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ardupilot/libraries/AP_GPS/AP_GPS_UBLOX.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
//
// u-blox UBX GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
//
// UBlox Lea6H protocol: http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_GPS.h"
#include "GPS_Backend.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,41,1,0023,0001,115200,0*1C\r\n"
#define UBLOX_RXM_RAW_LOGGING 1
#define UBLOX_MAX_RXM_RAW_SATS 22
#define UBLOX_MAX_RXM_RAWX_SATS 32
#define UBLOX_GNSS_SETTINGS 1
#define UBLOX_MAX_GNSS_CONFIG_BLOCKS 7
#define UBX_MSG_TYPES 2
#define UBLOX_MAX_PORTS 6
#define MINIMUM_MEASURE_RATE_MS 200
#define RATE_POSLLH 1
#define RATE_STATUS 1
#define RATE_SOL 1
#define RATE_PVT 1
#define RATE_VELNED 1
#define RATE_DOP 1
#define RATE_HW 5
#define RATE_HW2 5
#define CONFIG_RATE_NAV (1<<0)
#define CONFIG_RATE_POSLLH (1<<1)
#define CONFIG_RATE_STATUS (1<<2)
#define CONFIG_RATE_SOL (1<<3)
#define CONFIG_RATE_VELNED (1<<4)
#define CONFIG_RATE_DOP (1<<5)
#define CONFIG_RATE_MON_HW (1<<6)
#define CONFIG_RATE_MON_HW2 (1<<7)
#define CONFIG_RATE_RAW (1<<8)
#define CONFIG_VERSION (1<<9)
#define CONFIG_NAV_SETTINGS (1<<10)
#define CONFIG_GNSS (1<<11)
#define CONFIG_SBAS (1<<12)
#define CONFIG_RATE_PVT (1<<13)
#define CONFIG_ALL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_SOL | CONFIG_RATE_VELNED \
| CONFIG_RATE_DOP | CONFIG_RATE_MON_HW | CONFIG_RATE_MON_HW2 | CONFIG_RATE_RAW | CONFIG_VERSION \
| CONFIG_NAV_SETTINGS | CONFIG_GNSS | CONFIG_SBAS)
//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:
AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
// Methods
bool read();
AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED; }
static bool _detect(struct UBLOX_detect_state &state, uint8_t data);
void inject_data(const uint8_t *data, uint16_t len) override;
bool is_configured(void) {
if (!gps._auto_config) {
return true;
} else {
return !_unconfigured_messages;
}
}
void broadcast_configuration_failure_reason(void) const override;
// return velocity lag
float get_lag(void) const override;
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;
};
#if UBLOX_GNSS_SETTINGS
struct PACKED ubx_cfg_gnss {
uint8_t msgVer;
uint8_t numTrkChHw;
uint8_t numTrkChUse;
uint8_t numConfigBlocks;
PACKED struct configBlock {
uint8_t gnssId;
uint8_t resTrkCh;
uint8_t maxTrkCh;
uint8_t reserved1;
uint32_t flags;
} configBlock[UBLOX_MAX_GNSS_CONFIG_BLOCKS];
};
#endif
struct PACKED ubx_cfg_nav_rate {
uint16_t measure_rate_ms;
uint16_t nav_rate;
uint16_t timeref;
};
struct PACKED ubx_cfg_msg {
uint8_t msg_class;
uint8_t msg_id;
};
struct PACKED ubx_cfg_msg_rate {
uint8_t msg_class;
uint8_t msg_id;
uint8_t rate;
};
struct PACKED ubx_cfg_msg_rate_6 {
uint8_t msg_class;
uint8_t msg_id;
uint8_t rates[6];
};
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_cfg_prt {
uint8_t portID;
};
struct PACKED ubx_cfg_sbas {
uint8_t mode;
uint8_t usage;
uint8_t maxSBAS;
uint8_t scanmode2;
uint32_t scanmode1;
};
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_dop {
uint32_t time; // GPS msToW
uint16_t gDOP;
uint16_t pDOP;
uint16_t tDOP;
uint16_t vDOP;
uint16_t hDOP;
uint16_t nDOP;
uint16_t eDOP;
};
struct PACKED ubx_nav_solution {
uint32_t time;
int32_t time_nsec;
uint16_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_pvt {
uint32_t itow;
uint16_t year;
uint8_t month, day, hour, min, sec;
uint8_t valid;
uint32_t t_acc;
int32_t nano;
uint8_t fix_type;
uint8_t flags;
uint8_t flags2;
uint8_t num_sv;
int32_t lon, lat;
int32_t height, h_msl;
uint32_t h_acc, v_acc;
int32_t velN, velE, velD, gspeed;
int32_t head_mot;
uint32_t s_acc;
uint32_t head_acc;
uint16_t p_dop;
uint8_t reserved1[6];
uint32_t headVeh;
uint8_t reserved2[4];
};
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;
};
// Lea6 uses a 60 byte message
struct PACKED ubx_mon_hw_60 {
uint32_t pinSel;
uint32_t pinBank;
uint32_t pinDir;
uint32_t pinVal;
uint16_t noisePerMS;
uint16_t agcCnt;
uint8_t aStatus;
uint8_t aPower;
uint8_t flags;
uint8_t reserved1;
uint32_t usedMask;
uint8_t VP[17];
uint8_t jamInd;
uint16_t reserved3;
uint32_t pinIrq;
uint32_t pullH;
uint32_t pullL;
};
// Neo7 uses a 68 byte message
struct PACKED ubx_mon_hw_68 {
uint32_t pinSel;
uint32_t pinBank;
uint32_t pinDir;
uint32_t pinVal;
uint16_t noisePerMS;
uint16_t agcCnt;
uint8_t aStatus;
uint8_t aPower;
uint8_t flags;
uint8_t reserved1;
uint32_t usedMask;
uint8_t VP[25];
uint8_t jamInd;
uint16_t reserved3;
uint32_t pinIrq;
uint32_t pullH;
uint32_t pullL;
};
struct PACKED ubx_mon_hw2 {
int8_t ofsI;
uint8_t magI;
int8_t ofsQ;
uint8_t magQ;
uint8_t cfgSource;
uint8_t reserved0[3];
uint32_t lowLevCfg;
uint32_t reserved1[2];
uint32_t postStatus;
uint32_t reserved2;
};
struct PACKED ubx_mon_ver {
char swVersion[30];
char hwVersion[10];
char extension; // extensions are not enabled
};
struct PACKED ubx_nav_svinfo_header {
uint32_t itow;
uint8_t numCh;
uint8_t globalFlags;
uint16_t reserved;
};
#if UBLOX_RXM_RAW_LOGGING
struct PACKED ubx_rxm_raw {
int32_t iTOW;
int16_t week;
uint8_t numSV;
uint8_t reserved1;
struct ubx_rxm_raw_sv {
double cpMes;
double prMes;
float doMes;
uint8_t sv;
int8_t mesQI;
int8_t cno;
uint8_t lli;
} svinfo[UBLOX_MAX_RXM_RAW_SATS];
};
struct PACKED ubx_rxm_rawx {
double rcvTow;
uint16_t week;
int8_t leapS;
uint8_t numMeas;
uint8_t recStat;
uint8_t reserved1[3];
PACKED struct ubx_rxm_rawx_sv {
double prMes;
double cpMes;
float doMes;
uint8_t gnssId;
uint8_t svId;
uint8_t reserved2;
uint8_t freqId;
uint16_t locktime;
uint8_t cno;
uint8_t prStdev;
uint8_t cpStdev;
uint8_t doStdev;
uint8_t trkStat;
uint8_t reserved3;
} 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 {
DEFINE_BYTE_ARRAY_METHODS
ubx_nav_posllh posllh;
ubx_nav_status status;
ubx_nav_dop dop;
ubx_nav_solution solution;
ubx_nav_pvt pvt;
ubx_nav_velned velned;
ubx_cfg_msg_rate msg_rate;
ubx_cfg_msg_rate_6 msg_rate_6;
ubx_cfg_nav_settings nav_settings;
ubx_cfg_nav_rate nav_rate;
ubx_cfg_prt prt;
ubx_mon_hw_60 mon_hw_60;
ubx_mon_hw_68 mon_hw_68;
ubx_mon_hw2 mon_hw2;
ubx_mon_ver mon_ver;
#if UBLOX_GNSS_SETTINGS
ubx_cfg_gnss gnss;
#endif
ubx_cfg_sbas sbas;
ubx_nav_svinfo_header svinfo_header;
#if UBLOX_RXM_RAW_LOGGING
ubx_rxm_raw rxm_raw;
ubx_rxm_rawx rxm_rawx;
#endif
ubx_ack_ack ack;
} _buffer;
enum ubs_protocol_bytes {
PREAMBLE1 = 0xb5,
PREAMBLE2 = 0x62,
CLASS_NAV = 0x01,
CLASS_ACK = 0x05,
CLASS_CFG = 0x06,
CLASS_MON = 0x0A,
CLASS_RXM = 0x02,
MSG_ACK_NACK = 0x00,
MSG_ACK_ACK = 0x01,
MSG_POSLLH = 0x2,
MSG_STATUS = 0x3,
MSG_DOP = 0x4,
MSG_SOL = 0x6,
MSG_PVT = 0x7,
MSG_VELNED = 0x12,
MSG_CFG_CFG = 0x09,
MSG_CFG_RATE = 0x08,
MSG_CFG_MSG = 0x01,
MSG_CFG_NAV_SETTINGS = 0x24,
MSG_CFG_PRT = 0x00,
MSG_CFG_SBAS = 0x16,
MSG_CFG_GNSS = 0x3E,
MSG_MON_HW = 0x09,
MSG_MON_HW2 = 0x0B,
MSG_MON_VER = 0x04,
MSG_NAV_SVINFO = 0x30,
MSG_RXM_RAW = 0x10,
MSG_RXM_RAWX = 0x15
};
enum ubx_gnss_identifier {
GNSS_GPS = 0x00,
GNSS_SBAS = 0x01,
GNSS_GALILEO = 0x02,
GNSS_BEIDOU = 0x03,
GNSS_IMES = 0x04,
GNSS_QZSS = 0x05,
GNSS_GLONASS = 0x06
};
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,
NAV_STATUS_DGPS_USED = 2
};
enum ubx_hardware_version {
ANTARIS = 0,
UBLOX_5,
UBLOX_6,
UBLOX_7,
UBLOX_M8
};
enum config_step {
STEP_PVT = 0,
STEP_SOL,
STEP_PORT,
STEP_POSLLH,
STEP_STATUS,
STEP_VELNED,
STEP_POLL_SVINFO, // poll svinfo
STEP_POLL_SBAS, // poll SBAS
STEP_POLL_NAV, // poll NAV settings
STEP_POLL_GNSS, // poll GNSS
STEP_NAV_RATE, // poll NAV rate
STEP_DOP,
STEP_MON_HW,
STEP_MON_HW2,
STEP_RAW,
STEP_RAWX,
STEP_VERSION,
STEP_LAST
};
// 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;
uint8_t _class;
bool _cfg_saved;
uint32_t _last_vel_time;
uint32_t _last_pos_time;
uint32_t _last_cfg_sent_time;
uint8_t _num_cfg_save_tries;
uint32_t _last_config_time;
uint16_t _delay_time;
uint8_t _next_message;
uint8_t _ublox_port;
bool _have_version;
uint32_t _unconfigured_messages;
uint8_t _hardware_generation;
// do we have new position information?
bool _new_position:1;
// do we have new speed information?
bool _new_speed:1;
uint8_t _disable_counter;
// Buffer parse & GPS state update
bool _parse_gps();
// used to update fix between status and position packets
AP_GPS::GPS_Status next_fix;
bool _cfg_needs_save;
bool noReceivedHdop;
bool havePvtMsg;
bool _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
void _configure_rate(void);
void _configure_sbas(bool enable);
void _update_checksum(uint8_t *data, uint16_t len, uint8_t &ck_a, uint8_t &ck_b);
void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint16_t size);
void send_next_rate_update(void);
bool _request_message_rate(uint8_t msg_class, uint8_t msg_id);
void _request_next_config(void);
void _request_port(void);
void _request_version(void);
void _save_cfg(void);
void _verify_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
void unexpected_message(void);
void write_logging_headers(void);
void log_mon_hw(void);
void log_mon_hw2(void);
void log_mon_ver(void);
void log_rxm_raw(const struct ubx_rxm_raw &raw);
void log_rxm_rawx(const struct ubx_rxm_rawx &raw);
// Calculates the correct log message ID based on what GPS instance is being logged
uint8_t _ubx_msg_log_index(uint8_t ubx_msg) {
return (uint8_t)(ubx_msg + (state.instance * UBX_MSG_TYPES));
}
};
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