
return binary message stream size*/
uint8_t BMsg838::SetDatumIndex(uint8_t index){
memset(SendStream,0,128);
SendStream[0]=0x64;
SendStream[1]=0x27;
SendStream[2]=(index>>8)&0xFF;
SendStream[3]=index&0xFF;
SendStream[4]=1;
return MakeBinaryMessage(5);
}
/*Make binary message stream for Query GNSS datum index of GNSS
receiver
return binary message stream size*/
uint8_t BMsg838::GetDatumIndex(){
memset(SendStream,0,128);
SendStream[0]=0x64;
SendStream[1]=0x28;
return MakeBinaryMessage(2);
} //SendMessage(SendStream, 1000);
/*response message processing to Configure GNSS datum index of GNSS
receiver
return 1:receive ok 0:checksum error -1: Invalid message*/
uint8_t BMsg838::ResponseDatumIndex(uint16_t *datumindex)
{
if(RecVBinarybuf[5]==0x92){
*datumindex=(RecVBinarybuf[6]<<8)|RecVBinarybuf[7];
return (checksum(RecVBinarybuf+4, 4)==RecVBinarybuf[8]);
}
else
return -1;
}
/*Make binary message stream for Configure 1PPS pulse width of GNSS
receiver
return binary message stream size*/
uint8_t BMsg838::Set1PPSPulseWidth(uint32_t width ){
memset(SendStream,0,128);
SendStream[0]=0x65;
SendStream[1]=0x01;
SendStream[2]=(width>>24)&0xFF;
SendStream[3]=(width>>16)&0xFF;
SendStream[4]=(width>>8)&0xFF;
SendStream[5]=(width)&0xFF;
SendStream[6]=1;
return MakeBinaryMessage(7);
}
/*Make binary message stream for Query 1PPS pulse width of GNSS
receiver
return binary message stream size*/
uint8_t BMsg838::Get1PPSPulseWidth(){
memset(SendStream,0,128);
SendStream[128]=0x65;
SendStream[128]=0x02;
return MakeBinaryMessage(2);
}
/*
response message processing to Query 1PPS pulse width of GNSS
receiver
return : 1->get success, 0-> checksum error, -1->timeout, NACK->*/
uint8_t BMsg838::Response1PPSPulseWidth(uint32_t* Width){
if(RecVBinarybuf[5]==0x80){
*Width=(RecVBinarybuf[6]<<24)|(RecVBinarybuf[7]<<16)|(SendStream[8]<<8)|(SendStream[9]<<0);
return (checksum(RecVBinarybuf+4, 6)==RecVBinarybuf[10]);
}
else
return -1;
}
/*Make binary message stream for Configure 1PPS frequency output of
GNSS receiver
return binary message stream size*/
uint8_t BMsg838::Set1PPSFrequency(uint32_t frequency){
memset(SendStream,0,128);
SendStream[0]=0x65;
SendStream[1]=3;
SendStream[2]=(frequency>>24)&0xFF;
SendStream[3]=(frequency>>16)&0xFF;
SendStream[4]=(frequency>>8)&0xFF;
SendStream[5]=(frequency)&0xFF;
SendStream[6]=1;
return MakeBinaryMessage(7);
}
/*Make binary message stream for query 1PPS frequency output of
GNSS receiver
return binary message stream size*/
uint8_t BMsg838::Get1PPSFrequency()
{
memset(SendStream,0,128);
SendStream[0]=0x65;
SendStream[0]=0x04;
return MakeBinaryMessage(2);
}
/*
response message processing to query 1PPS frequency output of
GNSS receiver
return : 1->get success, 0-> checksum error, -1->timeout, NACK->*/
uint8_t BMsg838::Response1PPSFrequency(uint32_t *frequency)
{
if(RecVBinarybuf[5]==0x81){
*frequency=(RecVBinarybuf[6]<<24)|(RecVBinarybuf[7]<<16)|(RecVBinarybuf[8]<<8)|(RecVBinarybuf[9]<<0);
return (checksum(RecVBinarybuf+4, 6)==RecVBinarybuf[10]);
}
else
return -1;
}
/*This is a function which receive Message of user navigation date in binary format
(ID:0xA8)from the GNSS receiver .
Paramer:
position: scale 1e-7 , degree [0]-Latitude; >0 :North Hemisphere
<0:South Hemisphere
[1]-Longitude;>0 :North Hemisphere
<0:South Hemisphere
altitude: scale 0.01 , meter [0]-ellipsoid altitu;
[1]-mean sea level altitude
dilution: scale 0.01 , [0]-Geometric dilution of precision
[1]-Position dilution of precision
[2]-Horizontal dilution of precision
[3]-Vertical dilution of precision
[4]-Time dilution of precision
coordinate: scale 0.01 , meter [0]-ECEF X coordinate
[1]-ECEF Y coordinate
[2]-ECEF Z coordinate
altitude: scale 0.01 , meter/s [0]-ECEF X Veolcity
[1]-ECEF Y Veolcity
[2]-ECEF Z Veolcity
return : 1->receive success, 0-> checksum error, -1->timeout, 3->NACK
*/
uint8_t BMsg838::ReceiveNavigationData(uint8_t* modenum, uint16_t* gps_week, uint32_t* timeofweek, int32_t *position, uint32_t* altitude, uint16_t *dilution, int32_t* coordinate,int32_t* veolcity)
{
if(RecVBinarybuf[4]==0xA8){
modenum[0]=RecVBinarybuf[5];
modenum[1]=RecVBinarybuf[6];
gps_week[0]=(RecVBinarybuf[7]<<8)|(RecVBinarybuf[8]<<0);
timeofweek[0]=(RecVBinarybuf[9]<<24)|(RecVBinarybuf[10]<<16)|(RecVBinarybuf[11]<<8)|(RecVBinarybuf[12]<<0);
position[0]=(RecVBinarybuf[13]<<24)|(RecVBinarybuf[14]<<16)|(RecVBinarybuf[15]<<8)|(RecVBinarybuf[16]<<0);
position[1]=(RecVBinarybuf[17]<<24)|(RecVBinarybuf[18]<<16)|(RecVBinarybuf[19]<<8)|(RecVBinarybuf[20]<<0);
altitude[0]=(RecVBinarybuf[21]<<24)|(RecVBinarybuf[22]<<16)|(RecVBinarybuf[23]<<8)|(RecVBinarybuf[24]<<0);
altitude[1]=(RecVBinarybuf[25]<<24)|(RecVBinarybuf[26]<<16)|(RecVBinarybuf[27]<<8)|(RecVBinarybuf[28]<<0);
dilution[0]=(RecVBinarybuf[29]<<8)|(RecVBinarybuf[30]<<0);
dilution[1]=(RecVBinarybuf[31]<<8)|(RecVBinarybuf[32]<<0);
dilution[2]=(RecVBinarybuf[33]<<8)|(RecVBinarybuf[34]<<0);
dilution[3]=(RecVBinarybuf[35]<<8)|(RecVBinarybuf[36]<<0);
dilution[4]=(RecVBinarybuf[37]<<8)|(RecVBinarybuf[38]<<0);
coordinate[0]=(RecVBinarybuf[39]<<24)|(RecVBinarybuf[40]<<16)|(RecVBinarybuf[41]<<8)|(RecVBinarybuf[42]<<0);
coordinate[1]=(RecVBinarybuf[43]<<24)|(RecVBinarybuf[44]<<16)|(RecVBinarybuf[45]<<8)|(RecVBinarybuf[46]<<0);
coordinate[2]=(RecVBinarybuf[47]<<24)|(RecVBinarybuf[48]<<16)|(RecVBinarybuf[49]<<8)|(RecVBinarybuf[50]<<0);
veolcity[0]=(RecVBinarybuf[51]<<24)|(RecVBinarybuf[52]<<16)|(RecVBinarybuf[53]<<8)|(RecVBinarybuf[54]<<0);
veolcity[1]=(RecVBinarybuf[55]<<24)|(RecVBinarybuf[56]<<16)|(RecVBinarybuf[57]<<8)|(RecVBinarybuf[58]<<0);
veolcity[2]=(RecVBinarybuf[59]<<24)|(RecVBinarybuf[60]<<16)|(RecVBinarybuf[61]<<8)|(RecVBinarybuf[62]<<0);
return (checksum(RecVBinarybuf+4, 59)==RecVBinarybuf[63]);
}
else
return -1;
}
/*======================Binary message to make ============*/
//uint8_t BMsg838::SetNMEATalkId(uint8_t idtype, uint8_t Attribute);
//uint8_t BMsg838::GetNMEATalkId();
//93 char* respondNMEAtalkID(uint8_t id);
//uint8_t BMsg838::Set1PPSTiming(uint8_t timemode,uint32_t len,uint32_t standdeciation,DFDP Latitude,DFDP Longtude,DFDP Altitude,uint8_t attribute);
//uint8_t BMsg838::SetSBASParam(uint8_t Enable,uint8_t ranging,uint8_t URAmask,uint8_t correction,uint8_t channel,uint8_t subsystemmask,uint8_t attribute);
//uint8_t BMsg838::GetSBASStatus();
//6280 char* RespondSBASStatus(uint8_t Enable,uint8_t ranging,uint8_t URAmask,uint8_t correction,uint8_t channel,uint8_t subsystemmask,uint8_t *respond);
//uint8_t BMsg838::GetQZSS();
//6281 char* RespondQZSS(uint8_t Enable,uint8_t channel,uint8_t *respond);
//uint8_t BMsg838::SetSAEE(uint8_t Enable,uint8_t attribute);
//uint8_t BMsg838::GetSAEE();
//6380 char* RespondSAEE(uint8_t Status,uint8_t *respond);
//uint8_t BMsg838::Getbootstatus(uint8_t *respond);
//6480:4 char* respondbootstatus(uint8_t status,uint8_t type,uint8_t *respond);
//uint8_t BMsg838::SetExtendedNMEA(uint8_t interval[],uint8_t attribute);
//uint8_t BMsg838::GetExtendedNMEA();
//6481:14 char* respondExtendedNMEA(uint8_t interval[],uint8_t *respond);
//uint8_t BMsg838::SetInferenceDetection(uint8_t detectcontrol,uint8_t attribute);
//uint8_t BMsg838::GetInferenceDetection();
//6483:4 char* respondInferenceDetection(uint8_t detectcontrol,uint8_t status,uint8_t *respond);
//uint8_t BMsg838::SetParamseachNum(uint8_t num,uint8_t attributed);
//uint8_t BMsg838::GetParamseachNum();
//640A:3 char* respondParamseachNum(uint8_t num,uint8_t *respond);
//uint8_t BMsg838::Setephemeris(uint8_t **subframe);
//2E uint8_t BMsg838::GetDOPMask();
//AF uint8_t BMsg838::respondDOPMask();
//uint8_t BMsg838::GetElevaCNRMask();
// B0 char* respondElevationCNRmask(uint16_t len, uint8_t *respond);
//uint8_t BMsg838::SetDopMask(uint8_t mode,uint16_t pdopval,uint16_t hdopval,uint16_t gdopval,uint8_t Atribute);
//uint8_t BMsg838::SetElevationCnrMask(uint8_t mode,uint8_t elevamask,uint8_t cnrmask,uint8_t Atribute);
//uint8_t BMsg838::SetNMEAmessage(uint8_t *interval,uint8_t attribute){}
//uint8_t BMsg838::DownloadImage(uint8_t Baudrate, uint8_t type,uint16_t Flushid,uint8_t Index){}
//15 uint8_t BMsg838::GetPowerMode(uint8_t Atribute);
//B9 char* respondPWRModeStatus(uint16_t len, uint8_t *respond)
//uint8_t BMsg838::Getephemeris(uint8_t sv);
// B1 char* respondGPSEphemeris(uint16_t len, uint8_t *respond);
//
// public methods
//
/*====================NMEA Message Interface function=================*/
bool BMsg838::encode(char c)
{
bool valid_sentence = false;
// Serial.print(c); // TJS:
++_encoded_characters;
switch(c)
{
case ',': // term terminators
_parity ^= c;
case '\r':
case '\n':
case '*':
if (_term_offset < sizeof(_term))
{
_term[_term_offset] = 0;
valid_sentence = term_complete();
}
++_term_number;
_term_offset = 0;
_is_checksum_term = c == '*';
return valid_sentence;
case '$': // sentence begin
_term_number = _term_offset = 0;
_parity = 0;
_sentence_type = _GPS_SENTENCE_OTHER;
_is_checksum_term = false;
_gps_data_good = false;
return valid_sentence;
}
// ordinary characters
if (_term_offset < sizeof(_term) - 1)
_term[_term_offset++] = c;
if (!_is_checksum_term)
_parity ^= c;
return valid_sentence;
}
#ifndef _GPS_NO_STATS
void BMsg838::stats(unsigned long *chars, unsigned short *sentences, unsigned short *failed_cs)
{
if (chars) *chars = _encoded_characters;
if (sentences) *sentences = _good_sentences;
if (failed_cs) *failed_cs = _failed_checksum;
}
#endif
//
// internal utilities
//
int BMsg838::from_hex(char a)
{
if (a >= 'A' && a <= 'F')
return a - 'A' + 10;
else if (a >= 'a' && a <= 'f')
return a - 'a' + 10;
else
return a - '0';
}
unsigned long BMsg838::parse_decimal()
{
char *p = _term;
bool isneg = *p == '-';
if (isneg) ++p;
unsigned long ret = 100UL * gpsatol(p);
while (gpsisdigit(*p)) ++p;
if (*p == '.')
{
if (gpsisdigit(p[1]))
{
ret += 10 * (p[1] - '0');
if (gpsisdigit(p[2]))
ret += p[2] - '0';
}
}
return isneg ? -ret : ret;
}
unsigned long BMsg838::parse_degrees()
{
char *p;
unsigned long left = gpsatol(_term);
unsigned long tenk_minutes = (left % 100UL) * 10000UL;
for (p=_term; gpsisdigit(*p); ++p);
if (*p == '.')
{
unsigned long mult = 1000;
while (gpsisdigit(*++p))
{
tenk_minutes += mult * (*p - '0');