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Support for the ATGM336H series of GPS modules (#3610)
Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
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#pragma once | ||
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// CASIC binary message definitions | ||
// Reference: https://www.icofchina.com/d/file/xiazai/2020-09-22/20f1b42b3a11ac52089caf3603b43fb5.pdf | ||
// ATGM33H-5N: https://www.icofchina.com/pro/mokuai/2016-08-01/4.html | ||
// (https://www.icofchina.com/d/file/xiazai/2016-12-05/b5c57074f4b1fcc62ba8c7868548d18a.pdf) | ||
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// NEMA (Class ID - 0x4e) message IDs | ||
#define CAS_NEMA_GGA 0x00 | ||
#define CAS_NEMA_GLL 0x01 | ||
#define CAS_NEMA_GSA 0x02 | ||
#define CAS_NEMA_GSV 0x03 | ||
#define CAS_NEMA_RMC 0x04 | ||
#define CAS_NEMA_VTG 0x05 | ||
#define CAS_NEMA_GST 0x07 | ||
#define CAS_NEMA_ZDA 0x08 | ||
#define CAS_NEMA_DHV 0x0D | ||
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// Size of a CAS-ACK-(N)ACK message (14 bytes) | ||
#define CAS_ACK_NACK_MSG_SIZE 0x0E | ||
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// CFG-RST (0x06, 0x02) | ||
// Factory reset | ||
const uint8_t GPS::_message_CAS_CFG_RST_FACTORY[] = { | ||
0xFF, 0x03, // Fields to clear | ||
0x01, // Reset Mode: Controlled Software reset | ||
0x03 // Startup Mode: Factory | ||
}; | ||
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// CFG_RATE (0x06, 0x01) | ||
// 1HZ update rate, this should always be the case after | ||
// factory reset but update it regardless | ||
const uint8_t GPS::_message_CAS_CFG_RATE_1HZ[] = { | ||
0xE8, 0x03, // Update Rate: 0x03E8 = 1000ms | ||
0x00, 0x00 // Reserved | ||
}; | ||
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// CFG-NAVX (0x06, 0x07) | ||
// Initial ATGM33H-5N configuration, Updates for Dynamic Mode, Fix Mode, and SV system | ||
// Qwirk: The ATGM33H-5N-31 should only support GPS+BDS, however it will happily enable | ||
// and use GPS+BDS+GLONASS iff the correct CFG_NAVX command is used. | ||
const uint8_t GPS::_message_CAS_CFG_NAVX_CONF[] = { | ||
0x03, 0x01, 0x00, 0x00, // Update Mask: Dynamic Mode, Fix Mode, Nav Settings | ||
0x03, // Dynamic Mode: Automotive | ||
0x03, // Fix Mode: Auto 2D/3D | ||
0x00, // Min SV | ||
0x00, // Max SVs | ||
0x00, // Min CNO | ||
0x00, // Reserved1 | ||
0x00, // Init 3D fix | ||
0x00, // Min Elevation | ||
0x00, // Dr Limit | ||
0x07, // Nav System: 2^0 = GPS, 2^1 = BDS 2^2 = GLONASS: 2^3 | ||
// 3=GPS+BDS, 7=GPS+BDS+GLONASS | ||
0x00, 0x00, // Rollover Week | ||
0x00, 0x00, 0x00, 0x00, // Fix Altitude | ||
0x00, 0x00, 0x00, 0x00, // Fix Height Error | ||
0x00, 0x00, 0x00, 0x00, // PDOP Maximum | ||
0x00, 0x00, 0x00, 0x00, // TDOP Maximum | ||
0x00, 0x00, 0x00, 0x00, // Position Accuracy Max | ||
0x00, 0x00, 0x00, 0x00, // Time Accuracy Max | ||
0x00, 0x00, 0x00, 0x00 // Static Hold Threshold | ||
}; |