mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
628 lines
19 KiB
C
628 lines
19 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup GSPModule GPS Module
|
|
* @brief Process GPS information
|
|
* @{
|
|
*
|
|
* @file UBX.h
|
|
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
|
|
* 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 "gpspositionsensor.h"
|
|
#include "gpsextendedstatus.h"
|
|
#ifndef PIOS_GPS_MINIMAL
|
|
#include "auxmagsensor.h"
|
|
#endif
|
|
|
|
#include "GPS.h"
|
|
|
|
#define UBX_HW_VERSION_8 80000
|
|
#define UBX_HW_VERSION_7 70000
|
|
|
|
#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
|
|
#define UBX_SYNC2 0x62
|
|
|
|
// From u-blox6 receiver protocol specification
|
|
|
|
// Messages classes
|
|
typedef enum {
|
|
UBX_CLASS_NAV = 0x01,
|
|
UBX_CLASS_ACK = 0x05,
|
|
UBX_CLASS_CFG = 0x06,
|
|
UBX_CLASS_MON = 0x0A,
|
|
UBX_CLASS_OP_CUST = 0x99,
|
|
UBX_CLASS_AID = 0x0B,
|
|
// unused class IDs, used for disabling them
|
|
UBX_CLASS_RXM = 0x02,
|
|
} ubx_class;
|
|
|
|
// Message IDs
|
|
typedef enum {
|
|
UBX_ID_NAV_POSLLH = 0x02,
|
|
UBX_ID_NAV_STATUS = 0x03,
|
|
UBX_ID_NAV_DOP = 0x04,
|
|
UBX_ID_NAV_SOL = 0x06,
|
|
UBX_ID_NAV_VELNED = 0x12,
|
|
UBX_ID_NAV_TIMEUTC = 0x21,
|
|
UBX_ID_NAV_SVINFO = 0x30,
|
|
UBX_ID_NAV_PVT = 0x07,
|
|
|
|
UBX_ID_NAV_AOPSTATUS = 0x60,
|
|
UBX_ID_NAV_CLOCK = 0x22,
|
|
UBX_ID_NAV_DGPS = 0x31,
|
|
UBX_ID_NAV_POSECEF = 0x01,
|
|
UBX_ID_NAV_SBAS = 0x32,
|
|
UBX_ID_NAV_TIMEGPS = 0x20,
|
|
UBX_ID_NAV_VELECEF = 0x11
|
|
} ubx_class_nav_id;
|
|
|
|
typedef enum {
|
|
UBX_ID_OP_SYS = 0x01,
|
|
UBX_ID_OP_MAG = 0x02,
|
|
} ubx_class_op_id;
|
|
|
|
typedef enum {
|
|
UBX_ID_MON_VER = 0x04,
|
|
// unused messages IDs, used for disabling them
|
|
UBX_ID_MON_HW2 = 0x0B,
|
|
UBX_ID_MON_HW = 0x09,
|
|
UBX_ID_MON_IO = 0x02,
|
|
UBX_ID_MON_MSGPP = 0x06,
|
|
UBX_ID_MON_RXBUFF = 0x07,
|
|
UBX_ID_MON_RXR = 0x21,
|
|
UBX_ID_MON_TXBUF = 0x08,
|
|
} ubx_class_mon_id;
|
|
|
|
typedef enum {
|
|
UBX_ID_CFG_NAV5 = 0x24,
|
|
UBX_ID_CFG_RATE = 0x08,
|
|
UBX_ID_CFG_MSG = 0x01,
|
|
UBX_ID_CFG_CFG = 0x09,
|
|
UBX_ID_CFG_SBAS = 0x16,
|
|
UBX_ID_CFG_GNSS = 0x3E,
|
|
UBX_ID_CFG_PRT = 0x00
|
|
} ubx_class_cfg_id;
|
|
|
|
typedef enum {
|
|
UBX_ID_ACK_ACK = 0x01,
|
|
UBX_ID_ACK_NAK = 0x00,
|
|
} ubx_class_ack_id;
|
|
|
|
typedef enum {
|
|
UBX_ID_AID_ALM = 0x0B,
|
|
UBX_ID_AID_ALPSRV = 0x32,
|
|
UBX_ID_AID_ALP = 0x50,
|
|
UBX_ID_AID_AOP = 0x33,
|
|
UBX_ID_AID_DATA = 0x10,
|
|
UBX_ID_AID_EPH = 0x31,
|
|
UBX_ID_AID_HUI = 0x02,
|
|
UBX_ID_AID_INI = 0x01,
|
|
UBX_ID_AID_REQ = 0x00,
|
|
} ubx_class_aid_id;
|
|
|
|
typedef enum {
|
|
UBX_ID_RXM_ALM = 0x30,
|
|
UBX_ID_RXM_EPH = 0x31,
|
|
UBX_ID_RXM_RAW = 0x10,
|
|
UBX_ID_RXM_SFRB = 0x11,
|
|
UBX_ID_RXM_SVSI = 0x20,
|
|
} ubx_class_rxm_id;
|
|
|
|
typedef enum {
|
|
UBX_GNSS_ID_GPS = 0,
|
|
UBX_GNSS_ID_SBAS = 1,
|
|
UBX_GNSS_ID_GALILEO = 2,
|
|
UBX_GNSS_ID_BEIDOU = 3,
|
|
UBX_GNSS_ID_IMES = 4,
|
|
UBX_GNSS_ID_QZSS = 5,
|
|
UBX_GNSS_ID_GLONASS = 6,
|
|
UBX_GNSS_ID_MAX
|
|
} ubx_config_gnss_id_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;
|
|
|
|
// 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)
|
|
} __attribute__((packed));
|
|
|
|
// 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)
|
|
} __attribute__((packed));
|
|
|
|
// 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
|
|
} __attribute__((packed));
|
|
|
|
// 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
|
|
} __attribute__((packed));
|
|
|
|
// PVT Navigation Position Velocity Time Solution
|
|
#define PVT_VALID_VALIDDATE 0x01
|
|
#define PVT_VALID_VALIDTIME 0x02
|
|
#define PVT_VALID_FULLYRESOLVED 0x04
|
|
|
|
#define PVT_FIX_TYPE_NO_FIX 0
|
|
#define PVT_FIX_TYPE_DEAD_RECKON 0x01 // Dead Reckoning only
|
|
#define PVT_FIX_TYPE_2D 0x02 // 2D-Fix
|
|
#define PVT_FIX_TYPE_3D 0x03 // 3D-Fix
|
|
#define PVT_FIX_TYPE_GNSS_DEAD_RECKON 0x04 // GNSS + dead reckoning combined
|
|
#define PVT_FIX_TYPE_TIME_ONLY 0x05 // Time only fix
|
|
|
|
#define PVT_FLAGS_GNSSFIX_OK (1 << 0)
|
|
#define PVT_FLAGS_DIFFSOLN (1 << 1)
|
|
#define PVT_FLAGS_PSMSTATE_ENABLED (1 << 2)
|
|
#define PVT_FLAGS_PSMSTATE_ACQUISITION (2 << 2)
|
|
#define PVT_FLAGS_PSMSTATE_TRACKING (3 << 2)
|
|
#define PVT_FLAGS_PSMSTATE_PO_TRACKING (4 << 2)
|
|
#define PVT_FLAGS_PSMSTATE_INACTIVE (5 << 2)
|
|
|
|
struct UBX_NAV_PVT {
|
|
uint32_t iTOW;
|
|
uint16_t year;
|
|
uint8_t month;
|
|
uint8_t day;
|
|
uint8_t hour;
|
|
uint8_t min;
|
|
uint8_t sec;
|
|
uint8_t valid;
|
|
uint32_t tAcc;
|
|
int32_t nano;
|
|
uint8_t fixType;
|
|
uint8_t flags;
|
|
uint8_t reserved1;
|
|
uint8_t numSV;
|
|
int32_t lon;
|
|
int32_t lat;
|
|
int32_t height;
|
|
int32_t hMSL;
|
|
uint32_t hAcc;
|
|
uint32_t vAcc;
|
|
int32_t velN;
|
|
int32_t velE;
|
|
int32_t velD;
|
|
int32_t gSpeed;
|
|
int32_t heading;
|
|
uint32_t sAcc;
|
|
uint32_t headingAcc;
|
|
uint16_t pDOP;
|
|
uint16_t reserved2;
|
|
uint32_t reserved3;
|
|
} __attribute__((packed));
|
|
|
|
// 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
|
|
} __attribute__((packed));
|
|
|
|
// 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
|
|
} __attribute__((packed));
|
|
|
|
// 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)
|
|
} __attribute__((packed));
|
|
|
|
// SV information message
|
|
#define MAX_SVS 32
|
|
|
|
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
|
|
} __attribute__((packed));
|
|
|
|
// ACK message class
|
|
struct UBX_ACK_ACK {
|
|
uint8_t clsID; // ClassID
|
|
uint8_t msgID; // MessageID
|
|
} __attribute__((packed));
|
|
|
|
struct UBX_ACK_NAK {
|
|
uint8_t clsID; // ClassID
|
|
uint8_t msgID; // MessageID
|
|
} __attribute__((packed));
|
|
|
|
// Communication port information
|
|
// default cfg_prt packet at 9600,N,8,1 (from u-center)
|
|
// 0000 B5 62 06 00 14 00-01 00
|
|
// 0008 00 00 D0 08 00 00 80 25
|
|
// 0010 00 00 07 00 03 00 00 00
|
|
// 0018 00 00-A2 B5
|
|
#define UBX_CFG_PRT_PORTID_DDC 0
|
|
#define UBX_CFG_PRT_PORTID_UART1 1
|
|
#define UBX_CFG_PRT_PORTID_UART2 2
|
|
#define UBX_CFG_PRT_PORTID_USB 3
|
|
#define UBX_CFG_PRT_PORTID_SPI 4
|
|
#define UBX_CFG_PRT_MODE_DATABITS5 0x00
|
|
#define UBX_CFG_PRT_MODE_DATABITS6 0x40
|
|
#define UBX_CFG_PRT_MODE_DATABITS7 0x80
|
|
#define UBX_CFG_PRT_MODE_DATABITS8 0xC0
|
|
#define UBX_CFG_PRT_MODE_EVENPARITY 0x000
|
|
#define UBX_CFG_PRT_MODE_ODDPARITY 0x200
|
|
#define UBX_CFG_PRT_MODE_NOPARITY 0x800
|
|
#define UBX_CFG_PRT_MODE_STOPBITS1_0 0x0000
|
|
#define UBX_CFG_PRT_MODE_STOPBITS1_5 0x1000
|
|
#define UBX_CFG_PRT_MODE_STOPBITS2_0 0x2000
|
|
#define UBX_CFG_PRT_MODE_STOPBITS0_5 0x3000
|
|
#define UBX_CFG_PRT_MODE_RESERVED 0x10
|
|
|
|
#define UBX_CFG_PRT_MODE_DEFAULT (UBX_CFG_PRT_MODE_DATABITS8 | UBX_CFG_PRT_MODE_NOPARITY | UBX_CFG_PRT_MODE_STOPBITS1_0 | UBX_CFG_PRT_MODE_RESERVED)
|
|
|
|
struct UBX_CFG_PRT {
|
|
uint8_t portID; // 1 or 2 for UART ports
|
|
uint8_t res0; // reserved
|
|
uint16_t res1; // reserved
|
|
uint32_t mode; // bit masks for databits, stopbits, parity, and non-zero reserved
|
|
uint32_t baudRate; // bits per second, 9600 means 9600
|
|
uint16_t inProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
|
|
uint16_t outProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
|
|
uint16_t flags; // reserved
|
|
uint16_t pad; // reserved
|
|
} __attribute__((packed));
|
|
|
|
struct UBX_CFG_MSG {
|
|
uint8_t msgClass;
|
|
uint8_t msgID;
|
|
uint8_t rate;
|
|
} __attribute__((packed));
|
|
|
|
struct UBX_CFG_RATE {
|
|
uint16_t measRate;
|
|
uint16_t navRate;
|
|
uint16_t timeRef;
|
|
} __attribute__((packed));
|
|
|
|
// Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
|
|
#define UBX_CFG_CFG_DEVICE_BBR 0x01
|
|
#define UBX_CFG_CFG_DEVICE_FLASH 0x02
|
|
#define UBX_CFG_CFG_DEVICE_EEPROM 0x04
|
|
#define UBX_CFG_CFG_DEVICE_SPIFLASH 0x10
|
|
#define UBX_CFG_CFG_DEVICE_ALL (UBX_CFG_CFG_DEVICE_BBR | UBX_CFG_CFG_DEVICE_FLASH | UBX_CFG_CFG_DEVICE_EEPROM | UBX_CFG_CFG_DEVICE_SPIFLASH)
|
|
#define UBX_CFG_CFG_SETTINGS_NONE 0x000
|
|
#define UBX_CFG_CFG_SETTINGS_IOPORT 0x001
|
|
#define UBX_CFG_CFG_SETTINGS_MSGCONF 0x002
|
|
#define UBX_CFG_CFG_SETTINGS_INFMSG 0x004
|
|
#define UBX_CFG_CFG_SETTINGS_NAVCONF 0x008
|
|
#define UBX_CFG_CFG_SETTINGS_TPCONF 0x010
|
|
#define UBX_CFG_CFG_SETTINGS_SFDRCONF 0x100
|
|
#define UBX_CFG_CFG_SETTINGS_RINVCONF 0x200
|
|
#define UBX_CFG_CFG_SETTINGS_ANTCONF 0x400
|
|
|
|
#define UBX_CFG_CFG_SETTINGS_ALL \
|
|
(UBX_CFG_CFG_SETTINGS_IOPORT | \
|
|
UBX_CFG_CFG_SETTINGS_MSGCONF | \
|
|
UBX_CFG_CFG_SETTINGS_INFMSG | \
|
|
UBX_CFG_CFG_SETTINGS_NAVCONF | \
|
|
UBX_CFG_CFG_SETTINGS_TPCONF | \
|
|
UBX_CFG_CFG_SETTINGS_SFDRCONF | \
|
|
UBX_CFG_CFG_SETTINGS_RINVCONF | \
|
|
UBX_CFG_CFG_SETTINGS_ANTCONF)
|
|
|
|
// Sent messages for configuration support
|
|
struct UBX_CFG_CFG {
|
|
uint32_t clearMask;
|
|
uint32_t saveMask;
|
|
uint32_t loadMask;
|
|
uint8_t deviceMask;
|
|
} __attribute__((packed));
|
|
|
|
#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
|
|
struct UBX_CFG_SBAS {
|
|
uint8_t mode;
|
|
uint8_t usage;
|
|
uint8_t maxSBAS;
|
|
uint8_t scanmode2;
|
|
uint32_t scanmode1;
|
|
} __attribute__((packed));
|
|
|
|
#define UBX_CFG_GNSS_FLAGS_ENABLED 0x000001
|
|
#define UBX_CFG_GNSS_FLAGS_GPS_L1CA 0x010000
|
|
#define UBX_CFG_GNSS_FLAGS_SBAS_L1CA 0x010000
|
|
#define UBX_CFG_GNSS_FLAGS_BEIDOU_B1I 0x010000
|
|
#define UBX_CFG_GNSS_FLAGS_QZSS_L1CA 0x010000
|
|
#define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF 0x040000
|
|
#define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000
|
|
|
|
#define UBX_CFG_GNSS_NUMCH_VER7 22
|
|
#define UBX_CFG_GNSS_NUMCH_VER8 32
|
|
|
|
struct UBX_CFG_GNSS_CFGBLOCK {
|
|
uint8_t gnssId;
|
|
uint8_t resTrkCh;
|
|
uint8_t maxTrkCh;
|
|
uint8_t resvd;
|
|
uint32_t flags;
|
|
} __attribute__((packed));
|
|
|
|
struct UBX_CFG_GNSS {
|
|
uint8_t msgVer;
|
|
uint8_t numTrkChHw;
|
|
uint8_t numTrkChUse;
|
|
uint8_t numConfigBlocks;
|
|
struct UBX_CFG_GNSS_CFGBLOCK cfgBlocks[UBX_GNSS_ID_MAX];
|
|
} __attribute__((packed));
|
|
|
|
struct UBX_CFG_NAV5 {
|
|
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));
|
|
|
|
// MON message Class
|
|
#define UBX_MON_MAX_EXT 5
|
|
struct UBX_MON_VER {
|
|
char swVersion[30];
|
|
char hwVersion[10];
|
|
#if UBX_MON_MAX_EXT > 0
|
|
char extension[UBX_MON_MAX_EXT][30];
|
|
#endif
|
|
} __attribute__((packed));
|
|
|
|
// OP custom messages
|
|
struct UBX_OP_SYSINFO {
|
|
uint32_t flightTime;
|
|
uint16_t options;
|
|
uint8_t board_type;
|
|
uint8_t board_revision;
|
|
uint8_t commit_tag_name[26];
|
|
uint8_t sha1sum[8];
|
|
} __attribute__((packed));
|
|
|
|
// OP custom messages
|
|
struct UBX_OP_MAG {
|
|
int16_t x;
|
|
int16_t y;
|
|
int16_t z;
|
|
uint16_t Status;
|
|
} __attribute__((packed));
|
|
|
|
typedef union {
|
|
uint8_t payload[0];
|
|
// Nav Class
|
|
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_PVT nav_pvt;
|
|
struct UBX_NAV_TIMEUTC nav_timeutc;
|
|
struct UBX_NAV_SVINFO nav_svinfo;
|
|
struct UBX_CFG_PRT cfg_prt;
|
|
// Ack Class
|
|
struct UBX_ACK_ACK ack_ack;
|
|
struct UBX_ACK_NAK ack_nak;
|
|
// Mon Class
|
|
struct UBX_MON_VER mon_ver;
|
|
struct UBX_OP_SYSINFO op_sysinfo;
|
|
struct UBX_OP_MAG op_mag;
|
|
#endif
|
|
} UBXPayload;
|
|
|
|
struct UBXHeader {
|
|
uint8_t class;
|
|
uint8_t id;
|
|
uint16_t len;
|
|
uint8_t ck_a;
|
|
uint8_t ck_b;
|
|
} __attribute__((packed));
|
|
|
|
struct UBXPacket {
|
|
struct UBXHeader header;
|
|
UBXPayload payload;
|
|
} __attribute__((packed));
|
|
|
|
struct UBXSENTHEADER {
|
|
uint8_t prolog[2];
|
|
uint8_t class;
|
|
uint8_t id;
|
|
uint16_t len;
|
|
} __attribute__((packed));
|
|
|
|
union UBXSENTPACKET {
|
|
uint8_t buffer[0];
|
|
struct {
|
|
struct UBXSENTHEADER header;
|
|
union {
|
|
struct UBX_CFG_CFG cfg_cfg;
|
|
struct UBX_CFG_MSG cfg_msg;
|
|
struct UBX_CFG_NAV5 cfg_nav5;
|
|
struct UBX_CFG_PRT cfg_prt;
|
|
struct UBX_CFG_RATE cfg_rate;
|
|
struct UBX_CFG_SBAS cfg_sbas;
|
|
struct UBX_CFG_GNSS cfg_gnss;
|
|
} payload;
|
|
uint8_t resvd[2]; // added space for checksum bytes
|
|
} message;
|
|
} __attribute__((packed));
|
|
|
|
// Used by AutoConfig code
|
|
extern int32_t ubxHwVersion;
|
|
extern GPSPositionSensorSensorTypeOptions ubxSensorType;
|
|
extern struct UBX_ACK_ACK ubxLastAck;
|
|
extern struct UBX_ACK_NAK ubxLastNak;
|
|
|
|
bool checksum_ubx_message(struct UBXPacket *);
|
|
uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
|
|
|
|
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
|
|
void op_gpsv9_load_mag_settings();
|
|
void aux_hmc5x83_load_mag_settings();
|
|
|
|
#endif /* UBX_H */
|