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AP_GPS: save configuration to non-volatile memory in UBlox GPS

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This commit is contained in:
Jonathan Challinger 2015-10-28 17:32:57 -07:00 committed by Andrew Tridgell
parent 89b593b1f4
commit e82df48631
2 changed files with 49 additions and 1 deletions
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23
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -56,7 +56,8 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
next_fix(AP_GPS::NO_FIX),
rate_update_step(0),
_last_5hz_time(0),
noReceivedHdop(true)
noReceivedHdop(true),
_cfg_saved(false)
{
// stop any config strings that are pending
gps.send_blob_start(state.instance, NULL, 0);
@ -156,6 +157,8 @@ AP_GPS_UBLOX::read(void)
if (need_rate_update) {
send_next_rate_update();
}else if(!_cfg_saved) { //save the configuration sent until now
_save_cfg();
}
numc = port->available();
@ -395,6 +398,10 @@ AP_GPS_UBLOX::_parse_gps(void)
{
if (_class == CLASS_ACK) {
Debug("ACK %u", (unsigned)_msg_id);
if(_msg_id == MSG_ACK_ACK && _buffer.ack.clsID == CLASS_CFG && _buffer.ack.msgID == MSG_CFG_CFG) {
_cfg_saved = true;
}
return false;
}
@ -423,6 +430,7 @@ AP_GPS_UBLOX::_parse_gps(void)
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS,
&_buffer.nav_settings,
sizeof(_buffer.nav_settings));
_cfg_saved = false; //save configuration
}
return false;
}
@ -485,6 +493,7 @@ AP_GPS_UBLOX::_parse_gps(void)
_send_message(CLASS_CFG, MSG_CFG_SBAS,
&_buffer.sbas,
sizeof(_buffer.sbas));
_cfg_saved = false;
}
}
@ -786,6 +795,18 @@ AP_GPS_UBLOX::_configure_gps(void)
_send_message(CLASS_CFG, MSG_CFG_GNSS, NULL, 0);
}
/*
*
*/
void
AP_GPS_UBLOX::_save_cfg()
{
ubx_cfg_cfg save_cfg;
save_cfg.clearMask = 0;
save_cfg.saveMask = SAVE_CFG_ALL;
save_cfg.loadMask = 0;
_send_message(CLASS_CFG, MSG_CFG_CFG, &save_cfg, sizeof(save_cfg));
}
/*
detect a Ublox GPS. Adds one byte, and returns true if the stream

27
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -50,6 +50,16 @@
#define UBLOX_MAX_GNSS_CONFIG_BLOCKS 7
#define UBX_MSG_TYPES 2
//Configuration Sub-Sections
#define SAVE_CFG_IO (1<<0)
#define SAVE_CFG_MSG (1<<1)
#define SAVE_CFG_INF (1<<2)
#define SAVE_CFG_NAV (1<<3)
#define SAVE_CFG_RXM (1<<4)
#define SAVE_CFG_RINV (1<<9)
#define SAVE_CFG_ANT (1<<10)
#define SAVE_CFG_ALL (SAVE_CFG_IO|SAVE_CFG_MSG|SAVE_CFG_INF|SAVE_CFG_NAV|SAVE_CFG_RXM|SAVE_CFG_RINV|SAVE_CFG_ANT)
class AP_GPS_UBLOX : public AP_GPS_Backend
{
public:
@ -281,6 +291,19 @@ private:
} svinfo[UBLOX_MAX_RXM_RAWX_SATS];
};
#endif
struct PACKED ubx_ack_ack {
uint8_t clsID;
uint8_t msgID;
};
struct PACKED ubx_cfg_cfg {
uint32_t clearMask;
uint32_t saveMask;
uint32_t loadMask;
};
// Receive buffer
union PACKED {
ubx_nav_posllh posllh;
@ -303,6 +326,7 @@ private:
ubx_rxm_raw rxm_raw;
ubx_rxm_rawx rxm_rawx;
#endif
ubx_ack_ack ack;
uint8_t bytes[];
} _buffer;
@ -321,6 +345,7 @@ private:
MSG_DOP = 0x4,
MSG_SOL = 0x6,
MSG_VELNED = 0x12,
MSG_CFG_CFG = 0x09,
MSG_CFG_PRT = 0x00,
MSG_CFG_RATE = 0x08,
MSG_CFG_SET_RATE = 0x01,
@ -376,6 +401,7 @@ private:
// processing
uint8_t _fix_count;
uint8_t _class;
bool _cfg_saved;
uint32_t _last_vel_time;
uint32_t _last_pos_time;
@ -407,6 +433,7 @@ private:
void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint16_t size);
void send_next_rate_update(void);
void _request_version(void);
void _save_cfg(void);
void unexpected_message(void);
void write_logging_headers(void);