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AP_GPS_UBLOX: add support for TIMEGPS message. used to get gps week

This commit is contained in:
Michael Oborne 2019-03-30 12:21:11 +08:00 committed by Andrew Tridgell
parent 3ed55ea3c5
commit 6031f5b6a9
2 changed files with 42 additions and 4 deletions
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28
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -88,6 +88,11 @@ AP_GPS_UBLOX::_request_next_config(void)
_next_message--;
}
break;
case STEP_TIMEGPS:
if(!_request_message_rate(CLASS_NAV, MSG_TIMEGPS)) {
_next_message--;
}
break;
case STEP_PORT:
_request_port();
break;
@ -229,10 +234,11 @@ AP_GPS_UBLOX::_verify_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) {
}
break;
case MSG_SOL:
if(rate == RATE_SOL) {
desired_rate = havePvtMsg ? 0 : RATE_SOL;
if(rate == desired_rate) {
_unconfigured_messages &= ~CONFIG_RATE_SOL;
} else {
_configure_message_rate(msg_class, msg_id, RATE_SOL);
_configure_message_rate(msg_class, msg_id, desired_rate);
_unconfigured_messages |= CONFIG_RATE_SOL;
_cfg_needs_save = true;
}
@ -246,6 +252,15 @@ AP_GPS_UBLOX::_verify_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) {
_cfg_needs_save = true;
}
break;
case MSG_TIMEGPS:
if(rate == RATE_TIMEGPS) {
_unconfigured_messages &= ~CONFIG_RATE_TIMEGPS;
} else {
_configure_message_rate(msg_class, msg_id, RATE_TIMEGPS);
_unconfigured_messages |= CONFIG_RATE_TIMEGPS;
_cfg_needs_save = true;
}
break;
case MSG_VELNED:
desired_rate = havePvtMsg ? 0 : RATE_VELNED;
if(rate == desired_rate) {
@ -1072,6 +1087,12 @@ AP_GPS_UBLOX::_parse_gps(void)
next_fix = state.status;
#endif
break;
case MSG_TIMEGPS:
Debug("MSG_TIMEGPS");
_check_new_itow(_buffer.timegps.itow);
if (_buffer.timegps.valid & UBX_TIMEGPS_VALID_WEEK_MASK)
state.time_week = _buffer.timegps.week;
break;
case MSG_VELNED:
Debug("MSG_VELNED");
if (havePvtMsg) {
@ -1336,7 +1357,8 @@ static const char *reasons[] = {"navigation rate",
"GNSS settings",
"SBAS settings",
"PVT rate",
"time pulse settings"};
"time pulse settings",
"TIMEGPS rate"};
static_assert((1 << ARRAY_SIZE(reasons)) == CONFIG_LAST, "UBLOX: Missing configuration description");

18
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -47,11 +47,14 @@
#define UBLOX_MAX_GNSS_CONFIG_BLOCKS 7
#define UBX_MSG_TYPES 2
#define UBX_TIMEGPS_VALID_WEEK_MASK 0x2
#define UBLOX_MAX_PORTS 6
#define RATE_POSLLH 1
#define RATE_STATUS 1
#define RATE_SOL 1
#define RATE_TIMEGPS 5
#define RATE_PVT 1
#define RATE_VELNED 1
#define RATE_DOP 1
@ -73,7 +76,8 @@
#define CONFIG_SBAS (1<<12)
#define CONFIG_RATE_PVT (1<<13)
#define CONFIG_TP5 (1<<14)
#define CONFIG_LAST (1<<15) // this must always be the last bit
#define CONFIG_RATE_TIMEGPS (1<<15)
#define CONFIG_LAST (1<<16) // this must always be the last bit
#define CONFIG_REQUIRED_INITIAL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_VELNED)
@ -289,6 +293,15 @@ private:
uint32_t heading_accuracy;
};
struct PACKED ubx_nav_timegps {
uint32_t itow;
int32_t ftow;
uint16_t week;
int8_t leapS;
uint8_t valid; // leapsvalid | weekvalid | tow valid;
uint32_t tAcc;
};
// Lea6 uses a 60 byte message
struct PACKED ubx_mon_hw_60 {
uint32_t pinSel;
@ -414,6 +427,7 @@ private:
ubx_nav_dop dop;
ubx_nav_solution solution;
ubx_nav_pvt pvt;
ubx_nav_timegps timegps;
ubx_nav_velned velned;
ubx_cfg_msg_rate msg_rate;
ubx_cfg_msg_rate_6 msg_rate_6;
@ -452,6 +466,7 @@ private:
MSG_DOP = 0x4,
MSG_SOL = 0x6,
MSG_PVT = 0x7,
MSG_TIMEGPS = 0x20,
MSG_VELNED = 0x12,
MSG_CFG_CFG = 0x09,
MSG_CFG_RATE = 0x08,
@ -507,6 +522,7 @@ private:
STEP_STATUS,
STEP_POSLLH,
STEP_VELNED,
STEP_TIMEGPS,
STEP_POLL_SVINFO, // poll svinfo
STEP_POLL_SBAS, // poll SBAS
STEP_POLL_NAV, // poll NAV settings