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cleanup

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This commit is contained in:
Tony Cabello 2020-03-23 15:45:24 +01:00
parent 5932b01e6b
commit ba335635ac
1 changed files with 17 additions and 22 deletions
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39
src/main/io/gps.c
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@ -193,11 +193,6 @@ typedef struct {
ubx_payload payload;
} __attribute__((packed)) ubx_message;
typedef union {
ubx_message message;
uint8_t bytes[58];
} ubx_tx_buffer;
#define UBLOX_SBAS_MESSAGE_LENGTH 14
// Remove QZSS and add Galileo (only 3 GNSS systems supported simultaneously)
@ -474,37 +469,37 @@ void gpsInitUblox(void)
switch (gpsData.ackState) {
case UBLOX_ACK_IDLE:
{
ubx_tx_buffer tx_buffer;
tx_buffer.message.header.preamble1 = 0xB5;
tx_buffer.message.header.preamble2 = 0x62;
tx_buffer.message.header.msg_class = 0x06;
tx_buffer.message.header.msg_id = 0x16;
tx_buffer.message.header.length = 8;
tx_buffer.message.payload.sbas.mode = (gpsConfig()->sbasMode == SBAS_NONE) ? 2 : 3;
tx_buffer.message.payload.sbas.usage = (gpsConfig()->sbas_integrity) ? 7 : 3;
tx_buffer.message.payload.sbas.maxSBAS = 3;
tx_buffer.message.payload.sbas.scanmode2 = 0;
ubx_message tx_buffer;
tx_buffer.header.preamble1 = 0xB5;
tx_buffer.header.preamble2 = 0x62;
tx_buffer.header.msg_class = 0x06;
tx_buffer.header.msg_id = 0x16;
tx_buffer.header.length = 8;
tx_buffer.payload.sbas.mode = (gpsConfig()->sbasMode == SBAS_NONE) ? 2 : 3;
tx_buffer.payload.sbas.usage = (gpsConfig()->sbas_integrity) ? 7 : 3;
tx_buffer.payload.sbas.maxSBAS = 3;
tx_buffer.payload.sbas.scanmode2 = 0;
switch (gpsConfig()->sbasMode) {
case SBAS_AUTO:
tx_buffer.message.payload.sbas.scanmode1 = 0;
tx_buffer.payload.sbas.scanmode1 = 0;
break;
case SBAS_EGNOS:
tx_buffer.message.payload.sbas.scanmode1 = 0x00010048; //PRN123, PRN126, PRN136
tx_buffer.payload.sbas.scanmode1 = 0x00010048; //PRN123, PRN126, PRN136
break;
case SBAS_WAAS:
tx_buffer.message.payload.sbas.scanmode1 = 0x0004A800; //PRN131, PRN133, PRN135, PRN138
tx_buffer.payload.sbas.scanmode1 = 0x0004A800; //PRN131, PRN133, PRN135, PRN138
break;
case SBAS_MSAS:
tx_buffer.message.payload.sbas.scanmode1 = 0x00020200; //PRN129, PRN137
tx_buffer.payload.sbas.scanmode1 = 0x00020200; //PRN129, PRN137
break;
case SBAS_GAGAN:
tx_buffer.message.payload.sbas.scanmode1 = 0x00001180; //PRN127, PRN128, PRN132
tx_buffer.payload.sbas.scanmode1 = 0x00001180; //PRN127, PRN128, PRN132
break;
default:
tx_buffer.message.payload.sbas.scanmode1 = 0;
tx_buffer.payload.sbas.scanmode1 = 0;
break;
}
ubloxSendConfigMessage(tx_buffer.bytes, UBLOX_SBAS_MESSAGE_LENGTH);
ubloxSendConfigMessage((const uint8_t *) &tx_buffer, UBLOX_SBAS_MESSAGE_LENGTH);
}
break;
case UBLOX_ACK_GOT_NACK: //TODO: implement a retry count, for now just ignore errors as the rest of the code is doing