public GPS_RESPONSE SendColdStart(int retry, int timeout)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[15];
cmdData[0] = 0x01;
cmdData[1] = 0x03;
BinaryCommand cmd = new BinaryCommand(cmdData);
for (int i = 0; i < retry; ++i)
{
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), timeout);
if (retval == GPS_RESPONSE.ACK)
{
break;
}
}
return retval;
}
public GPS_RESPONSE SetGpsEphemeris(string ephFile)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[87];
byte[] ephData = new byte[86];
cmdData[0] = 0x41;
int ephStart = 0;
FileStream fileStream = new FileStream(ephFile, FileMode.Open, FileAccess.Read);
for (int i = 0; i < 32; ++i)
{
fileStream.Read(ephData, 0, 86);
ephStart += 86;
int zeroCount = 0;
foreach(byte b in ephData)
{
if(b == 0)
zeroCount++;
}
if (zeroCount > 60)
continue;
System.Array.Copy(ephData, 0, cmdData, 1, 86);
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 4000);
if (retval != GPS_RESPONSE.ACK)
{
break;
}
}
fileStream.Close();
return retval;
}
public GPS_RESPONSE QueryRtc(ref UInt32 rtc)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[5];
byte[] recv_buff = new byte[128];
cmdData[0] = 0x71;
cmdData[1] = 0x20;
cmdData[2] = 0x01;
cmdData[3] = 0x4C;
cmdData[4] = 0x34;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 1000);
if (retval == GPS_RESPONSE.ACK)
{
byte[] retCmd = new byte[128];
retval = WaitReturnCommand(0xc0, retCmd, 1000);
rtc = (UInt32)retCmd[5] << 24 | (UInt32)retCmd[6] << 16 |
(UInt32)retCmd[7] << 8 | (UInt32)retCmd[8];
}
return retval;
}
public GPS_RESPONSE QueryVersion(int timeout, ref String kVer, ref String sVer, ref String rev)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[2];
cmdData[0] = 0x02;
cmdData[1] = 0x01;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), timeout);
if (retval == GPS_RESPONSE.ACK)
{
byte[] retCmd = new byte[128];
retval = WaitReturnCommand(0x80, retCmd, 1000);
kVer = retCmd[7].ToString("00") + "." + retCmd[8].ToString("00") + "." + retCmd[9].ToString("00");
sVer = retCmd[11].ToString("00") + "." + retCmd[12].ToString("00") + "." + retCmd[13].ToString("00");
rev = (retCmd[15] + 2000).ToString("0000") + retCmd[16].ToString("00") + retCmd[17].ToString("00");
}
return retval;
}
public GPS_RESPONSE QueryChannelDoppler(byte channel, ref UInt32 prn, ref UInt32 freq)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[2];
cmdData[0] = 0x7B;
cmdData[1] = channel;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 2000);
if (retval == GPS_RESPONSE.ACK)
{
byte[] retCmd = new byte[128];
retval = WaitReturnCommand(0xFE, retCmd, 2000);
if (retval != GPS_RESPONSE.ACK)
{
// int a = 0;
}
prn = (UInt32)retCmd[5] << 8 | (UInt32)retCmd[6];
freq = (UInt32)retCmd[7] << 8 | (UInt32)retCmd[8];
}
else
{
//int a = 0;
}
return retval;
}
public GPS_RESPONSE QueryCrc(int timeout, ref uint crc)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[2];
cmdData[0] = 0x03;
cmdData[1] = 0x01;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), timeout);
if (retval == GPS_RESPONSE.ACK)
{
byte[] retCmd = new byte[128];
retval = WaitReturnCommand(0x81, retCmd, 1000);
crc = ((uint)retCmd[6] << 8) + retCmd[7];
}
return retval;
}
public GPS_RESPONSE NoNmeaOutput()
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[2];
cmdData[0] = 0x09;
cmdData[1] = 0x00;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 1000);
return retval;
}
public GPS_RESPONSE ChangeBaudRate(int timeout, byte baudrateIdx)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[4];
cmdData[0] = 0x05;
cmdData[1] = 0x0;
cmdData[2] = baudrateIdx;
cmdData[3] = 0x00;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), timeout);
return retval;
}
public GPS_RESPONSE FactoryReset()
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[2];
cmdData[0] = 0x04;
cmdData[1] = 0x01;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 5000);
return retval;
}
public GPS_RESPONSE GetRegister(int timeout, UInt32 regAddr, ref UInt32 data)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[5];
byte[] recv_buff = new byte[128];
cmdData[0] = 0x71;
cmdData[1] = (byte)(regAddr >> 24 & 0xFF);
cmdData[2] = (byte)(regAddr >> 16 & 0xFF);
cmdData[3] = (byte)(regAddr >> 8 & 0xFF);
cmdData[4] = (byte)(regAddr & 0xFF);
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), timeout);
if (retval == GPS_RESPONSE.ACK)
{
byte[] retCmd = new byte[128];
retval = WaitReturnCommand(0xc0, retCmd, 1000);
data = (UInt32)retCmd[5] << 24 | (UInt32)retCmd[6] << 16 |
(UInt32)retCmd[7] << 8 | (UInt32)retCmd[8];
}
return retval;
}
public GPS_RESPONSE ConfigNoOutput(int timeout)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[2];
cmdData[0] = 0x09;
cmdData[1] = 0x02;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), timeout);
return retval;
}
public GPS_RESPONSE ConfigNmeaOutput(byte gga, byte gsa, byte gsv, byte gll, byte rmc, byte vtg, byte zda, byte attr)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[9];
cmdData[0] = 0x08;
cmdData[1] = gga;
cmdData[2] = gsa;
cmdData[3] = gsv;
cmdData[4] = gll;
cmdData[5] = rmc;
cmdData[6] = vtg;
cmdData[7] = zda;
cmdData[8] = attr;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 2000);
return retval;
}
public GPS_RESPONSE ConfigMessageOutput(byte type)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[3];
cmdData[0] = 0x09;
cmdData[1] = type;
cmdData[2] = 0;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 2000);
return retval;
}
public GPS_RESPONSE SetRegister(int timeout, UInt32 regAddr, UInt32 data)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[9];
byte[] recv_buff = new byte[128];
cmdData[0] = 0x72;
cmdData[1] = (byte)(regAddr >> 24 & 0xFF);
cmdData[2] = (byte)(regAddr >> 16 & 0xFF);
cmdData[3] = (byte)(regAddr >> 8 & 0xFF);
cmdData[4] = (byte)(regAddr & 0xFF);
cmdData[5] = (byte)(data >> 24 & 0xFF);
cmdData[6] = (byte)(data >> 16 & 0xFF);
cmdData[7] = (byte)(data >> 8 & 0xFF);
cmdData[8] = (byte)(data & 0xFF);
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), timeout);
return retval;
}
public GPS_RESPONSE QueryChannelClockOffset(Int32 gdClockOffset, UInt32 prn, UInt32 freq, ref Int32 clkData)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[9];
cmdData[0] = 0x7C;
cmdData[1] = (byte)(gdClockOffset >> 24 & 0xFF);;
cmdData[2] = (byte)(gdClockOffset >> 16 & 0xFF);;
cmdData[3] = (byte)(gdClockOffset >> 8 & 0xFF);;
cmdData[4] = (byte)(gdClockOffset & 0xFF);;
cmdData[5] = (byte)(prn >> 8 & 0xFF);
cmdData[6] = (byte)(prn & 0xFF);
cmdData[7] = (byte)(freq >> 8 & 0xFF);
cmdData[8] = (byte)(freq & 0xFF);
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 2000);
if (retval == GPS_RESPONSE.ACK)
{
byte[] retCmd = new byte[128];
retval = WaitReturnCommand(0xFF, retCmd, 2000);
clkData = (Int32)((UInt32)retCmd[5] << 24 | (UInt32)retCmd[6] << 16 |
(UInt32)retCmd[7] << 8 | (UInt32)retCmd[8]);
}
return retval;
}
public GPS_RESPONSE StartDownload(byte baudrateIdx)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[6];
cmdData[0] = 0x0B;
cmdData[1] = baudrateIdx;
cmdData[2] = 0x0;
cmdData[3] = 0x0;
cmdData[4] = 0x0;
cmdData[5] = 0x0;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 3000);
return retval;
}
public GPS_RESPONSE ChangeBaudrate(byte baudrateIndex, byte mode, bool noDelay)
{
GPS_RESPONSE retval = GPS_RESPONSE.NONE;
byte[] cmdData = new byte[4];
cmdData[0] = 0x05;
cmdData[1] = 0x00;
cmdData[2] = baudrateIndex;
cmdData[3] = mode;
BinaryCommand cmd = new BinaryCommand(cmdData);
retval = SendCmdAck(cmd.GetBuffer(), cmd.Size(), 2000);
if (retval == GPS_RESPONSE.ACK)
{
if (!noDelay)
{
Thread.Sleep(1000);
}
serial.Close();
Open(serial.PortName, baudrateIndex);
}
return retval;
}
