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U-blox driver rework,, step 4 

Config phase and parser rewrite
This commit is contained in:
Kynos 2014-06-13 14:05:47 +02:00
parent 07458b284d
commit b6b3ad6e1e
3 changed files with 858 additions and 766 deletions
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37
src/drivers/gps/gps.cpp
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@ -80,6 +80,14 @@
#endif #endif
static const int ERROR = -1; static const int ERROR = -1;
/* class for dynamic allocation of satellite info data */
class GPS_Sat_Info
{
public:
struct satellite_info_s _data;
};
class GPS : public device::CDev class GPS : public device::CDev
{ {
public: public:
@ -107,13 +115,13 @@ private:
bool _mode_changed; ///< flag that the GPS mode has changed bool _mode_changed; ///< flag that the GPS mode has changed
gps_driver_mode_t _mode; ///< current mode gps_driver_mode_t _mode; ///< current mode
GPS_Helper *_Helper; ///< instance of GPS parser GPS_Helper *_Helper; ///< instance of GPS parser
GPS_Sat_Info *_Sat_Info; ///< instance of GPS sat info data object
struct vehicle_gps_position_s _report_gps_pos; ///< uORB topic for gps position struct vehicle_gps_position_s _report_gps_pos; ///< uORB topic for gps position
orb_advert_t _report_gps_pos_pub; ///< uORB pub for gps position orb_advert_t _report_gps_pos_pub; ///< uORB pub for gps position
struct satellite_info_s _report_sat_info; ///< uORB topic for satellite info struct satellite_info_s *_p_report_sat_info; ///< pointer to uORB topic for satellite info
orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info
float _rate; ///< position update rate float _rate; ///< position update rate
bool _fake_gps; ///< fake gps output bool _fake_gps; ///< fake gps output
bool _enable_sat_info; ///< enable sat info
/** /**
@ -165,11 +173,12 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
_mode_changed(false), _mode_changed(false),
_mode(GPS_DRIVER_MODE_UBX), _mode(GPS_DRIVER_MODE_UBX),
_Helper(nullptr), _Helper(nullptr),
_Sat_Info(nullptr),
_report_gps_pos_pub(-1), _report_gps_pos_pub(-1),
_p_report_sat_info(nullptr),
_report_sat_info_pub(-1), _report_sat_info_pub(-1),
_rate(0.0f), _rate(0.0f),
_fake_gps(fake_gps), _fake_gps(fake_gps)
_enable_sat_info(enable_sat_info)
{ {
/* store port name */ /* store port name */
strncpy(_port, uart_path, sizeof(_port)); strncpy(_port, uart_path, sizeof(_port));
@ -179,7 +188,13 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
/* we need this potentially before it could be set in task_main */ /* we need this potentially before it could be set in task_main */
g_dev = this; g_dev = this;
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos)); memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
memset(&_report_sat_info, 0, sizeof(_report_sat_info));
/* create satellite info data object if requested */
if (enable_sat_info) {
_Sat_Info = new(GPS_Sat_Info);
_p_report_sat_info = &_Sat_Info->_data;
memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
}
_debug_enabled = true; _debug_enabled = true;
} }
@ -214,7 +229,7 @@ GPS::init()
/* start the GPS driver worker task */ /* start the GPS driver worker task */
_task = task_spawn_cmd("gps", SCHED_DEFAULT, _task = task_spawn_cmd("gps", SCHED_DEFAULT,
SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr); SCHED_PRIORITY_SLOW_DRIVER, 1500, (main_t)&GPS::task_main_trampoline, nullptr);
if (_task < 0) { if (_task < 0) {
warnx("task start failed: %d", errno); warnx("task start failed: %d", errno);
@ -320,7 +335,7 @@ GPS::task_main()
switch (_mode) { switch (_mode) {
case GPS_DRIVER_MODE_UBX: case GPS_DRIVER_MODE_UBX:
_Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, _enable_sat_info); _Helper = new UBX(_serial_fd, &_report_gps_pos, _p_report_sat_info);
break; break;
case GPS_DRIVER_MODE_MTK: case GPS_DRIVER_MODE_MTK:
@ -353,12 +368,12 @@ GPS::task_main()
_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos); _report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
} }
} }
if (helper_ret & 2) { if (_p_report_sat_info && (helper_ret & 2)) {
if (_report_sat_info_pub > 0) { if (_report_sat_info_pub > 0) {
orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, &_report_sat_info); orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, _p_report_sat_info);
} else { } else {
_report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), &_report_sat_info); _report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), _p_report_sat_info);
} }
} }
} }
@ -466,7 +481,7 @@ GPS::print_info()
} }
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
warnx("sat info: %s", (_enable_sat_info) ? "enabled" : "disabled"); warnx("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled");
if (_report_gps_pos.timestamp_position != 0) { if (_report_gps_pos.timestamp_position != 0) {
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,

849
src/drivers/gps/ubx.cpp
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File diff suppressed because it is too large Load Diff

466
src/drivers/gps/ubx.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -41,6 +41,9 @@
* @author Julian Oes <joes@student.ethz.ch> * @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com> * @author Anton Babushkin <anton.babushkin@me.com>
* *
* @author Hannes Delago
* (rework, add ubx7+ compatibility)
*
*/ */
#ifndef UBX_H_ #ifndef UBX_H_
@ -48,98 +51,104 @@
#include "gps_helper.h" #include "gps_helper.h"
#define UBX_ENABLE_NAV_SVINFO 1 /* TODO: make this a command line option, allocate buffer(s) dynamically */
#define UBX_SYNC1 0xB5 #define UBX_SYNC1 0xB5
#define UBX_SYNC2 0x62 #define UBX_SYNC2 0x62
/* ClassIDs (the ones that are used) */ /* Message Classes */
#define UBX_CLASS_NAV 0x01 #define UBX_CLASS_NAV 0x01
//#define UBX_CLASS_RXM 0x02
#define UBX_CLASS_ACK 0x05 #define UBX_CLASS_ACK 0x05
#define UBX_CLASS_CFG 0x06 #define UBX_CLASS_CFG 0x06
#define UBX_CLASS_MON 0x0A #define UBX_CLASS_MON 0x0A
/* MessageIDs (the ones that are used) */ /* Message IDs */
#define UBX_MESSAGE_NAV_POSLLH 0x02 #define UBX_ID_NAV_POSLLH 0x02
#define UBX_MESSAGE_NAV_SOL 0x06 #define UBX_ID_NAV_SOL 0x06
#define UBX_MESSAGE_NAV_VELNED 0x12 #define UBX_ID_NAV_VELNED 0x12
#define UBX_MESSAGE_NAV_TIMEUTC 0x21 #define UBX_ID_NAV_TIMEUTC 0x21
#define UBX_MESSAGE_NAV_SVINFO 0x30 #define UBX_ID_NAV_SVINFO 0x30
#define UBX_MESSAGE_ACK_NAK 0x00 #define UBX_ID_ACK_NAK 0x00
#define UBX_MESSAGE_ACK_ACK 0x01 #define UBX_ID_ACK_ACK 0x01
#define UBX_MESSAGE_CFG_PRT 0x00 #define UBX_ID_CFG_PRT 0x00
#define UBX_MESSAGE_CFG_MSG 0x01 #define UBX_ID_CFG_MSG 0x01
#define UBX_MESSAGE_CFG_RATE 0x08 #define UBX_ID_CFG_RATE 0x08
#define UBX_MESSAGE_CFG_NAV5 0x24 #define UBX_ID_CFG_NAV5 0x24
#define UBX_MESSAGE_MON_HW 0x09 #define UBX_ID_MON_HW 0x09
/* Rx msg payload sizes */ /* Message Classes & IDs */
#define UBX_NAV_POSLLH_RX_PAYLOAD_SIZE 28 /**< NAV_POSLLH Rx msg payload size */ #define UBX_MSG_NAV_POSLLH ((UBX_CLASS_NAV) | UBX_ID_NAV_POSLLH << 8)
#define UBX_NAV_SOL_RX_PAYLOAD_SIZE 52 /**< NAV_SOL Rx msg payload size */ #define UBX_MSG_NAV_SOL ((UBX_CLASS_NAV) | UBX_ID_NAV_SOL << 8)
#define UBX_NAV_VELNED_RX_PAYLOAD_SIZE 36 /**< NAV_VELNED Rx msg payload size */ #define UBX_MSG_NAV_VELNED ((UBX_CLASS_NAV) | UBX_ID_NAV_VELNED << 8)
#define UBX_NAV_TIMEUTC_RX_PAYLOAD_SIZE 20 /**< NAV_TIMEUTC Rx msg payload size */ #define UBX_MSG_NAV_TIMEUTC ((UBX_CLASS_NAV) | UBX_ID_NAV_TIMEUTC << 8)
#define UBX_MON_HW_UBX6_RX_PAYLOAD_SIZE 68 /**< MON_HW Rx msg payload size for u-blox 6 and below */ #define UBX_MSG_NAV_SVINFO ((UBX_CLASS_NAV) | UBX_ID_NAV_SVINFO << 8)
#define UBX_MON_HW_UBX7_RX_PAYLOAD_SIZE 60 /**< MON_HW Rx msg payload size for u-blox 7 and above */ #define UBX_MSG_ACK_NAK ((UBX_CLASS_ACK) | UBX_ID_ACK_NAK << 8)
#define UBX_MAX_RX_PAYLOAD_SIZE 70 /**< arbitrary maximum for calculating parser buffer size w/o NAV_SVINFO active */ #define UBX_MSG_ACK_ACK ((UBX_CLASS_ACK) | UBX_ID_ACK_ACK << 8)
#define UBX_MSG_CFG_PRT ((UBX_CLASS_CFG) | UBX_ID_CFG_PRT << 8)
#define UBX_MSG_CFG_MSG ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8)
#define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8)
#define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8)
#define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8)
/* NAV_SVINFO has variable length w/o a published max size, so limit processing to UBX_MAX_NUM_SAT */ /* NAV_SVINFO has variable length w/o a published max size, so limit processing to UBX_MAX_NUM_SAT */
#define UBX_MAX_NUM_SAT 50 /**< Practical observed max number of satellites in SVNFO msg */ #define UBX_MAX_NUM_SAT_SVINFO 50 /**< Practical observed max number of satellites in SVNFO msg */
#define UBX_NAV_SVINFO_RX_PAYLOAD_SIZE (8 + 12 * UBX_MAX_NUM_SAT) /**< NAV_SVINFO Rx msg payload size */ #define UBX_PAYLOAD_NAV_SVINFO (8 + 12 * UBX_MAX_NUM_SAT_SVINFO) /**< NAV_SVINFO Rx msg payload size */
/* CFG class Tx msg defs */ /* TX CFG-PRT message contents */
#define UBX_CFG_PRT_LENGTH 20 #define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */
#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ #define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ #define UBX_TX_CFG_PRT_BAUDRATE 38400 /**< choose 38400 as GPS baudrate */
#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< choose 38400 as GPS baudrate */ #define UBX_TX_CFG_PRT_INPROTOMASK 0x01 /**< UBX in */
#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ #define UBX_TX_CFG_PRT_OUTPROTOMASK 0x01 /**< UBX out */
#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */
#define UBX_CFG_RATE_LENGTH 6 /* TX CFG-RATE message contents */
#define UBX_CFG_RATE_PAYLOAD_MEASINTERVAL 200 /**< 200ms for 5Hz */ #define UBX_TX_CFG_RATE_MEASINTERVAL 200 /**< 200ms for 5Hz */
#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ #define UBX_TX_CFG_RATE_NAVRATE 1 /**< cannot be changed */
#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ #define UBX_TX_CFG_RATE_TIMEREF 0 /**< 0: UTC, 1: GPS time */
#define UBX_CFG_NAV5_LENGTH 36 /* TX CFG-NAV5 message contents */
#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0005 /**< XXX only update dynamic model and fix mode */ #define UBX_TX_CFG_NAV5_MASK 0x0005 /**< Only update dynamic model and fix mode */
#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ #define UBX_TX_CFG_NAV5_DYNMODEL 7 /**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ #define UBX_TX_CFG_NAV5_FIXMODE 2 /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */
#define UBX_CFG_MSG_LENGTH 8 /* TX CFG-MSG message contents */
#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ #define UBX_TX_CFG_MSG_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ #define UBX_TX_CFG_MSG_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
#define UBX_CFG_MSG_PAYLOAD_RATE1_05HZ 10 #define UBX_TX_CFG_MSG_RATE1_05HZ 10
// ************ /*** u-blox protocol binary message and payload definitions ***/
/** the structures of the binary packets */
#pragma pack(push, 1) #pragma pack(push, 1)
struct ubx_header { /* General: Header */
typedef struct {
uint8_t sync1; uint8_t sync1;
uint8_t sync2; uint8_t sync2;
uint8_t msg_class; uint16_t msg;
uint8_t msg_id;
uint16_t length; uint16_t length;
}; } ubx_header_t;
/* General: Checksum */
typedef struct { typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
int32_t lon; /**< Longitude * 1e-7, deg */
int32_t lat; /**< Latitude * 1e-7, deg */
int32_t height; /**< Height above Ellipsoid, mm */
int32_t height_msl; /**< Height above mean sea level, mm */
uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */
uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */
uint8_t ck_a; uint8_t ck_a;
uint8_t ck_b; uint8_t ck_b;
} gps_bin_nav_posllh_packet_t; } ubx_checksum_t ;
/* Rx NAV-POSLLH */
typedef struct { typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ uint32_t iTOW; /**< GPS Time of Week [ms] */
int32_t time_nanoseconds; /**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */ int32_t lon; /**< Longitude [1e-7 deg] */
int16_t week; /**< GPS week (GPS time) */ int32_t lat; /**< Latitude [1e-7 deg] */
uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ int32_t height; /**< Height above ellipsoid [mm] */
int32_t hMSL; /**< Height above mean sea level [mm] */
uint32_t hAcc; /**< Horizontal accuracy estimate [mm] */
uint32_t vAcc; /**< Vertical accuracy estimate [mm] */
} ubx_payload_rx_nav_posllh_t;
/* Rx NAV-SOL */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
int32_t fTOW; /**< Fractional part of iTOW (range: +/-500000) [ns] */
int16_t week; /**< GPS week */
uint8_t gpsFix; /**< GPSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
uint8_t flags; uint8_t flags;
int32_t ecefX; int32_t ecefX;
int32_t ecefY; int32_t ecefY;
@ -153,78 +162,57 @@ typedef struct {
uint8_t reserved1; uint8_t reserved1;
uint8_t numSV; /**< Number of SVs used in Nav Solution */ uint8_t numSV; /**< Number of SVs used in Nav Solution */
uint32_t reserved2; uint32_t reserved2;
uint8_t ck_a; } ubx_payload_rx_nav_sol_t;
uint8_t ck_b;
} gps_bin_nav_sol_packet_t;
/* Rx NAV-TIMEUTC */
typedef struct { typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ uint32_t iTOW; /**< GPS Time of Week [ms] */
uint32_t time_accuracy; /**< Time Accuracy Estimate, ns */ uint32_t tAcc; /**< Time accuracy estimate (UTC) [ns] */
int32_t time_nanoseconds; /**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */ int32_t nano; /**< Fraction of second, range -1e9 .. 1e9 (UTC) [ns] */
uint16_t year; /**< Year, range 1999..2099 (UTC) */ uint16_t year; /**< Year, range 1999..2099 (UTC) */
uint8_t month; /**< Month, range 1..12 (UTC) */ uint8_t month; /**< Month, range 1..12 (UTC) */
uint8_t day; /**< Day of Month, range 1..31 (UTC) */ uint8_t day; /**< Day of month, range 1..31 (UTC) */
uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */ uint8_t hour; /**< Hour of day, range 0..23 (UTC) */
uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */ uint8_t min; /**< Minute of hour, range 0..59 (UTC) */
uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */ uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */
uint8_t valid_flag; /**< Validity Flags (see ubx documentation) */ uint8_t valid; /**< Validity Flags (see ubx documentation) */
uint8_t ck_a; } ubx_payload_rx_nav_timeutc_t;
uint8_t ck_b;
} gps_bin_nav_timeutc_packet_t;
//typedef struct {
// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */
// uint16_t pDOP; /**< Position DOP (scaling 0.01) */
// uint16_t tDOP; /**< Time DOP (scaling 0.01) */
// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */
// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */
// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */
// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */
// uint8_t ck_a;
// uint8_t ck_b;
//} gps_bin_nav_dop_packet_t;
/* Rx NAV-SVINFO Part 1 */
typedef struct { typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ uint32_t iTOW; /**< GPS Time of Week [ms] */
uint8_t numCh; /**< Number of channels */ uint8_t numCh; /**< Number of channels */
uint8_t globalFlags; uint8_t globalFlags;
uint16_t reserved2; uint16_t reserved2;
} ubx_payload_rx_nav_svinfo_part1_t;
} gps_bin_nav_svinfo_part1_packet_t; /* Rx NAV-SVINFO Part 2 (repeated) */
typedef struct { typedef struct {
uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */
uint8_t svid; /**< Satellite ID */ uint8_t svid; /**< Satellite ID */
uint8_t flags; uint8_t flags;
uint8_t quality; uint8_t quality;
uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */ uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength) [dbHz] */
int8_t elev; /**< Elevation in integer degrees */ int8_t elev; /**< Elevation [deg] */
int16_t azim; /**< Azimuth in integer degrees */ int16_t azim; /**< Azimuth [deg] */
int32_t prRes; /**< Pseudo range residual in centimetres */ int32_t prRes; /**< Pseudo range residual [cm] */
} ubx_payload_rx_nav_svinfo_part2_t;
} gps_bin_nav_svinfo_part2_packet_t;
/* Rx NAV-VELNED */
typedef struct { typedef struct {
uint8_t ck_a; uint32_t iTOW; /**< GPS Time of Week [ms] */
uint8_t ck_b; int32_t velN; /**< North velocity component [cm/s]*/
} gps_bin_nav_svinfo_part3_packet_t; int32_t velE; /**< East velocity component [cm/s]*/
int32_t velD; /**< Down velocity component [cm/s]*/
uint32_t speed; /**< Speed (3-D) [cm/s] */
uint32_t gSpeed; /**< Ground speed (2-D) [cm/s] */
int32_t heading; /**< Heading of motion 2-D [1e-5 deg] */
uint32_t sAcc; /**< Speed accuracy estimate [cm/s] */
uint32_t cAcc; /**< Course / Heading accuracy estimate [1e-5 deg] */
} ubx_payload_rx_nav_velned_t;
/* Rx MON-HW (ubx6) */
typedef struct { typedef struct {
uint32_t time_milliseconds; // GPS Millisecond Time of Week
int32_t velN; //NED north velocity, cm/s
int32_t velE; //NED east velocity, cm/s
int32_t velD; //NED down velocity, cm/s
uint32_t speed; //Speed (3-D), cm/s
uint32_t gSpeed; //Ground Speed (2-D), cm/s
int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5
uint32_t sAcc; //Speed Accuracy Estimate, cm/s
uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5
uint8_t ck_a;
uint8_t ck_b;
} gps_bin_nav_velned_packet_t;
struct gps_bin_mon_hw_ubx6_packet {
uint32_t pinSel; uint32_t pinSel;
uint32_t pinBank; uint32_t pinBank;
uint32_t pinDir; uint32_t pinDir;
@ -234,17 +222,18 @@ struct gps_bin_mon_hw_ubx6_packet {
uint8_t aStatus; uint8_t aStatus;
uint8_t aPower; uint8_t aPower;
uint8_t flags; uint8_t flags;
uint8_t __reserved1; uint8_t reserved1;
uint32_t usedMask; uint32_t usedMask;
uint8_t VP[25]; uint8_t VP[25];
uint8_t jamInd; uint8_t jamInd;
uint16_t __reserved3; uint16_t reserved3;
uint32_t pinIrq; uint32_t pinIrq;
uint32_t pulLH; uint32_t pullH;
uint32_t pullL; uint32_t pullL;
}; } ubx_payload_rx_mon_hw_ubx6_t;
struct gps_bin_mon_hw_ubx7_packet { /* Rx MON-HW (ubx7+) */
typedef struct {
uint32_t pinSel; uint32_t pinSel;
uint32_t pinBank; uint32_t pinBank;
uint32_t pinDir; uint32_t pinDir;
@ -254,74 +243,59 @@ struct gps_bin_mon_hw_ubx7_packet {
uint8_t aStatus; uint8_t aStatus;
uint8_t aPower; uint8_t aPower;
uint8_t flags; uint8_t flags;
uint8_t __reserved1; uint8_t reserved1;
uint32_t usedMask; uint32_t usedMask;
uint8_t VP[17]; uint8_t VP[17];
uint8_t jamInd; uint8_t jamInd;
uint16_t __reserved3; uint16_t reserved3;
uint32_t pinIrq; uint32_t pinIrq;
uint32_t pulLH; uint32_t pullH;
uint32_t pullL; uint32_t pullL;
}; } ubx_payload_rx_mon_hw_ubx7_t;
//typedef struct { /* Rx ACK-ACK */
// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */ typedef union {
// int16_t week; /**< Measurement GPS week number */ uint16_t msg;
// uint8_t numVis; /**< Number of visible satellites */ struct {
//
// //... rest of package is not used in this implementation
//
//} gps_bin_rxm_svsi_packet_t;
typedef struct {
uint8_t clsID; uint8_t clsID;
uint8_t msgID; uint8_t msgID;
uint8_t ck_a; };
uint8_t ck_b; } ubx_payload_rx_ack_ack_t;
} gps_bin_ack_ack_packet_t;
typedef struct { /* Rx ACK-NAK */
typedef union {
uint16_t msg;
struct {
uint8_t clsID; uint8_t clsID;
uint8_t msgID; uint8_t msgID;
uint8_t ck_a; };
uint8_t ck_b; } ubx_payload_rx_ack_nak_t;
} gps_bin_ack_nak_packet_t;
/* Tx CFG-PRT */
typedef struct { typedef struct {
uint8_t clsID;
uint8_t msgID;
uint16_t length;
uint8_t portID; uint8_t portID;
uint8_t res0; uint8_t reserved0;
uint16_t res1; uint16_t txReady;
uint32_t mode; uint32_t mode;
uint32_t baudRate; uint32_t baudRate;
uint16_t inProtoMask; uint16_t inProtoMask;
uint16_t outProtoMask; uint16_t outProtoMask;
uint16_t flags; uint16_t flags;
uint16_t pad; uint16_t reserved5;
uint8_t ck_a; } ubx_payload_tx_cfg_prt_t;
uint8_t ck_b;
} type_gps_bin_cfg_prt_packet_t;
/* Tx CFG-RATE */
typedef struct { typedef struct {
uint8_t clsID; uint16_t measRate; /**< Measurement Rate, GPS measurements are taken every measRate milliseconds */
uint8_t msgID; uint16_t navRate; /**< Navigation Rate, in number of measurement cycles. This parameter cannot be changed, and must be set to 1 */
uint16_t length; uint16_t timeRef; /**< Alignment to reference time: 0 = UTC time, 1 = GPS time */
uint16_t measRate; } ubx_payload_tx_cfg_rate_t;
uint16_t navRate;
uint16_t timeRef;
uint8_t ck_a;
uint8_t ck_b;
} type_gps_bin_cfg_rate_packet_t;
/* Tx CFG-NAV5 */
typedef struct { typedef struct {
uint8_t clsID;
uint8_t msgID;
uint16_t length;
uint16_t mask; uint16_t mask;
uint8_t dynModel; uint8_t dynModel; /**< Dynamic Platform model: 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
uint8_t fixMode; uint8_t fixMode; /**< Position Fixing Mode: 1 2D only, 2 3D only, 3 Auto 2D/3D */
int32_t fixedAlt; int32_t fixedAlt;
uint32_t fixedAltVar; uint32_t fixedAltVar;
int8_t minElev; int8_t minElev;
@ -332,62 +306,86 @@ typedef struct {
uint16_t tAcc; uint16_t tAcc;
uint8_t staticHoldThresh; uint8_t staticHoldThresh;
uint8_t dgpsTimeOut; uint8_t dgpsTimeOut;
uint32_t reserved2; uint8_t cnoThreshNumSVs; /**< (ubx7+ only, else 0) */
uint32_t reserved3; uint8_t cnoThresh; /**< (ubx7+ only, else 0) */
uint16_t reserved;
uint16_t staticHoldMaxDist; /**< (ubx8+ only, else 0) */
uint8_t utcStandard; /**< (ubx8+ only, else 0) */
uint8_t reserved3;
uint32_t reserved4; uint32_t reserved4;
uint8_t ck_a; } ubx_payload_tx_cfg_nav5_t;
uint8_t ck_b;
} type_gps_bin_cfg_nav5_packet_t;
/* Tx CFG-MSG */
typedef struct { typedef struct {
uint8_t clsID; union {
uint16_t msg;
struct {
uint8_t msgClass;
uint8_t msgID; uint8_t msgID;
uint16_t length; };
uint8_t msgClass_payload; };
uint8_t msgID_payload;
uint8_t rate; uint8_t rate;
uint8_t ck_a; } ubx_payload_tx_cfg_msg_t;
uint8_t ck_b;
} type_gps_bin_cfg_msg_packet_t;
struct ubx_cfg_msg_rate { /* General message and payload buffer union */
uint8_t msg_class; typedef union {
uint8_t msg_id; ubx_payload_rx_nav_posllh_t payload_rx_nav_posllh;
uint8_t rate; ubx_payload_rx_nav_sol_t payload_rx_nav_sol;
}; ubx_payload_rx_nav_timeutc_t payload_rx_nav_timeutc;
ubx_payload_rx_nav_svinfo_part1_t payload_rx_nav_svinfo_part1;
ubx_payload_rx_nav_svinfo_part2_t payload_rx_nav_svinfo_part2;
ubx_payload_rx_nav_velned_t payload_rx_nav_velned;
ubx_payload_rx_mon_hw_ubx6_t payload_rx_mon_hw_ubx6;
ubx_payload_rx_mon_hw_ubx7_t payload_rx_mon_hw_ubx7;
ubx_payload_rx_ack_ack_t payload_rx_ack_ack;
ubx_payload_rx_ack_nak_t payload_rx_ack_nak;
ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt;
ubx_payload_tx_cfg_rate_t payload_tx_cfg_rate;
ubx_payload_tx_cfg_nav5_t payload_tx_cfg_nav5;
ubx_payload_tx_cfg_msg_t payload_tx_cfg_msg;
uint8_t raw[];
} ubx_buf_t;
#pragma pack(pop)
/*** END OF u-blox protocol binary message and payload definitions ***/
// END the structures of the binary packets /* Decoder state */
// ************
typedef enum { typedef enum {
UBX_DECODE_UNINIT = 0, UBX_DECODE_SYNC1 = 0,
UBX_DECODE_GOT_SYNC1, UBX_DECODE_SYNC2,
UBX_DECODE_GOT_SYNC2, UBX_DECODE_CLASS,
UBX_DECODE_GOT_CLASS, UBX_DECODE_ID,
UBX_DECODE_GOT_MESSAGEID, UBX_DECODE_LENGTH1,
UBX_DECODE_GOT_LENGTH1, UBX_DECODE_LENGTH2,
UBX_DECODE_GOT_LENGTH2 UBX_DECODE_PAYLOAD,
UBX_DECODE_CHKSUM1,
UBX_DECODE_CHKSUM2
} ubx_decode_state_t; } ubx_decode_state_t;
//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; /* Rx message state */
#pragma pack(pop) typedef enum {
UBX_RXMSG_IGNORE = 0,
UBX_RXMSG_HANDLE,
UBX_RXMSG_DISABLE,
UBX_RXMSG_ERROR_LENGTH
} ubx_rxmsg_state_t;
/* ACK state */
typedef enum {
UBX_ACK_IDLE = 0,
UBX_ACK_WAITING,
UBX_ACK_GOT_ACK,
UBX_ACK_GOT_NAK
} ubx_ack_state_t;
/* calculate parser rx buffer size dependent on NAV_SVINFO enabled or not */
/* TODO: make this a command line option, allocate buffer dynamically */
#define RECV_BUFFER_OVERHEAD 10 // add this to the maximum Rx msg payload size to account for msg overhead */
#if (UBX_ENABLE_NAV_SVINFO != 0)
#define RECV_BUFFER_SIZE (UBX_NAV_SVINFO_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD)
#else
#define RECV_BUFFER_SIZE (UBX_MAX_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD)
#endif
class UBX : public GPS_Helper class UBX : public GPS_Helper
{ {
public: public:
UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info, const bool &enable_sat_info); UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
~UBX(); ~UBX();
int receive(unsigned timeout); int receive(const unsigned timeout);
int configure(unsigned &baudrate); int configure(unsigned &baudrate);
private: private:
@ -395,12 +393,23 @@ private:
/** /**
* Parse the binary UBX packet * Parse the binary UBX packet
*/ */
int parse_char(uint8_t b); int parse_char(const uint8_t b);
/** /**
* Handle the package once it has arrived * Start payload rx
*/ */
int handle_message(void); int payload_rx_init(void);
/**
* Add payload rx byte
*/
int payload_rx_add(const uint8_t b);
int payload_rx_add_svinfo(const uint8_t b);
/**
* Finish payload rx
*/
int payload_rx_done(void);
/** /**
* Reset the parse state machine for a fresh start * Reset the parse state machine for a fresh start
@ -410,45 +419,46 @@ private:
/** /**
* While parsing add every byte (except the sync bytes) to the checksum * While parsing add every byte (except the sync bytes) to the checksum
*/ */
void add_byte_to_checksum(uint8_t); void add_byte_to_checksum(const uint8_t);
/** /**
* Add the two checksum bytes to an outgoing message * Send a message
*/ */
void add_checksum_to_message(uint8_t *message, const unsigned length); void send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length);
/** /**
* Helper to send a config packet * Configure message rate
*/ */
void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); void configure_message_rate(const uint16_t msg, const uint8_t rate);
void configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate); /**
* Calculate & add checksum for given buffer
*/
void calc_checksum(const uint8_t *buffer, const uint16_t length, ubx_checksum_t *checksum);
void send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size); /**
* Wait for message acknowledge
void add_checksum(uint8_t *message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b); */
int wait_for_ack(const uint16_t msg, const unsigned timeout, const bool report);
int wait_for_ack(unsigned timeout);
int _fd; int _fd;
struct vehicle_gps_position_s *_gps_position; struct vehicle_gps_position_s *_gps_position;
struct satellite_info_s *_satellite_info; struct satellite_info_s *_satellite_info;
bool _enable_sat_info; bool _enable_sat_info;
bool _configured; bool _configured;
bool _waiting_for_ack; ubx_ack_state_t _ack_state;
bool _got_posllh; bool _got_posllh;
bool _got_velned; bool _got_velned;
uint8_t _message_class_needed;
uint8_t _message_id_needed;
ubx_decode_state_t _decode_state; ubx_decode_state_t _decode_state;
uint8_t _rx_buffer[RECV_BUFFER_SIZE]; uint16_t _rx_msg;
unsigned _rx_count; ubx_rxmsg_state_t _rx_state;
uint16_t _rx_payload_length;
uint16_t _rx_payload_index;
uint8_t _rx_ck_a; uint8_t _rx_ck_a;
uint8_t _rx_ck_b; uint8_t _rx_ck_b;
uint8_t _message_class;
uint8_t _message_id;
unsigned _payload_size;
hrt_abstime _disable_cmd_last; hrt_abstime _disable_cmd_last;
uint16_t _ack_waiting_msg;
ubx_buf_t _buf;
}; };
#endif /* UBX_H_ */ #endif /* UBX_H_ */