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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>
// 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_DONE,
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 {
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)
uint8_t bufferPaddingForPiosBugAt2400Baud[2]; // must be at least 2 for 2400 to work, probably 1 for 4800 and 0 for 9600+
} __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
// 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 HwSettingsGPSSpeedOptions hwsettings_baud;
static uint8_t baud_to_try_index = 255;
void debugindex(int index, uint8_t c);
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 but not all 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
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);
} else {
static uint8_t c;
debugindex(8, ++c);
if (c > 254) c=254;
}
--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, uint8_t baud, uint16_t outProtoMask)
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 NEMA 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 = (hwsettings_baud<=HWSETTINGS_GPSSPEED_9600) ? 0 : 1; // 1 = UBX only (bit 0)
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;
}
}
// End User Documentation
// There are two baud rates of interest
// The baud rate the GPS is talking at
// The baud rate Revo is talking at
// These two must match for the GPS to work
// You only have direct control of the Revo baud rate
// The two baud rates must be the same for the Revo to send a command to the GPS
// to tell the GPS to change it's baud rate
// So you start out by changing Revo's baud rate to match the GPS's
// and then enable UbxAutoConfig to tell Revo to change the GPS baud every time, just before it changes the Revo baud
// That is the basis of these instructions
// There are microprocessors and they each have internal settings
// Revo
// GPS
// and each of these settings can be temporary or permanent
// To change a Revo setting
// Use the System tab in the GCS for all the following
// Example: in Settings->GPSSettings click on the VALUE for UbxAutoConfig and change it to Disabled
// Click on UbxAutoConfig itself and the line will turn green and blue
// To change this setting permanently, press the red up arrow (Save) at the top of the screen
// Permanently means that it uses this setting, even if you reboot Revo, e.g. power off and on
// To change this setting temporarily, press the green up arrow (Send) at the top of the screen
// Temporarily means that it overrides the permanent setting, but it goes back to the permanent setting when you reboot Revo, e.g. power off and on
// To change an internal GPS setting you use the OP GCS System tab to tell Revo to make the GPS changes
// This only works correctly after you have matching baud rates so Revo and GPS can talk together
// "Settings->GPSSettings->UbxAutoConfig = Configure" sets the internal GPS setting temporarily
// "Settings->GPSSettings->UbxAutoConfig = ConfigureAndStore" sets the internal GPS setting permanently
// You want to wind up with a set of permanent settings that work together
// There are two different sets of permanent settings that work together
// GPS at 9600 baud and factory defaults
// Revo configured to start out at 9600 baud, but then completely configure the GPS and switch both to 57600 baud
// (takes 6 seconds at boot up while you are waiting for it to acquire satellites anyway)
// This is the preferred way so that if we change the settings in the future, the new release will automatically use the correct settings
// GPS at 57600 baud with all the settings for the current release stored in the GPS
// Revo configured to disable UbxAutoConfig since all the GPS settings are permanently stored correctly
// May require reconfiguring in a future release
// Changable settings of interest
// AutoConfig mode
// Settings->GPSSettings->UbxAutoConfig (Disabled, Configure, ConfigureAndStore, default=Configure)
// Disabled means that changes to the GPS baud setting only affect the Revo port
// It doesn't try to change the GPS's internal baud rate setting
// Configure means change the GPS's internal baud setting temporarily (GPS settings revert to the permanent values when GPS is powered off/on)
// ConfigureAndStore means change the GPS's internal baud setting permanently (even after the GPS is powered off/on)
// GPS baud rate
// Settings->HwSettings->GPSSpeed
// If the baud rates are the same and an AutoConfig mode is enabled this will change both the GPS baud rate and the Revo baud rate
// If the baud rates are not the same and an AutoConfig mode is enabled it will fail
// If AutoConfig mode is disabled this will only change the Revo baud rate
// View only settings of interest
// Detected GPS type
// Data Objects -> GPSPositionSensor -> SensorType (Unknown, NMEA, UBX, UBX7, UBX8)
// When it says something other than Unknown, the GPS and Revo baud rates are synced and talking
// Real time progress of the GPS detection process
// Data Objects -> GPSPositionSensor -> AutoConfigStatus (DISABLED, RUNNING, DONE, ERROR)
// Syncing the baud rates means that the GPS's internal baud rate setting is the same as the Revo port setting
// This is necessary for the GPS to work with Revo
// To sync to and find out an unknown GPS baud rate (or sync to and use a known GPS baud rate)
// Temporarily change the AutoConfig mode to Disabled
// Temporarily change the GPS baud rate to a value you think it might be (or go up the list)
// See if that baud rate is correct (Data Objects->GPSPositionSensor->SensorType will be something besides Unknown)
// Repeat, changing the GPS baud rate, until found
// Some very important facts:
// For 9600 baud or lower, the autoconfig will configure it to factory default settings
// For 19200 baud or higher, the autoconfig will configure it to OP required settings
// If autoconfig is enabled permanently in Revo, it will assume that the GPS is configured to power up at 9600 baud
// 57600 baud is recommended for the current release
// That can be achieved either by
// autoconfiging the GPS from a permanent 9600 baud (and factory settings) to a temporary 57600 (with OP settings) on each power up
// or by configuring the GPS with a permanent 57600 (with OP settings) and then permanently disabling autoconfig
// Some previous releases used 38400 and had some other settings differences
// The user should either:
// Permanently configure their GPS to 9600 baud factory settings and tell the Revo configuration to load volatile settings at each startup by:
// (Recommended method because new versions could require new settings and this handles future changes automatically)
// Syncing the baud rates
// Setting it to autoconfig.nostore and waiting for it to complete
// Setting HwSettings.GPSSpeed to 9600 and waiting for it to complete
// Setting it to autoconfig.store and waiting for it to complete (this tells the GPS to store the 9600 permanently)
// Permanently setting it to autoconfig.nostore and waiting for it to complete
// Permanently setting HwSettings.GPSSpeed to 57600 and waiting for it to complete
// Permanently configure their GPS to 57600 baud, including OpenPilot settings and telling the Revo configuration to just set the baud to 57600 at each startup by:
// (Less recommended method because new versions could require new settings so you would have to do this again)
// Syncing the baud rates
// Setting it to autoconfig.nostore and waiting for it to complete
// Permanently setting HwSettings.GPSSpeed to 57600 and waiting for it to complete
// Setting it to autoconfig.store
// Permanently setting it to autoconfig.disabled
// The algorithm is:
// If autoconfig is enabled at all
// It will assume that the GPS boot up baud rate is 9600 and the user wants that changed to HwSettings.GPSSpeed
// and that change can be either volatile (must be done each boot up) or non-volatile (stored in GPS's non-volatile settings storage)
// according to whether CONFIGURE is used or CONFIGUREANDSTORE is used
// The only user who should need CONFIGUREANDSTORE stored permanently in Revo is Dave, who configures many OP GPS's before shipping
// plug a factory default GPS in to a Revo, power up, wait for it to configure and permanently store in the GPS, power down, ship
// If autoconfig is not enabled
// it will use HwSettings.GPSSpeed for the baud rate and not do any configuration changes
// If GPSSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE it will
// 1 Reset the permanent configuration back to factory default
// 2 Disable NEMA message settings
// 3 Add some volatile UBX settings to the copies of the non-volatile ones that are currently running
// 4 Save the current volatile settings to non-volatile storage
// If GPSSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGURE it will
// 2 Disable NEMA message settings
// 3 Add some volatile UBX settings to the copies of the non-volatile ones that are currently running
// If the requested baud rate is 9600 or less it skips the step (3) of adding some volatile UBX settings
// Talking points to point out:
// U-center is no longer needed for any use case with this code
// 9600 is factory default for GPS's
// Some GPS can't even permanently store settings and must start at 9600 baud?
// I have a GPS that sometimes looses settings and reverts to 9600 and this is a fix for that too :)
// This code handles a GPS configured either way (9600 with factory default settings or e.g. 57600 with OP settings)
// Autoconfig.nostore at each boot for 9600, autoconfig.disabled for the 57600 with OP settings (or custom settings and baud)
// This code can permanently configure a GPS to be e.g. 9600 with factory default settings or 57600 with OP settings
// GPS's with 9600 baud and factory default settings would be a good default for future OP releases
// Changing the GPS internal settings multiple times in the future is handled automatically
// This code is written to do a configure from 9600 to 57600
// (actually 9600 to whatever is stored in HwSettings.GPSSpeed)
// if autoconfig is enabled at boot up
// When autoconfiging to 9600 baud or lower, the autoconfig will configure it to factory default settings, not OP settings
// That is because 9600 baud drops many of the OP messages and because 9600 baud is factory default
// For 19200 baud or higher, the autoconfig will configure it to OP required settings
// If autoconfig is enabled permanently in Revo, it will assume that the GPS is configured to power up at 9600 baud
// This is good for factory default GPS's
// This is good in case we change some settings in a future release
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;
}
// smallest delay between each step
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_VERIFIED_STEP_WAIT_TIME) {
return;
}
// get UBX version whether autoconfig is enabled or not
// this allows the user to try some baud rates and visibly see when it works
// ubxHwVersion is a global set externally by the caller of this function
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_REPLY_TIMEOUT) {
return;
}
// this is where the autobaud code needs to go as it won't get farther till MON_VER returns something
// 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 retry at this baud rate has failed
// we need gps_ubx_reset_sensor_type() (or what else?) to reset this FSM (baud_to_try_index==-1) and the retry count
// need a state machine that counts retries and:
// no, no retries, just loop through the baud rate over and over till it locks
// that may be a bit slower if it misses just one MON_VER than trying twice on the first few (sorted in likelyhood order) baud rates
// but it gets to the other baud rates faster and loops faster
// 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 (most likely matches first)
// HwSettings.GPSSpeed, 57600, 9600, 38400, 115200,
// all values from #2 on are only tried if GPSSpeed!=them
// no, init to HwSettings.GPSSpeed only at power up and if it fails just run the whole list over and over?
// the order to try the baud rates with the most likely first
// these come after trying HwSettings.GPSSpeed but will not duplicate the HwSettings.GPSSpeed test
// without an if for this block, it autobauds even with autoconfig disabled
// if (status->currentSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED)
// this is the same thing
// if (enabled)
{
uint8_t baud_to_try;
//HwSettingsGPSSpeedOptions baud_to_try;
#if 0
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
};
do {
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++];
}
} while (baud_to_try == hwsettings_baud);
#else
HwSettingsGPSSpeedGet(&hwsettings_baud);
baud_to_try = hwsettings_baud;
debugindex(0, hwsettings_baud);
{
static uint8_t c;
debugindex(1, ++c);
}
#endif
// set the Revo baud rate
gps_set_fc_baud_from_arg(baud_to_try, 2);
}
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;
}
{
static uint8_t c;
uint8_t baud;
GPSPositionSensorCurrentBaudRateOptions trythis;
trythis=GPSPOSITIONSENSOR_CURRENTBAUDRATE_9600;
GPSPositionSensorCurrentBaudRateGet(&baud);
debugindex(8, baud);
if (baud != hwsettings_baud) {
debugindex(9, ++c);
// big hack to keep the malfunctioning GPSPositionSensor.CurrentBaudRate correct
// for some reason it keeps going back to boot value (or default if xml has a default)
GPSPositionSensorCurrentBaudRateSet(&trythis);
}
}
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
}
// replaying constantly could wear the settings memory out
// don't allow constant reconfiging when offline
// don't even allow program bugs that could constantly toggle between connected and disconnected to cause configuring
if (status->currentStep == INIT_STEP_DONE || status->currentStep == INIT_STEP_ERROR) {
//do we want this here
// status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
return;
}
switch (status->currentStep) {
#if 0
// if here, we have just verified that the baud rates are in sync
case INIT_STEP_START:
// we should look for the GPS version again (user may plug in a different GPS and then do autoconfig again)
//gps_ubx_reset_sensor_type();
// do not fall through to next state
// or it might try to get the sensor type when the baud rate is half changed
// note that resetting sensor type causes it to send MON_VER msg and wait for reply before coming back here
#if 0
set_current_step_if_untouched(INIT_STEP_DISABLE_MSGS);
// allow it to get the sensor type immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
break;
case INIT_STEP_DISABLE_MSGS:
config_gps_baud(bytes_to_send, baud_to_try, 0);
// do not fall through to next state
// or it might try to get the sensor type when the baud rate is half changed
// note that resetting sensor type causes it to send MON_VER msg and wait for reply before coming back here
#endif
set_current_step_if_untouched(INIT_STEP_RESET_GPS);
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
break;
#endif
// 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)
status->retryCount = 0;
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:
#if 0
debugindex(0, status->requiredAck.clsID);
debugindex(1, ubxLastAck.clsID);
debugindex(2, status->requiredAck.msgID);
debugindex(3, ubxLastAck.msgID);
debugindex(4, ubxLastNak.clsID);
debugindex(5, ubxLastNak.msgID);
#endif
#if 0
if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
// Continue with next configuration option
set_current_step_if_untouched(INIT_STEP_RESET_GPS);
// note that we increase the reply timeout in case the GPS must do a flash erase
} 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) {
// give up on the retries
set_current_step_if_untouched(INIT_STEP_ERROR);
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
} else {
// retry a few times
set_current_step_if_untouched(INIT_STEP_SEND_MON_VER);
}
}
break;
#else
// 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;
#endif
// 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 0
debugindex(2, hwsettings_baud);
{
static uint8_t c;
debugindex(3, ++c);
}
#endif
//move this up higher / earlier?
#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 leave it set to NEMA
// 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 table
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE)
#endif
{
// reset all GPS parameters to factory default (configure low rate NEMA 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 NEMA
// 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_CONFIGUREANDSTORE
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE)
#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;
}
#if 0
debugindex(8, hwsettings_baud);
if (hwsettings_baud >= 8) {
debugindex(9, hwsettings_baud);
}
#endif
// 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, 0);
}
// 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, hwsettings_baud, 1);
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
debugindex(4, hwsettings_baud);
{
static uint8_t c;
debugindex(5, ++c);
}
gps_set_fc_baud_from_arg(hwsettings_baud, 3);
status->lastConfigSent = LAST_CONFIG_SENT_START;
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_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_CONFIGUREANDSTORE
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE) {
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_DONE);
// allow it enter INIT_STEP_DONE immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
}
break;
// we could remove this state
// if we retry, it writes to settings storage a few more times
// and it is probably the ack that was dropped, with the save actually performed correctly
// because e.g. OP sentences at 19200 baud don't fit and stuff (like acks) gets dropped
case INIT_STEP_SAVE_WAIT_ACK:
if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
// Continue with next configuration option
set_current_step_if_untouched(INIT_STEP_DONE);
// note that we increase the reply timeout in case the GPS must do a flash erase
} else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_REPLY_TO_SAVE_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 / 2) {
// give up on the retries
set_current_step_if_untouched(INIT_STEP_ERROR);
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
} else {
// retry a few times
set_current_step_if_untouched(INIT_STEP_SAVE);
}
}
break;
// an error, such as retries exhausted, has occurred
case INIT_STEP_ERROR:
// on error we should get the GPS version immediately
gps_ubx_reset_sensor_type();
break;
// user has disable the autoconfig
case INIT_STEP_DISABLED:
break;
// the autoconfig has completed normally
case INIT_STEP_DONE:
// determine if we need to disable autoconfig via the autoconfig==CONFIGSTOREANDDISABLE setting
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE) {
enabled = false;
status->currentSettings.UbxAutoConfig = GPSSETTINGS_UBXAUTOCONFIG_DISABLED;
// like it says
GPSSettingsUbxAutoConfigSet((GPSSettingsUbxAutoConfigOptions *) &status->currentSettings.UbxAutoConfig);
}
break;
}
}
// this can be called from a different thread
// so everything it touches must be declared volatile
// I hope that I took care of all the concurrency issues that are likely to happen in the lifetime of OpenPilot
// by lowering the probability from 1 in 50,000 calls to this function (my SWAG) to one in 50,000**3 (forgive my Fortran)
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_DISABLED) {
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_DISABLED) {
enabled = true;
} else {
// this forces the sensor type detection to occur outside the FSM
// and also engages the autobaud detection that is outside the FSM
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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