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uBloxConfig.c
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// From some conversations, ramblings and postings on the u-Blox forum
//****************************************************************************
// If this saves you several man-hours/days consider https://paypal.me/cliveone
// For SendUBLOX code, see
// https://github.com/cturvey/RandomNinjaChef/blob/main/uBloxChecksum.c
//****************************************************************************
void ConfigRate(void *hSerial, uint32_t RateHz)
{
uint8_t cfg_rate[] = { // 0x06,0x08 CFG_RATE
0xB5, 0x62, 0x06, 0x08, 0x06, 0x00,
0xE8, 0x03, 0x01, 0x00, 0x01, 0x00,
0xAA, 0xAA }; // compute checksum
uint32_t Ms = 1000 / RateHz;
cfg_rate[6 + 0] = (uint8_t)((Ms >> 0) & 0xFF);
cfg_rate[6 + 1] = (uint8_t)((Ms >> 8) & 0xFF);
SendUBLOX(hSerial, sizeof(cfg_rate), cfg_rate);
}
//****************************************************************************
void ConfigHNR(void *hSerial, uint32_t RateHz)
{
uint8_t cfg_hnr[] = { // 0x06,0x5C CFG_HNR
0xB5, 0x62, 0x06, 0x5C, 0x04, 0x00,
0x0A, 0x00, 0x00, 0x00,
0xAA, 0xAA }; // compute checksum
cfg_hnr[6 + 0] = (uint8_t)RateHz;
SendUBLOX(hSerial, sizeof(cfg_hnr), cfg_hnr);
}
//****************************************************************************
void ConfigMsgCurrent(void *hSerial, uint16_t Msg, int Enable)
{
uint8_t ubx_cfg_msg[] = {
0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, // UBX-CFG-MSG (3-Byte Variant)
0x00, 0x00, // Message Number
0x00, // Rate on Current Interface
0xAA, 0xAA }; // compute checksum
ubx_cfg_msg[6] = (uint8_t)((Msg >> 8) & 0xFF);
ubx_cfg_msg[7] = (uint8_t)((Msg >> 0) & 0xFF);
ubx_cfg_msg[8] = Enable; // Rate
SendUBLOX(hSerial, sizeof(ubx_cfg_msg), ubx_cfg_msg);
}
//****************************************************************************
#define UBX_PORT_NUMBER_I2C 0
#define UBX_PORT_NUMBER_UART1 1
#define UBX_PORT_NUMBER_UART2 2
#define UBX_PORT_NUMBER_USB 3
#define UBX_PORT_NUMBER_SPI 4
//****************************************************************************
void ConfigBaudEx(void *hSerial, int Port, int Baud, int In, int Out)
{
uint8_t cfg_prt[] = { // 0x06,0x00 CFG_PRT 8N1
0xB5,0x62,0x06,0x00,0x14,0x00,
0x01,0x00,0x00,0x00,0xD0,0x08,0x00,0x00,
0x00,0x84,0x03,0x00,0x27,0x00,0x23,0x00,
0x00,0x00,0x00,0x00,
0xAA,0xAA }; // compute checksum
cfg_prt[6 + 0] = (uint8_t)Port;
cfg_prt[6 + 8] = (uint8_t)((Baud >> 0) & 0xFF);
cfg_prt[6 + 9] = (uint8_t)((Baud >> 8) & 0xFF);
cfg_prt[6 + 10] = (uint8_t)((Baud >> 16) & 0xFF);
cfg_prt[6 + 11] = (uint8_t)((Baud >> 24) & 0xFF);
cfg_prt[6 + 12] = (uint8_t)((In >> 0) & 0xFF);
cfg_prt[6 + 13] = (uint8_t)((In >> 8) & 0xFF);
cfg_prt[6 + 14] = (uint8_t)((Out >> 0) & 0xFF);
cfg_prt[6 + 15] = (uint8_t)((Out >> 8) & 0xFF);
SendUBLOX(hSerial, sizeof(cfg_prt), cfg_prt);
}
//****************************************************************************
void ConfigMsgPortNumber(void *hSerial, uint16_t Msg, int Enable, int PortNumber)
{
uint8_t ubx_cfg_msg[] = {
0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, // UBX-CFG-MSG (8-Byte Variant)
0x00, 0x00, // Message Number
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // I2C, UART1, UART2, USB, SPI, ??
0xAA, 0xAA }; // compute checksum
ubx_cfg_msg[6] = (uint8_t)((Msg >> 8) & 0xFF);
ubx_cfg_msg[7] = (uint8_t)((Msg >> 0) & 0xFF);
ubx_cfg_msg[8 + PortNumber] = Enable; // Rate
SendUBLOX(hSerial, sizeof(ubx_cfg_msg), ubx_cfg_msg);
}
//****************************************************************************
#define UBX_PORT_MASK_I2C 0x01 // 0
#define UBX_PORT_MASK_UART1 0x02 // 1
#define UBX_PORT_MASK_UART2 0x04 // 2
#define UBX_PORT_MASK_USB 0x08 // 3
#define UBX_PORT_MASK_SPI 0x10 // 4
//****************************************************************************
void ConfigMsgPortMask(void *hSerial, uint16_t Msg, int Rate, uint16_t PortMask)
{
uint8_t ubx_cfg_msg[] = {
0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, // UBX-CFG-MSG
0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // I2C, USART1, USART2, USB, SPI, ??
0xAA, 0xAA }; // compute checksum
int i;
ubx_cfg_msg[6] = (uint8_t)((Msg >> 8) & 0xFF); // Class
ubx_cfg_msg[7] = (uint8_t)((Msg >> 0) & 0xFF);
for(i=0; i<6; i++)
ubx_cfg_msg[8 + i] = (PortMask & (1 << i)) ? Rate : 0;
SendUBLOX(hSerial, sizeof(ubx_cfg_msg), ubx_cfg_msg);
}
//****************************************************************************
void PollMsg(void *hSerial, uint16_t msg)
{
uint8_t ubx_poll_msg[] = {
0xB5, 0x62, 0x00, 0x00, 0x00, 0x00,
0xAA, 0xAA }; // compute checksum
ubx_poll_msg[2] = (uint8_t)((msg >> 8) & 0xFF);
ubx_poll_msg[3] = (uint8_t)((msg >> 0) & 0xFF);
SendUBLOX(hSerial, sizeof(ubx_poll_msg), ubx_poll_msg);
}
//****************************************************************************
void ConfigDynamic(void *hSerial, int dyn)
{
uint8_t ubx_cfg_nav5[] = {
0xB5, 0x62, 0x06, 0x24, 0x24, 0x00,
0x01, 0x00, // Bit0=Dyn 0xFF, 0xFF, // Flags
0x03, // Dyn (0=Port,2=Static,3=Ped,4=Car,5=Sea,6=Plane1G,7=Plane2G,8=Plane4G)
0x03, // 3D
0x00, 0x00, 0x00, 0x00,
0x10, 0x27, 0x00, 0x00, //10,000
0x05, 0x00, // minElev, drLimit
0xFA, 0x00, 0xFA, 0x00, // pDop, tDop
0x64, 0x00, 0x5E, 0x01, // pAcc, tAcc
0x00, 0x3C, 0x00, 0x00, // staticHoldThresh, dgnssTimeout
0x10, 0x27, 0x00, 0x00,
0x00, // utcStandard
0x00, 0x00, 0x00, 0x00, 0x00, // reserved2[5]
0xAA, 0xAA }; // compute checksum
ubx_cfg_nav5[8] = dyn;
SendUBLOX(hSerial, sizeof(ubx_cfg_nav5), ubx_cfg_nav5);
}
//****************************************************************************
void ConfigElevation(void *hSerial, int elev)
{
uint8_t ubx_cfg_nav5[] = {
0xB5, 0x62, 0x06, 0x24, 0x24, 0x00,
0x02, 0x00, // Bit1=minElv 0xFF, 0xFF, // Flags
0x03, // Dyn (2=Static,3=Ped,4=Car,5=Sea,6=Plane)
0x03, // 3D
0x00, 0x00, 0x00, 0x00,
0x10, 0x27, 0x00, 0x00, //10,000
0x05, 0x00, // minElev, drLimit
0xFA, 0x00, 0xFA, 0x00, // pDop, tDop
0x64, 0x00, 0x5E, 0x01, // pAcc, tAcc
0x00, 0x3C, 0x00, 0x00, // staticHoldThresh, dgnssTimeout
0x10, 0x27, 0x00, 0x00,
0x00, // utcStandard
0x00, 0x00, 0x00, 0x00, 0x00, // reserved2[5]
0xAA, 0xAA }; // compute checksum
ubx_cfg_nav5[18] = elev;
SendUBLOX(hSerial, sizeof(ubx_cfg_nav5), ubx_cfg_nav5);
}
//****************************************************************************
// Simple RAM writes of 1-Bit,1-Byte, 2-Byte and 4-Byte Keys
void ConfigValSet(void *hSerial, uint32_t Key, uint32_t Value)
{
uint8_t ubx_cfg_valset[] = {
0xB5,0x62,0x06,0x8A, // CFG-VALSET
0xAA,0x00, // Payload Length
// Payload
0x00,0x01,0x00,0x00, // +6 Version 0,RAM=1
0x00,0x00,0x00,0x00, // +A Key
0x00,0x00,0x00,0x00, // +E Value [1..4]
// Checksum
0xAA,0xAA };
int Size = 8;
switch(Key >> 28)
{
case 1 :
Value &= 1;
case 2 :
Size += 1; break;
case 3 :
Size += 2; break;
case 4 :
Size += 4; break;
default : break;
}
ubx_cfg_valset[4] = Size;
ubx_cfg_valset[6 + 4] = (uint8_t)((Key >> 0) & 0xFF);
ubx_cfg_valset[6 + 5] = (uint8_t)((Key >> 8) & 0xFF);
ubx_cfg_valset[6 + 6] = (uint8_t)((Key >> 16) & 0xFF);
ubx_cfg_valset[6 + 7] = (uint8_t)((Key >> 24) & 0xFF);
ubx_cfg_valset[6 + 8] = (uint8_t)((Value >> 0) & 0xFF);
ubx_cfg_valset[6 + 9] = (uint8_t)((Value >> 8) & 0xFF);
ubx_cfg_valset[6 + 10] = (uint8_t)((Value >> 16) & 0xFF);
ubx_cfg_valset[6 + 11] = (uint8_t)((Value >> 24) & 0xFF);
SendUBLOX(hSerial, Size+8, ubx_cfg_valset);
}
//****************************************************************************