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GPS assist load in development #148

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GPS assist load in development #148

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21486ae
GPS assist load in development
jamez70 Dec 15, 2015
fcf8e26
Verified messages with USB sniffer
jamez70 Dec 15, 2015
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50 changes: 48 additions & 2 deletions main/ry835ai.go
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@ package main
import (
"fmt"
"log"
"io"
"strconv"
"strings"
"sync"
Expand Down Expand Up @@ -97,6 +98,42 @@ func makeUBXCFG(class, id byte, msglen uint16, msg []byte) []byte {
return ret
}

func sendGPSAssist() {
f, err := os.Open("/root/current_14d.alp")
if err != nil {
log.Printf("Cannot send assist data due to file missing!\n")
return
}
done := make([]byte, 1)

done[0] = 0xff;
serialPort.Write(makeUBXCFG(0x0b,0x50, 1, done))
time.Sleep(100 * time.Millisecond)

defer f.Close()
data := make([]byte, 512)
for {
data = data[:cap(data)]
n, err := f.Read(data)
if err != nil {
if err == io.EOF {
break
}
log.Printf("Something is dicked up!\n")
return
}
data = data[:n]
log.Printf("Sending %d bytes\n",n)
serialPort.Write(makeUBXCFG(0x0b, 0x50, uint16(n), data ))
time.Sleep(100 * time.Millisecond)
}
done[0] = 0xff;
serialPort.Write(makeUBXCFG(0x0b,0x50, 1, done))



}

func initGPSSerial() bool {
var device string
if _, err := os.Stat("/dev/ttyACM0"); err == nil {
Expand All @@ -121,8 +158,8 @@ func initGPSSerial() bool {
return false
}

// Set 10Hz update.
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x00, 0x01, 0x00, 0x01}))
// Set 1Hz update.
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0xe8, 0x03, 0x00, 0x01, 0x00, 0x01}))

// Set navigation settings.
nav := make([]byte, 36)
Expand Down Expand Up @@ -171,6 +208,15 @@ func initGPSSerial() bool {

p.Write(makeUBXCFG(0x06, 0x00, 20, cfg))

// Set 1Hz update.
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0xe8, 0x03, 0x00, 0x01, 0x00, 0x01}))


sendGPSAssist()

// Set 10Hz update.
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x00, 0x01, 0x00, 0x01}))

p.Close()

return true
Expand Down