Add auto support for NAV SAT. Add NAV SAT callback example. Add final AssistNow Autonomous examples.
This commit is contained in:
PaulZC
+187
@@ -0,0 +1,187 @@
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/*
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Monitor AssistNow Autonomous data collection
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By: SparkFun Electronics / Paul Clark
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Date: November 29th, 2021
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example shows how to enable and monitor AssistNow Autonomous data collection by the module.
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A callback is used to monitor AssistNow Autonomous data availability for each satellite.
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A second callback is used to print the AOPSTATUS status.
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If your GNSS board has battery-backup for the RAM - and all SparkFun boards do! - then you can:
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wait until the module has AssistNow Autonomous data for a few satellites;
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power-cycle the board;
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watch how fast it gets its first fix!
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Note: this example will only work on boards which have plenty of RAM available.
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The UBX-NAV-SAT information occupies several kBytes.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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SparkFun Thing Plus - ESP32 WROOM: https://www.sparkfun.com/products/15663
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ZED-F9P RTK2: https://www.sparkfun.com/products/16481
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SparkFun GPS Breakout - ZOE-M8Q (Qwiic): https://www.sparkfun.com/products/15193
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a ESP32 Thing Plus
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printSATdata will be called when new NAV SAT data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_SAT_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVSATcallback
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// / _____ This _must_ be UBX_NAV_SAT_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
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{
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//Serial.println();
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Serial.print(F("UBX-NAV-SAT contains data for "));
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Serial.print(ubxDataStruct.header.numSvs);
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if (ubxDataStruct.header.numSvs == 1)
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Serial.println(F(" SV"));
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else
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Serial.println(F(" SVs"));
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uint16_t numAopAvail = 0; // Count how many SVs have AssistNow Autonomous data available
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for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
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{
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if (ubxDataStruct.blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
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numAopAvail++; // Increment the number of SVs
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}
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Serial.print(F("AssistNow Autonomous data is available for "));
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Serial.print(numAopAvail);
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if (numAopAvail == 1)
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Serial.println(F(" SV"));
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else
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Serial.println(F(" SVs"));
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printAOPstatus will be called when new NAV AOPSTATUS data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_AOPSTATUS_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVAOPSTATUScallback
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// / _____ This _must_ be UBX_NAV_AOPSTATUS_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
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{
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//Serial.println();
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Serial.print(F("AOPSTATUS status is "));
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Serial.println(ubxDataStruct.status);
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printPVTdata will be called when new NAV PVT data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallback
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// / _____ This _must_ be UBX_NAV_PVT_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
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{
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// Print the UBX-NAV-PVT data so we can see how quickly the fixType goes to 3D
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Serial.println();
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long latitude = ubxDataStruct.lat; // Print the latitude
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = ubxDataStruct.lon; // Print the longitude
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
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long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
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Serial.print(F(" Alt: "));
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Serial.print(altitude);
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Serial.print(F(" (mm)"));
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byte fixType = ubxDataStruct.fixType; // Print the fix type
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Serial.print(F(" Fix: "));
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if(fixType == 0) Serial.print(F("No fix"));
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else if(fixType == 1) Serial.print(F("Dead reckoning"));
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else if(fixType == 2) Serial.print(F("2D"));
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else if(fixType == 3) Serial.print(F("3D"));
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else if(fixType == 4) Serial.print(F("GNSS + Dead reckoning"));
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else if(fixType == 5) Serial.print(F("Time only"));
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Serial.println();
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void setup()
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{
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delay(1000);
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Serial.begin(115200);
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Serial.println(F("AssistNow Example"));
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Start I2C. Connect to the GNSS.
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Wire.begin(); //Start I2C
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//myGNSS.enableDebugging(Serial, true); // Uncomment this line to see the 'major' debug messages on Serial
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if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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Serial.println(F("u-blox module connected"));
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myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
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myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Enable AssistNow Autonomous data collection.
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if (myGNSS.setAopCfg(1) == true)
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{
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Serial.println(F("aopCfg enabled"));
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}
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else
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{
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Serial.println(F("Could not enable aopCfg. Please check wiring. Freezing."));
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while (1);
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Enable automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages and set up the callbacks
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myGNSS.setNavigationFrequency(1); //Produce one solution per second
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myGNSS.setAutoNAVSATcallback(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
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myGNSS.setAutoAOPSTATUScallback(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
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myGNSS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void loop()
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{
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myGNSS.checkUblox(); // Check for the arrival of new data and process it.
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myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
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Serial.print(".");
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delay(50);
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}
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+88
-35
@@ -1,5 +1,5 @@
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/*
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Read the AssistNow Autonomous data from the module
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Read the AssistNow Autonomous database from the module
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By: SparkFun Electronics / Paul Clark
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Date: November 29th, 2021
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License: MIT. See license file for more information but you can
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@@ -8,8 +8,7 @@
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This example shows how to enable, check the status of, and read the AssistNow Autonomous data from the module.
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Note: this example will only work on boards which have plenty of RAM available.
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The database can be several kBytes in length and needs to be stored twice:
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once inside the library (by readNavigationDatabase); and again in this example code.
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The database can be several kBytes in length.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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@@ -28,6 +27,59 @@ SFE_UBLOX_GNSS myGNSS;
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printSATdata will be called when new NAV SAT data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_SAT_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVSATcallback
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// / _____ This _must_ be UBX_NAV_SAT_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printSATdata(UBX_NAV_SAT_data_t ubxDataStruct)
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{
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Serial.println();
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Serial.print(F("UBX-NAV-SAT contains data for "));
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Serial.print(ubxDataStruct.header.numSvs);
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if (ubxDataStruct.header.numSvs == 1)
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Serial.println(F(" SV"));
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else
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Serial.println(F(" SVs"));
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uint16_t numAopAvail = 0; // Count how many SVs have AssistNow Autonomous data available
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for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
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{
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if (ubxDataStruct.blocks[block].flags.bits.aopAvail == 1) // If the aopAvail bit is set
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numAopAvail++; // Increment the number of SVs
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}
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Serial.print(F("AssistNow Autonomous data is available for "));
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Serial.print(numAopAvail);
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if (numAopAvail == 1)
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Serial.println(F(" SV"));
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else
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Serial.println(F(" SVs"));
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Callback: printAOPstatus will be called when new NAV AOPSTATUS data arrives
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// See u-blox_structs.h for the full definition of UBX_NAV_AOPSTATUS_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVAOPSTATUScallback
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// / _____ This _must_ be UBX_NAV_AOPSTATUS_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printAOPstatus(UBX_NAV_AOPSTATUS_data_t ubxDataStruct)
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{
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//Serial.println();
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Serial.print(F("AOPSTATUS status is "));
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Serial.println(ubxDataStruct.status);
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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void setup()
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{
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delay(1000);
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@@ -69,39 +121,40 @@ void setup()
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}
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Keep calling getAOPSTATUSstatus until it returns zero (indicating AssistNow Autonomous data collection is complete)
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// or the user presses a key
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// Enable automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages and set up the callbacks
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Serial.println(F("AssistNow Autonomous data collection is in progress. Press any key to quit."));
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Serial.println(F("NAV AOPSTATUS status indicates when the AssistNow Autonomous subsystem is idle (0) or running (not 0)."));
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myGNSS.setNavigationFrequency(1); //Produce one solution per second
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bool keepGoing = true;
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int zerosSeen = 0; // Keep track of how many times aopStatus has been zero
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while (Serial.available()) Serial.read(); // Empty the serial buffer
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while (keepGoing && !Serial.available()) // Wait for keepGoing to go false, or for the arrival of a keypress
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{
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delay(1000);
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uint8_t aopStatus = myGNSS.getAOPSTATUSstatus();
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Serial.print(F("NAV AOPSTATUS status is: "));
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Serial.println(aopStatus);
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if (aopStatus == 0) // aopStatus will be zero when the AssistNow Autonomous subsystem is idle - i.e. data collection is complete
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{
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zerosSeen++; // Keep track of how long aopStatus has been zero
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if (zerosSeen >= 30)
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keepGoing = false; // Stop after seeing 30 consecutive zeros
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}
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else
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{
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zerosSeen = 0; // Reset the number of zeros seen
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}
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}
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if (!keepGoing)
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Serial.println(F("AssistNow Autonomous data collection is complete!"));
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myGNSS.setAutoNAVSATcallback(&printSATdata); // Enable automatic NAV SAT messages with callback to printSATdata
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myGNSS.setAutoAOPSTATUScallback(&printAOPstatus); // Enable automatic NAV AOPSTATUS messages with callback to printAOPstatus
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Read the AssistNow Autonomous data from the module and pretty-print it (so it can be copied and pasted into Example2)
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// Keep displaying NAV SAT and AOPSTATUS until the user presses a key
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Serial.println(F("AssistNow Autonomous data collection is in progress. Press any key to quit and read the database."));
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while (Serial.available()) Serial.read(); // Empty the serial buffer
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while (!Serial.available()) // Wait for the arrival of a keypress
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{
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myGNSS.checkUblox(); // Check for the arrival of new data and process it.
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myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
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Serial.print(".");
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delay(50);
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}
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Serial.println();
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Disable the automatic UBX-NAV-SAT and UBX-NAV-AOPSTATUS messages
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myGNSS.setAutoNAVSAT(false);
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myGNSS.setAutoAOPSTATUS(false);
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delay(1100);
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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// Read the AssistNow Autonomous database from the module and pretty-print it (so it can be copied and pasted into the next example)
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#define MAX_DATABASE_LENGTH 32768 // Allocate 32kBytes to store the navigation database
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size_t maxDatabaseLen = MAX_DATABASE_LENGTH;
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@@ -117,8 +170,8 @@ void setup()
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if (actualDatabaseLen == maxDatabaseLen)
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Serial.println(F("There was not enough memory to store the entire database. Some data will have been lost!"));
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// Pretty-print the database so it can be copied into Example2
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Serial.println(F("Copy and paste the following into Example2, so you can write it back to the module:"));
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// Pretty-print the database so it can be copied into the next example
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Serial.println(F("Copy and paste the following into the next example, so you can write it back to the module:"));
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Serial.println();
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Serial.print(F("size_t databaseLen = "));
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Serial.print(actualDatabaseLen);
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@@ -150,4 +203,4 @@ void setup()
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void loop()
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{
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// Nothing to do here
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}
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}
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+187
@@ -0,0 +1,187 @@
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/*
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Write the AssistNow Autonomous database data to the module
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By: SparkFun Electronics / Paul Clark
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||||
Date: December 1st, 2021
|
||||
License: MIT. See license file for more information but you can
|
||||
basically do whatever you want with this code.
|
||||
|
||||
This example shows how to write the AssistNow Autonomous database date back to the module.
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||||
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This example is written for the ESP32. A WiFi connection is used to get network time to pass to the module.
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(You could use an RTC instead.)
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Copy and paste the database data from the previous example into database.h.
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Update secrets.h with your:
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- WiFi credentials
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Note: this example works best if you have the GNSS RAM battery-backup disabled.
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All SparkFun boards have battery-backup for the RAM which will means the database is retained if you disconnect the power.
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The module will use the database data from the battery-backed RAM when you turn the power back on.
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You will only see the improvement in the time-to-first-fix if you disable the battery first - or you are using a non-SparkFun
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board that does not have the backup battery.
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||||
|
||||
Feel like supporting open source hardware?
|
||||
Buy a board from SparkFun!
|
||||
SparkFun Thing Plus - ESP32 WROOM: https://www.sparkfun.com/products/15663
|
||||
ZED-F9P RTK2: https://www.sparkfun.com/products/16481
|
||||
SparkFun GPS Breakout - ZOE-M8Q (Qwiic): https://www.sparkfun.com/products/15193
|
||||
|
||||
Hardware Connections:
|
||||
Plug a Qwiic cable into the GNSS and a ESP32 Thing Plus
|
||||
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
|
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Open the serial monitor at 115200 baud to see the output
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||||
*/
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#include "database.h" // <- Copy and paste the database data from the previous example into database.h
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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#include <WiFi.h>
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#include <HTTPClient.h>
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#include "secrets.h"
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//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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||||
SFE_UBLOX_GNSS myGNSS;
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||||
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||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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||||
#include "time.h"
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||||
const char* ntpServer = "pool.ntp.org"; // The Network Time Protocol Server
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||||
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||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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||||
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||||
void setup()
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||||
{
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||||
delay(1000);
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||||
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||||
Serial.begin(115200);
|
||||
Serial.println(F("AssistNow Example"));
|
||||
|
||||
while (Serial.available()) Serial.read(); // Empty the serial buffer
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||||
Serial.println(F("Press any key to begin..."));
|
||||
while (!Serial.available()); // Wait for a keypress
|
||||
|
||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
|
||||
// Start I2C. Connect to the GNSS.
|
||||
|
||||
Wire.begin(); //Start I2C
|
||||
|
||||
if (myGNSS.begin() == false) //Connect to the Ublox module using Wire port
|
||||
{
|
||||
Serial.println(F("u-blox GPS not detected at default I2C address. Please check wiring. Freezing."));
|
||||
while (1);
|
||||
}
|
||||
Serial.println(F("u-blox module connected"));
|
||||
|
||||
myGNSS.setI2COutput(COM_TYPE_UBX); //Turn off NMEA noise
|
||||
|
||||
//myGNSS.enableDebugging(Serial, true); // Uncomment this line to see helpful debug messages on Serial
|
||||
|
||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
|
||||
// Connect to WiFi.
|
||||
|
||||
Serial.print(F("Connecting to local WiFi"));
|
||||
|
||||
WiFi.begin(ssid, password);
|
||||
while (WiFi.status() != WL_CONNECTED)
|
||||
{
|
||||
delay(500);
|
||||
Serial.print(F("."));
|
||||
}
|
||||
Serial.println();
|
||||
|
||||
Serial.println(F("WiFi connected!"));
|
||||
|
||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
|
||||
// Set the RTC using network time. (Code taken from the SimpleTime example.)
|
||||
|
||||
// Request the time from the NTP server and use it to set the ESP32's RTC.
|
||||
configTime(0, 0, ntpServer); // Set the GMT and daylight offsets to zero. We need UTC, not local time.
|
||||
|
||||
struct tm timeinfo;
|
||||
if(!getLocalTime(&timeinfo))
|
||||
{
|
||||
Serial.println("Failed to obtain time");
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.println(&timeinfo, "Time is: %A, %B %d %Y %H:%M:%S");
|
||||
}
|
||||
|
||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
|
||||
// Push the RTC time to the module
|
||||
|
||||
// Uncomment the next line to enable the 'major' debug messages on Serial so you can see what AssistNow data is being sent
|
||||
//myGNSS.enableDebugging(Serial, true);
|
||||
|
||||
if(getLocalTime(&timeinfo))
|
||||
{
|
||||
// setUTCTimeAssistance uses a default time accuracy of 2 seconds which should be OK here.
|
||||
// Have a look at the library source code for more details.
|
||||
myGNSS.setUTCTimeAssistance(timeinfo.tm_year + 1900, timeinfo.tm_mon + 1, timeinfo.tm_mday,
|
||||
timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec);
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.println("Failed to obtain time. This will not work well. The GNSS needs accurate time to start up quickly.");
|
||||
}
|
||||
|
||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
|
||||
// Push the AssistNow Autonomous data to the module
|
||||
|
||||
size_t bytesPushed = myGNSS.pushAssistNowData(database, databaseLen);
|
||||
|
||||
Serial.print(F("Pushed "));
|
||||
Serial.print(bytesPushed);
|
||||
Serial.println(F(" bytes of AssistNow Autonomous data to the module"));
|
||||
|
||||
if (bytesPushed != databaseLen)
|
||||
Serial.println(F("Warning: bytesPushed does not match databaseLen! Maybe the database contains bad data? Or there was a communication error?"));
|
||||
|
||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
|
||||
// Disconnect the WiFi as it's no longer needed
|
||||
|
||||
WiFi.disconnect(true);
|
||||
WiFi.mode(WIFI_OFF);
|
||||
Serial.println(F("WiFi disconnected"));
|
||||
}
|
||||
|
||||
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
|
||||
|
||||
void loop()
|
||||
{
|
||||
// Print the UBX-NAV-PVT data so we can see how quickly the fixType goes to 3D
|
||||
|
||||
long latitude = myGNSS.getLatitude();
|
||||
Serial.print(F("Lat: "));
|
||||
Serial.print(latitude);
|
||||
|
||||
long longitude = myGNSS.getLongitude();
|
||||
Serial.print(F(" Long: "));
|
||||
Serial.print(longitude);
|
||||
Serial.print(F(" (degrees * 10^-7)"));
|
||||
|
||||
long altitude = myGNSS.getAltitude();
|
||||
Serial.print(F(" Alt: "));
|
||||
Serial.print(altitude);
|
||||
Serial.print(F(" (mm)"));
|
||||
|
||||
byte SIV = myGNSS.getSIV();
|
||||
Serial.print(F(" SIV: "));
|
||||
Serial.print(SIV);
|
||||
|
||||
byte fixType = myGNSS.getFixType();
|
||||
Serial.print(F(" Fix: "));
|
||||
if(fixType == 0) Serial.print(F("No fix"));
|
||||
else if(fixType == 1) Serial.print(F("Dead reckoning"));
|
||||
else if(fixType == 2) Serial.print(F("2D"));
|
||||
else if(fixType == 3) Serial.print(F("3D"));
|
||||
else if(fixType == 4) Serial.print(F("GNSS + Dead reckoning"));
|
||||
else if(fixType == 5) Serial.print(F("Time only"));
|
||||
|
||||
Serial.println();
|
||||
}
|
||||
+177
@@ -0,0 +1,177 @@
|
||||
// Paste the AssistNow Autonomous database data from the previous example here:
|
||||
|
||||
size_t databaseLen = 5480;
|
||||
const uint8_t database[5480] = {
|
||||
0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x02, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x01, 0x08, 0xC4, 0x04, 0x26, 0xFE, 0x02, 0x54, 0xBA, 0xA9,
|
||||
0xFF, 0xDA, 0x8C, 0x05, 0xA3, 0xC1, 0xCD, 0x85, 0x86, 0x0A, 0x14, 0x20, 0xAA, 0xE6, 0xB4, 0xD3, 0x4F, 0x27, 0x12, 0xE0, 0xE6, 0xC3, 0xE4, 0x79, 0x0E, 0xA1, 0xD3, 0x49, 0xF4, 0xFF, 0xAF, 0xF7,
|
||||
0x67, 0x2E, 0x93, 0xF9, 0x6A, 0x1B, 0x2D, 0x10, 0xD3, 0x49, 0xBD, 0xFF, 0x26, 0x01, 0x00, 0x1E, 0x81, 0x22, 0xA1, 0xE4, 0x2A, 0x00, 0x10, 0x50, 0x04, 0x00, 0xB7, 0xBF, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x54, 0x00, 0x01, 0x00, 0x00, 0x05, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x04, 0x1E, 0xC4, 0x44, 0x72, 0x2F, 0x02, 0x71, 0xAD, 0xA4, 0xFF, 0xE8, 0xAE, 0xFA,
|
||||
0x42, 0x25, 0xD1, 0x0F, 0x0D, 0x03, 0xCB, 0x71, 0xCF, 0x12, 0x6F, 0x89, 0x0F, 0x27, 0xF3, 0x49, 0x7B, 0x29, 0x4B, 0xF1, 0x0C, 0xA1, 0xD4, 0x49, 0xF5, 0xFF, 0xB6, 0x03, 0x98, 0x36, 0xA0, 0x03,
|
||||
0xBB, 0x0F, 0x72, 0x1D, 0xD4, 0x49, 0xEE, 0xFF, 0x17, 0x00, 0x00, 0xC0, 0x85, 0x22, 0x2F, 0xF0, 0x3D, 0x00, 0x3C, 0x50, 0x04, 0x00, 0x1A, 0x35, 0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00,
|
||||
0x00, 0x07, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x06, 0x5B, 0xC4, 0x44, 0xD8, 0xEC, 0x02, 0x4E, 0x79, 0xAC, 0xFF, 0xE8, 0x8A, 0x1D, 0xBC, 0x9F, 0xE8, 0x86,
|
||||
0xD9, 0x07, 0x45, 0xD0, 0x05, 0x6A, 0x05, 0x06, 0xC3, 0x26, 0xB5, 0x7D, 0x4A, 0xA2, 0x86, 0xCA, 0x0D, 0xA1, 0xD4, 0x49, 0x2B, 0x00, 0x62, 0x07, 0x63, 0x2F, 0xF5, 0x05, 0x1E, 0x1A, 0x98, 0x10,
|
||||
0xD4, 0x49, 0x38, 0x00, 0xBA, 0xFF, 0x00, 0xCB, 0xBE, 0x22, 0xF4, 0x59, 0x09, 0x00, 0xB6, 0x50, 0x04, 0x00, 0x2E, 0x9B, 0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x09, 0x15, 0x0C,
|
||||
0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x08, 0x5E, 0xC4, 0x44, 0xFA, 0x7B, 0x02, 0x4E, 0x1B, 0xA5, 0xFF, 0x03, 0x6E, 0x07, 0xF5, 0x25, 0xF3, 0xB8, 0x36, 0x01, 0xDB, 0x4F,
|
||||
0x56, 0x3E, 0x8D, 0xA6, 0xD7, 0x26, 0x82, 0xFE, 0xA8, 0x4A, 0x7A, 0x44, 0x0D, 0xA1, 0xD4, 0x49, 0x05, 0x00, 0x7A, 0xFA, 0x1C, 0x37, 0xDC, 0xFA, 0x33, 0x0E, 0x7E, 0x1E, 0xD4, 0x49, 0xE5, 0xFF,
|
||||
0xFC, 0xFF, 0x00, 0xB7, 0xBA, 0x22, 0x87, 0x2A, 0x34, 0x00, 0xBC, 0x50, 0x04, 0x00, 0xDF, 0x11, 0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x0B, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00,
|
||||
0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x0A, 0x2F, 0xC4, 0x44, 0xC7, 0x68, 0x00, 0xF6, 0x09, 0xAA, 0xFF, 0xED, 0xB8, 0x38, 0x24, 0x1C, 0xE8, 0xC5, 0x30, 0x00, 0xD0, 0x23, 0x17, 0xEC, 0xF7, 0x92,
|
||||
0x2D, 0x27, 0x7C, 0x39, 0x2C, 0x6B, 0x66, 0xF5, 0x0D, 0xA1, 0xD4, 0x49, 0xEA, 0xFF, 0x27, 0xF9, 0x09, 0x2F, 0x2B, 0xFA, 0x6A, 0x1B, 0xFB, 0x0F, 0xD4, 0x49, 0x01, 0x00, 0x0F, 0x00, 0x00, 0xC1,
|
||||
0x82, 0x22, 0x2A, 0x8A, 0x80, 0xFF, 0x5E, 0x50, 0x04, 0x00, 0x52, 0xBB, 0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x0D, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A,
|
||||
0x01, 0x03, 0x0C, 0x96, 0xC4, 0x44, 0x8E, 0xBD, 0x02, 0xE4, 0x39, 0xA6, 0xFF, 0xE8, 0x7E, 0xBE, 0x5F, 0xFE, 0xF3, 0xCA, 0xF0, 0x02, 0x5D, 0x9F, 0x84, 0x44, 0x3A, 0xC9, 0x6F, 0x27, 0xFD, 0x1B,
|
||||
0xDB, 0x27, 0x60, 0x63, 0x0D, 0xA1, 0xD4, 0x49, 0x32, 0x00, 0x4B, 0xFA, 0xA6, 0x33, 0x2C, 0xFB, 0x5C, 0x10, 0xB8, 0x1C, 0xD4, 0x49, 0x0E, 0x00, 0x1E, 0x00, 0x00, 0x0D, 0xB9, 0x22, 0x3A, 0x4D,
|
||||
0x07, 0x00, 0x2C, 0x51, 0x04, 0x00, 0x76, 0x2E, 0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x10, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x0F, 0x22,
|
||||
0xC4, 0x44, 0x47, 0xD2, 0x02, 0x47, 0xEA, 0xA3, 0xFF, 0xEA, 0x53, 0xBB, 0xBD, 0x37, 0xBE, 0x0A, 0x5B, 0x06, 0x85, 0x4F, 0x13, 0x98, 0x48, 0x33, 0x95, 0x27, 0xC8, 0x3B, 0xE7, 0x1B, 0x37, 0x8F,
|
||||
0x0C, 0xA1, 0xD4, 0x49, 0xC9, 0xFF, 0x09, 0x0C, 0x98, 0x30, 0xB3, 0x0A, 0x16, 0x09, 0x14, 0x26, 0xD4, 0x49, 0xB3, 0xFF, 0x4E, 0x00, 0x00, 0xE0, 0x81, 0x22, 0x2D, 0xCD, 0x31, 0x00, 0x44, 0x50,
|
||||
0x04, 0x00, 0x39, 0x9B, 0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x14, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x13, 0x1B, 0xC4, 0x44, 0x6A, 0xD2,
|
||||
0x02, 0xE9, 0x7C, 0xA3, 0xFF, 0xEE, 0xD1, 0x59, 0xEE, 0xE7, 0x56, 0x56, 0xCC, 0x02, 0xE4, 0x2C, 0x39, 0x0E, 0xB6, 0x13, 0x56, 0x26, 0xDF, 0xE5, 0x41, 0x7C, 0xDA, 0x86, 0x0D, 0xA1, 0xD4, 0x49,
|
||||
0xFE, 0xFF, 0x81, 0x04, 0x73, 0x3A, 0x0F, 0x04, 0x54, 0x10, 0x59, 0x1B, 0xD4, 0x49, 0x37, 0x00, 0xDF, 0xFF, 0x00, 0x21, 0x87, 0x22, 0x0B, 0xF8, 0x10, 0x00, 0x36, 0x50, 0x04, 0x00, 0x75, 0x76,
|
||||
0xB5, 0x62, 0x13, 0x80, 0x54, 0x00, 0x01, 0x00, 0x00, 0x1D, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x1C, 0x31, 0xC4, 0xC4, 0x58, 0xF9, 0x02, 0xFC, 0xD0, 0xA5,
|
||||
0xFF, 0xEA, 0x04, 0x79, 0x3B, 0x17, 0xD6, 0x48, 0xEF, 0x00, 0xB9, 0x34, 0x1C, 0xC2, 0x1E, 0x93, 0x05, 0x28, 0xA0, 0x7E, 0x9D, 0x60, 0x7C, 0x63, 0x0C, 0xA1, 0xD4, 0x49, 0xD2, 0xFF, 0x51, 0xF4,
|
||||
0xD6, 0x2D, 0xD9, 0xF5, 0x45, 0x08, 0x41, 0x27, 0xD4, 0x49, 0x23, 0x00, 0xFE, 0xFF, 0x00, 0x7C, 0xBC, 0x22, 0x15, 0x51, 0x31, 0x00, 0x62, 0x50, 0x04, 0x00, 0xEC, 0xE1, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x54, 0x00, 0x01, 0x00, 0x00, 0x1E, 0x15, 0x0C, 0x01, 0x0D, 0x3B, 0x00, 0x04, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x1D, 0x22, 0xC4, 0x04, 0x53, 0x24, 0x02, 0xF4, 0x99, 0xA8, 0xFF, 0x08, 0x62, 0xE5,
|
||||
0x6F, 0x9E, 0x9C, 0x48, 0xBC, 0x02, 0xB4, 0x07, 0x9B, 0x6A, 0x21, 0x82, 0x28, 0x26, 0x78, 0x77, 0x0C, 0x90, 0x2F, 0xF9, 0x0C, 0xA1, 0xD4, 0x49, 0xE5, 0xFF, 0x34, 0x08, 0x30, 0x33, 0xC0, 0x06,
|
||||
0x34, 0x1B, 0x7C, 0x0E, 0xD4, 0x49, 0xF7, 0xFF, 0xEE, 0xFF, 0x00, 0x19, 0xBE, 0x22, 0x6F, 0xC0, 0x2F, 0x00, 0x44, 0x50, 0x04, 0x00, 0x93, 0x6D, 0xB5, 0x62, 0x13, 0x80, 0x38, 0x00, 0x01, 0x00,
|
||||
0x06, 0x07, 0x15, 0x0C, 0x01, 0x0C, 0x21, 0x00, 0x02, 0x24, 0xE0, 0x4A, 0x01, 0x03, 0xA5, 0xB9, 0xC6, 0x04, 0x16, 0x44, 0x02, 0xC6, 0xE0, 0xD9, 0x21, 0x1C, 0xC0, 0xE0, 0xF8, 0xD5, 0x3D, 0x6E,
|
||||
0x01, 0x56, 0x21, 0xC1, 0x0F, 0x39, 0xF8, 0x70, 0x2D, 0x10, 0x7F, 0xFF, 0x10, 0x38, 0xEE, 0xA5, 0x80, 0x00, 0x00, 0xE8, 0x55, 0x0C, 0x1C, 0xEB, 0xB5, 0x62, 0x13, 0x80, 0x38, 0x00, 0x01, 0x00,
|
||||
0x06, 0x0F, 0x15, 0x0C, 0x01, 0x0C, 0x21, 0x00, 0x02, 0x24, 0xE0, 0x4A, 0x01, 0x03, 0xAD, 0xB9, 0xC6, 0x04, 0x6F, 0x28, 0x02, 0x17, 0x5C, 0xB7, 0xE5, 0xF7, 0x80, 0x1F, 0x46, 0x2A, 0xDE, 0xBE,
|
||||
0xF0, 0x59, 0x45, 0x5C, 0xCE, 0x39, 0x75, 0x99, 0xF7, 0x10, 0x1B, 0x7B, 0xFF, 0x78, 0x18, 0x5D, 0xFE, 0x00, 0x00, 0xE8, 0x55, 0x07, 0xC8, 0x8F, 0xB5, 0x62, 0x13, 0x80, 0x38, 0x00, 0x01, 0x00,
|
||||
0x06, 0x10, 0x15, 0x0C, 0x01, 0x0C, 0x21, 0x00, 0x02, 0x24, 0xE0, 0x4A, 0x01, 0x03, 0xAE, 0xB9, 0xC6, 0x84, 0x26, 0x63, 0x02, 0x0C, 0x60, 0x9D, 0xDA, 0x44, 0x5E, 0xE2, 0x3C, 0x27, 0xDD, 0xED,
|
||||
0xF5, 0x3B, 0xDE, 0xC1, 0xDE, 0x39, 0xA7, 0xDD, 0xF9, 0x20, 0x11, 0x54, 0x2A, 0x80, 0xFB, 0x6C, 0x80, 0x00, 0xFF, 0xEF, 0x55, 0x06, 0x17, 0x43, 0xB5, 0x62, 0x13, 0x80, 0x38, 0x00, 0x01, 0x00,
|
||||
0x06, 0x15, 0x15, 0x0C, 0x01, 0x0C, 0x21, 0x00, 0x02, 0x24, 0xE0, 0x4A, 0x01, 0x03, 0xB3, 0xB9, 0xC6, 0x04, 0x6F, 0xC3, 0x02, 0xF0, 0xC6, 0x33, 0xC1, 0x45, 0x3F, 0x28, 0xC9, 0xBB, 0xBF, 0x1B,
|
||||
0x1B, 0xEC, 0x14, 0xF1, 0xF5, 0x39, 0x55, 0x25, 0x06, 0x30, 0x84, 0xAE, 0xC7, 0xA8, 0x89, 0x3D, 0x44, 0x00, 0xFD, 0xEF, 0x55, 0x0B, 0x89, 0xE0, 0xB5, 0x62, 0x13, 0x80, 0x38, 0x00, 0x01, 0x00,
|
||||
0x06, 0x17, 0x15, 0x0C, 0x01, 0x0C, 0x21, 0x00, 0x02, 0x24, 0xE0, 0x4A, 0x01, 0x03, 0xB5, 0xB9, 0xC6, 0x04, 0x34, 0xBC, 0x02, 0xF5, 0xBE, 0x0D, 0x15, 0xEA, 0x21, 0xA3, 0xC8, 0xDB, 0x1E, 0x3A,
|
||||
0x31, 0x5A, 0x38, 0xB6, 0x20, 0x39, 0x8B, 0x4A, 0xD9, 0x30, 0xDF, 0x66, 0xF8, 0xB8, 0x9D, 0x5B, 0x00, 0x02, 0xFF, 0xEF, 0x55, 0x0A, 0x20, 0x5A, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00,
|
||||
0x00, 0x01, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x00, 0x7B, 0xB0, 0x04, 0xC5, 0xE4, 0x01, 0x73, 0x47, 0x5B, 0xAE, 0x1C, 0x18, 0x0D, 0xA1, 0x00, 0x65, 0xFD,
|
||||
0x00, 0x7B, 0x41, 0x2C, 0xEA, 0x00, 0x14, 0x16, 0x24, 0x00, 0xF1, 0x02, 0x67, 0x00, 0x06, 0xEA, 0x3F, 0x8A, 0xA4, 0x7B, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x02, 0x15, 0x0C,
|
||||
0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x01, 0x7B, 0xB0, 0x44, 0x66, 0x1F, 0x03, 0xC2, 0x82, 0xA8, 0x90, 0x0E, 0x1C, 0x0E, 0xA1, 0x00, 0x4E, 0xFD, 0x00, 0x7B, 0x4F, 0x99,
|
||||
0xE6, 0x00, 0xF3, 0xEB, 0xC3, 0x00, 0xE8, 0x8A, 0x6E, 0x00, 0x5C, 0x05, 0x00, 0x8A, 0xDF, 0xF9, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x03, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C,
|
||||
0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x02, 0x7B, 0xB0, 0x04, 0x96, 0x8D, 0x01, 0xEB, 0x94, 0x1F, 0x20, 0x13, 0x6B, 0x0D, 0xA1, 0x00, 0x69, 0xFD, 0x00, 0x7B, 0xC1, 0x59, 0x14, 0x00, 0x8A, 0xAC,
|
||||
0x28, 0x00, 0xDD, 0x24, 0x37, 0x00, 0xE0, 0xEF, 0x3F, 0x8A, 0x0F, 0xED, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x04, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A,
|
||||
0x01, 0x03, 0x03, 0x7B, 0xB0, 0x44, 0x8F, 0x51, 0x01, 0xFF, 0xCA, 0x0C, 0xA8, 0x0B, 0xD6, 0x0C, 0xA1, 0x00, 0x44, 0xFD, 0x00, 0x7B, 0x3F, 0x67, 0x40, 0x00, 0x77, 0x26, 0x80, 0x00, 0x3A, 0x7C,
|
||||
0xB2, 0x00, 0x2E, 0x07, 0x00, 0x8A, 0xD8, 0xB6, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x05, 0x15, 0x0C, 0x0F, 0x0C, 0x00, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x04, 0x00,
|
||||
0xB0, 0x14, 0xB8, 0x76, 0x03, 0xEA, 0xD0, 0x30, 0x92, 0x0A, 0xF1, 0x0C, 0xA1, 0x00, 0x25, 0xFD, 0xD4, 0x49, 0x71, 0xCF, 0x12, 0x00, 0x49, 0x7B, 0x29, 0x00, 0xFA, 0x42, 0x25, 0x00, 0xBE, 0xFF,
|
||||
0x3F, 0x8A, 0xD6, 0xA9, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x06, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x05, 0x7B, 0xB0, 0x44, 0xBB, 0x76,
|
||||
0x01, 0x15, 0x1F, 0x14, 0x47, 0x1C, 0xB5, 0x0C, 0xA1, 0x00, 0x63, 0xFD, 0x00, 0x7B, 0x16, 0xD6, 0xE9, 0x00, 0xEC, 0xC2, 0xD5, 0x00, 0xAB, 0x35, 0x77, 0x00, 0x8C, 0x18, 0x80, 0x8A, 0x81, 0xB1,
|
||||
0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x07, 0x15, 0x0C, 0x0F, 0x0C, 0x00, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x06, 0x00, 0xB0, 0x14, 0x33, 0xF6, 0x03, 0x49, 0x98, 0x7D,
|
||||
0xC9, 0x05, 0xCA, 0x0D, 0xA1, 0x00, 0x63, 0xFD, 0xD4, 0x49, 0xD0, 0x05, 0x6A, 0x00, 0x7D, 0x4A, 0xA2, 0x00, 0x1D, 0xBC, 0x9F, 0x00, 0x2B, 0x09, 0x00, 0x8A, 0x4B, 0xEC, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x34, 0x00, 0x02, 0x00, 0x00, 0x08, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x07, 0x7B, 0xB0, 0x04, 0x04, 0xE8, 0x01, 0xB3, 0x40, 0x38, 0xDD, 0x0E, 0x13, 0x0D,
|
||||
0xA1, 0x00, 0x22, 0xFD, 0x00, 0x7B, 0x33, 0x39, 0xBE, 0x00, 0x60, 0x6D, 0x02, 0x00, 0xAF, 0xE0, 0xC5, 0x00, 0xCF, 0x07, 0x80, 0x8A, 0x59, 0x50, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00,
|
||||
0x00, 0x09, 0x15, 0x0C, 0x0F, 0x0C, 0x00, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x08, 0x00, 0xB0, 0x14, 0x50, 0xB2, 0x03, 0x0A, 0x6B, 0x13, 0x14, 0x07, 0x44, 0x0D, 0xA1, 0x00, 0x28, 0xFD,
|
||||
0xD4, 0x49, 0x4F, 0x56, 0x3E, 0x00, 0xFE, 0xA8, 0x4A, 0x00, 0x07, 0xF5, 0x25, 0x00, 0x85, 0x06, 0x00, 0x8A, 0x09, 0xB0, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x0A, 0x15, 0x0C,
|
||||
0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x09, 0x7B, 0xB0, 0x44, 0x94, 0x64, 0x01, 0x0C, 0xB3, 0x3B, 0x06, 0x13, 0x0D, 0x0D, 0xA1, 0x00, 0x6E, 0xFD, 0x00, 0x7B, 0x68, 0x3C,
|
||||
0x14, 0x00, 0x15, 0x6E, 0x97, 0x00, 0x53, 0x99, 0x16, 0x00, 0xEF, 0xF6, 0xBF, 0x8A, 0xC1, 0xA9, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x0B, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C,
|
||||
0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x0A, 0x7B, 0xB0, 0x04, 0xF5, 0x0B, 0x01, 0xDE, 0x10, 0x03, 0x70, 0x0C, 0x97, 0x0D, 0xA1, 0xFF, 0x52, 0xFD, 0x00, 0x7B, 0x7A, 0x06, 0xEC, 0x00, 0xA3, 0x44,
|
||||
0x6B, 0x00, 0xA1, 0xEB, 0xC8, 0x00, 0x11, 0xF8, 0xBF, 0x8A, 0xB4, 0x35, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x0C, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A,
|
||||
0x01, 0x03, 0x0B, 0x7B, 0xB0, 0x04, 0xFD, 0x31, 0x01, 0x09, 0xE0, 0x44, 0xFA, 0x12, 0xD4, 0x0C, 0xA1, 0x00, 0x54, 0xFD, 0x00, 0x7B, 0xBC, 0x3F, 0x97, 0x00, 0x0C, 0x17, 0x32, 0x00, 0x5D, 0xE0,
|
||||
0x30, 0x00, 0x72, 0xF7, 0xBF, 0x8A, 0x91, 0x2E, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x0D, 0x15, 0x0C, 0x0F, 0x0C, 0x00, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x0C, 0x00,
|
||||
0xB0, 0x14, 0x82, 0xD3, 0x03, 0x6F, 0x0C, 0x2F, 0x96, 0x10, 0x63, 0x0D, 0xA1, 0x00, 0x31, 0xFD, 0xD4, 0x49, 0x9F, 0x84, 0x44, 0x00, 0x1B, 0xDB, 0x27, 0x00, 0xBE, 0x5F, 0xFE, 0x00, 0xE9, 0x08,
|
||||
0x00, 0x8A, 0x4A, 0x74, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x0E, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x0D, 0x7B, 0xB0, 0x44, 0x3E, 0xB1,
|
||||
0x01, 0x66, 0xD7, 0x09, 0x30, 0x08, 0xCD, 0x0C, 0xA1, 0x00, 0x4A, 0xFD, 0x00, 0x7B, 0x72, 0x05, 0x96, 0x00, 0x85, 0x34, 0x7E, 0x00, 0xFE, 0xFB, 0x2F, 0x00, 0xCC, 0xF7, 0xBF, 0x8A, 0x3C, 0x14,
|
||||
0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x0F, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x0E, 0x7B, 0xB0, 0x44, 0x92, 0xB0, 0x01, 0xBF, 0xF2, 0x71,
|
||||
0x4F, 0xF7, 0x0E, 0x0D, 0xA1, 0x00, 0x26, 0xFD, 0x00, 0x7B, 0x66, 0x06, 0x3A, 0x00, 0xAE, 0x39, 0x2B, 0x00, 0xEF, 0x2D, 0x9C, 0x00, 0x95, 0x0F, 0x80, 0x8A, 0x3F, 0x35, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x34, 0x00, 0x02, 0x00, 0x00, 0x10, 0x15, 0x0C, 0x0F, 0x0C, 0x00, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x0F, 0x00, 0xB0, 0x14, 0x96, 0x34, 0x03, 0x8E, 0xB0, 0x65, 0xEC, 0x12, 0x8F, 0x0C,
|
||||
0xA1, 0x00, 0x1F, 0xFD, 0xD4, 0x49, 0x4F, 0x13, 0x98, 0x00, 0x3B, 0xE7, 0x1B, 0x00, 0xBB, 0xBD, 0x37, 0x00, 0x39, 0xF6, 0x3F, 0x8A, 0xF3, 0x43, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00,
|
||||
0x00, 0x11, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x10, 0x7B, 0xB0, 0x04, 0x5E, 0xE6, 0x01, 0xF3, 0xDF, 0x70, 0xA4, 0x18, 0x50, 0x0D, 0xA1, 0x00, 0x34, 0xFD,
|
||||
0x00, 0x7B, 0x86, 0x84, 0xC1, 0x00, 0x0F, 0xBA, 0xC1, 0x00, 0xF9, 0x59, 0xC2, 0x00, 0x39, 0x0A, 0x80, 0x8A, 0x83, 0x21, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x12, 0x15, 0x0C,
|
||||
0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x11, 0x7B, 0xB0, 0x04, 0x92, 0xB3, 0x01, 0xCD, 0x23, 0x11, 0x1A, 0x12, 0xC7, 0x0C, 0xA1, 0x00, 0x57, 0xFD, 0x00, 0x7B, 0x1B, 0x89,
|
||||
0xEA, 0x00, 0x3E, 0x35, 0x7D, 0x00, 0x7D, 0xB8, 0x6F, 0x00, 0x2B, 0xF1, 0xBF, 0x8A, 0x1F, 0x89, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x13, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C,
|
||||
0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x12, 0x7B, 0xB0, 0x44, 0xDE, 0x29, 0x01, 0x15, 0x35, 0x49, 0xCA, 0x17, 0xF3, 0x0C, 0xA1, 0x00, 0x30, 0xFD, 0x00, 0x7B, 0xBE, 0x59, 0xC3, 0x00, 0xEA, 0xA7,
|
||||
0x50, 0x00, 0xBF, 0x3E, 0x23, 0x00, 0x5C, 0x08, 0x80, 0x8A, 0x31, 0x50, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x14, 0x15, 0x0C, 0x0F, 0x0C, 0x00, 0x1C, 0x00, 0x00, 0xE0, 0x4A,
|
||||
0x01, 0x03, 0x13, 0x00, 0xB0, 0x14, 0x3E, 0x72, 0x03, 0xA1, 0xC5, 0x2C, 0xFA, 0xFE, 0x86, 0x0D, 0xA1, 0x00, 0x1B, 0xFD, 0xD4, 0x49, 0x2C, 0x39, 0x0E, 0x00, 0xE5, 0x41, 0x7C, 0x00, 0x59, 0xEE,
|
||||
0xE7, 0x00, 0x1F, 0xFA, 0x3F, 0x8A, 0x05, 0x19, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x15, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x14, 0x7B,
|
||||
0xB0, 0x44, 0x9E, 0xFA, 0x01, 0xD6, 0x02, 0xC7, 0xCD, 0x0A, 0x8B, 0x0C, 0xA1, 0x00, 0x4C, 0xFD, 0x00, 0x7B, 0x38, 0x8D, 0xE6, 0x00, 0x0D, 0x36, 0xD5, 0x00, 0xBA, 0x5E, 0xC7, 0x00, 0xA0, 0x00,
|
||||
0x80, 0x8A, 0x7F, 0x6E, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x16, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x15, 0x7B, 0xB0, 0x44, 0x9E, 0x17,
|
||||
0x01, 0x24, 0x81, 0x37, 0xE8, 0xFC, 0xEA, 0x0C, 0xA1, 0x00, 0x4C, 0xFD, 0x00, 0x7B, 0xDE, 0x06, 0x10, 0x00, 0xD1, 0x69, 0xDC, 0x00, 0xC5, 0x18, 0x94, 0x00, 0x28, 0x16, 0x80, 0x8A, 0xBE, 0x20,
|
||||
0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x17, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x16, 0x7B, 0xB0, 0x44, 0x2E, 0xDB, 0x01, 0x43, 0xB7, 0x0F,
|
||||
0xCC, 0x0F, 0x25, 0x0D, 0xA1, 0x00, 0x68, 0xFD, 0x00, 0x7B, 0x32, 0x3D, 0x13, 0x00, 0x85, 0x6C, 0x73, 0x00, 0xE0, 0xD5, 0x4F, 0x00, 0x1B, 0xF8, 0xBF, 0x8A, 0x13, 0xA5, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x34, 0x00, 0x02, 0x00, 0x00, 0x18, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x17, 0x7B, 0xB0, 0x04, 0xAC, 0x23, 0x01, 0x3F, 0x2F, 0x63, 0xE2, 0xFA, 0x29, 0x0D,
|
||||
0xA1, 0x00, 0x4A, 0xFD, 0x00, 0x7B, 0x90, 0xA3, 0x66, 0x00, 0x3C, 0x04, 0x20, 0x00, 0x7B, 0x4A, 0x74, 0x00, 0x1E, 0x09, 0x80, 0x8A, 0x67, 0xDD, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00,
|
||||
0x00, 0x19, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x18, 0x7B, 0xB0, 0x04, 0xF3, 0x84, 0x01, 0x2A, 0xEE, 0x52, 0xCB, 0x0A, 0x9F, 0x0D, 0xA1, 0x00, 0x4E, 0xFD,
|
||||
0x00, 0x7B, 0xFC, 0x28, 0x94, 0x00, 0x03, 0x3B, 0x27, 0x00, 0x5D, 0xC2, 0x28, 0x00, 0x06, 0x11, 0x00, 0x8A, 0xBF, 0x71, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x1A, 0x15, 0x0C,
|
||||
0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x19, 0x7B, 0xB0, 0x44, 0x12, 0x8B, 0x01, 0xA4, 0xBC, 0x35, 0x56, 0xFE, 0xF0, 0x0C, 0xA1, 0x00, 0x43, 0xFD, 0x00, 0x7B, 0x47, 0x4D,
|
||||
0x92, 0x00, 0xCE, 0xEF, 0x0C, 0x00, 0x55, 0x6B, 0x0E, 0x00, 0xA9, 0x08, 0x00, 0x8A, 0x09, 0xC6, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x1B, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C,
|
||||
0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x1A, 0x7B, 0xB0, 0x44, 0x25, 0xAF, 0x01, 0xD4, 0x10, 0x50, 0x81, 0x14, 0xC4, 0x0C, 0xA1, 0x00, 0x29, 0xFD, 0x00, 0x7B, 0xA9, 0xFD, 0xBE, 0x00, 0x17, 0x91,
|
||||
0x19, 0x00, 0x63, 0x98, 0xC1, 0x00, 0x12, 0xFF, 0x3F, 0x8A, 0x9F, 0x4C, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x1D, 0x15, 0x0C, 0x0F, 0x0C, 0x00, 0x1C, 0x00, 0x00, 0xE0, 0x4A,
|
||||
0x01, 0x03, 0x1C, 0x00, 0xB0, 0x14, 0x3D, 0x4B, 0x03, 0x1C, 0xF4, 0x0E, 0xF2, 0x19, 0x63, 0x0C, 0xA1, 0x00, 0x2E, 0xFD, 0xD4, 0x49, 0x34, 0x1C, 0xC2, 0x00, 0x7E, 0x9D, 0x60, 0x00, 0x79, 0x3B,
|
||||
0x17, 0x00, 0x2A, 0xF6, 0x3F, 0x8A, 0x99, 0x1E, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x1E, 0x15, 0x0C, 0x0F, 0x0C, 0x00, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x1D, 0x00,
|
||||
0xB0, 0x14, 0x9C, 0x70, 0x03, 0x50, 0xC4, 0x2B, 0x21, 0xFC, 0xF9, 0x0C, 0xA1, 0x00, 0x44, 0xFD, 0xD4, 0x49, 0x07, 0x9B, 0x6A, 0x00, 0x77, 0x0C, 0x90, 0x00, 0xE5, 0x6F, 0x9E, 0x00, 0xF8, 0xFD,
|
||||
0x3F, 0x8A, 0x8C, 0x9F, 0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x1F, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x1E, 0x7B, 0xB0, 0x04, 0x9F, 0xDA,
|
||||
0x01, 0x5F, 0x6C, 0x55, 0x80, 0x08, 0xD4, 0x0C, 0xA1, 0x00, 0x5E, 0xFD, 0x00, 0x7B, 0xCB, 0xAE, 0x6A, 0x00, 0x9B, 0x04, 0x0E, 0x00, 0x96, 0x65, 0x3A, 0x00, 0x5F, 0x07, 0x80, 0x8A, 0xAA, 0xFA,
|
||||
0xB5, 0x62, 0x13, 0x80, 0x34, 0x00, 0x02, 0x00, 0x00, 0x20, 0x15, 0x0C, 0x11, 0x13, 0x38, 0x1C, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x1F, 0x7B, 0xB0, 0x44, 0x7E, 0x41, 0x01, 0x92, 0xEF, 0x2A,
|
||||
0x99, 0x09, 0x6C, 0x0D, 0xA1, 0x00, 0x40, 0xFD, 0x00, 0x7B, 0x3C, 0xB6, 0x3E, 0x00, 0x0C, 0xA2, 0x9E, 0x00, 0x27, 0x24, 0xDF, 0x00, 0xE0, 0xFF, 0xBF, 0x8A, 0xEB, 0xFB, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x24, 0x00, 0x02, 0x00, 0x01, 0x7B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x23, 0x00, 0xB0, 0x44, 0x55, 0xF1, 0x01, 0x0A, 0x01, 0xB6, 0x8F, 0x10, 0x40, 0x8D,
|
||||
0x04, 0x00, 0x8A, 0x08, 0x0E, 0x00, 0x92, 0x02, 0xB5, 0x62, 0x13, 0x80, 0x24, 0x00, 0x02, 0x00, 0x01, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x30, 0x00,
|
||||
0xB0, 0x44, 0x66, 0xC5, 0x03, 0x31, 0x1B, 0xBF, 0xC2, 0x02, 0x40, 0x8D, 0x04, 0x00, 0x8A, 0x08, 0x0E, 0x00, 0x02, 0x61, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x01, 0x15, 0x0C,
|
||||
0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x9F, 0xBD, 0xD2, 0x04, 0x7B, 0x94, 0x00, 0x0C, 0xC5, 0x40, 0x6B, 0x08, 0x38, 0xC3, 0x24, 0xFD, 0xC5, 0xC3, 0xA5, 0x57, 0xE1, 0x21,
|
||||
0x3E, 0x01, 0x58, 0x1D, 0x78, 0x3A, 0x38, 0x13, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x02, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA0, 0xBD,
|
||||
0xB2, 0x04, 0x91, 0x39, 0x00, 0x56, 0xDD, 0x3F, 0x2B, 0x17, 0x59, 0xC0, 0x82, 0xEF, 0x6C, 0x9A, 0xA8, 0x57, 0x7C, 0x9D, 0x72, 0x07, 0xBA, 0x27, 0x78, 0x3A, 0xB1, 0x11, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x2C, 0x00, 0x02, 0x00, 0x06, 0x03, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA1, 0xBD, 0xD2, 0x04, 0xBE, 0x31, 0x00, 0xB5, 0xD6, 0x3F, 0x6B, 0x19, 0x87, 0xDB,
|
||||
0x80, 0xFE, 0x42, 0x0C, 0xAB, 0x57, 0xDE, 0xA0, 0x21, 0x07, 0xF9, 0x23, 0x74, 0x3A, 0x7E, 0x46, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x04, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A,
|
||||
0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA2, 0xBD, 0xB2, 0x04, 0x57, 0x31, 0x00, 0x4B, 0xBE, 0x3F, 0xAB, 0x21, 0x5E, 0x0B, 0x3F, 0xFC, 0x75, 0x74, 0xAD, 0x57, 0x5F, 0xB2, 0x07, 0x03, 0x1B, 0x2B,
|
||||
0x70, 0x3A, 0xBB, 0x0F, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x05, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA3, 0xBD, 0xD2, 0x04, 0x33, 0x11,
|
||||
0x00, 0x49, 0xAC, 0x3F, 0x6B, 0x28, 0xE3, 0x3A, 0x7D, 0xFD, 0x5F, 0xDB, 0xAF, 0x57, 0x9D, 0x88, 0x4D, 0x02, 0x72, 0x2B, 0x6C, 0x3A, 0x3E, 0x71, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00,
|
||||
0x06, 0x06, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA4, 0xBD, 0xD2, 0x04, 0xEC, 0x1E, 0x00, 0xD0, 0xF5, 0x3F, 0x2B, 0x37, 0x2E, 0xF3, 0xBA, 0x80, 0x9A, 0xA6,
|
||||
0xB2, 0x57, 0xF7, 0x5D, 0x55, 0x03, 0xF4, 0x1C, 0x68, 0x3A, 0x19, 0x49, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x07, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A,
|
||||
0x01, 0x03, 0xA5, 0xBD, 0xD2, 0x84, 0xCD, 0x4A, 0x02, 0x75, 0xE1, 0x3F, 0x6B, 0x39, 0x75, 0x51, 0x48, 0x81, 0x45, 0x3F, 0xA1, 0x57, 0x5D, 0xA0, 0x16, 0x06, 0x27, 0x24, 0x84, 0x3A, 0xA8, 0x47,
|
||||
0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x08, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA6, 0xBD, 0xD2, 0x04, 0x3F, 0xAB, 0x00, 0xC5, 0xCE, 0x3F,
|
||||
0xAB, 0x41, 0x2F, 0x8F, 0x06, 0x82, 0x68, 0x8F, 0xA3, 0x57, 0xB1, 0xB2, 0x4E, 0x07, 0x51, 0x24, 0x90, 0x3A, 0x81, 0x71, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x09, 0x15, 0x0C,
|
||||
0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA7, 0xBD, 0xD2, 0x04, 0xEF, 0x93, 0x00, 0x15, 0x7A, 0x40, 0xAB, 0x4F, 0xD9, 0xD5, 0x4F, 0xFF, 0xD6, 0x42, 0xA5, 0x57, 0xAC, 0x90,
|
||||
0x39, 0x06, 0x3F, 0x11, 0x94, 0x3B, 0xA2, 0xFC, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x0A, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA8, 0xBD,
|
||||
0xD2, 0x84, 0x00, 0xC3, 0x00, 0xBA, 0x16, 0x40, 0x6B, 0x56, 0xF5, 0x1B, 0x8E, 0x82, 0xD8, 0x8B, 0xA7, 0x57, 0x1B, 0x06, 0xE9, 0x06, 0x2D, 0x21, 0x94, 0x3B, 0x71, 0x55, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x2C, 0x00, 0x02, 0x00, 0x06, 0x0B, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xA9, 0xBD, 0xD2, 0x04, 0xD3, 0x18, 0x00, 0x90, 0x2C, 0x40, 0x2B, 0x58, 0xCF, 0x2D,
|
||||
0x8C, 0x7E, 0xEF, 0x12, 0xAA, 0x57, 0xD2, 0xB1, 0xAD, 0x01, 0x45, 0x27, 0x94, 0x3B, 0x8F, 0x20, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x0C, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A,
|
||||
0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xAA, 0xBD, 0xD2, 0x04, 0x7F, 0x3D, 0x00, 0x5E, 0x7A, 0x40, 0xEB, 0x67, 0x2C, 0x45, 0xCA, 0xF6, 0x48, 0xA8, 0xAC, 0x57, 0xF8, 0xD5, 0x66, 0x04, 0x36, 0x22,
|
||||
0x94, 0x3B, 0x5B, 0x01, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x0D, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xAB, 0xBD, 0xD2, 0x84, 0xC1, 0x1E,
|
||||
0x00, 0xC6, 0xFF, 0x3F, 0xAB, 0x6F, 0xFE, 0x69, 0x28, 0x82, 0xE4, 0x06, 0xAF, 0x57, 0x3D, 0x34, 0x38, 0x02, 0xFB, 0x20, 0x94, 0x3B, 0xC8, 0xB3, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00,
|
||||
0x06, 0x0E, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xAC, 0xBD, 0xB2, 0x04, 0x41, 0xAE, 0x00, 0xFC, 0x51, 0x40, 0x6B, 0x76, 0x2D, 0x7B, 0xA6, 0xFD, 0x9C, 0x9F,
|
||||
0xB1, 0x57, 0xDA, 0xAF, 0xDE, 0x01, 0xB5, 0x1B, 0x98, 0x3B, 0x8D, 0x75, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x0F, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A,
|
||||
0x01, 0x03, 0xAD, 0xBD, 0xD2, 0x04, 0x32, 0x99, 0x02, 0x17, 0x61, 0x40, 0x2B, 0x78, 0x76, 0xB4, 0xD3, 0xFC, 0x10, 0x45, 0xA0, 0x57, 0x67, 0xC7, 0xEF, 0x02, 0x93, 0x20, 0x90, 0x3B, 0xC3, 0x1E,
|
||||
0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x10, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xAE, 0xBD, 0xD2, 0x04, 0x70, 0x64, 0x02, 0x10, 0xC5, 0x40,
|
||||
0xEB, 0x87, 0x72, 0x87, 0xF1, 0x80, 0x8E, 0xF2, 0xA2, 0x57, 0x57, 0x0A, 0x76, 0x0C, 0xD9, 0x17, 0x88, 0x3B, 0x91, 0xAA, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x11, 0x15, 0x0C,
|
||||
0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xAF, 0xBD, 0xD2, 0x04, 0x95, 0xB0, 0x00, 0x24, 0x2D, 0x40, 0x2B, 0x89, 0x3B, 0x4D, 0x5B, 0xF0, 0xAB, 0x5C, 0xA4, 0x57, 0x50, 0x95,
|
||||
0x23, 0x04, 0xB1, 0x3A, 0x0C, 0x3A, 0x59, 0x64, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x12, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xB0, 0xBD,
|
||||
0xD2, 0x04, 0x61, 0xBD, 0x00, 0xC7, 0x14, 0x40, 0x6B, 0x97, 0x82, 0x8D, 0xD9, 0xFC, 0xB9, 0xB4, 0xA6, 0x57, 0x71, 0xE6, 0x0F, 0x05, 0x96, 0x40, 0x10, 0x3A, 0xD3, 0x7B, 0xB5, 0x62, 0x13, 0x80,
|
||||
0x2C, 0x00, 0x02, 0x00, 0x06, 0x13, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xB1, 0xBD, 0xD2, 0x04, 0x61, 0x35, 0x00, 0xC3, 0xC6, 0x3F, 0xEB, 0x98, 0x44, 0x01,
|
||||
0x98, 0x85, 0xA8, 0xE9, 0xA8, 0x57, 0xC2, 0xA4, 0x0D, 0x01, 0xFD, 0x45, 0x10, 0x3A, 0x94, 0x41, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x14, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A,
|
||||
0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xB2, 0xBD, 0xD2, 0x04, 0xB1, 0x18, 0x00, 0x5D, 0x11, 0x40, 0xAB, 0xA0, 0xC8, 0xDF, 0x15, 0x82, 0xB1, 0xB9, 0xAB, 0x57, 0xF1, 0xE9, 0xC1, 0x03, 0x4A, 0x46,
|
||||
0x10, 0x3A, 0xA7, 0x43, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x15, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xB3, 0xBD, 0xD2, 0x04, 0x28, 0x00,
|
||||
0x02, 0x5E, 0x5E, 0x40, 0x2B, 0xA9, 0x27, 0xA6, 0x73, 0x88, 0xE6, 0x73, 0xAE, 0x57, 0xCC, 0x8C, 0xAD, 0x02, 0x36, 0x3F, 0x14, 0x3A, 0xAF, 0x7C, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00,
|
||||
0x06, 0x16, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xB4, 0xBD, 0xD2, 0x04, 0x85, 0xEC, 0x00, 0x91, 0xEE, 0x3F, 0x6B, 0xB7, 0x72, 0xF2, 0xD1, 0x84, 0x7D, 0xBE,
|
||||
0xB0, 0x57, 0xEE, 0x05, 0x09, 0x08, 0x71, 0x43, 0x18, 0x3A, 0x1D, 0x65, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x17, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A,
|
||||
0x01, 0x03, 0xB5, 0xBD, 0xD2, 0x04, 0xB1, 0x72, 0x02, 0x0E, 0xDA, 0x3E, 0xEB, 0xB8, 0xE4, 0xB4, 0xAF, 0x80, 0x21, 0xAF, 0xB3, 0x57, 0x7C, 0x50, 0x49, 0x00, 0x24, 0x43, 0x18, 0x3A, 0x26, 0xE7,
|
||||
0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x02, 0x00, 0x06, 0x18, 0x15, 0x0C, 0x15, 0x15, 0x00, 0x2A, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0xB6, 0xBD, 0xD2, 0x04, 0xE1, 0x9D, 0x00, 0xA2, 0x0C, 0x40,
|
||||
0xAB, 0xC0, 0xEA, 0x39, 0xDD, 0xFD, 0x09, 0xEC, 0xA1, 0x57, 0x92, 0xAE, 0x92, 0x03, 0x96, 0x2B, 0x08, 0x3A, 0x64, 0xD1, 0xB5, 0x62, 0x13, 0x80, 0x78, 0x00, 0x03, 0x00, 0x00, 0xFF, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x19, 0x00, 0x00, 0x05, 0x03, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0xB0, 0x07, 0x00, 0x8A, 0x08, 0x89, 0x08, 0x12, 0x07,
|
||||
0x12, 0x00, 0xC1, 0x03, 0x00, 0x00, 0x19, 0x00, 0x00, 0x07, 0x00, 0x00, 0x80, 0x32, 0x00, 0x00, 0x80, 0xB2, 0x00, 0x00, 0x80, 0xB3, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0xEC, 0x47, 0x00, 0x00,
|
||||
0x60, 0xC8, 0x00, 0x00, 0x80, 0xC7, 0x00, 0x00, 0x50, 0x49, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD1, 0x22, 0xB5, 0x62, 0x13, 0x80, 0x2C, 0x00, 0x03, 0x00, 0x06, 0xFF, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x4A, 0x01, 0x03, 0x12, 0x00, 0x06, 0x07, 0x11, 0x00, 0x06, 0x15, 0x01, 0x00, 0x00, 0x00, 0x1E, 0x00, 0x00, 0x00, 0xBD, 0x3A, 0xBD, 0x02, 0x92, 0xC7,
|
||||
0x1E, 0x00, 0xBD, 0x3A, 0x00, 0x00, 0x83, 0xEB, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x02, 0x15, 0x0C, 0x04, 0x14, 0x0F, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x01, 0x5E,
|
||||
0xAD, 0x14, 0x0D, 0xD9, 0x01, 0x99, 0x8A, 0x08, 0x57, 0xFD, 0x00, 0x00, 0x00, 0xC4, 0xA0, 0xFF, 0xAF, 0x13, 0x31, 0x04, 0x00, 0xED, 0x07, 0xBB, 0xE2, 0xC1, 0xE2, 0xA6, 0xA2, 0x5F, 0x18, 0xC2,
|
||||
0x8E, 0x08, 0x42, 0xC9, 0xD5, 0x17, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x07, 0x20, 0x00, 0x50, 0xF8, 0xAB, 0xA6, 0xD0, 0xC2, 0x7C, 0xE2, 0xDC, 0x80, 0x36, 0x92, 0x07, 0x9C, 0x36, 0xA1, 0x2E,
|
||||
0x78, 0x0C, 0x91, 0xCE, 0x7E, 0xE6, 0x3E, 0x63, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x05, 0x15, 0x0C, 0x04, 0x14, 0x1E, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x04, 0x5E,
|
||||
0xAD, 0x14, 0xBB, 0x54, 0x01, 0x85, 0x8A, 0x08, 0x58, 0xFD, 0x00, 0x00, 0x40, 0xC4, 0xA9, 0xFF, 0xAF, 0x13, 0xEE, 0xD1, 0x3F, 0xF4, 0xE8, 0xBA, 0x02, 0x42, 0xDB, 0xA6, 0xE2, 0x4F, 0x93, 0xCC,
|
||||
0x86, 0x08, 0x5E, 0xE0, 0xFB, 0x01, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x08, 0x20, 0xB2, 0xC2, 0xA1, 0xA2, 0x5A, 0xF1, 0x5A, 0x67, 0xD2, 0x32, 0xCB, 0x87, 0x73, 0xEA, 0xA6, 0x22, 0x7E, 0xCE,
|
||||
0xB7, 0xF8, 0x59, 0xCB, 0x13, 0xCF, 0x90, 0x3D, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x07, 0x15, 0x0C, 0x04, 0x14, 0x1E, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x06, 0x5E,
|
||||
0xAD, 0x14, 0x1C, 0x84, 0x01, 0x3C, 0x8A, 0x08, 0x58, 0x01, 0x00, 0x00, 0x40, 0x44, 0x5B, 0x01, 0xA0, 0x13, 0xB1, 0x77, 0x00, 0xF4, 0xE8, 0xBA, 0x02, 0x02, 0xDC, 0xA6, 0x62, 0x0D, 0x9B, 0x10,
|
||||
0x8D, 0x08, 0xE8, 0xB3, 0x12, 0x04, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x08, 0x20, 0xD3, 0xB5, 0xB7, 0x0A, 0x9E, 0x12, 0x42, 0xA2, 0x14, 0xB9, 0xAD, 0xE8, 0xD6, 0xBA, 0xA1, 0x04, 0xEB, 0x56,
|
||||
0xE5, 0x29, 0xD2, 0xF1, 0x3E, 0xD4, 0x51, 0xD3, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x09, 0x15, 0x0C, 0x04, 0x14, 0x1E, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x08, 0x5E,
|
||||
0xAD, 0x14, 0xAE, 0x75, 0x01, 0xEB, 0x8A, 0x08, 0x58, 0x7D, 0x00, 0x00, 0x40, 0x44, 0x27, 0x00, 0xA0, 0x13, 0x2A, 0x09, 0x80, 0x01, 0xE8, 0xBA, 0x02, 0xC2, 0xDC, 0xA6, 0x42, 0x7D, 0x43, 0x25,
|
||||
0x97, 0x08, 0x0E, 0x55, 0xE8, 0x19, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x08, 0x20, 0x34, 0x43, 0x60, 0xE2, 0x59, 0x42, 0xAE, 0xE1, 0xE5, 0x34, 0x86, 0x80, 0xA7, 0xDF, 0xA3, 0xE9, 0x4E, 0xB1,
|
||||
0xF7, 0x28, 0xB4, 0xBC, 0x8B, 0xD9, 0x5E, 0x5F, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x0D, 0x15, 0x0C, 0x04, 0x14, 0x1E, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x0C, 0x5E,
|
||||
0xAD, 0x14, 0x79, 0x8D, 0x01, 0x81, 0x8A, 0x08, 0x58, 0x01, 0x00, 0x00, 0x40, 0x44, 0x91, 0x01, 0xA0, 0x13, 0x16, 0xD5, 0x3F, 0xF4, 0xE8, 0xBA, 0x02, 0x42, 0xDC, 0xA6, 0x62, 0x60, 0x15, 0x2D,
|
||||
0x81, 0x08, 0x74, 0x9A, 0x0E, 0x09, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x08, 0x20, 0x43, 0x1D, 0xEA, 0x22, 0xB7, 0x2E, 0xD8, 0x3E, 0x59, 0x3A, 0x55, 0x75, 0x09, 0xE7, 0x0A, 0x39, 0xC6, 0x02,
|
||||
0x6D, 0xFD, 0xE5, 0xF4, 0x5E, 0xEB, 0x85, 0x41, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x10, 0x15, 0x0C, 0x04, 0x14, 0x1E, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x0F, 0x5E,
|
||||
0xAD, 0x14, 0xB3, 0xBB, 0x01, 0x4E, 0x8A, 0x08, 0x58, 0xFD, 0x00, 0x00, 0x40, 0xC4, 0x49, 0xFE, 0xAF, 0x13, 0x9A, 0xA4, 0x3F, 0xF5, 0xE8, 0xBA, 0x02, 0x02, 0xDC, 0xA6, 0xA2, 0x33, 0xC9, 0x6D,
|
||||
0x90, 0x08, 0x5A, 0x9A, 0xE3, 0x00, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x08, 0x20, 0x0D, 0xDD, 0x6D, 0xCD, 0xC2, 0x40, 0x3A, 0x97, 0x5C, 0x01, 0x02, 0x3D, 0x12, 0x48, 0x55, 0xDE, 0xBA, 0x35,
|
||||
0x8E, 0xFB, 0xE1, 0xF2, 0x92, 0xCE, 0x5C, 0xFB, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x14, 0x15, 0x0C, 0x04, 0x14, 0x1E, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x13, 0x5E,
|
||||
0xAD, 0x14, 0x31, 0xC2, 0x01, 0x0F, 0x8A, 0x08, 0x58, 0x81, 0x00, 0x00, 0x40, 0x44, 0xF0, 0xFF, 0xAF, 0x13, 0x98, 0x87, 0x3F, 0xF7, 0xE8, 0xBA, 0x02, 0xC2, 0xDC, 0xA6, 0x42, 0x50, 0xFF, 0x9B,
|
||||
0x8B, 0x08, 0x16, 0xF0, 0x21, 0x1C, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x08, 0x20, 0x93, 0x50, 0xE6, 0x06, 0xCF, 0xB8, 0x8C, 0x20, 0xB6, 0x0C, 0x26, 0x4A, 0xC1, 0xC6, 0x7E, 0x22, 0xAC, 0xC6,
|
||||
0x13, 0x14, 0x27, 0xFF, 0x18, 0xD2, 0xBA, 0xBA, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x1D, 0x15, 0x0C, 0x04, 0x14, 0x1E, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x1C, 0x5E,
|
||||
0xAD, 0x14, 0x13, 0x8D, 0x01, 0xBC, 0x8A, 0x08, 0x58, 0xFD, 0x00, 0x00, 0x40, 0xC4, 0x8F, 0xFE, 0xAF, 0x13, 0x52, 0xDC, 0x00, 0xF5, 0xE8, 0xBA, 0x02, 0xC2, 0xDC, 0xA6, 0xC2, 0x76, 0x7B, 0x55,
|
||||
0x91, 0x08, 0x2A, 0xA2, 0xE2, 0x18, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x08, 0x20, 0x0F, 0xB0, 0x0B, 0x57, 0x2E, 0x66, 0x57, 0xE9, 0x32, 0x5E, 0x4E, 0x14, 0x13, 0x5E, 0xFF, 0x22, 0xFA, 0x2A,
|
||||
0x77, 0xDB, 0x2C, 0xC6, 0xC6, 0xDE, 0x74, 0x97, 0xB5, 0x62, 0x13, 0x80, 0x58, 0x00, 0x05, 0x00, 0x00, 0x1E, 0x15, 0x0C, 0x04, 0x14, 0x1E, 0x03, 0x06, 0x1E, 0xE0, 0x4A, 0x01, 0x03, 0x1D, 0x5E,
|
||||
0xAD, 0x14, 0x8D, 0x68, 0x01, 0xBB, 0x8A, 0x08, 0x58, 0xFD, 0x00, 0x00, 0x40, 0x44, 0x28, 0xFF, 0xAF, 0x13, 0x5F, 0x5B, 0x00, 0x04, 0xE8, 0xBA, 0x02, 0x42, 0xDC, 0xA6, 0x22, 0x7D, 0x16, 0x76,
|
||||
0x89, 0x08, 0xDE, 0x80, 0xDF, 0x08, 0x7A, 0x3A, 0x00, 0x00, 0xAA, 0x6C, 0x08, 0x20, 0xE3, 0x37, 0xB1, 0x7F, 0xE8, 0xDA, 0x6C, 0x66, 0x21, 0x07, 0x1F, 0x55, 0x27, 0x27, 0x42, 0x1B, 0x68, 0x58,
|
||||
0x2E, 0x2E, 0x19, 0xA5, 0xC5, 0xE3, 0xBB, 0x38
|
||||
};
|
||||
+6
@@ -0,0 +1,6 @@
|
||||
//Your WiFi credentials
|
||||
const char ssid[] = "TRex";
|
||||
const char password[] = "hasBigTeeth";
|
||||
|
||||
//Your AssistNow token
|
||||
const char myAssistNowToken[] = "58XXXXXXXXXXXXXXXXXXYQ";
|
||||
@@ -118,6 +118,8 @@ The const uint8_t * function declarations are:
|
||||
|
||||
* <b>uint8_t getAckAiding(uint16_t maxWait);</b>
|
||||
|
||||
```pushAssistNowData``` returns the number of _bytes_ pushed (not the number of _packets_). The return value should be equal to ```numDataBytes``` if all data was valid and pushed successfully.
|
||||
|
||||
AssistNow Online data is valid for 2-4 hours. 'Stale' data can be re-used but:
|
||||
|
||||
* ```pushAssistNowData``` needs to be told to skip the time information contained in the AssistNow data
|
||||
@@ -176,7 +178,7 @@ AssistNow Autonomous is disabled by default. You can enable it by calling ```set
|
||||
* set ```aopCfg``` to 1 to enable AssistNow Autonomous, or 0 to disable it
|
||||
* ```aopOrbMaxErr``` is used to set the 'lifetime' of the AssistNow data. It is recommended to set aopOrbMaxErr to 0 (the default value). This instructs the module to use the firmware default value that corresponds to a default orbit data validity of approximately three days (for GPS satellites observed once) and up to six days (for GPS and GLONASS satellites observed multiple times over a period of at least half a day).
|
||||
|
||||
Once AssistNow Autonomous is enabled, you can monitor its progress via the ```status``` field in the UBX-NAV-AOPSTATUS message. You can read the ```status``` by calling the helper function ```getAOPSTATUSstatus```. It will return zero when the AssistNow Autonomous data collection is idle. Non-zero values indicate that data collection is in progress.
|
||||
Once AssistNow Autonomous is enabled, you can monitor its status via the ```status``` field in the UBX-NAV-AOPSTATUS message. You can read the ```status``` by calling the helper function ```getAOPSTATUSstatus```. It will return zero when the AssistNow Autonomous data collection is idle. Non-zero values indicate that data collection is in progress. Only power-off the receiver when the subsystem is idle (that is, when the status shows a steady zero).
|
||||
|
||||
* <b>uint8_t getAOPSTATUSstatus(uint16_t maxWait);</b>
|
||||
* <b>uint8_t getAOPSTATUSuseAOP(uint16_t maxWait);</b>
|
||||
@@ -190,7 +192,18 @@ We have included full 'auto' support for UBX-NAV-AOPSTATUS, so you can have the
|
||||
* <b>bool setAutoAOPSTATUScallback(void (*callbackPointer)(UBX_NAV_AOPSTATUS_data_t), uint16_t maxWait);</b>
|
||||
* <b>bool assumeAutoAOPSTATUS(bool enabled, bool implicitUpdate);</b>
|
||||
* <b>void flushAOPSTATUS();</b>
|
||||
* <b>void logNAVAOPSTATUS(bool enabled);</b>
|
||||
* <b>void logAOPSTATUS(bool enabled);</b>
|
||||
|
||||
You can also monitor the AssistNow Autonomous satellite information via the UBX-NAV-SAT message. Again, we have included full 'auto' support for UBX-NAV-SAT. UBX-NAV-SAT contains useful information for each individual satellite which the module has aquired: carrier to noise ratio (signal strength); elevation; azimuth; pseudorange residual; quality indication, health; ephemeris available; almanac available; **AssistNow Offline data availability**; and more. The data can be analyzed using a callback. Please see the AssistNowAutonomous examples for more details.
|
||||
|
||||
* <b>bool getNAVSAT(uint16_t maxWait);</b>
|
||||
* <b>bool setAutoNAVSAT(bool enabled, uint16_t maxWait);</b>
|
||||
* <b>bool setAutoNAVSAT(bool enabled, bool implicitUpdate, uint16_t maxWait);</b>
|
||||
* <b>bool setAutoNAVSATrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait);</b>
|
||||
* <b>bool setAutoNAVSATcallback(void (*callbackPointer)(UBX_NAV_NAVSAT_data_t), uint16_t maxWait);</b>
|
||||
* <b>bool assumeAutoNAVSAT(bool enabled, bool implicitUpdate);</b>
|
||||
* <b>void flushNAVSAT();</b>
|
||||
* <b>void logNAVSAT(bool enabled);</b>
|
||||
|
||||
The AssistNow Autonomous data is stored in the module's RAM memory. If that RAM is Battery-Backed - all SparkFun GNSS boards include battery back-up - then the data will be available after the module is powered down and powered back up again. However, you can also read (poll) the navigation database and store the contents in processor memory. ```readNavigationDatabase``` allows you to do that:
|
||||
|
||||
|
||||
@@ -0,0 +1,121 @@
|
||||
/*
|
||||
Configuring the GNSS to automatically send NAV SAT reports over I2C and display them using a callback
|
||||
By: Paul Clark
|
||||
SparkFun Electronics
|
||||
Date: December 1st, 2021
|
||||
License: MIT. See license file for more information but you can
|
||||
basically do whatever you want with this code.
|
||||
|
||||
This example shows how to configure the u-blox GNSS to send NAV SAT reports automatically
|
||||
and access the data via a callback. No more polling!
|
||||
|
||||
Feel like supporting open source hardware?
|
||||
Buy a board from SparkFun!
|
||||
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
|
||||
|
||||
Hardware Connections:
|
||||
Plug a Qwiic cable into the GPS and a BlackBoard
|
||||
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
|
||||
Open the serial monitor at 115200 baud to see the output
|
||||
*/
|
||||
|
||||
#include <Wire.h> //Needed for I2C to GPS
|
||||
|
||||
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
||||
SFE_UBLOX_GNSS myGNSS;
|
||||
|
||||
// Callback: newNAVSAT will be called when new NAV SAT data arrives
|
||||
// See u-blox_structs.h for the full definition of UBX_NAV_SAT_data_t
|
||||
// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVSATcallback
|
||||
// / _____ This _must_ be UBX_NAV_SAT_data_t
|
||||
// | / _____ You can use any name you like for the struct
|
||||
// | | /
|
||||
// | | |
|
||||
void newNAVSAT(UBX_NAV_SAT_data_t ubxDataStruct)
|
||||
{
|
||||
Serial.println();
|
||||
|
||||
Serial.print(F("New NAV SAT data received. It contains data for "));
|
||||
Serial.print(ubxDataStruct.header.numSvs);
|
||||
if (ubxDataStruct.header.numSvs == 1)
|
||||
Serial.println(F(" SV."));
|
||||
else
|
||||
Serial.println(F(" SVs.));
|
||||
|
||||
// Just for giggles, print the signal strength for each SV as a barchart
|
||||
for (uint16_t block = 0; block < ubxDataStruct.header.numSvs; block++) // For each SV
|
||||
{
|
||||
switch (ubxDataStruct.blocks[block].gnssId) // Print the GNSS ID
|
||||
{
|
||||
case 0:
|
||||
Serial.print(F("GPS "));
|
||||
break;
|
||||
case 1:
|
||||
Serial.print(F("SBAS "));
|
||||
break;
|
||||
case 2:
|
||||
Serial.print(F("Galileo "));
|
||||
break;
|
||||
case 3:
|
||||
Serial.print(F("BeiDou "));
|
||||
break;
|
||||
case 4:
|
||||
Serial.print(F("IMES "));
|
||||
break;
|
||||
case 5:
|
||||
Serial.print(F("QZSS "));
|
||||
break;
|
||||
case 6:
|
||||
Serial.print(F("GLONASS "));
|
||||
break;
|
||||
default:
|
||||
Serial.print(F("UNKNOWN "));
|
||||
break;
|
||||
}
|
||||
|
||||
Serial.print(ubxDataStruct.blocks[block].svId); // Print the SV ID
|
||||
|
||||
if (ubxDataStruct.blocks[block].svId < 10) Serial.print(F(" "));
|
||||
else if (ubxDataStruct.blocks[block].svId < 100) Serial.print(F(" "));
|
||||
else Serial.print(F(" "));
|
||||
|
||||
// Print the signal strength as a bar chart
|
||||
for (uint8_t cno = 0; cno < ubxDataStruct.blocks[block].cno; cno++)
|
||||
Serial.print(F("="));
|
||||
|
||||
Serial.println();
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial); //Wait for user to open terminal
|
||||
Serial.println("SparkFun u-blox Example");
|
||||
|
||||
Wire.begin();
|
||||
|
||||
//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
|
||||
|
||||
if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
|
||||
{
|
||||
Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
|
||||
while (1);
|
||||
}
|
||||
|
||||
myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
|
||||
myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
||||
|
||||
myGNSS.setNavigationFrequency(1); //Produce one solution per second
|
||||
|
||||
myGNSS.setAutoNAVSATcallback(&newNAVSAT); // Enable automatic NAV SAT messages with callback to newNAVSAT
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
myGNSS.checkUblox(); // Check for the arrival of new data and process it.
|
||||
myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
|
||||
|
||||
Serial.print(".");
|
||||
delay(50);
|
||||
}
|
||||
+17
-8
@@ -303,6 +303,15 @@ initPacketUBXNAVTIMELS KEYWORD2
|
||||
getSurveyStatus KEYWORD2
|
||||
initPacketUBXNAVSVIN KEYWORD2
|
||||
|
||||
getNAVSAT KEYWORD2
|
||||
setAutoNAVSAT KEYWORD2
|
||||
setAutoNAVSATrate KEYWORD2
|
||||
setAutoNAVSATcallback KEYWORD2
|
||||
assumeAutoNAVSAT KEYWORD2
|
||||
initPacketUBXNAVSAT KEYWORD2
|
||||
flushNAVSAT KEYWORD2
|
||||
logNAVSAT KEYWORD2
|
||||
|
||||
getRELPOSNED KEYWORD2
|
||||
setAutoRELPOSNED KEYWORD2
|
||||
setAutoRELPOSNEDrate KEYWORD2
|
||||
@@ -312,14 +321,14 @@ initPacketUBXNAVRELPOSNED KEYWORD2
|
||||
flushNAVRELPOSNED KEYWORD2
|
||||
logNAVRELPOSNED KEYWORD2
|
||||
|
||||
getNAVAOPSTATUS KEYWORD2
|
||||
setAutoNAVAOPSTATUS KEYWORD2
|
||||
setAutoNAVAOPSTATUSrate KEYWORD2
|
||||
setAutoNAVAOPSTATUScallback KEYWORD2
|
||||
assumeAutoNAVAOPSTATUS KEYWORD2
|
||||
initPacketUBXNAVAOPSTATUS KEYWORD2
|
||||
flushNAVAOPSTATUS KEYWORD2
|
||||
logNAVAOPSTATUS KEYWORD2
|
||||
getAOPSTATUS KEYWORD2
|
||||
setAutoAOPSTATUS KEYWORD2
|
||||
setAutoAOPSTATUSrate KEYWORD2
|
||||
setAutoAOPSTATUScallback KEYWORD2
|
||||
assumeAutoAOPSTATUS KEYWORD2
|
||||
initPacketUBXAOPSTATUS KEYWORD2
|
||||
flushAOPSTATUS KEYWORD2
|
||||
logAOPSTATUS KEYWORD2
|
||||
|
||||
getRXMSFRBX KEYWORD2
|
||||
setAutoRXMSFRBX KEYWORD2
|
||||
|
||||
@@ -234,6 +234,16 @@ void SFE_UBLOX_GNSS::end(void)
|
||||
packetUBXNAVSVIN = NULL; // Redundant?
|
||||
}
|
||||
|
||||
if (packetUBXNAVSAT != NULL)
|
||||
{
|
||||
if (packetUBXNAVSAT->callbackData != NULL)
|
||||
{
|
||||
delete packetUBXNAVSAT->callbackData;
|
||||
}
|
||||
delete packetUBXNAVSAT;
|
||||
packetUBXNAVSAT = NULL; // Redundant?
|
||||
}
|
||||
|
||||
if (packetUBXNAVRELPOSNED != NULL)
|
||||
{
|
||||
if (packetUBXNAVRELPOSNED->callbackData != NULL)
|
||||
@@ -1036,6 +1046,9 @@ bool SFE_UBLOX_GNSS::checkAutomatic(uint8_t Class, uint8_t ID)
|
||||
case UBX_NAV_SVIN:
|
||||
if (packetUBXNAVSVIN != NULL) result = true;
|
||||
break;
|
||||
case UBX_NAV_SAT:
|
||||
if (packetUBXNAVSAT != NULL) result = true;
|
||||
break;
|
||||
case UBX_NAV_RELPOSNED:
|
||||
if (packetUBXNAVRELPOSNED != NULL) result = true;
|
||||
break;
|
||||
@@ -1182,6 +1195,9 @@ uint16_t SFE_UBLOX_GNSS::getMaxPayloadSize(uint8_t Class, uint8_t ID)
|
||||
case UBX_NAV_SVIN:
|
||||
maxSize = UBX_NAV_SVIN_LEN;
|
||||
break;
|
||||
case UBX_NAV_SAT:
|
||||
maxSize = UBX_NAV_SAT_MAX_LEN;
|
||||
break;
|
||||
case UBX_NAV_RELPOSNED:
|
||||
maxSize = UBX_NAV_RELPOSNED_LEN_F9;
|
||||
break;
|
||||
@@ -2388,6 +2404,46 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
|
||||
packetUBXNAVSVIN->moduleQueried.moduleQueried.all = 0xFFFFFFFF;
|
||||
}
|
||||
}
|
||||
else if (msg->id == UBX_NAV_SAT) // Note: length is variable
|
||||
{
|
||||
//Parse various byte fields into storage - but only if we have memory allocated for it
|
||||
if (packetUBXNAVSAT != NULL)
|
||||
{
|
||||
packetUBXNAVSAT->data.header.iTOW = extractLong(msg, 0);
|
||||
packetUBXNAVSAT->data.header.version = extractByte(msg, 4);
|
||||
packetUBXNAVSAT->data.header.numSvs = extractByte(msg, 5);
|
||||
|
||||
for (uint8_t i = 0; (i < UBX_NAV_SAT_MAX_BLOCKS) && (i < packetUBXNAVSAT->data.header.numSvs)
|
||||
&& ((((uint16_t)i) * 12) < (msg->len - 8)); i++)
|
||||
{
|
||||
uint16_t offset = (((uint16_t)i) * 12) + 8;
|
||||
packetUBXNAVSAT->data.blocks[i].gnssId = extractByte(msg, offset + 0);
|
||||
packetUBXNAVSAT->data.blocks[i].svId = extractByte(msg, offset + 1);
|
||||
packetUBXNAVSAT->data.blocks[i].cno = extractByte(msg, offset + 2);
|
||||
packetUBXNAVSAT->data.blocks[i].elev = extractSignedChar(msg, offset + 3);
|
||||
packetUBXNAVSAT->data.blocks[i].azim = extractSignedInt(msg, offset + 4);
|
||||
packetUBXNAVSAT->data.blocks[i].prRes = extractSignedInt(msg, offset + 6);
|
||||
packetUBXNAVSAT->data.blocks[i].flags.all = extractLong(msg, offset + 8);
|
||||
}
|
||||
|
||||
//Mark all datums as fresh (not read before)
|
||||
packetUBXNAVSAT->moduleQueried = true;
|
||||
|
||||
//Check if we need to copy the data for the callback
|
||||
if ((packetUBXNAVSAT->callbackData != NULL) // If RAM has been allocated for the copy of the data
|
||||
&& (packetUBXNAVSAT->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
|
||||
{
|
||||
memcpy(&packetUBXNAVSAT->callbackData->header.iTOW, &packetUBXNAVSAT->data.header.iTOW, sizeof(UBX_NAV_SAT_data_t));
|
||||
packetUBXNAVSAT->automaticFlags.flags.bits.callbackCopyValid = true;
|
||||
}
|
||||
|
||||
//Check if we need to copy the data into the file buffer
|
||||
if (packetUBXNAVSAT->automaticFlags.flags.bits.addToFileBuffer)
|
||||
{
|
||||
storePacket(msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (msg->id == UBX_NAV_RELPOSNED && ((msg->len == UBX_NAV_RELPOSNED_LEN) || (msg->len == UBX_NAV_RELPOSNED_LEN_F9)))
|
||||
{
|
||||
//Parse various byte fields into storage - but only if we have memory allocated for it
|
||||
@@ -3865,6 +3921,17 @@ void SFE_UBLOX_GNSS::checkCallbacks(void)
|
||||
packetUBXNAVCLOCK->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
|
||||
}
|
||||
|
||||
if ((packetUBXNAVSAT != NULL) // If RAM has been allocated for message storage
|
||||
&& (packetUBXNAVSAT->callbackData != NULL) // If RAM has been allocated for the copy of the data
|
||||
&& (packetUBXNAVSAT->callbackPointer != NULL) // If the pointer to the callback has been defined
|
||||
&& (packetUBXNAVSAT->automaticFlags.flags.bits.callbackCopyValid == true)) // If the copy of the data is valid
|
||||
{
|
||||
// if (_printDebug == true)
|
||||
// _debugSerial->println(F("checkCallbacks: calling callback for NAV SAT"));
|
||||
packetUBXNAVSAT->callbackPointer(*packetUBXNAVSAT->callbackData); // Call the callback
|
||||
packetUBXNAVSAT->automaticFlags.flags.bits.callbackCopyValid = false; // Mark the data as stale
|
||||
}
|
||||
|
||||
if ((packetUBXNAVRELPOSNED != NULL) // If RAM has been allocated for message storage
|
||||
&& (packetUBXNAVRELPOSNED->callbackData != NULL) // If RAM has been allocated for the copy of the data
|
||||
&& (packetUBXNAVRELPOSNED->callbackPointer != NULL) // If the pointer to the callback has been defined
|
||||
@@ -4119,7 +4186,7 @@ bool SFE_UBLOX_GNSS::pushRawData(uint8_t *dataBytes, size_t numDataBytes, bool s
|
||||
// Push MGA AssistNow data to the module.
|
||||
// Check for UBX-MGA-ACK responses if required (if mgaAck is YES or ENQUIRE).
|
||||
// Wait for maxWait millis after sending each packet (if mgaAck is NO).
|
||||
// Return how many MGA packets were pushed successfully.
|
||||
// Return how many bytes were pushed successfully.
|
||||
// If skipTime is true, any UBX-MGA-INI-TIME_UTC or UBX-MGA-INI-TIME_GNSS packets found in the data will be skipped,
|
||||
// allowing the user to override with their own time data with setUTCTimeAssistance.
|
||||
size_t SFE_UBLOX_GNSS::pushAssistNowData(const String &dataBytes, size_t numDataBytes, sfe_ublox_mga_assist_ack_e mgaAck, uint16_t maxWait)
|
||||
@@ -4175,6 +4242,7 @@ size_t SFE_UBLOX_GNSS::pushAssistNowDataInternal(size_t offset, bool skipTime, c
|
||||
}
|
||||
|
||||
size_t packetsProcessed = 0; // Keep count of how many packets have been processed
|
||||
size_t bytesPushed = 0; // Keep count
|
||||
|
||||
bool checkForAcks = (mgaAck == SFE_UBLOX_MGA_ASSIST_ACK_YES); // If mgaAck is YES, always check for Acks
|
||||
|
||||
@@ -4247,7 +4315,10 @@ size_t SFE_UBLOX_GNSS::pushAssistNowDataInternal(size_t offset, bool skipTime, c
|
||||
}
|
||||
else
|
||||
{
|
||||
pushRawData((uint8_t *)(dataBytes + dataPtr), packetLength + ((size_t)8)); // Push the data
|
||||
bool pushResult = pushRawData((uint8_t *)(dataBytes + dataPtr), packetLength + ((size_t)8)); // Push the data
|
||||
|
||||
if (pushResult)
|
||||
bytesPushed += packetLength + ((size_t)8); // Increment bytesPushed if the push was successful
|
||||
|
||||
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
|
||||
{
|
||||
@@ -4356,7 +4427,7 @@ size_t SFE_UBLOX_GNSS::pushAssistNowDataInternal(size_t offset, bool skipTime, c
|
||||
}
|
||||
#endif
|
||||
|
||||
return (packetsProcessed);
|
||||
return (bytesPushed); // Return the number of valid bytes successfully pushed
|
||||
}
|
||||
|
||||
// PRIVATE: Allocate RAM for packetUBXMGAACK and initialize it
|
||||
@@ -8717,6 +8788,164 @@ bool SFE_UBLOX_GNSS::initPacketUBXNAVSVIN()
|
||||
return (true);
|
||||
}
|
||||
|
||||
// ***** NAV SAT automatic support
|
||||
|
||||
//Signal information
|
||||
//Returns true if commands was successful
|
||||
bool SFE_UBLOX_GNSS::getNAVSAT(uint16_t maxWait)
|
||||
{
|
||||
if (packetUBXNAVSAT == NULL) initPacketUBXNAVSAT(); //Check that RAM has been allocated for the NAVSAT data
|
||||
if (packetUBXNAVSAT == NULL) //Bail if the RAM allocation failed
|
||||
return (false);
|
||||
|
||||
if (packetUBXNAVSAT->automaticFlags.flags.bits.automatic && packetUBXNAVSAT->automaticFlags.flags.bits.implicitUpdate)
|
||||
{
|
||||
//The GPS is automatically reporting, we just check whether we got unread data
|
||||
checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_SAT);
|
||||
return packetUBXNAVSAT->moduleQueried;
|
||||
}
|
||||
else if (packetUBXNAVSAT->automaticFlags.flags.bits.automatic && !packetUBXNAVSAT->automaticFlags.flags.bits.implicitUpdate)
|
||||
{
|
||||
//Someone else has to call checkUblox for us...
|
||||
return (false);
|
||||
}
|
||||
else
|
||||
{
|
||||
//The GPS is not automatically reporting NAVSAT so we have to poll explicitly
|
||||
packetCfg.cls = UBX_CLASS_NAV;
|
||||
packetCfg.id = UBX_NAV_SAT;
|
||||
packetCfg.len = 0;
|
||||
packetCfg.startingSpot = 0;
|
||||
|
||||
//The data is parsed as part of processing the response
|
||||
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
|
||||
|
||||
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
|
||||
return (true);
|
||||
|
||||
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
|
||||
{
|
||||
return (true);
|
||||
}
|
||||
|
||||
return (false);
|
||||
}
|
||||
}
|
||||
|
||||
//Enable or disable automatic NAVSAT message generation by the GNSS. This changes the way getNAVSAT
|
||||
//works.
|
||||
bool SFE_UBLOX_GNSS::setAutoNAVSAT(bool enable, uint16_t maxWait)
|
||||
{
|
||||
return setAutoNAVSATrate(enable ? 1 : 0, true, maxWait);
|
||||
}
|
||||
|
||||
//Enable or disable automatic NAVSAT message generation by the GNSS. This changes the way getNAVSAT
|
||||
//works.
|
||||
bool SFE_UBLOX_GNSS::setAutoNAVSAT(bool enable, bool implicitUpdate, uint16_t maxWait)
|
||||
{
|
||||
return setAutoNAVSATrate(enable ? 1 : 0, implicitUpdate, maxWait);
|
||||
}
|
||||
|
||||
//Enable or disable automatic HNR attitude message generation by the GNSS. This changes the way getNAVSAT
|
||||
//works.
|
||||
bool SFE_UBLOX_GNSS::setAutoNAVSATrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
|
||||
{
|
||||
if (packetUBXNAVSAT == NULL) initPacketUBXNAVSAT(); //Check that RAM has been allocated for the data
|
||||
if (packetUBXNAVSAT == NULL) //Only attempt this if RAM allocation was successful
|
||||
return false;
|
||||
|
||||
if (rate > 127) rate = 127;
|
||||
|
||||
packetCfg.cls = UBX_CLASS_CFG;
|
||||
packetCfg.id = UBX_CFG_MSG;
|
||||
packetCfg.len = 3;
|
||||
packetCfg.startingSpot = 0;
|
||||
payloadCfg[0] = UBX_CLASS_NAV;
|
||||
payloadCfg[1] = UBX_NAV_SAT;
|
||||
payloadCfg[2] = rate; // rate relative to navigation freq.
|
||||
|
||||
bool ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
|
||||
if (ok)
|
||||
{
|
||||
packetUBXNAVSAT->automaticFlags.flags.bits.automatic = (rate > 0);
|
||||
packetUBXNAVSAT->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
|
||||
}
|
||||
packetUBXNAVSAT->moduleQueried = false; // Mark data as stale
|
||||
return ok;
|
||||
}
|
||||
|
||||
//Enable automatic navigation message generation by the GNSS.
|
||||
bool SFE_UBLOX_GNSS::setAutoNAVSATcallback(void (*callbackPointer)(UBX_NAV_SAT_data_t), uint16_t maxWait)
|
||||
{
|
||||
// Enable auto messages. Set implicitUpdate to false as we expect the user to call checkUblox manually.
|
||||
bool result = setAutoNAVSAT(true, false, maxWait);
|
||||
if (!result)
|
||||
return (result); // Bail if setAuto failed
|
||||
|
||||
if (packetUBXNAVSAT->callbackData == NULL) //Check if RAM has been allocated for the callback copy
|
||||
{
|
||||
packetUBXNAVSAT->callbackData = new UBX_NAV_SAT_data_t; //Allocate RAM for the main struct
|
||||
}
|
||||
|
||||
if (packetUBXNAVSAT->callbackData == NULL)
|
||||
{
|
||||
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
|
||||
_debugSerial->println(F("setAutoNAVSATcallback: RAM alloc failed!"));
|
||||
return (false);
|
||||
}
|
||||
|
||||
packetUBXNAVSAT->callbackPointer = callbackPointer;
|
||||
return (true);
|
||||
}
|
||||
|
||||
//In case no config access to the GNSS is possible and HNR attitude is send cyclically already
|
||||
//set config to suitable parameters
|
||||
bool SFE_UBLOX_GNSS::assumeAutoNAVSAT(bool enabled, bool implicitUpdate)
|
||||
{
|
||||
if (packetUBXNAVSAT == NULL) initPacketUBXNAVSAT(); //Check that RAM has been allocated for the NAVSAT data
|
||||
if (packetUBXNAVSAT == NULL) //Bail if the RAM allocation failed
|
||||
return (false);
|
||||
|
||||
bool changes = packetUBXNAVSAT->automaticFlags.flags.bits.automatic != enabled || packetUBXNAVSAT->automaticFlags.flags.bits.implicitUpdate != implicitUpdate;
|
||||
if (changes)
|
||||
{
|
||||
packetUBXNAVSAT->automaticFlags.flags.bits.automatic = enabled;
|
||||
packetUBXNAVSAT->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
|
||||
}
|
||||
return changes;
|
||||
}
|
||||
|
||||
// PRIVATE: Allocate RAM for packetUBXNAVSAT and initialize it
|
||||
bool SFE_UBLOX_GNSS::initPacketUBXNAVSAT()
|
||||
{
|
||||
packetUBXNAVSAT = new UBX_NAV_SAT_t ; //Allocate RAM for the main struct
|
||||
if (packetUBXNAVSAT == NULL)
|
||||
{
|
||||
if ((_printDebug == true) || (_printLimitedDebug == true)) // This is important. Print this if doing limited debugging
|
||||
_debugSerial->println(F("initPacketUBXNAVSAT: RAM alloc failed!"));
|
||||
return (false);
|
||||
}
|
||||
packetUBXNAVSAT->automaticFlags.flags.all = 0;
|
||||
packetUBXNAVSAT->callbackPointer = NULL;
|
||||
packetUBXNAVSAT->callbackData = NULL;
|
||||
packetUBXNAVSAT->moduleQueried = false;
|
||||
return (true);
|
||||
}
|
||||
|
||||
//Mark all the data as read/stale
|
||||
void SFE_UBLOX_GNSS::flushNAVSAT()
|
||||
{
|
||||
if (packetUBXNAVSAT == NULL) return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
|
||||
packetUBXNAVSAT->moduleQueried = false; //Mark all datums as stale (read before)
|
||||
}
|
||||
|
||||
//Log this data in file buffer
|
||||
void SFE_UBLOX_GNSS::logNAVSAT(bool enabled)
|
||||
{
|
||||
if (packetUBXNAVSAT == NULL) return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
|
||||
packetUBXNAVSAT->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
|
||||
}
|
||||
|
||||
// ***** NAV RELPOSNED automatic support
|
||||
|
||||
//Relative Positioning Information in NED frame
|
||||
@@ -9048,7 +9277,7 @@ void SFE_UBLOX_GNSS::flushAOPSTATUS()
|
||||
}
|
||||
|
||||
//Log this data in file buffer
|
||||
void SFE_UBLOX_GNSS::logNAVAOPSTATUS(bool enabled)
|
||||
void SFE_UBLOX_GNSS::logAOPSTATUS(bool enabled)
|
||||
{
|
||||
if (packetUBXNAVAOPSTATUS == NULL) return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
|
||||
packetUBXNAVAOPSTATUS->automaticFlags.flags.bits.addToFileBuffer = (uint8_t)enabled;
|
||||
|
||||
@@ -709,7 +709,7 @@ public:
|
||||
// Push MGA AssistNow data to the module.
|
||||
// Check for UBX-MGA-ACK responses if required (if mgaAck is YES or ENQUIRE).
|
||||
// Wait for maxWait millis after sending each packet (if mgaAck is NO).
|
||||
// Return how many MGA packets were pushed successfully.
|
||||
// Return how many bytes were pushed successfully.
|
||||
// If skipTime is true, any UBX-MGA-INI-TIME_UTC or UBX-MGA-INI-TIME_GNSS packets found in the data will be skipped,
|
||||
// allowing the user to override with their own time data with setUTCTimeAssistance.
|
||||
// offset allows a sub-set of the data to be sent - starting from offset.
|
||||
@@ -1002,6 +1002,15 @@ public:
|
||||
// Add "auto" support for NAV TIMELS - to avoid needing 'global' storage
|
||||
bool getLeapSecondEvent(uint16_t maxWait); //Reads leap second event info
|
||||
|
||||
bool getNAVSAT(uint16_t maxWait = defaultMaxWait); //Query module for latest AssistNow Autonomous status and load global vars:. If autoNAVSAT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new NAVSAT is available.
|
||||
bool setAutoNAVSAT(bool enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic NAVSAT reports at the navigation frequency
|
||||
bool setAutoNAVSAT(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic NAVSAT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
|
||||
bool setAutoNAVSATrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic NAVSAT reports
|
||||
bool setAutoNAVSATcallback(void (*callbackPointer)(UBX_NAV_SAT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic NAVSAT reports at the navigation frequency. Data is accessed from the callback.
|
||||
bool assumeAutoNAVSAT(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and NAVSAT is send cyclically already
|
||||
void flushNAVSAT(); //Mark all the NAVSAT data as read/stale
|
||||
void logNAVSAT(bool enabled = true); // Log data to file buffer
|
||||
|
||||
bool getRELPOSNED(uint16_t maxWait = defaultMaxWait); //Get Relative Positioning Information of the NED frame
|
||||
bool setAutoRELPOSNED(bool enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RELPOSNED reports
|
||||
bool setAutoRELPOSNED(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RELPOSNED, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
|
||||
@@ -1018,7 +1027,7 @@ public:
|
||||
bool setAutoAOPSTATUScallback(void (*callbackPointer)(UBX_NAV_AOPSTATUS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic AOPSTATUS reports at the navigation frequency. Data is accessed from the callback.
|
||||
bool assumeAutoAOPSTATUS(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and AOPSTATUS is send cyclically already
|
||||
void flushAOPSTATUS(); //Mark all the AOPSTATUS data as read/stale
|
||||
void logNAVAOPSTATUS(bool enabled = true); // Log data to file buffer
|
||||
void logAOPSTATUS(bool enabled = true); // Log data to file buffer
|
||||
|
||||
// Receiver Manager Messages (RXM)
|
||||
|
||||
@@ -1313,6 +1322,7 @@ public:
|
||||
UBX_NAV_CLOCK_t *packetUBXNAVCLOCK = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
|
||||
UBX_NAV_TIMELS_t *packetUBXNAVTIMELS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
|
||||
UBX_NAV_SVIN_t *packetUBXNAVSVIN = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
|
||||
UBX_NAV_SAT_t *packetUBXNAVSAT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
|
||||
UBX_NAV_RELPOSNED_t *packetUBXNAVRELPOSNED = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
|
||||
UBX_NAV_AOPSTATUS_t *packetUBXNAVAOPSTATUS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
|
||||
|
||||
@@ -1396,6 +1406,7 @@ private:
|
||||
bool initPacketUBXNAVCLOCK(); // Allocate RAM for packetUBXNAVCLOCK and initialize it
|
||||
bool initPacketUBXNAVTIMELS(); // Allocate RAM for packetUBXNAVTIMELS and initialize it
|
||||
bool initPacketUBXNAVSVIN(); // Allocate RAM for packetUBXNAVSVIN and initialize it
|
||||
bool initPacketUBXNAVSAT(); // Allocate RAM for packetUBXNAVSAT and initialize it
|
||||
bool initPacketUBXNAVRELPOSNED(); // Allocate RAM for packetUBXNAVRELPOSNED and initialize it
|
||||
bool initPacketUBXNAVAOPSTATUS(); // Allocate RAM for packetUBXNAVAOPSTATUS and initialize it
|
||||
bool initPacketUBXRXMSFRBX(); // Allocate RAM for packetUBXRXMSFRBX and initialize it
|
||||
|
||||
@@ -916,6 +916,79 @@ typedef struct
|
||||
UBX_NAV_TIMELS_data_t *callbackData;
|
||||
} UBX_NAV_TIMELS_t;
|
||||
|
||||
// UBX-NAV-SAT (0x01 0x35): Satellite Information
|
||||
const uint16_t UBX_NAV_SAT_MAX_BLOCKS = 256; // TO DO: confirm if this is large enough for all modules
|
||||
const uint16_t UBX_NAV_SAT_MAX_LEN = 8 + (12 * UBX_NAV_SAT_MAX_BLOCKS);
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint32_t iTOW; // GPS time of week
|
||||
uint8_t version; // Message version (0x01 for this version)
|
||||
uint8_t numSvs; // Number of satellites
|
||||
uint8_t reserved1[2];
|
||||
} UBX_NAV_SAT_header_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t gnssId; // GNSS identifier
|
||||
uint8_t svId; // Satellite identifier
|
||||
uint8_t cno; // Carrier-to-noise density ratio: dB-Hz
|
||||
int8_t elev; // Elevation (range: +/-90): deg
|
||||
int16_t azim; // Azimuth (range 0-360): deg
|
||||
int16_t prRes; // Pseudorange residual: m * 0.1
|
||||
union
|
||||
{
|
||||
uint32_t all;
|
||||
struct
|
||||
{
|
||||
uint32_t qualityInd : 3; // Signal quality indicator: 0: no signal
|
||||
// 1: searching signal
|
||||
// 2: signal acquired
|
||||
// 3: signal detected but unusable
|
||||
// 4: code locked and time synchronized
|
||||
// 5, 6, 7: code and carrier locked and time synchronized
|
||||
uint32_t svUsed : 1; // 1 = Signal in the subset specified in Signal Identifiers is currently being used for navigation
|
||||
uint32_t health : 2; // Signal health flag: 0: unknown 1: healthy 2: unhealthy
|
||||
uint32_t diffCorr : 1; // 1 = differential correction data is available for this SV
|
||||
uint32_t smoothed : 1; // 1 = carrier smoothed pseudorange used
|
||||
uint32_t orbitSource : 3; // Orbit source: 0: no orbit information is available for this SV
|
||||
// 1: ephemeris is used
|
||||
// 2: almanac is used
|
||||
// 3: AssistNow Offline orbit is used
|
||||
// 4: AssistNow Autonomous orbit is used
|
||||
// 5, 6, 7: other orbit information is used
|
||||
uint32_t ephAvail : 1; // 1 = ephemeris is available for this SV
|
||||
uint32_t almAvail : 1; // 1 = almanac is available for this SV
|
||||
uint32_t anoAvail : 1; // 1 = AssistNow Offline data is available for this SV
|
||||
uint32_t aopAvail : 1; // 1 = AssistNow Autonomous data is available for this SV
|
||||
uint32_t reserved1 : 1;
|
||||
uint32_t sbasCorrUsed : 1; // 1 = SBAS corrections have been used for a signal in the subset specified in Signal Identifiers
|
||||
uint32_t rtcmCorrUsed : 1; // 1 = RTCM corrections have been used for a signal in the subset specified in Signal Identifiers
|
||||
uint32_t slasCorrUsed : 1; // 1 = QZSS SLAS corrections have been used for a signal in the subset specified in Signal Identifiers
|
||||
uint32_t spartnCorrUsed : 1; // 1 = SPARTN corrections have been used for a signal in the subset specified in Signal Identifiers
|
||||
uint32_t prCorrUsed : 1; // 1 = Pseudorange corrections have been used for a signal in the subset specified in Signal Identifiers
|
||||
uint32_t crCorrUsed : 1; // 1 = Carrier range corrections have been used for a signal in the subset specified in Signal Identifiers
|
||||
uint32_t doCorrUsed : 1; // 1 = Range rate (Doppler) corrections have been used for a signal in the subset specified in Signal Identifiers
|
||||
uint32_t reserved2 : 9;
|
||||
} bits;
|
||||
} flags;
|
||||
} UBX_NAV_SAT_block_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
UBX_NAV_SAT_header_t header;
|
||||
UBX_NAV_SAT_block_t blocks[UBX_NAV_SAT_MAX_BLOCKS];
|
||||
} UBX_NAV_SAT_data_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
ubxAutomaticFlags automaticFlags;
|
||||
UBX_NAV_SAT_data_t data;
|
||||
bool moduleQueried;
|
||||
void (*callbackPointer)(UBX_NAV_SAT_data_t);
|
||||
UBX_NAV_SAT_data_t *callbackData;
|
||||
} UBX_NAV_SAT_t;
|
||||
|
||||
// UBX-NAV-SVIN (0x01 0x3B): Survey-in data
|
||||
const uint16_t UBX_NAV_SVIN_LEN = 40;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user