mirror of https://github.com/ArduPilot/ardupilot
285 lines
8.2 KiB
C++
285 lines
8.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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//
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// u-blox UBX GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
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//
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// UBlox Lea6H protocol: http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
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#ifndef __AP_GPS_UBLOX_H__
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#define __AP_GPS_UBLOX_H__
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#include <AP_GPS.h>
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/*
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* try to put a UBlox into binary mode. This is in two parts.
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*
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* First we send a ubx binary message that enables the NAV_SOL message
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* at rate 1. Then we send a NMEA message to set the baud rate to our
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* desired rate. The reason for doing the NMEA message second is if we
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* send it first the second message will be ignored for a baud rate
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* change.
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* The reason we need the NAV_SOL rate message at all is some uBlox
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* modules are configured with all ubx binary messages off, which
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* would mean we would never detect it.
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*/
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#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"
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class AP_GPS_UBLOX : public AP_GPS_Backend
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{
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public:
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AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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// Methods
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bool read();
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static bool _detect(struct UBLOX_detect_state &state, uint8_t data);
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private:
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// u-blox UBX protocol essentials
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struct PACKED ubx_header {
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uint8_t preamble1;
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uint8_t preamble2;
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uint8_t msg_class;
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uint8_t msg_id;
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uint16_t length;
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};
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struct PACKED ubx_cfg_nav_rate {
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uint16_t measure_rate_ms;
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uint16_t nav_rate;
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uint16_t timeref;
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};
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struct PACKED ubx_cfg_msg_rate {
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uint8_t msg_class;
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uint8_t msg_id;
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uint8_t rate;
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};
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struct PACKED ubx_cfg_nav_settings {
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uint16_t mask;
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uint8_t dynModel;
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uint8_t fixMode;
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int32_t fixedAlt;
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uint32_t fixedAltVar;
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int8_t minElev;
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uint8_t drLimit;
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uint16_t pDop;
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uint16_t tDop;
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uint16_t pAcc;
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uint16_t tAcc;
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uint8_t staticHoldThresh;
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uint8_t res1;
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uint32_t res2;
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uint32_t res3;
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uint32_t res4;
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};
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struct PACKED ubx_nav_posllh {
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uint32_t time; // GPS msToW
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int32_t longitude;
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int32_t latitude;
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int32_t altitude_ellipsoid;
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int32_t altitude_msl;
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uint32_t horizontal_accuracy;
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uint32_t vertical_accuracy;
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};
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struct PACKED ubx_nav_status {
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uint32_t time; // GPS msToW
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uint8_t fix_type;
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uint8_t fix_status;
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uint8_t differential_status;
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uint8_t res;
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uint32_t time_to_first_fix;
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uint32_t uptime; // milliseconds
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};
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struct PACKED ubx_nav_solution {
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uint32_t time;
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int32_t time_nsec;
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uint16_t week;
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uint8_t fix_type;
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uint8_t fix_status;
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int32_t ecef_x;
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int32_t ecef_y;
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int32_t ecef_z;
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uint32_t position_accuracy_3d;
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int32_t ecef_x_velocity;
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int32_t ecef_y_velocity;
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int32_t ecef_z_velocity;
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uint32_t speed_accuracy;
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uint16_t position_DOP;
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uint8_t res;
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uint8_t satellites;
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uint32_t res2;
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};
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struct PACKED ubx_nav_velned {
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uint32_t time; // GPS msToW
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int32_t ned_north;
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int32_t ned_east;
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int32_t ned_down;
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uint32_t speed_3d;
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uint32_t speed_2d;
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int32_t heading_2d;
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uint32_t speed_accuracy;
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uint32_t heading_accuracy;
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};
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// Lea6 uses a 60 byte message
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struct PACKED ubx_mon_hw_60 {
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uint32_t pinSel;
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uint32_t pinBank;
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uint32_t pinDir;
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uint32_t pinVal;
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uint16_t noisePerMS;
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uint16_t agcCnt;
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uint8_t aStatus;
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uint8_t aPower;
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uint8_t flags;
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uint8_t reserved1;
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uint32_t usedMask;
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uint8_t VP[17];
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uint8_t jamInd;
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uint16_t reserved3;
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uint32_t pinIrq;
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uint32_t pullH;
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uint32_t pullL;
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};
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// Neo7 uses a 68 byte message
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struct PACKED ubx_mon_hw_68 {
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uint32_t pinSel;
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uint32_t pinBank;
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uint32_t pinDir;
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uint32_t pinVal;
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uint16_t noisePerMS;
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uint16_t agcCnt;
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uint8_t aStatus;
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uint8_t aPower;
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uint8_t flags;
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uint8_t reserved1;
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uint32_t usedMask;
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uint8_t VP[25];
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uint8_t jamInd;
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uint16_t reserved3;
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uint32_t pinIrq;
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uint32_t pullH;
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uint32_t pullL;
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};
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struct PACKED ubx_mon_hw2 {
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int8_t ofsI;
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uint8_t magI;
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int8_t ofsQ;
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uint8_t magQ;
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uint8_t cfgSource;
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uint8_t reserved0[3];
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uint32_t lowLevCfg;
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uint32_t reserved1[2];
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uint32_t postStatus;
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uint32_t reserved2;
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};
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// Receive buffer
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union PACKED {
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ubx_nav_posllh posllh;
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ubx_nav_status status;
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ubx_nav_solution solution;
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ubx_nav_velned velned;
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ubx_cfg_nav_settings nav_settings;
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ubx_mon_hw_60 mon_hw_60;
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ubx_mon_hw_68 mon_hw_68;
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ubx_mon_hw2 mon_hw2;
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uint8_t bytes[];
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} _buffer;
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enum ubs_protocol_bytes {
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PREAMBLE1 = 0xb5,
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PREAMBLE2 = 0x62,
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CLASS_NAV = 0x01,
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CLASS_ACK = 0x05,
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CLASS_CFG = 0x06,
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CLASS_MON = 0x0A,
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MSG_ACK_NACK = 0x00,
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MSG_ACK_ACK = 0x01,
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MSG_POSLLH = 0x2,
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MSG_STATUS = 0x3,
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MSG_SOL = 0x6,
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MSG_VELNED = 0x12,
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MSG_CFG_PRT = 0x00,
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MSG_CFG_RATE = 0x08,
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MSG_CFG_SET_RATE = 0x01,
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MSG_CFG_NAV_SETTINGS = 0x24,
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MSG_MON_HW = 0x09,
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MSG_MON_HW2 = 0x0B
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};
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enum ubs_nav_fix_type {
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FIX_NONE = 0,
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FIX_DEAD_RECKONING = 1,
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FIX_2D = 2,
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FIX_3D = 3,
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FIX_GPS_DEAD_RECKONING = 4,
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FIX_TIME = 5
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};
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enum ubx_nav_status_bits {
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NAV_STATUS_FIX_VALID = 1
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};
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// Packet checksum accumulators
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uint8_t _ck_a;
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uint8_t _ck_b;
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// State machine state
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uint8_t _step;
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uint8_t _msg_id;
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uint16_t _payload_length;
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uint16_t _payload_counter;
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// 8 bit count of fix messages processed, used for periodic
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// processing
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uint8_t _fix_count;
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uint8_t _class;
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// do we have new position information?
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bool _new_position:1;
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// do we have new speed information?
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bool _new_speed:1;
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bool need_rate_update:1;
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// have we written the logging headers to DataFlash?
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bool logging_started:1;
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uint8_t _disable_counter;
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// Buffer parse & GPS state update
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bool _parse_gps();
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// used to update fix between status and position packets
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AP_GPS::GPS_Status next_fix;
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uint8_t rate_update_step;
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uint32_t _last_5hz_time;
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uint32_t _last_hw_status;
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void _configure_navigation_rate(uint16_t rate_ms);
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void _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
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void _configure_gps(void);
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void _update_checksum(uint8_t *data, uint8_t len, uint8_t &ck_a, uint8_t &ck_b);
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void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size);
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void send_next_rate_update(void);
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void unexpected_message(void);
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void write_logging_headers(void);
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void log_mon_hw(void);
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void log_mon_hw2(void);
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};
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#endif // __AP_GPS_UBLOX_H__
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