/**
******************************************************************************
* @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 "gpsposition.h"
#include "GPS.h"
#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
#define UBX_SYNC2 0x62
// From u-blox6 receiver protocol specification
// Messages classes
#define UBX_CLASS_NAV 0x01
// Message IDs
#define UBX_ID_POSLLH 0x02
#define UBX_ID_STATUS 0x03
#define UBX_ID_DOP 0x04
#define UBX_ID_SOL 0x06
#define UBX_ID_VELNED 0x12
#define UBX_ID_TIMEUTC 0x21
#define UBX_ID_SVINFO 0x30
// 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
};
// 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
};
typedef union {
uint8_t payload[0];
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;
#if !defined(PIOS_GPS_MINIMAL)
struct UBX_NAV_TIMEUTC nav_timeutc;
struct UBX_NAV_SVINFO nav_svinfo;
#endif
} 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;
};
bool checksum_ubx_message(struct UBXPacket *);
uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionData *);
int parse_ubx_stream(uint8_t, char *, GPSPositionData *, struct GPS_RX_STATS *);
#endif /* UBX_H */