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ublox.h
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ublox.h
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// Prevent Visual Studio Intellisense from defining _WIN32 and _MSC_VER when we use
// Visual Studio to edit Linux or Borland C++ code.
#ifdef __linux__
# undef _WIN32
#endif // __linux__
#if defined(__GNUC__) || defined(__BORLANDC__)
# undef _MSC_VER
#endif // defined(__GNUC__) || defined(__BORLANDC__)
#ifndef UBLOX_H
#define UBLOX_H
#include "OSMisc.h"
#include "RS232Port.h"
#ifndef DISABLE_UBLOXTHREAD
#include "OSThread.h"
#endif // !DISABLE_UBLOXTHREAD
#include "UBXProtocol.h"
#include "NMEAProtocol.h"
//#include "RTCM3Protocol.h"
// Need to be undefined at the end of the file...
// min and max might cause incompatibilities...
#ifndef max
#define max(a,b) (((a) > (b)) ? (a) : (b))
#endif // !max
#ifndef min
#define min(a,b) (((a) < (b)) ? (a) : (b))
#endif // !min
//#pragma pack(show)
// Check for potential paddings in bitfields and structs, check their size and the sum of the size of their fields!
// To prevent unexpected padding in struct...
#pragma pack(push,1)
#define TIMEOUT_MESSAGE_UBLOX 4.0 // In s.
// Should be at least 2 * number of bytes to be sure to contain entirely the biggest desired message (or group of messages) + 1.
#define MAX_NB_BYTES_UBLOX 4096
#define KEEP_CURRENT_CFG_UBX 0
#define SET_ROVER_CFG_UBX 1
#define SET_BASE_CFG_UBX 2
struct UBLOX
{
RS232PORT RS232Port;
FILE* pfSaveFile; // Used to save raw data, should be handled specifically...
UBXDATA LastUBXData;
char szCfgFilePath[256];
// Parameters.
char szDevPath[256];
int BaudRate;
int timeout;
int threadperiod;
BOOL bSaveRawData;
BOOL bRevertToDefaultCfg;
int SetCfg;
int SurveyMode;
double svinMinDur;
double svinAccLimit;
double fixedLat;
double fixedLon;
double fixedAlt;
double fixedPosAcc;
BOOL bSaveCfg;
BOOL bDisableRTCMTransfer;
BOOL bSendStartSentence;
char szStartSentence[256];
BOOL bSendStopSentence;
char szStopSentence[256];
BOOL bEnable_NMEA_GGA;
BOOL bEnable_NMEA_RMC;
BOOL bEnable_NMEA_GLL;
BOOL bEnable_NMEA_VTG;
BOOL bEnable_NMEA_HDG;
BOOL bEnable_NMEA_HDT;
BOOL bEnable_NMEA_ROT;
BOOL bEnable_NMEA_MWV;
BOOL bEnable_NMEA_MWD;
BOOL bEnable_NMEA_MDA;
BOOL bEnable_NMEA_DID;
BOOL bEnable_NMEA_VDM;
BOOL bEnable_NMEA_PD6_SA;
BOOL bEnable_NMEA_PD6_TS;
BOOL bEnable_NMEA_PD6_BI;
BOOL bEnable_NMEA_PD6_BS;
BOOL bEnable_NMEA_PD6_BE;
BOOL bEnable_NMEA_PD6_BD;
BOOL bEnable_UBX_NAV_HPPOSLLH;
BOOL bEnable_UBX_NAV_POSLLH;
BOOL bEnable_UBX_NAV_PVT;
BOOL bEnable_UBX_NAV_RELPOSNED;
BOOL bEnable_UBX_NAV_SOL;
BOOL bEnable_UBX_NAV_STATUS;
BOOL bEnable_UBX_NAV_SVIN;
BOOL bEnable_UBX_NAV_VELNED;
};
typedef struct UBLOX UBLOX;
//inline int GetUBXPacketWithMIDublox(UBLOX* publox, int mclass, int mid, int* ppacketlen, unsigned char* databuf, int databuflen)
inline int GetUBXPacketWithMIDublox(UBLOX* publox, int mclass, int mid, UBXDATA* pUBXData)
{
unsigned char recvbuf[MAX_NB_BYTES_UBLOX];
int BytesReceived = 0, recvbuflen = 0, res = EXIT_FAILURE, nbBytesToRequest = 0, nbBytesDiscarded = 0;
unsigned char* ptr = NULL;
int packetlen = 0;
CHRONO chrono;
StartChrono(&chrono);
// Prepare the buffers.
memset(recvbuf, 0, sizeof(recvbuf));
recvbuflen = MAX_NB_BYTES_UBLOX-1; // The last character must be a 0 to be a valid string for sscanf.
BytesReceived = 0;
// Suppose that there are not so many data to discard.
// First try to get directly the desired message...
nbBytesToRequest = MIN_PACKET_LENGTH_UBX;
if (ReadAllRS232Port(&publox->RS232Port, recvbuf, nbBytesToRequest) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf, nbBytesToRequest, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += nbBytesToRequest;
for (;;)
{
res = FindPacketWithMIDUBX(recvbuf, BytesReceived, mclass, mid, &packetlen, &nbBytesToRequest, &ptr, &nbBytesDiscarded);
if (res == EXIT_SUCCESS) break;
if (res == EXIT_FAILURE)
{
nbBytesToRequest = min(MIN_PACKET_LENGTH_UBX, nbBytesDiscarded);
}
memmove(recvbuf, recvbuf+nbBytesDiscarded, BytesReceived-nbBytesDiscarded);
BytesReceived -= nbBytesDiscarded;
if (BytesReceived+nbBytesToRequest > recvbuflen)
{
printf("Error reading data from a ublox : Invalid data. \n");
return EXIT_INVALID_DATA;
}
if (ReadAllRS232Port(&publox->RS232Port, recvbuf+BytesReceived, nbBytesToRequest) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf+BytesReceived, nbBytesToRequest, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += nbBytesToRequest;
if (GetTimeElapsedChronoQuick(&chrono) > TIMEOUT_MESSAGE_UBLOX)
{
printf("Error reading data from a ublox : Packet timeout. \n");
return EXIT_TIMEOUT;
}
}
if (BytesReceived-nbBytesDiscarded-packetlen > 0)
{
printf("Warning getting data from a ublox : Unexpected data after a packet. \n");
}
//// Get data bytes.
//memset(databuf, 0, databuflen);
//// Check the number of data bytes before copy.
//if (databuflen < *ppacketlen)
//{
// printf("Error getting data from a ublox : Too small data buffer. \n");
// return EXIT_FAILURE;
//}
//// Copy the data bytes of the message.
//if (*ppacketlen > 0)
//{
// memcpy(databuf, ptr, *ppacketlen);
//}
if (ProcessPacketUBX(ptr, packetlen, mclass, mid, pUBXData) != EXIT_SUCCESS)
{
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
inline int GetUBXPacketublox(UBLOX* publox, UBXDATA* pUBXData)
{
unsigned char recvbuf[MAX_NB_BYTES_UBLOX];
int BytesReceived = 0, recvbuflen = 0, res = EXIT_FAILURE, nbBytesToRequest = 0, nbBytesDiscarded = 0;
unsigned char* ptr = NULL;
int packetlen = 0;
int mclass = 0, mid = 0;
CHRONO chrono;
StartChrono(&chrono);
// Prepare the buffers.
memset(recvbuf, 0, sizeof(recvbuf));
recvbuflen = MAX_NB_BYTES_UBLOX-1; // The last character must be a 0 to be a valid string for sscanf.
BytesReceived = 0;
// Suppose that there are not so many data to discard.
// First try to get directly the desired message...
nbBytesToRequest = MIN_PACKET_LENGTH_UBX;
if (ReadAllRS232Port(&publox->RS232Port, recvbuf, nbBytesToRequest) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf, nbBytesToRequest, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += nbBytesToRequest;
for (;;)
{
res = FindPacketUBX(recvbuf, BytesReceived, &mclass, &mid, &packetlen, &nbBytesToRequest, &ptr, &nbBytesDiscarded);
if (res == EXIT_SUCCESS) break;
if (res == EXIT_FAILURE)
{
nbBytesToRequest = min(MIN_PACKET_LENGTH_UBX, nbBytesDiscarded);
}
memmove(recvbuf, recvbuf+nbBytesDiscarded, BytesReceived-nbBytesDiscarded);
BytesReceived -= nbBytesDiscarded;
if (BytesReceived+nbBytesToRequest > recvbuflen)
{
printf("Error reading data from a ublox : Invalid data. \n");
return EXIT_INVALID_DATA;
}
if (ReadAllRS232Port(&publox->RS232Port, recvbuf+BytesReceived, nbBytesToRequest) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf+BytesReceived, nbBytesToRequest, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += nbBytesToRequest;
if (GetTimeElapsedChronoQuick(&chrono) > TIMEOUT_MESSAGE_UBLOX)
{
printf("Error reading data from a ublox : Packet timeout. \n");
return EXIT_TIMEOUT;
}
}
if (BytesReceived-nbBytesDiscarded-packetlen > 0)
{
printf("Warning getting data from a ublox : Unexpected data after a packet. \n");
}
//// Get data bytes.
//memset(databuf, 0, databuflen);
//// Check the number of data bytes before copy.
//if (databuflen < *ppacketlen)
//{
// printf("Error getting data from a ublox : Too small data buffer. \n");
// return EXIT_FAILURE;
//}
//// Copy the data bytes of the message.
//if (*ppacketlen > 0)
//{
// memcpy(databuf, ptr, *ppacketlen);
//}
if (ProcessPacketUBX(ptr, packetlen, mclass, mid, pUBXData) != EXIT_SUCCESS)
{
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
inline int GetNMEASentenceublox(UBLOX* publox, NMEADATA* pNMEAData)
{
char recvbuf[MAX_NB_BYTES_UBLOX];
int BytesReceived = 0, recvbuflen = 0, res = EXIT_FAILURE, nbBytesToRequest = 0, nbBytesDiscarded = 0;
char* ptr = NULL;
int sentencelen = 0;
char talkerid[MAX_NB_BYTES_TALKER_ID_NMEA+1]; // +1 for the null terminator character for strings.
char mnemonic[MAX_NB_BYTES_MNEMONIC_NMEA+1]; // +1 for the null terminator character for strings.
CHRONO chrono;
StartChrono(&chrono);
// Prepare the buffers.
memset(recvbuf, 0, sizeof(recvbuf));
recvbuflen = MAX_NB_BYTES_UBLOX-1; // The last character must be a 0 to be a valid string for sscanf.
BytesReceived = 0;
// Suppose that there are not so many data to discard.
// First try to get directly the desired message...
nbBytesToRequest = MIN_NB_BYTES_SENTENCE_NMEA;
if (ReadAllRS232Port(&publox->RS232Port, (uint8*)recvbuf, nbBytesToRequest) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf, nbBytesToRequest, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += nbBytesToRequest;
for (;;)
{
memset(talkerid, 0, sizeof(talkerid));
memset(mnemonic, 0, sizeof(mnemonic));
res = FindSentenceNMEA(recvbuf, BytesReceived, talkerid, mnemonic, &sentencelen, &nbBytesToRequest, &ptr, &nbBytesDiscarded);
if (res == EXIT_SUCCESS) break;
if (res == EXIT_FAILURE)
{
nbBytesToRequest = min(MIN_NB_BYTES_SENTENCE_NMEA, nbBytesDiscarded);
}
memmove(recvbuf, recvbuf+nbBytesDiscarded, BytesReceived-nbBytesDiscarded);
BytesReceived -= nbBytesDiscarded;
if (BytesReceived+nbBytesToRequest > recvbuflen)
{
printf("Error reading data from a ublox : Invalid data. \n");
return EXIT_INVALID_DATA;
}
if (ReadAllRS232Port(&publox->RS232Port, (uint8*)recvbuf+BytesReceived, nbBytesToRequest) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf+BytesReceived, nbBytesToRequest, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += nbBytesToRequest;
if (GetTimeElapsedChronoQuick(&chrono) > TIMEOUT_MESSAGE_UBLOX)
{
printf("Error reading data from a ublox : Sentence timeout. \n");
return EXIT_TIMEOUT;
}
}
if (BytesReceived-nbBytesDiscarded-sentencelen > 0)
{
printf("Warning getting data from a ublox : Unexpected data after a sentence. \n");
}
//// Get data bytes.
//memset(databuf, 0, databuflen);
//// Check the number of data bytes before copy.
//if (databuflen < *psentencelen)
//{
// printf("Error getting data from a ublox : Too small data buffer. \n");
// return EXIT_FAILURE;
//}
//// Copy the data bytes of the message.
//if (*psentencelen > 0)
//{
// memcpy(databuf, ptr, *psentencelen);
//}
if (ProcessSentenceNMEA(ptr, sentencelen, talkerid, mnemonic, pNMEAData) != EXIT_SUCCESS)
{
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
// TODO...
// regarde si c'est du nmea, de l'ubx, et met à jour publox->LastData
//inline int GetDataublox(UBLOX* publox, unsigned char* databuf, int databuflen)
inline int GetDataublox(UBLOX* publox, UBXDATA* pUBXData)
{
unsigned char recvbuf[MAX_NB_BYTES_UBLOX];
int BytesReceived = 0, recvbuflen = 0, res = EXIT_FAILURE, nbBytesToRequest = 0, nbBytesDiscarded = 0;
unsigned char* ptr = NULL;
int packetlen = 0;
int mclass = 0, mid = 0;
CHRONO chrono;
StartChrono(&chrono);
// Prepare the buffers.
memset(recvbuf, 0, sizeof(recvbuf));
recvbuflen = MAX_NB_BYTES_UBLOX-1; // The last character must be a 0 to be a valid string for sscanf.
BytesReceived = 0;
// Suppose that there are not so many data to discard.
// First try to get directly the desired message...
nbBytesToRequest = min(MIN_PACKET_LENGTH_UBX, MIN_NB_BYTES_SENTENCE_NMEA);
if (ReadAllRS232Port(&publox->RS232Port, recvbuf, nbBytesToRequest) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf, nbBytesToRequest, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += nbBytesToRequest;
for (;;)
{
res = FindPacketUBX(recvbuf, BytesReceived, &mclass, &mid, &packetlen, &nbBytesToRequest, &ptr, &nbBytesDiscarded);
if (res == EXIT_SUCCESS) break;
if (res == EXIT_FAILURE)
{
nbBytesToRequest = min(min(MIN_PACKET_LENGTH_UBX, MIN_NB_BYTES_SENTENCE_NMEA), nbBytesDiscarded);
}
memmove(recvbuf, recvbuf+nbBytesDiscarded, BytesReceived-nbBytesDiscarded);
BytesReceived -= nbBytesDiscarded;
if (BytesReceived+nbBytesToRequest > recvbuflen)
{
printf("Error reading data from a ublox : Invalid data. \n");
return EXIT_INVALID_DATA;
}
if (ReadAllRS232Port(&publox->RS232Port, recvbuf+BytesReceived, nbBytesToRequest) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf+BytesReceived, nbBytesToRequest, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += nbBytesToRequest;
if (GetTimeElapsedChronoQuick(&chrono) > TIMEOUT_MESSAGE_UBLOX)
{
printf("Error reading data from a ublox : Packet timeout. \n");
return EXIT_TIMEOUT;
}
}
if (BytesReceived-nbBytesDiscarded-packetlen > 0)
{
printf("Warning getting data from a ublox : Unexpected data after a packet. \n");
}
//// Get data bytes.
//memset(databuf, 0, databuflen);
//// Check the number of data bytes before copy.
//if (databuflen < *ppacketlen)
//{
// printf("Error getting data from a ublox : Too small data buffer. \n");
// return EXIT_FAILURE;
//}
//// Copy the data bytes of the message.
//if (*ppacketlen > 0)
//{
// memcpy(databuf, ptr, *ppacketlen);
//}
if (ProcessPacketUBX(ptr, packetlen, mclass, mid, pUBXData) != EXIT_SUCCESS)
{
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
/*
// We suppose that read operations return when a message has just been completely sent, and not randomly.
inline int GetLatestDataublox(UBLOX* publox, UBXDATA* pUBXData)
{
char recvbuf[2*MAX_NB_BYTES_UBLOX];
char savebuf[MAX_NB_BYTES_UBLOX];
int BytesReceived = 0, Bytes = 0, recvbuflen = 0;
char* ptr_GPGGA = NULL;
char* ptr_GPRMC = NULL;
char* ptr_GPGLL = NULL;
char* ptr_GPVTG = NULL;
char* ptr_HCHDG = NULL;
char* ptr_IIMWV = NULL;
char* ptr_WIMWV = NULL;
char* ptr_WIMWD = NULL;
char* ptr_WIMDA = NULL;
char* ptr_AIVDM = NULL;
int i = 0;
CHRONO chrono;
StartChrono(&chrono);
// Prepare the buffers.
memset(recvbuf, 0, sizeof(recvbuf));
memset(savebuf, 0, sizeof(savebuf));
recvbuflen = MAX_NB_BYTES_UBLOX-1; // The last character must be a 0 to be a valid string for sscanf.
BytesReceived = 0;
if (ReadRS232Port(&publox->RS232Port, (unsigned char*)recvbuf, recvbuflen, &Bytes) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf, Bytes, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += Bytes;
if (BytesReceived >= recvbuflen)
{
// If the buffer is full and if the device always sends data, there might be old data to discard...
while (Bytes == recvbuflen)
{
if (GetTimeElapsedChronoQuick(&chrono) > TIMEOUT_MESSAGE_UBLOX)
{
printf("Error reading data from a ublox : Message timeout. \n");
return EXIT_TIMEOUT;
}
memcpy(savebuf, recvbuf, Bytes);
if (ReadRS232Port(&publox->RS232Port, (unsigned char*)recvbuf, recvbuflen, &Bytes) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(recvbuf, Bytes, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += Bytes;
}
// The desired message should be among all the data gathered, unless there was
// so many other messages sent after that the desired message was in the
// discarded data, or we did not wait enough...
memmove(recvbuf+recvbuflen-Bytes, recvbuf, Bytes);
memcpy(recvbuf, savebuf+Bytes, recvbuflen-Bytes);
// Only the last recvbuflen bytes received should be taken into account in what follows.
BytesReceived = recvbuflen;
}
// The data need to be analyzed and we must check if we need to get more data from
// the device to get the desired message.
// But normally we should not have to get more data unless we did not wait enough
// for the desired message...
if (publox->bEnable_NMEA_GGA) ptr_GPGGA = FindLatestSentenceNMEA("$GPGGA", recvbuf);
if (publox->bEnable_NMEA_RMC) ptr_GPRMC = FindLatestSentenceNMEA("$GPRMC", recvbuf);
if (publox->bEnable_NMEA_GLL) ptr_GPGLL = FindLatestSentenceNMEA("$GPGLL", recvbuf);
if (publox->bEnable_NMEA_VTG) ptr_GPVTG = FindLatestSentenceNMEA("$GPVTG", recvbuf);
if (publox->bEnable_NMEA_HDG) ptr_HCHDG = FindLatestSentenceNMEA("$HCHDG", recvbuf);
if (publox->bEnableIIMWV) ptr_IIMWV = FindLatestSentenceNMEA("$IIMWV", recvbuf);
if (publox->bEnable_NMEA_MWV) ptr_WIMWV = FindLatestSentenceNMEA("$WIMWV", recvbuf);
if (publox->bEnable_NMEA_MWD) ptr_WIMWD = FindLatestSentenceNMEA("$WIMWD", recvbuf);
if (publox->bEnable_NMEA_MDA) ptr_WIMDA = FindLatestSentenceNMEA("$WIMDA", recvbuf);
if (publox->bEnable_NMEA_VDM) ptr_AIVDM = FindLatestSentenceNMEA("!AIVDM", recvbuf);
while (
(publox->bEnable_NMEA_GGA&&!ptr_GPGGA)||
(publox->bEnable_NMEA_RMC&&!ptr_GPRMC)||
(publox->bEnable_NMEA_GLL&&!ptr_GPGLL)||
(publox->bEnable_NMEA_VTG&&!ptr_GPVTG)||
(publox->bEnable_NMEA_HDG&&!ptr_HCHDG)||
(publox->bEnableIIMWV&&!ptr_IIMWV)||
(publox->bEnable_NMEA_MWV&&!ptr_WIMWV)||
(publox->bEnable_NMEA_MWD&&!ptr_WIMWD)||
(publox->bEnable_NMEA_MDA&&!ptr_WIMDA)||
(publox->bEnable_NMEA_VDM&&!ptr_AIVDM)
)
{
if (GetTimeElapsedChronoQuick(&chrono) > TIMEOUT_MESSAGE_UBLOX)
{
printf("Error reading data from a ublox : Message timeout. \n");
return EXIT_TIMEOUT;
}
// The last character must be a 0 to be a valid string for sscanf.
if (BytesReceived >= 2*MAX_NB_BYTES_UBLOX-1)
{
printf("Error reading data from a ublox : Invalid data. \n");
return EXIT_INVALID_DATA;
}
if (ReadRS232Port(&publox->RS232Port, (unsigned char*)recvbuf+BytesReceived, 2*MAX_NB_BYTES_UBLOX-1-BytesReceived, &Bytes) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite((unsigned char*)recvbuf+BytesReceived, Bytes, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
BytesReceived += Bytes;
if (publox->bEnable_NMEA_GGA) ptr_GPGGA = FindLatestSentenceNMEA("$GPGGA", recvbuf);
if (publox->bEnable_NMEA_RMC) ptr_GPRMC = FindLatestSentenceNMEA("$GPRMC", recvbuf);
if (publox->bEnable_NMEA_GLL) ptr_GPGLL = FindLatestSentenceNMEA("$GPGLL", recvbuf);
if (publox->bEnable_NMEA_VTG) ptr_GPVTG = FindLatestSentenceNMEA("$GPVTG", recvbuf);
if (publox->bEnable_NMEA_HDG) ptr_HCHDG = FindLatestSentenceNMEA("$HCHDG", recvbuf);
if (publox->bEnableIIMWV) ptr_IIMWV = FindLatestSentenceNMEA("$IIMWV", recvbuf);
if (publox->bEnable_NMEA_MWV) ptr_WIMWV = FindLatestSentenceNMEA("$WIMWV", recvbuf);
if (publox->bEnable_NMEA_MWD) ptr_WIMWD = FindLatestSentenceNMEA("$WIMWD", recvbuf);
if (publox->bEnable_NMEA_MDA) ptr_WIMDA = FindLatestSentenceNMEA("$WIMDA", recvbuf);
if (publox->bEnable_NMEA_VDM) ptr_AIVDM = FindLatestSentenceNMEA("!AIVDM", recvbuf);
}
// Analyze data.
ProcessSentenceNMEA();
publox->LastUBXData = *pNMEAData;
return EXIT_SUCCESS;
}*/
/*
inline int GetLatestPacketWithMIDUBX(UBLOX* publox, int mclass, int mid, int* ppacketlen, unsigned char* databuf, int databuflen)
{
return EXIT_SUCCESS;
}
inline int ProcessPacketsUBX(unsigned char* buf, int buflen, int* pnbBytesToRequest, int* pnbBytesDiscarded)
{
unsigned char* ptr = buf;
int res = EXIT_FAILURE, nbBytesDiscarded = 0, mclass_tmp= 0, mid_tmp = 0, packetlen = 0;
packetlen = 0;
*pnbBytesToRequest = -1;
*pnbBytesDiscarded = 0;
for (;;)
{
res = FindPacketUBX(ptr+packetlen, buflen-(*pnbBytesDiscarded)-packetlen,
&mclass_tmp, &mid_tmp, &packetlen, pnbBytesToRequest, &ptr, &nbBytesDiscarded);
switch (res)
{
case EXIT_SUCCESS:
(*pnbBytesDiscarded) += nbBytesDiscarded;
break;
case EXIT_OUT_OF_MEMORY:
(*pnbBytesDiscarded) += nbBytesDiscarded;
return EXIT_OUT_OF_MEMORY;
default:
(*pnbBytesDiscarded) += nbBytesDiscarded;
return EXIT_FAILURE;
}
ProcessPacketUBX(ptr, packetlen, mclass_tmp, mid_tmp);
}
}
*/
inline int RevertToDefaultCfgublox(UBLOX* publox)
{
unsigned char sendbuf[32];
int sendbuflen = 0;
struct CFG_CFG_PL_UBX cfg_cfg_pl;
memset(&cfg_cfg_pl, 0, sizeof(cfg_cfg_pl));
cfg_cfg_pl.clearMask.ioPort = 1;
cfg_cfg_pl.clearMask.msgConf = 1;
cfg_cfg_pl.clearMask.infMsg = 1;
cfg_cfg_pl.clearMask.navConf = 1;
cfg_cfg_pl.clearMask.rxmConf = 1;
cfg_cfg_pl.clearMask.senConf = 1;
cfg_cfg_pl.clearMask.rinvConf = 1;
cfg_cfg_pl.clearMask.antConf = 0;
cfg_cfg_pl.clearMask.logConf = 1;
cfg_cfg_pl.clearMask.ftsConf = 1;
cfg_cfg_pl.loadMask.ioPort = 1;
cfg_cfg_pl.loadMask.msgConf = 1;
cfg_cfg_pl.loadMask.infMsg = 1;
cfg_cfg_pl.loadMask.navConf = 1;
cfg_cfg_pl.loadMask.rxmConf = 1;
cfg_cfg_pl.loadMask.senConf = 1;
cfg_cfg_pl.loadMask.rinvConf = 1;
cfg_cfg_pl.loadMask.antConf = 1;
cfg_cfg_pl.loadMask.logConf = 1;
cfg_cfg_pl.loadMask.ftsConf = 1;
cfg_cfg_pl.deviceMask.devBBR = 1;
cfg_cfg_pl.deviceMask.devFlash = 1;
cfg_cfg_pl.deviceMask.devEEPROM = 1;
cfg_cfg_pl.deviceMask.devSpiFlash = 1;
EncodePacketUBX(sendbuf, &sendbuflen, CFG_CLASS_UBX, CFG_CFG_ID_UBX, (unsigned char*)&cfg_cfg_pl, LEN_CFG_CFG_PL_UBX);
//EncodePacketUBX(sendbuf, &sendbuflen, CFG_CLASS_UBX, CFG_CFG_ID_UBX, (unsigned char*)&cfg_cfg_pl, sizeof(cfg_cfg_pl));
if (WriteAllRS232Port(&publox->RS232Port, sendbuf, sendbuflen) != EXIT_SUCCESS)
{
printf("Error writing data to a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(sendbuf, sendbuflen, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
// Should check ACK...
return EXIT_SUCCESS;
}
inline int SaveCfgublox(UBLOX* publox)
{
unsigned char sendbuf[32];
int sendbuflen = 0;
struct CFG_CFG_PL_UBX cfg_cfg_pl;
memset(&cfg_cfg_pl, 0, sizeof(cfg_cfg_pl));
cfg_cfg_pl.saveMask.ioPort = 1;
cfg_cfg_pl.saveMask.msgConf = 1;
cfg_cfg_pl.saveMask.infMsg = 1;
cfg_cfg_pl.saveMask.navConf = 1;
cfg_cfg_pl.saveMask.rxmConf = 1;
cfg_cfg_pl.saveMask.senConf = 1;
cfg_cfg_pl.saveMask.rinvConf = 1;
cfg_cfg_pl.saveMask.antConf = 1;
cfg_cfg_pl.saveMask.logConf = 1;
cfg_cfg_pl.saveMask.ftsConf = 1;
cfg_cfg_pl.deviceMask.devBBR = 1;
cfg_cfg_pl.deviceMask.devFlash = 1;
cfg_cfg_pl.deviceMask.devEEPROM = 1;
cfg_cfg_pl.deviceMask.devSpiFlash = 1;
EncodePacketUBX(sendbuf, &sendbuflen, CFG_CLASS_UBX, CFG_CFG_ID_UBX, (unsigned char*)&cfg_cfg_pl, LEN_CFG_CFG_PL_UBX);
//EncodePacketUBX(sendbuf, &sendbuflen, CFG_CLASS_UBX, CFG_CFG_ID_UBX, (unsigned char*)&cfg_cfg_pl, sizeof(cfg_cfg_pl));
if (WriteAllRS232Port(&publox->RS232Port, sendbuf, sendbuflen) != EXIT_SUCCESS)
{
printf("Error writing data to a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(sendbuf, sendbuflen, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
// Should check ACK...
return EXIT_SUCCESS;
}
inline int SetBaseCfgublox(UBLOX* publox)
{
unsigned char sendbuf[512];
int sendbuflen = 0;
int offset = 0;
unsigned char packet[128];
int packetlen = 0;
unsigned char cfg_msg_pl[8];
struct CFG_NMEA_PL_UBX cfg_nmea_pl;
struct CFG_TMODE3_PL_UBX cfg_tmode3_pl;
// Enable 1005, 1077, 1087, 1127 RTCM messages on UART1 and USB.
memset(cfg_msg_pl, 0, sizeof(cfg_msg_pl));
cfg_msg_pl[0] = RTCM_CLASS_UBX;
cfg_msg_pl[1] = RTCM_1005_ID_UBX;
cfg_msg_pl[3] = 1; // UART1 rate.
cfg_msg_pl[5] = 1; // USB rate.
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = RTCM_1077_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = RTCM_1087_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = RTCM_1097_ID_UBX; // Not available for M8P...
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = RTCM_1127_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = RTCM_1230_ID_UBX; // Not available for M8P...
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = RTCM_4072_0_ID_UBX; // For moving base, not available for M8P...
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
// Disable GGA, GLL, GSA, GSV, RMC, VTG, GST, ZDA, GNS NMEA messages.
memset(cfg_msg_pl, 0, sizeof(cfg_msg_pl));
cfg_msg_pl[0] = NMEA_STD_CLASS_UBX;
cfg_msg_pl[1] = NMEA_STD_GGA_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = NMEA_STD_GLL_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = NMEA_STD_GSA_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = NMEA_STD_GSV_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = NMEA_STD_RMC_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = NMEA_STD_VTG_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = NMEA_STD_GST_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = NMEA_STD_ZDA_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
cfg_msg_pl[1] = NMEA_STD_GNS_ID_UBX;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
//cfg_msg_pl[1] = NMEA_STD_TXT_ID_UBX;
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
////EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
//memcpy(sendbuf+offset, packet, packetlen);
//offset += packetlen;
// Set NMEA high precision mode.
memset(&cfg_nmea_pl, 0, sizeof(cfg_nmea_pl));
cfg_nmea_pl.nmeaVersion = NMEA_VERSION_2_3_UBX;
cfg_nmea_pl.flags.consider = 1;
cfg_nmea_pl.flags.highPrec = 1;
cfg_nmea_pl.version = 1;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_NMEA_ID_UBX, (unsigned char*)&cfg_nmea_pl, LEN_CFG_NMEA_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_NMEA_ID_UBX, (unsigned char*)&cfg_nmea_pl, sizeof(cfg_nmea_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
//UBX-CFG-PORT set RTCM 3 as Output Protocol...
// Activate Self-Survey-In or Fixed-Position-Mode.
memset(&cfg_tmode3_pl, 0, sizeof(cfg_tmode3_pl));
cfg_tmode3_pl.flags.lla = 1;
cfg_tmode3_pl.flags.mode = (unsigned short)publox->SurveyMode;
cfg_tmode3_pl.ecefXOrLat = (int)(publox->fixedLat*10000000);
cfg_tmode3_pl.ecefYOrLon = (int)(publox->fixedLon*10000000);
cfg_tmode3_pl.ecefZOrAlt = (int)(publox->fixedAlt*100);
cfg_tmode3_pl.ecefXOrLatHP = (char)((publox->fixedLat*10000000-cfg_tmode3_pl.ecefXOrLat)*100);
cfg_tmode3_pl.ecefYOrLonHP = (char)((publox->fixedLon*10000000-cfg_tmode3_pl.ecefYOrLon)*100);
cfg_tmode3_pl.ecefZOrAltHP = (char)((publox->fixedAlt*100-cfg_tmode3_pl.ecefZOrAlt)*100);
cfg_tmode3_pl.fixedPosAcc = (unsigned int)(publox->fixedPosAcc*10000);
cfg_tmode3_pl.svinMinDur = (unsigned int)publox->svinMinDur;
cfg_tmode3_pl.svinAccLimit = (unsigned int)(publox->svinAccLimit*10000);
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_TMODE3_ID_UBX, (unsigned char*)&cfg_tmode3_pl, LEN_CFG_TMODE3_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_TMODE3_ID_UBX, (unsigned char*)&cfg_tmode3_pl, sizeof(cfg_tmode3_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
sendbuflen = offset;
if (WriteAllRS232Port(&publox->RS232Port, sendbuf, sendbuflen) != EXIT_SUCCESS)
{
printf("Error writing data to a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(sendbuf, sendbuflen, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
// Should check ACK...
return EXIT_SUCCESS;
}
inline int SetRoverCfgublox(UBLOX* publox)
{
unsigned char sendbuf[512];
int sendbuflen = 0;
int offset = 0;
unsigned char packet[128];
int packetlen = 0;
//unsigned char cfg_msg_pl[8];
struct CFG_NMEA_PL_UBX cfg_nmea_pl;
//// Enable GGA, RMC NMEA messages.
//memset(cfg_msg_pl, 0, sizeof(cfg_msg_pl));
//cfg_msg_pl[0] = NMEA_STD_CLASS_UBX;
//cfg_msg_pl[1] = NMEA_STD_GGA_ID_UBX;
//cfg_msg_pl[3] = 4; // UART1 rate.
//cfg_msg_pl[5] = 4; // USB rate.
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
////EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
//memcpy(sendbuf+offset, packet, packetlen);
//offset += packetlen;
//cfg_msg_pl[1] = NMEA_STD_RMC_ID_UBX;
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, LEN_CFG_MSG_PL_UBX);
////EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_MSG_ID_UBX, (unsigned char*)&cfg_msg_pl, sizeof(cfg_msg_pl));
//memcpy(sendbuf+offset, packet, packetlen);
//offset += packetlen;
// Set NMEA high precision mode.
memset(&cfg_nmea_pl, 0, sizeof(cfg_nmea_pl));
cfg_nmea_pl.nmeaVersion = NMEA_VERSION_2_3_UBX;
cfg_nmea_pl.flags.consider = 1;
cfg_nmea_pl.flags.highPrec = 1;
cfg_nmea_pl.version = 1;
EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_NMEA_ID_UBX, (unsigned char*)&cfg_nmea_pl, LEN_CFG_NMEA_PL_UBX);
//EncodePacketUBX(packet, &packetlen, CFG_CLASS_UBX, CFG_NMEA_ID_UBX, (unsigned char*)&cfg_nmea_pl, sizeof(cfg_nmea_pl));
memcpy(sendbuf+offset, packet, packetlen);
offset += packetlen;
//UBX-CFG-PORT set RTCM 3 as Input Protocol and UBX+NMEA(+RTCM3) as Output Protocol...
sendbuflen = offset;
if (WriteAllRS232Port(&publox->RS232Port, sendbuf, sendbuflen) != EXIT_SUCCESS)
{
printf("Error writing data to a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(sendbuf, sendbuflen, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
// Should check ACK...
return EXIT_SUCCESS;
}
// Transfer data (e.g. RTCM extracted from MAVLink) without any interpretation...
inline int TransferToublox(UBLOX* publox, unsigned char* buf, int buflen)
{
if (WriteAllRS232Port(&publox->RS232Port, buf, buflen) != EXIT_SUCCESS)
{
printf("Error writing data to a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(buf, buflen, 1, publox->pfSaveFile);
fflush(publox->pfSaveFile);
}
return EXIT_SUCCESS;
}
// Get raw data (e.g. unknown RTCM data) without any interpretation...
inline int GetRawDataublox(UBLOX* publox, unsigned char* buf, int buflen, int* pReceivedBytes)
{
if (ReadRS232Port(&publox->RS232Port, buf, buflen, pReceivedBytes) != EXIT_SUCCESS)
{
printf("Error reading data from a ublox. \n");
return EXIT_FAILURE;
}
if ((publox->bSaveRawData)&&(publox->pfSaveFile))
{
fwrite(buf, *pReceivedBytes, 1, publox->pfSaveFile);