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123 lines
4.5 KiB
C
123 lines
4.5 KiB
C
/**
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******************************************************************************
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*
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* @file %FILENAME%
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @addtogroup [Group]
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* @{
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* @addtogroup %CLASS%
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* @{
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* @brief [Brief]
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef UBX_AUTOCONFIG_H_
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#define UBX_AUTOCONFIG_H_
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#include "UBX.h"
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#include <stdint.h>
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#include <stdbool.h>
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// defines
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// TODO: NEO8 max rate is for Rom version, flash is limited to 10Hz, need to handle that.
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#define UBX_MAX_RATE_VER8 18
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#define UBX_MAX_RATE_VER7 10
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#define UBX_MAX_RATE 5
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// reset to factory (and 9600 baud), and baud changes are not acked
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// it could be 31 (full PIOS buffer) + 60 (gnss) + overhead bytes at 240 bytes per second
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// = .42 seconds for the longest sentence to be fully transmitted
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// and then it may have to do something like erase flash before replying...
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// at low baud rates and high data rates the ubx gps simply must drop some outgoing data
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// and when a lot of data is being dropped, the MON VER reply often gets dropped
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// on the other hand, uBlox documents that some versions discard data that is over a second old
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// implying that it could be over 1 second before a reply is received
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// later versions dropped this and drop data when the send buffer is full and that could be even longer
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// rather than have long timeouts, we will let timeouts * retries handle that if it happens
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// timeout for ack reception
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#define UBX_REPLY_TIMEOUT (500 * 1000)
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// timeout for a settings save, in case it has to erase flash
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#define UBX_REPLY_TO_SAVE_TIMEOUT (3000 * 1000)
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// max retries in case of timeout
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#define UBX_MAX_RETRIES 5
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// pause between each verifiably correct configuration step
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#define UBX_VERIFIED_STEP_WAIT_TIME (50 * 1000)
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// pause between each unverifiably correct configuration step
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#define UBX_UNVERIFIED_STEP_WAIT_TIME (500 * 1000)
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#define UBX_CFG_CFG_OP_STORE_SETTINGS \
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(UBX_CFG_CFG_SETTINGS_IOPORT | \
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UBX_CFG_CFG_SETTINGS_MSGCONF | \
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UBX_CFG_CFG_SETTINGS_NAVCONF)
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#define UBX_CFG_CFG_OP_CLEAR_SETTINGS ((~UBX_CFG_CFG_OP_STORE_SETTINGS) & UBX_CFG_CFG_SETTINGS_ALL)
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// don't clear rinv as that is just text as configured by the owner
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#define UBX_CFG_CFG_OP_RESET_SETTINGS \
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(UBX_CFG_CFG_SETTINGS_IOPORT | \
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UBX_CFG_CFG_SETTINGS_MSGCONF | \
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UBX_CFG_CFG_SETTINGS_INFMSG | \
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UBX_CFG_CFG_SETTINGS_NAVCONF | \
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UBX_CFG_CFG_SETTINGS_TPCONF | \
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UBX_CFG_CFG_SETTINGS_SFDRCONF | \
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UBX_CFG_CFG_SETTINGS_ANTCONF)
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// types
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typedef enum {
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UBX_AUTOCONFIG_STATUS_DISABLED = 0,
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UBX_AUTOCONFIG_STATUS_RUNNING,
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UBX_AUTOCONFIG_STATUS_DONE,
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UBX_AUTOCONFIG_STATUS_ERROR
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} ubx_autoconfig_status_t;
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#define UBX_
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typedef struct {
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bool autoconfigEnabled;
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bool storeSettings;
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bool SBASRanging;
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bool SBASCorrection;
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bool SBASIntegrity;
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ubx_config_sats_t SBASSats;
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uint8_t SBASChannelsUsed;
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int8_t navRate;
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ubx_config_dynamicmodel_t dynamicModel;
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bool enableGPS;
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bool enableGLONASS;
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bool enableBeiDou;
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} ubx_autoconfig_settings_t;
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// Sent messages for configuration support
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typedef struct UBX_CFG_CFG ubx_cfg_cfg_t;
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typedef struct UBX_CFG_NAV5 ubx_cfg_nav5_t;
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typedef struct UBX_CFG_RATE ubx_cfg_rate_t;
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typedef struct UBX_CFG_MSG ubx_cfg_msg_t;
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typedef struct UBX_CFG_PRT ubx_cfg_prt_t;
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typedef struct UBX_CFG_SBAS ubx_cfg_sbas_t;
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typedef struct UBX_CFG_GNSS_CFGBLOCK ubx_cfg_gnss_cfgblock_t;
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typedef struct UBX_CFG_GNSS ubx_cfg_gnss_t;
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typedef struct UBXSENTHEADER UBXSentHeader_t;
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typedef union UBXSENTPACKET UBXSentPacket_t;
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void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send);
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void ubx_autoconfig_set(ubx_autoconfig_settings_t *config);
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void ubx_reset_sensor_type();
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int32_t ubx_autoconfig_get_status();
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#endif /* UBX_AUTOCONFIG_H_ */
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