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https://bitbucket.org/librepilot/librepilot.git
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236 lines
7.2 KiB
C
236 lines
7.2 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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// time to wait before reinitializing the fsm due to disconnection
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#define UBX_CONNECTION_TIMEOUT (2000 * 1000)
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// times between retries in case an error does occurs
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#define UBX_ERROR_RETRY_TIMEOUT (1000 * 1000)
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// timeout for ack reception
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#define UBX_REPLY_TIMEOUT (500 * 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 configuration step
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#define UBX_STEP_WAIT_TIME (10 * 1000)
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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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// Enumeration options for field UBXDynamicModel
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typedef enum {
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UBX_DYNMODEL_PORTABLE = 0,
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UBX_DYNMODEL_STATIONARY = 2,
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UBX_DYNMODEL_PEDESTRIAN = 3,
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UBX_DYNMODEL_AUTOMOTIVE = 4,
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UBX_DYNMODEL_SEA = 5,
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UBX_DYNMODEL_AIRBORNE1G = 6,
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UBX_DYNMODEL_AIRBORNE2G = 7,
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UBX_DYNMODEL_AIRBORNE4G = 8
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} ubx_config_dynamicmodel_t;
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typedef enum {
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UBX_SBAS_SATS_AUTOSCAN = 0,
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UBX_SBAS_SATS_WAAS = 1,
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UBX_SBAS_SATS_EGNOS = 2,
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UBX_SBAS_SATS_MSAS = 3,
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UBX_SBAS_SATS_GAGAN = 4,
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UBX_SBAS_SATS_SDCM = 5
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} ubx_config_sats_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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// Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
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#define UBX_CFG_CFG_ALL_DEVICES_MASK (0x01 | 0x02 | 0x04 | 0x10)
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// Sent messages for configuration support
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typedef struct {
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uint32_t clearMask;
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uint32_t saveMask;
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uint32_t loadMask;
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uint8_t deviceMask;
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} __attribute__((packed)) ubx_cfg_cfg_t;
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typedef struct {
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uint16_t mask;
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uint8_t dynModel;
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uint8_t fixMode;
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int32_t fixedAlt;
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uint32_t fixedAltVar;
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int8_t minElev;
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uint8_t drLimit;
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uint16_t pDop;
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uint16_t tDop;
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uint16_t pAcc;
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uint16_t tAcc;
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uint8_t staticHoldThresh;
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uint8_t dgpsTimeOut;
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uint8_t cnoThreshNumSVs;
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uint8_t cnoThresh;
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uint16_t reserved2;
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uint32_t reserved3;
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uint32_t reserved4;
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} __attribute__((packed)) ubx_cfg_nav5_t;
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typedef struct {
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uint16_t measRate;
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uint16_t navRate;
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uint16_t timeRef;
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} __attribute__((packed)) ubx_cfg_rate_t;
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typedef struct {
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uint8_t msgClass;
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uint8_t msgID;
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uint8_t rate;
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} __attribute__((packed)) ubx_cfg_msg_t;
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#define UBX_CFG_SBAS_MODE_ENABLED 0x01
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#define UBX_CFG_SBAS_MODE_TEST 0x02
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#define UBX_CFG_SBAS_USAGE_RANGE 0x01
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#define UBX_CFG_SBAS_USAGE_DIFFCORR 0x02
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#define UBX_CFG_SBAS_USAGE_INTEGRITY 0x04
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// SBAS used satellite PNR bitmask (120-151)
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// -------------------------------------1---------1---------1---------1
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// -------------------------------------5---------4---------3---------2
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// ------------------------------------10987654321098765432109876543210
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// WAAS 122, 133, 134, 135, 138---------|---------|---------|---------|
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#define UBX_CFG_SBAS_SCANMODE1_WAAS 0b00000000000001001110000000000100
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// EGNOS 120, 124, 126, 131-------------|---------|---------|---------|
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#define UBX_CFG_SBAS_SCANMODE1_EGNOS 0b00000000000000000000100001010001
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// MSAS 129, 137------------------------|---------|---------|---------|
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#define UBX_CFG_SBAS_SCANMODE1_MSAS 0b00000000000000100000001000000000
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// GAGAN 127, 128-----------------------|---------|---------|---------|
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#define UBX_CFG_SBAS_SCANMODE1_GAGAN 0b00000000000000000000000110000000
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// SDCM 125, 140, 141-------------------|---------|---------|---------|
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#define UBX_CFG_SBAS_SCANMODE1_SDCM 0b00000000001100000000000000100000
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#define UBX_CFG_SBAS_SCANMODE2 0x00
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typedef struct {
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uint8_t mode;
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uint8_t usage;
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uint8_t maxSBAS;
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uint8_t scanmode2;
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uint32_t scanmode1;
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} __attribute__((packed)) ubx_cfg_sbas_t;
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typedef enum {
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UBX_GNSS_ID_GPS = 0,
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UBX_GNSS_ID_SBAS = 1,
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UBX_GNSS_ID_GALILEO = 2,
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UBX_GNSS_ID_BEIDOU = 3,
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UBX_GNSS_ID_IMES = 4,
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UBX_GNSS_ID_QZSS = 5,
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UBX_GNSS_ID_GLONASS = 6,
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UBX_GNSS_ID_MAX
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} ubx_config_gnss_id_t;
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#define UBX_CFG_GNSS_FLAGS_ENABLED 0x01
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#define UBX_CFG_GNSS_FLAGS_GPS_L1CA 0x010000
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#define UBX_CFG_GNSS_FLAGS_SBAS_L1CA 0x010000
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#define UBX_CFG_GNSS_FLAGS_BEIDOU_B1I 0x010000
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#define UBX_CFG_GNSS_FLAGS_QZSS_L1CA 0x010000
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#define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF 0x040000
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#define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000
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#define UBX_CFG_GNSS_NUMCH_VER7 22
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#define UBX_CFG_GNSS_NUMCH_VER8 32
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typedef struct {
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uint8_t gnssId;
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uint8_t resTrkCh;
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uint8_t maxTrkCh;
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uint8_t resvd;
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uint32_t flags;
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} __attribute__((packed)) ubx_cfg_gnss_cfgblock_t;
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typedef struct {
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uint8_t msgVer;
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uint8_t numTrkChHw;
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uint8_t numTrkChUse;
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uint8_t numConfigBlocks;
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ubx_cfg_gnss_cfgblock_t cfgBlocks[UBX_GNSS_ID_MAX];
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} __attribute__((packed)) ubx_cfg_gnss_t;
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typedef struct {
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uint8_t prolog[2];
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uint8_t class;
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uint8_t id;
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uint16_t len;
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} __attribute__((packed)) UBXSentHeader_t;
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typedef union {
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uint8_t buffer[0];
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struct {
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UBXSentHeader_t header;
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union {
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ubx_cfg_cfg_t cfg_cfg;
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ubx_cfg_msg_t cfg_msg;
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ubx_cfg_nav5_t cfg_nav5;
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ubx_cfg_rate_t cfg_rate;
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ubx_cfg_sbas_t cfg_sbas;
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ubx_cfg_gnss_t cfg_gnss;
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} payload;
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uint8_t resvd[2]; // added space for checksum bytes
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} message;
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} __attribute__((packed)) UBXSentPacket_t;
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void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connected);
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void ubx_autoconfig_set(ubx_autoconfig_settings_t config);
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int32_t ubx_autoconfig_get_status();
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#endif /* UBX_AUTOCONFIG_H_ */
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