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LibrePilot/flight/modules/GPS/inc/ubx_autoconfig.h
2014-09-02 21:26:56 +02:00

186 lines
5.6 KiB
C

/**
******************************************************************************
*
* @file %FILENAME%
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup [Group]
* @{
* @addtogroup %CLASS%
* @{
* @brief [Brief]
*****************************************************************************/
/*
* 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_AUTOCONFIG_H_
#define UBX_AUTOCONFIG_H_
#include "UBX.h"
#include <stdint.h>
#include <stdbool.h>
// defines
// TODO: NEO8 max rate is for Rom version, flash is limited to 10Hz, need to handle that.
#define UBX_MAX_RATE_VER8 18
#define UBX_MAX_RATE_VER7 10
#define UBX_MAX_RATE 5
#define UBX_REPLY_TIMEOUT (500 * 1000)
#define UBX_MAX_RETRIES 5
// types
typedef enum {
UBX_AUTOCONFIG_STATUS_DISABLED = 0,
UBX_AUTOCONFIG_STATUS_RUNNING,
UBX_AUTOCONFIG_STATUS_DONE,
UBX_AUTOCONFIG_STATUS_ERROR
} ubx_autoconfig_status_t;
// Enumeration options for field UBXDynamicModel
typedef enum {
UBX_DYNMODEL_PORTABLE = 0,
UBX_DYNMODEL_STATIONARY = 2,
UBX_DYNMODEL_PEDESTRIAN = 3,
UBX_DYNMODEL_AUTOMOTIVE = 4,
UBX_DYNMODEL_SEA = 5,
UBX_DYNMODEL_AIRBORNE1G = 6,
UBX_DYNMODEL_AIRBORNE2G = 7,
UBX_DYNMODEL_AIRBORNE4G = 8
} ubx_config_dynamicmodel_t;
typedef enum {
UBX_SBAS_SATS_AUTOSCAN = 0,
UBX_SBAS_SATS_WAAS = 1,
UBX_SBAS_SATS_EGNOS = 2,
UBX_SBAS_SATS_MSAS = 3,
UBX_SBAS_SATS_GAGAN = 4,
UBX_SBAS_SATS_SDCM = 5
} ubx_config_sats_t;
#define UBX_
typedef struct {
bool autoconfigEnabled;
bool storeSettings;
bool SBASRanging;
bool SBASCorrection;
bool SBASIntegrity;
ubx_config_sats_t SBASSats;
uint8_t SBASChannelsUsed;
int8_t navRate;
ubx_config_dynamicmodel_t dynamicModel;
} ubx_autoconfig_settings_t;
// Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
#define UBX_CFG_CFG_ALL_DEVICES_MASK (0x01 | 0x02 | 0x04 | 0x10)
// Sent messages for configuration support
typedef struct {
uint32_t clearMask;
uint32_t saveMask;
uint32_t loadMask;
uint8_t deviceMask;
} __attribute__((packed)) ubx_cfg_cfg_t;
typedef struct {
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 dgpsTimeOut;
uint8_t cnoThreshNumSVs;
uint8_t cnoThresh;
uint16_t reserved2;
uint32_t reserved3;
uint32_t reserved4;
} __attribute__((packed)) ubx_cfg_nav5_t;
typedef struct {
uint16_t measRate;
uint16_t navRate;
uint16_t timeRef;
} __attribute__((packed)) ubx_cfg_rate_t;
typedef struct {
uint8_t msgClass;
uint8_t msgID;
uint8_t rate;
} __attribute__((packed)) ubx_cfg_msg_t;
#define UBX_CFG_SBAS_MODE_ENABLED 0x01
#define UBX_CFG_SBAS_MODE_TEST 0x02
#define UBX_CFG_SBAS_USAGE_RANGE 0x01
#define UBX_CFG_SBAS_USAGE_DIFFCORR 0x02
#define UBX_CFG_SBAS_USAGE_INTEGRITY 0x04
// SBAS used satellite PNR bitmask (120-151)
// -------------------------------------1---------1---------1---------1
// -------------------------------------5---------4---------3---------2
// ------------------------------------10987654321098765432109876543210
// WAAS 122, 133, 134, 135, 138---------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_WAAS 0b00000000000001001110000000000100
// EGNOS 120, 124, 126, 131-------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_EGNOS 0b00000000000000000000100001010001
// MSAS 129, 137------------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_MSAS 0b00000000000000100000001000000000
// GAGAN 127, 128-----------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_GAGAN 0b00000000000000000000000110000000
// SDCM 125, 140, 141-------------------|---------|---------|---------|
#define UBX_CFG_SBAS_SCANMODE1_SDCM 0b00000000001100000000000000100000
#define UBX_CFG_SBAS_SCANMODE2 0x00
typedef struct {
uint8_t mode;
uint8_t usage;
uint8_t maxSBAS;
uint8_t scanmode2;
uint32_t scanmode1;
} __attribute__((packed)) ubx_cfg_sbas_t;
typedef struct {
uint8_t prolog[2];
uint8_t class;
uint8_t id;
uint16_t len;
} __attribute__((packed)) UBXSentHeader_t;
typedef union {
uint8_t buffer[0];
struct {
UBXSentHeader_t header;
union {
ubx_cfg_cfg_t cfg_cfg;
ubx_cfg_msg_t cfg_msg;
ubx_cfg_nav5_t cfg_nav5;
ubx_cfg_rate_t cfg_rate;
ubx_cfg_sbas_t cfg_sbas;
} payload;
uint8_t resvd[2]; // added space for checksum bytes
} message;
} __attribute__((packed)) UBXSentPacket_t;
void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send);
void ubx_autoconfig_set(ubx_autoconfig_settings_t config);
int32_t ubx_autoconfig_get_status();
#endif /* UBX_AUTOCONFIG_H_ */