LibrePilot/flight/modules/GPS/inc/UBX.h

/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup GSPModule GPS Module
 * @brief Process GPS information
 * @{
 *
 * @file       UBX.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      GPS module, handles GPS and NMEA stream
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * 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, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#ifndef UBX_H
#define UBX_H
#include "openpilot.h"
#include "gpspositionsensor.h"
#include "gpsextendedstatus.h"
#include "auxmagsensor.h"
#include "GPS.h"

#define UBX_REPLY_TIMEOUT (500 * 1000)

#define UBX_SYNC1         0xb5 // UBX protocol synchronization characters
#define UBX_SYNC2         0x62

// From u-blox6 receiver protocol specification

// Messages classes
typedef enum {
    UBX_CLASS_NAV     = 0x01,
    UBX_CLASS_ACK     = 0x05,
    UBX_CLASS_CFG     = 0x06,
    UBX_CLASS_MON     = 0x0A,
    UBX_CLASS_OP_CUST = 0x99,
} ubx_class;

// Message IDs
typedef enum {
    UBX_ID_NAV_POSLLH  = 0x02,
    UBX_ID_NAV_STATUS  = 0x03,
    UBX_ID_NAV_DOP     = 0x04,
    UBX_ID_NAV_SOL     = 0x06,
    UBX_ID_NAV_VELNED  = 0x12,
    UBX_ID_NAV_TIMEUTC = 0x21,
    UBX_ID_NAV_SVINFO  = 0x30,
    UBX_ID_NAV_PVT     = 0x07,
} ubx_class_nav_id;

typedef enum {
    UBX_ID_OP_SYS = 0x01,
    UBX_ID_OP_MAG = 0x02,
} ubx_class_op_id;

typedef enum {
    UBX_ID_MON_VER = 0x04,
} ubx_class_mon_id;


typedef enum {
    UBX_ID_CFG_NAV5 = 0x24,
    UBX_ID_CFG_RATE = 0x08,
    UBX_ID_CFG_MSG  = 0x01,
} ubx_class_cfg_id;

typedef enum {
    UBX_ID_ACK_ACK = 0x01,
    UBX_ID_ACK_NAK = 0x00,
} ubx_class_ack_id;

// private structures

// Geodetic Position Solution
struct UBX_NAV_POSLLH {
    uint32_t iTOW; // GPS Millisecond Time of Week (ms)
    int32_t  lon;    // Longitude (deg*1e-7)
    int32_t  lat;    // Latitude (deg*1e-7)
    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)
};

// Receiver Navigation Status

#define STATUS_GPSFIX_NOFIX    0x00
#define STATUS_GPSFIX_DRONLY   0x01
#define STATUS_GPSFIX_2DFIX    0x02
#define STATUS_GPSFIX_3DFIX    0x03
#define STATUS_GPSFIX_GPSDR    0x04
#define STATUS_GPSFIX_TIMEONLY 0x05

#define STATUS_FLAGS_GPSFIX_OK (1 << 0)
#define STATUS_FLAGS_DIFFSOLN  (1 << 1)
#define STATUS_FLAGS_WKNSET    (1 << 2)
#define STATUS_FLAGS_TOWSET    (1 << 3)

struct UBX_NAV_STATUS {
    uint32_t iTOW; // GPS Millisecond Time of Week (ms)
    uint8_t  gpsFix;  // GPS fix type
    uint8_t  flags;   // Navigation Status Flags
    uint8_t  fixStat; // Fix Status Information
    uint8_t  flags2;  // Additional navigation output information
    uint32_t ttff; // Time to first fix (ms)
    uint32_t msss; // Milliseconds since startup/reset (ms)
};

// Dilution of precision
struct UBX_NAV_DOP {
    uint32_t iTOW; // GPS Millisecond Time of Week (ms)
    uint16_t gDOP; // Geometric DOP
    uint16_t pDOP; // Position DOP
    uint16_t tDOP; // Time DOP
    uint16_t vDOP; // Vertical DOP
    uint16_t hDOP; // Horizontal DOP
    uint16_t nDOP; // Northing DOP
    uint16_t eDOP; // Easting DOP
};

// Navigation solution

struct UBX_NAV_SOL {
    uint32_t iTOW; // GPS Millisecond Time of Week (ms)
    int32_t  fTOW;       // fractional nanoseconds (ns)
    int16_t  week;       // GPS week
    uint8_t  gpsFix;     // GPS fix type
    uint8_t  flags;      // Fix status flags
    int32_t  ecefX;      // ECEF X coordinate (cm)
    int32_t  ecefY;      // ECEF Y coordinate (cm)
    int32_t  ecefZ;      // ECEF Z coordinate (cm)
    uint32_t pAcc; // 3D Position Accuracy Estimate (cm)
    int32_t  ecefVX;     // ECEF X coordinate (cm/s)
    int32_t  ecefVY;     // ECEF Y coordinate (cm/s)
    int32_t  ecefVZ;     // ECEF Z coordinate (cm/s)
    uint32_t sAcc; // Speed Accuracy Estimate
    uint16_t pDOP; // Position DOP
    uint8_t  reserved1;  // Reserved
    uint8_t  numSV;      // Number of SVs used in Nav Solution
    uint32_t reserved2; // Reserved
};

// North/East/Down velocity

struct UBX_NAV_VELNED {
    uint32_t iTOW; // ms GPS Millisecond Time of Week
    int32_t  velN;     // cm/s NED north velocity
    int32_t  velE;     // cm/s NED east velocity
    int32_t  velD;     // cm/s NED down velocity
    uint32_t speed; // cm/s Speed (3-D)
    uint32_t gSpeed; // cm/s Ground Speed (2-D)
    int32_t  heading;  // 1e-5 *deg Heading of motion 2-D
    uint32_t sAcc; // cm/s Speed Accuracy Estimate
    uint32_t cAcc; // 1e-5 *deg Course / Heading Accuracy Estimate
};

// UTC Time Solution

#define TIMEUTC_VALIDTOW (1 << 0)
#define TIMEUTC_VALIDWKN (1 << 1)
#define TIMEUTC_VALIDUTC (1 << 2)

struct UBX_NAV_TIMEUTC {
    uint32_t iTOW; // GPS Millisecond Time of Week (ms)
    uint32_t tAcc; // Time Accuracy Estimate (ns)
    int32_t  nano;   // Nanoseconds of second
    uint16_t year;
    uint8_t  month;
    uint8_t  day;
    uint8_t  hour;
    uint8_t  min;
    uint8_t  sec;
    uint8_t  valid;  // Validity Flags
};

#define PVT_VALID_VALIDDATE            0x01
#define PVT_VALID_VALIDTIME            0x02
#define PVT_VALID_FULLYRESOLVED        0x04

#define PVT_FIX_TYPE_NO_FIX            0
#define PVT_FIX_TYPE_DEAD_RECKON       0x01 // Dead Reckoning only
#define PVT_FIX_TYPE_2D                0x02 // 2D-Fix
#define PVT_FIX_TYPE_3D                0x03 // 3D-Fix
#define PVT_FIX_TYPE_GNSS_DEAD_RECKON  0x04 // GNSS + dead reckoning combined
#define PVT_FIX_TYPE_TIME_ONLY         0x05 // Time only fix

#define PVT_FLAGS_GNSSFIX_OK           (1 << 0)
#define PVT_FLAGS_DIFFSOLN             (1 << 1)
#define PVT_FLAGS_PSMSTATE_ENABLED     (1 << 2)
#define PVT_FLAGS_PSMSTATE_ACQUISITION (2 << 2)
#define PVT_FLAGS_PSMSTATE_TRACKING    (3 << 2)
#define PVT_FLAGS_PSMSTATE_PO_TRACKING (4 << 2)
#define PVT_FLAGS_PSMSTATE_INACTIVE    (5 << 2)

// PVT Navigation Position Velocity Time Solution
struct UBX_NAV_PVT {
    uint32_t iTOW;
    uint16_t year;
    uint8_t  month;
    uint8_t  day;
    uint8_t  hour;
    uint8_t  min;
    uint8_t  sec;
    uint8_t  valid;
    uint32_t tAcc;
    int32_t  nano;
    uint8_t  fixType;
    uint8_t  flags;
    uint8_t  reserved1;
    uint8_t  numSV;
    int32_t  lon;
    int32_t  lat;
    int32_t  height;
    int32_t  hMSL;
    uint32_t hAcc;
    uint32_t vAcc;
    int32_t  velN;
    int32_t  velE;
    int32_t  velD;
    int32_t  gSpeed;
    int32_t  heading;
    uint32_t sAcc;
    uint32_t headingAcc;
    uint16_t pDOP;
    uint16_t reserved2;
    uint32_t reserved3;
} __attribute__((packed));

// Space Vehicle (SV) Information

// Single SV information block

#define SVUSED     (1 << 0) // This SV is used for navigation
#define DIFFCORR   (1 << 1) // Differential correction available
#define ORBITAVAIL (1 << 2) // Orbit information available
#define ORBITEPH   (1 << 3) // Orbit information is Ephemeris
#define UNHEALTHY  (1 << 4) // SV is unhealthy
#define ORBITALM   (1 << 5) // Orbit information is Almanac Plus
#define ORBITAOP   (1 << 6) // Orbit information is AssistNow Autonomous
#define SMOOTHED   (1 << 7) // Carrier smoothed pseudoranges used

struct UBX_NAV_SVINFO_SV {
    uint8_t chn; // Channel number
    uint8_t svid; // Satellite ID
    uint8_t flags; // Misc SV information
    uint8_t quality; // Misc quality indicators
    uint8_t cno; // Carrier to Noise Ratio (dbHz)
    int8_t  elev;     // Elevation (integer degrees)
    int16_t azim; // Azimuth	(integer degrees)
    int32_t prRes; // Pseudo range residual (cm)
};

// SV information message
#define MAX_SVS 16

struct UBX_NAV_SVINFO {
    uint32_t iTOW; // GPS Millisecond Time of Week (ms)
    uint8_t  numCh;        // Number of channels
    uint8_t  globalFlags;  //
    uint16_t reserved2; // Reserved
    struct UBX_NAV_SVINFO_SV sv[MAX_SVS]; // Repeated 'numCh' times
};

// ACK message class

struct UBX_ACK_ACK {
    uint8_t clsID; // ClassID
    uint8_t msgID; // MessageID
};

struct UBX_ACK_NAK {
    uint8_t clsID; // ClassID
    uint8_t msgID; // MessageID
};

// MON message Class
#define UBX_MON_MAX_EXT 5
struct UBX_MON_VER {
    char swVersion[30];
    char hwVersion[10];
#if UBX_MON_MAX_EXT > 0
    char extension[UBX_MON_MAX_EXT][30];
#endif
};


// OP custom messages
struct UBX_OP_SYSINFO {
    uint32_t flightTime;
    uint16_t HeapRemaining;
    uint16_t IRQStackRemaining;
    uint16_t SystemModStackRemaining;
    uint16_t options;
};

// OP custom messages
struct UBX_OP_MAG {
    int16_t  x;
    int16_t  y;
    int16_t  z;
    uint16_t Status;
};

typedef union {
    uint8_t payload[0];
    // Nav Class
    struct UBX_NAV_POSLLH  nav_posllh;
    struct UBX_NAV_STATUS  nav_status;
    struct UBX_NAV_DOP     nav_dop;
    struct UBX_NAV_SOL     nav_sol;
    struct UBX_NAV_VELNED  nav_velned;
    struct UBX_NAV_PVT     nav_pvt;
#if !defined(PIOS_GPS_MINIMAL)
    struct UBX_NAV_TIMEUTC nav_timeutc;
    struct UBX_NAV_SVINFO  nav_svinfo;
#endif
    // Ack Class
    struct UBX_ACK_ACK     ack_ack;
    struct UBX_ACK_NAK     ack_nak;
    // Mon Class
    struct UBX_MON_VER     mon_ver;
    struct UBX_OP_SYSINFO  op_sysinfo;
    struct UBX_OP_MAG op_mag;
} UBXPayload;

struct UBXHeader {
    uint8_t  class;
    uint8_t  id;
    uint16_t len;
    uint8_t  ck_a;
    uint8_t  ck_b;
};

struct UBXPacket {
    struct UBXHeader header;
    UBXPayload payload;
};

// Used by AutoConfig code
extern int32_t ubxHwVersion;
extern struct UBX_ACK_ACK ubxLastAck;
extern struct UBX_ACK_NAK ubxLastNak;

bool checksum_ubx_message(struct UBXPacket *);
uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);

int parse_ubx_stream(uint8_t, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
void load_mag_settings();

#endif /* UBX_H */