/** ****************************************************************************** * @addtogroup OpenPilotModules OpenPilot Modules * @{ * @addtogroup GPSModule GPS Module * @brief Support code for UBX AutoConfig * @{ * * @file ubx_autoconfig.c * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016. * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. * @brief Support code for UBX AutoConfig * @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 */ #include #include "hwsettings.h" #include "gpssettings.h" #include "inc/ubx_autoconfig.h" #include #include "taskinfo.h" // private type definitions typedef enum { INIT_STEP_DISABLED = 0, INIT_STEP_START, INIT_STEP_SEND_MON_VER, INIT_STEP_WAIT_MON_VER_ACK, INIT_STEP_RESET_GPS, INIT_STEP_REVO_9600_BAUD, INIT_STEP_GPS_BAUD, INIT_STEP_REVO_BAUD, INIT_STEP_ENABLE_SENTENCES, INIT_STEP_ENABLE_SENTENCES_WAIT_ACK, INIT_STEP_CONFIGURE, INIT_STEP_CONFIGURE_WAIT_ACK, INIT_STEP_SAVE, INIT_STEP_SAVE_WAIT_ACK, INIT_STEP_PRE_DONE, INIT_STEP_DONE, INIT_STEP_PRE_ERROR, INIT_STEP_ERROR } initSteps_t; typedef struct { initSteps_t currentStep; // Current configuration "fsm" status initSteps_t currentStepSave; // Current configuration "fsm" status uint32_t lastStepTimestampRaw; // timestamp of last operation uint32_t lastConnectedRaw; // timestamp of last time gps was connected struct { union { struct { UBXSentPacket_t working_packet; // outbound "buffer" // bufferPaddingForPiosBugAt2400Baud must exist for baud rate change to work at 2400 or 4800 // failure mode otherwise: // - send message with baud rate change // - wait 1 second (even at 2400, the baud rate change command // - should clear even an initially full 31 byte PIOS buffer much more quickly) // - change Revo port baud rate // sometimes fails (much worse for lowest baud rates) // FIXME: remove this and retest when someone has time uint8_t bufferPaddingForPiosBugAt2400Baud[2]; // must be at least 2 for 2400 to work, probably 1 for 4800 and 0 for 9600+ } __attribute__((packed)); GPSSettingsData gpsSettings; } __attribute__((packed)); } __attribute__((packed)); volatile ubx_autoconfig_settings_t currentSettings; int8_t lastConfigSent; // index of last configuration string sent struct UBX_ACK_ACK requiredAck; // Class and id of the message we are waiting for an ACK from GPS uint8_t retryCount; } status_t; ubx_cfg_msg_t msg_config_ubx6[] = { // messages to disable { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_CLOCK, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSECEF, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SBAS, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEGPS, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELECEF, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW2, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_IO, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_MSGPP, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_RXBUFF, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_RXR, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_TXBUF, .rate = 0 }, { .msgClass = UBX_CLASS_RXM, .msgID = UBX_ID_RXM_SVSI, .rate = 0 }, // message to enable { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .rate = 1 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .rate = 1 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .rate = 1 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_STATUS, .rate = 1 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .rate = 1 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEUTC, .rate = 1 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 10 }, }; ubx_cfg_msg_t msg_config_ubx7[] = { // messages to disable { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_AOPSTATUS, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_CLOCK, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DGPS, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSECEF, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SBAS, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEGPS, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELECEF, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_STATUS, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEUTC, .rate = 0 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW2, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_IO, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_MSGPP, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_RXBUFF, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_RXR, .rate = 0 }, { .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_TXBUF, .rate = 0 }, { .msgClass = UBX_CLASS_RXM, .msgID = UBX_ID_RXM_SVSI, .rate = 0 }, // message to enable { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .rate = 1 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .rate = 1 }, { .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 10 }, }; // private defines #define LAST_CONFIG_SENT_START (-1) #define LAST_CONFIG_SENT_COMPLETED (-2) // always reset the stored GPS configuration, even when doing autoconfig.nostore // that is required to do a 100% correct configuration // but is unexpected because it changes the stored configuration when doing autoconfig.nostore // note that a reset is always done with autoconfig.store // #define ALWAYS_RESET // we can enable this when we know how to make the Flight Controller save an object to permanent storage // also see comment about simple edit in gpssettings.xml #define AUTOBAUD_CONFIGURE_STORE_AND_DISABLE // Alessio Morale May 20 3:16 AM // @Cliff you should update the ObjectPersistence uavo passing the object id and the desired operation. // private variables // enable the autoconfiguration system static volatile bool enabled = false; static volatile bool current_step_touched = false; // both the pointer and what it points to are volatile. Yuk. static volatile status_t *volatile status = 0; static uint8_t hwsettings_baud; static uint8_t baud_to_try_index = 255; // functions static void append_checksum(UBXSentPacket_t *packet) { uint8_t i; uint8_t ck_a = 0; uint8_t ck_b = 0; uint16_t len = packet->message.header.len + sizeof(UBXSentHeader_t); for (i = 2; i < len; i++) { ck_a += packet->buffer[i]; ck_b += ck_a; } packet->buffer[len] = ck_a; packet->buffer[len + 1] = ck_b; } /** * prepare a packet to be sent, fill the header and appends the checksum. * return the total packet lenght comprising header and checksum */ static uint16_t prepare_packet(UBXSentPacket_t *packet, uint8_t classID, uint8_t messageID, uint16_t len) { memset((uint8_t *)status->working_packet.buffer + len + sizeof(UBXSentHeader_t) + 2, 0, sizeof(status->bufferPaddingForPiosBugAt2400Baud)); packet->message.header.prolog[0] = UBX_SYNC1; packet->message.header.prolog[1] = UBX_SYNC2; packet->message.header.class = classID; packet->message.header.id = messageID; packet->message.header.len = len; append_checksum(packet); status->requiredAck.clsID = classID; status->requiredAck.msgID = messageID; return len + sizeof(UBXSentHeader_t) + 2 + sizeof(status->bufferPaddingForPiosBugAt2400Baud); // payload + header + checksum + extra bytes } static void build_request(UBXSentPacket_t *packet, uint8_t classID, uint8_t messageID, uint16_t *bytes_to_send) { *bytes_to_send = prepare_packet(packet, classID, messageID, 0); } static void set_current_step_if_untouched(initSteps_t new_steps) { // assume this one byte initSteps_t is atomic // take care of some concurrency issues if (!current_step_touched) { status->currentStep = new_steps; } if (current_step_touched) { status->currentStep = status->currentStepSave; } } void gps_ubx_reset_sensor_type() { static uint8_t mutex; // = 0 // is this needed? // what happens if two tasks / threads try to do an XyzSet() at the same time? if (__sync_fetch_and_add(&mutex, 1) == 0) { ubxHwVersion = -1; baud_to_try_index -= 1; // undo postincrement and start with the one that was most recently successful ubxSensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN; GPSPositionSensorSensorTypeSet(&ubxSensorType); // make the sensor type / autobaud code time out immediately to send the request immediately status->lastStepTimestampRaw += 0x8000000UL; } --mutex; } static void config_reset(uint16_t *bytes_to_send) { memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_cfg_t)); // mask LSB=ioPort|msgConf|infMsg|navConf|rxmConf|||||rinvConf|antConf|....|= MSB // ioPort=1, msgConf=2, infMsg=4, navConf=8, tpConf=0x10, sfdrConf=0x100, rinvConf=0x200, antConf=0x400 // first: reset (permanent settings to default) all but rinv = e.g. owner name status->working_packet.message.payload.cfg_cfg.clearMask = UBX_CFG_CFG_OP_RESET_SETTINGS; // then: don't store any current settings to permanent status->working_packet.message.payload.cfg_cfg.saveMask = UBX_CFG_CFG_SETTINGS_NONE; // lastly: load (immediately start to use) all but rinv = e.g. owner name status->working_packet.message.payload.cfg_cfg.loadMask = UBX_CFG_CFG_OP_RESET_SETTINGS; // all devices status->working_packet.message.payload.cfg_cfg.deviceMask = UBX_CFG_CFG_DEVICE_ALL; *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_CFG, sizeof(ubx_cfg_cfg_t)); } // set the GPS baud rate to the user specified baud rate // because we may have started up with 9600 baud (for a GPS with no permanent settings) static void config_gps_baud(uint16_t *bytes_to_send) { memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_prt_t)); status->working_packet.message.payload.cfg_prt.mode = UBX_CFG_PRT_MODE_DEFAULT; // 8databits, 1stopbit, noparity, and non-zero reserved status->working_packet.message.payload.cfg_prt.portID = 1; // 1 = UART1, 2 = UART2 // for protocol masks, bit 0 is UBX enable, bit 1 is NMEA enable status->working_packet.message.payload.cfg_prt.inProtoMask = 1; // 1 = UBX only (bit 0) // disable current UBX messages for low baud rates status->working_packet.message.payload.cfg_prt.outProtoMask = 1; // Ask GPS to change it's speed status->working_packet.message.payload.cfg_prt.baudRate = hwsettings_gpsspeed_enum_to_baud(hwsettings_baud); *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_PRT, sizeof(ubx_cfg_prt_t)); } static void config_rate(uint16_t *bytes_to_send) { memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_rate_t)); // if rate is less than 1 uses the highest rate for current hardware uint16_t rate = status->currentSettings.navRate > 0 ? status->currentSettings.navRate : 99; if (ubxHwVersion < UBX_HW_VERSION_7 && rate > UBX_MAX_RATE) { rate = UBX_MAX_RATE; } else if (ubxHwVersion < UBX_HW_VERSION_8 && rate > UBX_MAX_RATE_VER7) { rate = UBX_MAX_RATE_VER7; } else if (ubxHwVersion >= UBX_HW_VERSION_8 && rate > UBX_MAX_RATE_VER8) { rate = UBX_MAX_RATE_VER8; } uint16_t period = 1000 / rate; status->working_packet.message.payload.cfg_rate.measRate = period; status->working_packet.message.payload.cfg_rate.navRate = 1; // must be set to 1 status->working_packet.message.payload.cfg_rate.timeRef = 1; // 0 = UTC Time, 1 = GPS Time *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_RATE, sizeof(ubx_cfg_rate_t)); } static void config_nav(uint16_t *bytes_to_send) { memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_nav5_t)); status->working_packet.message.payload.cfg_nav5.dynModel = status->currentSettings.dynamicModel; status->working_packet.message.payload.cfg_nav5.fixMode = UBX_CFG_NAV5_FIXMODE_3D_ONLY; // mask LSB=dyn|minEl|posFixMode|drLim|posMask|statisticHoldMask|dgpsMask|......|reservedBit0 = MSB status->working_packet.message.payload.cfg_nav5.mask = UBX_CFG_NAV5_DYNMODEL + UBX_CFG_NAV5_FIXMODE; *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_NAV5, sizeof(ubx_cfg_nav5_t)); } static void config_navx(uint16_t *bytes_to_send) { memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_navx5_t)); status->working_packet.message.payload.cfg_navx5.useAOP = status->currentSettings.AssistNowAutonomous; status->working_packet.message.payload.cfg_navx5.mask1 = UBX_CFG_NAVX5_AOP; *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_NAVX5, sizeof(ubx_cfg_navx5_t)); } static void config_sbas(uint16_t *bytes_to_send) { memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_sbas_t)); status->working_packet.message.payload.cfg_sbas.maxSBAS = status->currentSettings.SBASChannelsUsed < 4 ? status->currentSettings.SBASChannelsUsed : 3; status->working_packet.message.payload.cfg_sbas.usage = (status->currentSettings.SBASCorrection ? UBX_CFG_SBAS_USAGE_DIFFCORR : 0) | (status->currentSettings.SBASIntegrity ? UBX_CFG_SBAS_USAGE_INTEGRITY : 0) | (status->currentSettings.SBASRanging ? UBX_CFG_SBAS_USAGE_RANGE : 0); // If sbas is used for anything then set mode as enabled status->working_packet.message.payload.cfg_sbas.mode = status->working_packet.message.payload.cfg_sbas.usage != 0 ? UBX_CFG_SBAS_MODE_ENABLED : 0; status->working_packet.message.payload.cfg_sbas.scanmode1 = status->currentSettings.SBASSats == UBX_SBAS_SATS_WAAS ? UBX_CFG_SBAS_SCANMODE1_WAAS : status->currentSettings.SBASSats == UBX_SBAS_SATS_EGNOS ? UBX_CFG_SBAS_SCANMODE1_EGNOS : status->currentSettings.SBASSats == UBX_SBAS_SATS_MSAS ? UBX_CFG_SBAS_SCANMODE1_MSAS : status->currentSettings.SBASSats == UBX_SBAS_SATS_GAGAN ? UBX_CFG_SBAS_SCANMODE1_GAGAN : status->currentSettings.SBASSats == UBX_SBAS_SATS_SDCM ? UBX_CFG_SBAS_SCANMODE1_SDCM : UBX_SBAS_SATS_AUTOSCAN; status->working_packet.message.payload.cfg_sbas.scanmode2 = UBX_CFG_SBAS_SCANMODE2; *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_SBAS, sizeof(ubx_cfg_sbas_t)); } static void config_gnss(uint16_t *bytes_to_send) { memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_gnss_t)); status->working_packet.message.payload.cfg_gnss.numConfigBlocks = UBX_GNSS_ID_MAX; status->working_packet.message.payload.cfg_gnss.numTrkChHw = (ubxHwVersion > UBX_HW_VERSION_7) ? UBX_CFG_GNSS_NUMCH_VER8 : UBX_CFG_GNSS_NUMCH_VER7; status->working_packet.message.payload.cfg_gnss.numTrkChUse = status->working_packet.message.payload.cfg_gnss.numTrkChHw; for (int32_t i = 0; i < UBX_GNSS_ID_MAX; i++) { status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].gnssId = i; switch (i) { case UBX_GNSS_ID_GPS: if (status->currentSettings.enableGPS) { status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_GPS_L1CA; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 16; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8; } break; case UBX_GNSS_ID_QZSS: if (status->currentSettings.enableGPS) { status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_QZSS_L1CA; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 3; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 0; } break; case UBX_GNSS_ID_SBAS: if (status->currentSettings.SBASCorrection || status->currentSettings.SBASIntegrity || status->currentSettings.SBASRanging) { status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_SBAS_L1CA; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = status->currentSettings.SBASChannelsUsed < 4 ? status->currentSettings.SBASChannelsUsed : 3; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 1; } break; case UBX_GNSS_ID_GLONASS: if (status->currentSettings.enableGLONASS) { status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_GLONASS_L1OF; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 14; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8; } break; case UBX_GNSS_ID_BEIDOU: if (status->currentSettings.enableBeiDou) { status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_BEIDOU_B1I; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 14; status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8; } break; default: break; } } *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_GNSS, sizeof(ubx_cfg_gnss_t)); } static void config_save(uint16_t *bytes_to_send) { memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_cfg_t)); // mask LSB=ioPort|msgConf|infMsg|navConf|rxmConf|||||rinvConf|antConf|....|= MSB // ioPort=1, msgConf=2, infMsg=4, navConf=8, tpConf=0x10, sfdrConf=0x100, rinvConf=0x200, antConf=0x400 status->working_packet.message.payload.cfg_cfg.saveMask = UBX_CFG_CFG_OP_STORE_SETTINGS; // a list of settings we just set status->working_packet.message.payload.cfg_cfg.clearMask = UBX_CFG_CFG_OP_CLEAR_SETTINGS; // everything else gets factory default status->working_packet.message.payload.cfg_cfg.deviceMask = UBX_CFG_CFG_DEVICE_ALL; *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_CFG, sizeof(ubx_cfg_cfg_t)); } static void configure(uint16_t *bytes_to_send) { switch (status->lastConfigSent) { case LAST_CONFIG_SENT_START: // increase message rates to 5 fixes per second config_rate(bytes_to_send); break; case LAST_CONFIG_SENT_START + 1: config_nav(bytes_to_send); break; case LAST_CONFIG_SENT_START + 2: if (ubxHwVersion > UBX_HW_VERSION_5) { config_navx(bytes_to_send); break; } else { // Skip and fall through to next step status->lastConfigSent++; } case LAST_CONFIG_SENT_START + 3: if (status->currentSettings.enableGLONASS || status->currentSettings.enableGPS) { config_gnss(bytes_to_send); break; } else { // Skip and fall through to next step status->lastConfigSent++; } // in the else case we must fall through because we must send something each time because successful send is tested externally case LAST_CONFIG_SENT_START + 4: config_sbas(bytes_to_send); break; default: status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED; break; } } static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send) { int8_t msg = status->lastConfigSent + 1; uint8_t msg_count = (ubxHwVersion >= UBX_HW_VERSION_7) ? NELEMENTS(msg_config_ubx7) : NELEMENTS(msg_config_ubx6); ubx_cfg_msg_t *msg_config = (ubxHwVersion >= UBX_HW_VERSION_7) ? &msg_config_ubx7[0] : &msg_config_ubx6[0]; if (msg >= 0 && msg < msg_count) { status->working_packet.message.payload.cfg_msg = msg_config[msg]; *bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_MSG, sizeof(ubx_cfg_msg_t)); } else { status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED; } } #if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE) // permanently store our version of GPSSettings.UbxAutoConfig // we use this to disable after AbConfigStoreAndDisable is complete static void setGpsSettings() { // trying to do this as perfectly as possible we must realize that they may have pressed Send on some fields // and so those fields are not stored permanently // if we write the memory copy to flash, we will have made those permanent // we could save off the uavo memory copy to a local buffer with a standard GPSSettingsGet() // load from flash to uavo memory with a UAVObjLoad() // update our one setting in uavo memory with a standard GPSSettingsUbxAutoConfigSet() // save from uavo memory to flash with a UAVObjSave() // modify our saved off copy to have our new setting in it too // and finally copy the local buffer back out to uavo memory // that would do it as correctly as possible, but it doesn't work // so we do it the way autotune.c does it #if 0 // get the "in memory" version to a local buffer GPSSettingsGet((void *)&status->gpsSettings); // load the permanent version into memory UAVObjLoad(GPSSettingsHandle(), 0); #endif // change the in memory version of the field we want to change GPSSettingsUbxAutoConfigSet((GPSSettingsUbxAutoConfigOptions *)&status->currentSettings.UbxAutoConfig); // save the in memory version to permanent UAVObjSave(GPSSettingsHandle(), 0); #if 0 // copy the setting into the struct we will use to Set() status->gpsSettings.UbxAutoConfig = status->currentSettings.UbxAutoConfig; // try casting it correctly and it says: // expected 'struct GPSSettingsData *' but argument is of type 'struct GPSSettingsData *' // probably a volatile or align issue GPSSettingsSet((void *)&status->gpsSettings); // set the "in memory" version back into use #endif } #endif /* if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE) */ // 9600 baud and lower are not usable, and are best left at factory default // if the user selects 9600 void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send) { *bytes_to_send = 0; *buffer = (char *)status->working_packet.buffer; current_step_touched = false; // autoconfig struct not yet allocated if (!status) { return; } // get UBX version whether autobaud / autoconfig is enabled or not // this allows the user to manually try some baud rates and visibly see when it works // it also is how the autobaud code determines when the baud rate is correct // ubxHwVersion is a global set externally by the caller of this function // it is set when the GPS responds to a MON_VER message if (ubxHwVersion <= 0) { // at low baud rates and high data rates the ubx gps simply must drop some outgoing data // this isn't really an error // and when a lot of data is being dropped, the MON VER reply often gets dropped // on the other hand, uBlox documents that some versions discard data that is over 1 second old // implying a 1 second send buffer and that it could be over 1 second before a reply is received // later uBlox versions dropped this 1 second constraint and drop data when the send buffer is full // and that could be even longer than 1 second // send this more quickly and it will get a reply more quickly if a fixed percentage of replies are being dropped // wait for the normal reply timeout before sending it over and over if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_PARSER_TIMEOUT) { return; } // at this point we have already waited for the MON_VER reply to time out (except the first time where it times out without being sent) // and the fact we are here says that ubxHwVersion has not been set (it is set externally) // so this try at this baud rate has failed // if we get here // select the next baud rate, skipping ahead if new baud rate is HwSettings.GPSSpeed // set Revo baud rate to current++ value (immediate change so we can send right after that) and send the MON_VER request // baud rate search order are most likely matches first // if AutoBaud or higher, do AutoBaud if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUD) { uint8_t baud_to_try; static uint8_t baud_array[] = { HWSETTINGS_GPSSPEED_57600, HWSETTINGS_GPSSPEED_9600, HWSETTINGS_GPSSPEED_115200, HWSETTINGS_GPSSPEED_38400, HWSETTINGS_GPSSPEED_19200, HWSETTINGS_GPSSPEED_230400, HWSETTINGS_GPSSPEED_4800, HWSETTINGS_GPSSPEED_2400 }; // first try HwSettings.GPSSpeed and then // get the next baud rate to try from the table, but skip over the value of HwSettings.GPSSpeed do { // index is inited to be out of bounds, which is interpreted as "currently defined baud rate" (= HwSettings.GPSSpeed) if (baud_to_try_index >= sizeof(baud_array) / sizeof(baud_array[0])) { HwSettingsGPSSpeedGet(&hwsettings_baud); baud_to_try = hwsettings_baud; baud_to_try_index = 0; break; } else { baud_to_try = baud_array[baud_to_try_index++]; } // skip HwSettings.GPSSpeed when you run across it in the list } while (baud_to_try == hwsettings_baud); // set the FC (Revo) baud rate gps_set_fc_baud_from_arg(baud_to_try); } // this code is executed even if ubxautoconfig is disabled // it detects the "sensor type" = type of GPS // the user can use this to manually determine if the baud rate is correct build_request((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send); // keep timeouts running properly, we (will have) just sent a packet that generates a reply status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); return; } if (!enabled) { // keep resetting the timeouts here if we are not actually going to run the configure code // not really necessary, but it keeps the timer from wrapping every 50 seconds status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); return; // autoconfig not enabled } //////// // FSM //////// switch (status->currentStep) { // if here, we have verified that the baud rates are in sync sometime in the past case INIT_STEP_START: // we should look for the GPS version again (user may plug in a different GPS and then do autoconfig again) // zero retries for the next state that needs it (INIT_STEP_SAVE) set_current_step_if_untouched(INIT_STEP_SEND_MON_VER); // fall through to next state // we can do that if we choose because we haven't sent any data in this state // break; case INIT_STEP_SEND_MON_VER: build_request((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send); // keep timeouts running properly, we (will have) just sent a packet that generates a reply set_current_step_if_untouched(INIT_STEP_WAIT_MON_VER_ACK); status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); break; case INIT_STEP_WAIT_MON_VER_ACK: // wait for previous step // extra wait time might well be unnecessary but we want to make sure // that we don't stop waiting too soon if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_UNVERIFIED_STEP_WAIT_TIME) { return; } // Continue with next configuration option set_current_step_if_untouched(INIT_STEP_RESET_GPS); // fall through to next state // we can do that if we choose because we haven't sent any data in this state // break; // if here, we have just verified that the baud rates are in sync (again) case INIT_STEP_RESET_GPS: // make sure we don't change the baud rate too soon and garble the packet being sent // even after pios says the buffer is empty, the serial port buffer still has data in it // and changing the baud will screw it up // when the GPS is configured to send a lot of data, but has a low baud rate // it has way too many messages to send and has to drop most of them // Retrieve desired GPS baud rate once for use throughout this module HwSettingsGPSSpeedGet(&hwsettings_baud); #if !defined(ALWAYS_RESET) // ALWAYS_RESET is undefined because it causes stored settings to change even with autoconfig.nostore // but with it off, some settings may be enabled that should really be disabled (but aren't) after autoconfig.nostore // if user requests a low baud rate then we just reset and avoid adding navigation sentences // because low GPS baud and high OP data rate doesn't play nice // if user requests that settings be saved, we will reset here too // that makes sure that all strange settings are reset to factory default // else these strange settings may persist because we don't reset all settings by table if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGUREANDSTORE #if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE) || status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGURESTOREANDDISABLE #endif ) #endif { // reset all GPS parameters to factory default (configure low rate NMEA for low baud rates) // this is not usable by OP code for either baud rate or types of messages sent // but it starts up very quickly for use with autoconfig-nostore (which sets a high baud and enables all the necessary messages) config_reset(bytes_to_send); status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); } // else allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); set_current_step_if_untouched(INIT_STEP_REVO_9600_BAUD); break; // GPS was just reset, so GPS is running 9600 baud, and Revo is running whatever baud it was before case INIT_STEP_REVO_9600_BAUD: #if !defined(ALWAYS_RESET) // if user requests a low baud rate then we just reset and leave it set to NMEA // because low baud and high OP data rate doesn't play nice // if user requests that settings be saved, we will reset here too // that makes sure that all strange settings are reset to factory default // else these strange settings may persist because we don't reset all settings by hand if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGUREANDSTORE #if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE) || status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGURESTOREANDDISABLE #endif ) #endif { // wait for previous step // extra wait time might well be unnecessary but we want to make very sure // that we don't stop waiting too soon as that could leave us at an unknown baud rate // (i.e. set or not set) if the the transmit buffer was full and we were running at a low baud rate if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_UNVERIFIED_STEP_WAIT_TIME) { return; } // set the Revo GPS port to 9600 baud to match the reset to factory default that has already been done gps_set_fc_baud_from_arg(HWSETTINGS_GPSSPEED_9600); } // at most, we just set Revo baud and that doesn't send any data // fall through to next state // we can do that if we choose because we haven't sent any data in this state // set_current_step_if_untouched(INIT_STEP_GPS_BAUD); // allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); // break; // Revo and GPS are both at 9600 baud case INIT_STEP_GPS_BAUD: // https://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf // It is possible to change the current communications port settings using a UBX-CFG-CFG message. This could // affect baud rate and other transmission parameters. Because there may be messages queued for transmission // there may be uncertainty about which protocol applies to such messages. In addition a message currently in // transmission may be corrupted by a protocol change. Host data reception parameters may have to be changed to // be able to receive future messages, including the acknowledge message associated with the UBX-CFG-CFG message. // so the message that changes the baud rate will send it's acknowledgement back at the new baud rate; this is not good. // if your message was corrupted, you didn't change the baud rate and you have to guess; try pinging at both baud rates. // also, you would have to change the baud rate instantly after the last byte of the sentence was sent, // and you would have to poll the port in real time for that, and there may be messages ahead of the baud rate change. // // so we ignore the ack from this. it has proven to be reliable (with the addition of two dummy bytes after the packet) // set the GPS internal baud rate to the user configured value config_gps_baud(bytes_to_send); set_current_step_if_untouched(INIT_STEP_REVO_BAUD); status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); break; // GPS is at final baud and Revo is at old baud (old is 9600 or initial detected baud) case INIT_STEP_REVO_BAUD: // wait for previous step if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_UNVERIFIED_STEP_WAIT_TIME) { return; } // set the Revo GPS port baud rate to the (same) user configured value gps_set_fc_baud_from_arg(hwsettings_baud); status->lastConfigSent = LAST_CONFIG_SENT_START; // zero the retries for the first "enable sentence" status->retryCount = 0; // skip enabling UBX sentences for low baud rates // low baud rates are not usable, and higher data rates just makes it harder for this code to change the configuration if (hwsettings_baud <= HWSETTINGS_GPSSPEED_9600) { set_current_step_if_untouched(INIT_STEP_SAVE); } else { set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES); } // allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); break; case INIT_STEP_ENABLE_SENTENCES: case INIT_STEP_CONFIGURE: { bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE); if (step_configure) { configure(bytes_to_send); } else { enable_sentences(bytes_to_send); } // for some branches, allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); if (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) { if (step_configure) { // zero retries for the next state that needs it (INIT_STEP_SAVE) status->retryCount = 0; set_current_step_if_untouched(INIT_STEP_SAVE); } else { // finished enabling sentences, now configure() needs to start at the beginning status->lastConfigSent = LAST_CONFIG_SENT_START; set_current_step_if_untouched(INIT_STEP_CONFIGURE); } } else { set_current_step_if_untouched(step_configure ? INIT_STEP_CONFIGURE_WAIT_ACK : INIT_STEP_ENABLE_SENTENCES_WAIT_ACK); status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); } break; } case INIT_STEP_ENABLE_SENTENCES_WAIT_ACK: case INIT_STEP_CONFIGURE_WAIT_ACK: // Wait for an ack from GPS { bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE_WAIT_ACK); if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) { // Continue with next configuration option // start retries over for the next setting to be sent status->retryCount = 0; status->lastConfigSent++; } else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_REPLY_TIMEOUT && (ubxLastNak.clsID != status->requiredAck.clsID || ubxLastNak.msgID != status->requiredAck.msgID)) { // allow timeouts to count up by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); break; } else { // timeout or NAK, resend the message or abort status->retryCount++; if (status->retryCount > UBX_MAX_RETRIES) { set_current_step_if_untouched(INIT_STEP_PRE_ERROR); status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); break; } } // success or failure here, retries are handled elsewhere if (step_configure) { set_current_step_if_untouched(INIT_STEP_CONFIGURE); } else { set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES); } break; } // all configurations have been made case INIT_STEP_SAVE: // now decide whether to save them permanently into the GPS if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGUREANDSTORE #if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE) || status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGURESTOREANDDISABLE #endif ) { config_save(bytes_to_send); set_current_step_if_untouched(INIT_STEP_SAVE_WAIT_ACK); status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); } else { set_current_step_if_untouched(INIT_STEP_PRE_DONE); // allow it enter INIT_STEP_PRE_DONE immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); } break; // command to save configuration has already been issued case INIT_STEP_SAVE_WAIT_ACK: // save doesn't appear to respond, even in 24 seconds // just delay a while, in case there it is busy with a flash write, etc. if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_SAVE_WAIT_TIME) { return; } // fall through to next state // we can do that if we choose because we haven't sent any data in this state set_current_step_if_untouched(INIT_STEP_PRE_DONE); // break; // the autoconfig has completed normally case INIT_STEP_PRE_DONE: #if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE) // determine if we need to disable autoconfig via the autoconfig==AUTOBAUDCONFIGSTOREANDDISABLE setting if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDCONFIGURESTOREANDDISABLE) { enabled = false; status->currentSettings.UbxAutoConfig = GPSSETTINGS_UBXAUTOCONFIG_DISABLED; // like it says setGpsSettings(); } #endif set_current_step_if_untouched(INIT_STEP_DONE); break; // an error, such as retries exhausted, has occurred case INIT_STEP_PRE_ERROR: // on error we should get the GPS version immediately gps_ubx_reset_sensor_type(); set_current_step_if_untouched(INIT_STEP_ERROR); break; case INIT_STEP_DONE: case INIT_STEP_ERROR: case INIT_STEP_DISABLED: break; } } // (re)init the autoconfig stuff so that it will run if called // // this can be called from a different thread // so everything it touches must be declared volatile void gps_ubx_autoconfig_set(ubx_autoconfig_settings_t *config) { initSteps_t new_step; enabled = false; if (!status) { status = (status_t *)pios_malloc(sizeof(status_t)); PIOS_Assert(status); memset((status_t *)status, 0, sizeof(status_t)); } // if caller used NULL, just use current settings to restart autoconfig process if (config != NULL) { status->currentSettings = *config; } if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE) { new_step = INIT_STEP_START; } else { new_step = INIT_STEP_DISABLED; } status->lastStepTimestampRaw = PIOS_DELAY_GetRaw(); // assume this one byte initSteps_t is atomic // take care of some but not all concurrency issues status->currentStep = new_step; status->currentStepSave = new_step; current_step_touched = true; status->currentStep = new_step; status->currentStepSave = new_step; // this forces the sensor type detection to occur outside the FSM // and _can_ also engage the autobaud detection that is outside the FSM // don't do it if FSM is enabled as FSM can change the baud itself // (don't do it because the baud rates are already in sync) gps_ubx_reset_sensor_type(); if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE) { // enabled refers to autoconfigure // note that sensor type (gps type) detection happens even if completely disabled // also note that AutoBaud is less than AutoBaudAndConfigure enabled = true; } } int32_t ubx_autoconfig_get_status() { if (!status || !enabled) { return UBX_AUTOCONFIG_STATUS_DISABLED; } switch (status->currentStep) { case INIT_STEP_ERROR: return UBX_AUTOCONFIG_STATUS_ERROR; case INIT_STEP_DISABLED: return UBX_AUTOCONFIG_STATUS_DISABLED; case INIT_STEP_DONE: return UBX_AUTOCONFIG_STATUS_DONE; default: break; } return UBX_AUTOCONFIG_STATUS_RUNNING; }