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LibrePilot/flight/modules/GPS/ubx_autoconfig.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Support code for UBX AutoConfig
* @{
*
* @file ubx_autoconfig.c
* @author 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 <openpilot.h>
#include "hwsettings.h"
#include "gpssettings.h"
#include "inc/ubx_autoconfig.h"
#include <pios_mem.h>
#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
sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
GPSPositionSensorSensorTypeSet(&sensorType);
// 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 = 2; // 1=2D only, 2=3D only, 3=Auto 2D/3D
// mask LSB=dyn|minEl|posFixMode|drLim|posMask|statisticHoldMask|dgpsMask|......|reservedBit0 = MSB
status->working_packet.message.payload.cfg_nav5.mask = 0x01 + 0x04; // Dyn Model | posFixMode configuration
*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_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 (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 + 3:
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
// 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;
}
}
// 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;
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 Configure
enabled = true;
} else {
// 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();
}
}
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;
}
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