// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- // // u-blox UBX GPS driver for ArduPilot and ArduPilotMega. // Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com // // This library is free software; you can redistribute it and / or // modify it under the terms of the GNU Lesser General Public // License as published by the Free Software Foundation; either // version 2.1 of the License, or (at your option) any later version. // // UBlox Lea6H protocol: http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf #ifndef __AP_GPS_UBLOX_H__ #define __AP_GPS_UBLOX_H__ #include #include #include "GPS.h" /* * try to put a UBlox into binary mode. This is in two parts. * * First we send a ubx binary message that enables the NAV_SOL message * at rate 1. Then we send a NMEA message to set the baud rate to our * desired rate. The reason for doing the NMEA message second is if we * send it first the second message will be ignored for a baud rate * change. * The reason we need the NAV_SOL rate message at all is some uBlox * modules are configured with all ubx binary messages off, which * would mean we would never detect it. */ #define UBLOX_SET_BINARY "\265\142\006\001\003\000\001\006\001\022\117$PUBX,41,1,0003,0001,38400,0*26\r\n" class AP_GPS_UBLOX : public GPS { public: AP_GPS_UBLOX() : GPS(), _step(0), _msg_id(0), _payload_length(0), _payload_counter(0), _fix_count(0), _disable_counter(0), next_fix(GPS::FIX_NONE) {} // Methods virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE); virtual bool read(); static bool _detect(uint8_t ); static const prog_char _ublox_set_binary[]; static const uint8_t _ublox_set_binary_size; float get_lag() { return 0.5; } // ublox lag is lower than the default 1second private: // u-blox UBX protocol essentials struct PACKED ubx_header { uint8_t preamble1; uint8_t preamble2; uint8_t msg_class; uint8_t msg_id; uint16_t length; }; struct PACKED ubx_cfg_nav_rate { uint16_t measure_rate_ms; uint16_t nav_rate; uint16_t timeref; }; struct PACKED ubx_cfg_msg_rate { uint8_t msg_class; uint8_t msg_id; uint8_t rate; }; struct PACKED ubx_cfg_nav_settings { uint16_t mask; uint8_t dynModel; uint8_t fixMode; int32_t fixedAlt; uint32_t fixedAltVar; int8_t minElev; uint8_t drLimit; uint16_t pDop; uint16_t tDop; uint16_t pAcc; uint16_t tAcc; uint8_t staticHoldThresh; uint8_t res1; uint32_t res2; uint32_t res3; uint32_t res4; }; struct PACKED ubx_nav_posllh { uint32_t time; // GPS msToW int32_t longitude; int32_t latitude; int32_t altitude_ellipsoid; int32_t altitude_msl; uint32_t horizontal_accuracy; uint32_t vertical_accuracy; }; struct PACKED ubx_nav_status { uint32_t time; // GPS msToW uint8_t fix_type; uint8_t fix_status; uint8_t differential_status; uint8_t res; uint32_t time_to_first_fix; uint32_t uptime; // milliseconds }; struct PACKED ubx_nav_solution { uint32_t time; int32_t time_nsec; int16_t week; uint8_t fix_type; uint8_t fix_status; int32_t ecef_x; int32_t ecef_y; int32_t ecef_z; uint32_t position_accuracy_3d; int32_t ecef_x_velocity; int32_t ecef_y_velocity; int32_t ecef_z_velocity; uint32_t speed_accuracy; uint16_t position_DOP; uint8_t res; uint8_t satellites; uint32_t res2; }; struct PACKED ubx_nav_velned { uint32_t time; // GPS msToW int32_t ned_north; int32_t ned_east; int32_t ned_down; uint32_t speed_3d; uint32_t speed_2d; int32_t heading_2d; uint32_t speed_accuracy; uint32_t heading_accuracy; }; // Receive buffer union PACKED { ubx_nav_posllh posllh; ubx_nav_status status; ubx_nav_solution solution; ubx_nav_velned velned; ubx_cfg_nav_settings nav_settings; uint8_t bytes[]; } _buffer; enum ubs_protocol_bytes { PREAMBLE1 = 0xb5, PREAMBLE2 = 0x62, CLASS_NAV = 0x01, CLASS_ACK = 0x05, CLASS_CFG = 0x06, MSG_ACK_NACK = 0x00, MSG_ACK_ACK = 0x01, MSG_POSLLH = 0x2, MSG_STATUS = 0x3, MSG_SOL = 0x6, MSG_VELNED = 0x12, MSG_CFG_PRT = 0x00, MSG_CFG_RATE = 0x08, MSG_CFG_SET_RATE = 0x01, MSG_CFG_NAV_SETTINGS = 0x24 }; enum ubs_nav_fix_type { FIX_NONE = 0, FIX_DEAD_RECKONING = 1, FIX_2D = 2, FIX_3D = 3, FIX_GPS_DEAD_RECKONING = 4, FIX_TIME = 5 }; enum ubx_nav_status_bits { NAV_STATUS_FIX_VALID = 1 }; // Packet checksum accumulators uint8_t _ck_a; uint8_t _ck_b; // State machine state uint8_t _step; uint8_t _msg_id; uint16_t _payload_length; uint16_t _payload_counter; // 8 bit count of fix messages processed, used for periodic // processing uint8_t _fix_count; uint8_t _class; // do we have new position information? bool _new_position; // do we have new speed information? bool _new_speed; uint8_t _disable_counter; // Buffer parse & GPS state update bool _parse_gps(); // used to update fix between status and position packets Fix_Status next_fix; void _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate); void _configure_gps(void); void _update_checksum(uint8_t *data, uint8_t len, uint8_t &ck_a, uint8_t &ck_b); void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size); }; #endif // __AP_GPS_UBLOX_H__