GPSCommands.c

/*
 *  Copyright (C) 2023 Swansea University
 *
 *  This file is part of the SELKIELogger suite of tools.
 *
 *  SELKIELogger is free software: you can redistribute it and/or modify it
 *  under the terms of the GNU General Public License as published by the Free
 *  Software Foundation, either version 3 of the License, or (at your option)
 *  any later version.
 *
 *  SELKIELogger is distributed in the hope that it will be useful, but WITHOUT
 *  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 *  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 *  more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this SELKIELogger product.
 *  If not, see <http://www.gnu.org/licenses/>.
*/
 
#include <stdint.h>
 
#include "GPSCommands.h"
#include "GPSMessages.h"
#include "GPSSerial.h"
#include "GPSTypes.h"
 
/***
 * Some common features of all messages:
 * - Header:
 *   - 2 byte header
 *   - 2 byte message ID (category + type)
 *   - 2 byte / 1 word length
 * - Footer:
 *   - 2 byte checksum
 * An artefact of the internal representation of the messages is an additional
 * trailing zero in the values used here.  This ensures that the pointer to any
 * extra data is set to zero
 */
bool ubx_setBaudRate(const int handle, const uint32_t baud) {
    ubx_message setBaud = {0xB5,
                           0x62, // Header bytes
                           0x06,
                           0x00,   // CFG-PRT
                           0x0014, // 20 byte message
                           {
                       0x01,                   // Configure port 1 (UART)
                       0x00,                   // Reserved
                       0x00, 0x00,             // No ready pin
                       0xd0, 0x08, 0x00, 0x00, // UART Mode
                       0x00, 0x00, 0x00, 0x00, // Baud (set below)
                       0x07, 0x00,             // All protocols allowed as input
                       0x01, 0x00,             // UBX protocol only output
                       0x00, 0x00,             // Flags
                       0x00, 0x00              // Reserved
                   },
                           0xFF,
                           0xFF,  // Checksum value calculated later
                           0x00}; // No extra data pointer
 
    setBaud.data[8] = (uint8_t)(baud & 0xFF);
    setBaud.data[9] = (uint8_t)((baud >> 8) & 0xFF);
    setBaud.data[10] = (uint8_t)((baud >> 16) & 0xFF);
    setBaud.data[11] = (uint8_t)((baud >> 24) & 0xFF);
 
    ubx_set_checksum(&setBaud);
    return ubx_writeMessage(handle, &setBaud);
}
 
bool ubx_setMessageRate(const int handle, const uint8_t msgClass, const uint8_t msgID, const uint8_t rate) {
    ubx_message setRate = {0xB5,
                           0x62,
                           0x06,
                           0x01,   // Header, CFG-MSG
                           0x0008, // 8 byte message
                           {
                       msgClass, msgID,
                       0x00, // Disable on I2C
                       rate, // Every "rate" updates on UART1
                       0x00, // Disable UART 2
                       rate, // Also enable on USB direct
                       0x00, // Disable on SPI
                       0x00  // Disable on port 5
                   },
                           0xFF,
                           0xFF,
                           0x00};
    ubx_set_checksum(&setRate);
    return ubx_writeMessage(handle, &setRate);
}
 
bool ubx_pollMessage(const int handle, const uint8_t msgClass, const uint8_t msgID) {
    ubx_message poll = {0xB5, 0x62, msgClass, msgID, 0x0000, {0x00}, 0xFF, 0xFF, 0x00};
    ubx_set_checksum(&poll);
    return ubx_writeMessage(handle, &poll);
}
 
bool ubx_enableGalileo(const int handle) {
    ubx_message enableGalileo = {0xB5,
                                 0x62, // Header
                                 0x06, // CFG
                                 0x3e, // ?
                                 0x003C,
                                 {0x00, 0x20, 0x20, 0x07, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01,
                                  0x01, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01, 0x02, 0x04, 0x08, 0x00,
                                  0x01, 0x00, 0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01,
                                  0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x03, 0x05, 0x00, 0x03, 0x00,
                                  0x01, 0x00, 0x01, 0x05, 0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01},
                                 0xFF,
                                 0xFF,
                                 0x00};
    ubx_set_checksum(&enableGalileo);
    return ubx_writeMessage(handle, &enableGalileo);
}
 
bool ubx_setNavigationRate(const int handle, const uint16_t interval, const uint16_t outputRate) {
    ubx_message navRate = {0xB5,
                           0x62, // Header
                           0x06, // CFG
                           0x08, // RATE
                           0x0006,
                           {
                       (interval & 0xFF), ((interval >> 8) & 0xFF), (outputRate & 0xFF),
                       ((outputRate >> 8) & 0xFF), 0x00,
                       0x00 // Align measurements to UTC
                   },
                           0xFF,
                           0xFF,
                           0x00};
    ubx_set_checksum(&navRate);
    return ubx_writeMessage(handle, &navRate);
}
 
bool ubx_enableLogMessages(const int handle) {
    ubx_message enableInf = {0xB5,
                             0x62,   // Header
                             0x06,   // CFG
                             0x02,   // INF
                             0x000A, // 10 bytes
                             {
                     0x00,             // UBX
                     0x00, 0x00, 0x00, // Reserved
                     0x00, 0x07, 0x00, 0x00, 0x00,
                     0x00, // Error, warning and info on UART 1, disable all others
                 },
                             0xFF,
                             0xFF,
                             0x00};
    ubx_set_checksum(&enableInf);
    return ubx_writeMessage(handle, &enableInf);
}
 
bool ubx_disableLogMessages(const int handle) {
    ubx_message disableInf = {0xB5,
                              0x62,
                              0x06,
                              0x02,   // Header, CFG-INF
                              0x000A, // 10 bytes
                              {
                      0x00,             // UBX
                      0x00, 0x00, 0x00, // Reserved
                      0x00, 0x00, 0x00, 0x00, 0x00,
                      0x00, // Disable all
                  },
                              0xFF,
                              0xFF,
                              0x00};
    ubx_set_checksum(&disableInf);
    return ubx_writeMessage(handle, &disableInf);
}
 
bool ubx_setI2CAddress(const int handle, const uint8_t addr) {
    ubx_message setI2C = {0xB5,
                          0x62,
                          0x06,
                          0x00,   // Header, CFG-INF
                          0x0014, // 20 bytes
                          {
                      0x00,                          // I2C/DDC
                      0x00,                          // Reserved
                      0x00, 0x00,                    // TXReady (disabled)
                      (addr << 1), 0x00, 0x00, 0x00, // Mode
                      0x00, 0x00,                    // Reserved
                      0x01,                          // UBX Only input
                      0x01,                          // UBX Only output
                      0x00, 0x00, 0x00, 0x00,        // Flags, reserved
                  },
                          0xFF,
                          0xFF,
                          0x00};
    ubx_set_checksum(&setI2C);
    return ubx_writeMessage(handle, &setI2C);
}