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412 lines
12 KiB
C
412 lines
12 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup GSPModule GPS Module
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* @brief Process GPS information
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* @{
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*
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* @file UBX.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GPS module, handles GPS and NMEA stream
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* @see The GNU Public License (GPL) Version 3
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*
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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_H
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#define UBX_H
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#include "openpilot.h"
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#include "gpspositionsensor.h"
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#include "gpsextendedstatus.h"
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#ifndef PIOS_GPS_MINIMAL
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#include "auxmagsensor.h"
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#endif
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#include "GPS.h"
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#define UBX_HW_VERSION_8 80000
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#define UBX_HW_VERSION_7 70000
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#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
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#define UBX_SYNC2 0x62
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// From u-blox6 receiver protocol specification
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// Messages classes
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typedef enum {
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UBX_CLASS_NAV = 0x01,
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UBX_CLASS_ACK = 0x05,
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UBX_CLASS_CFG = 0x06,
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UBX_CLASS_MON = 0x0A,
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UBX_CLASS_OP_CUST = 0x99,
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UBX_CLASS_AID = 0x0B,
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// unused class IDs, used for disabling them
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UBX_CLASS_RXM = 0x02,
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} ubx_class;
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// Message IDs
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typedef enum {
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UBX_ID_NAV_POSLLH = 0x02,
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UBX_ID_NAV_STATUS = 0x03,
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UBX_ID_NAV_DOP = 0x04,
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UBX_ID_NAV_SOL = 0x06,
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UBX_ID_NAV_VELNED = 0x12,
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UBX_ID_NAV_TIMEUTC = 0x21,
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UBX_ID_NAV_SVINFO = 0x30,
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UBX_ID_NAV_PVT = 0x07,
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UBX_ID_NAV_AOPSTATUS = 0x60,
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UBX_ID_NAV_CLOCK = 0x22,
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UBX_ID_NAV_DGPS = 0x31,
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UBX_ID_NAV_POSECEF = 0x01,
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UBX_ID_NAV_SBAS = 0x32,
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UBX_ID_NAV_TIMEGPS = 0x20,
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UBX_ID_NAV_VELECEF = 0x11
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} ubx_class_nav_id;
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typedef enum {
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UBX_ID_OP_SYS = 0x01,
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UBX_ID_OP_MAG = 0x02,
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} ubx_class_op_id;
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typedef enum {
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UBX_ID_MON_VER = 0x04,
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// unused messages IDs, used for disabling them
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UBX_ID_MON_HW2 = 0x0B,
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UBX_ID_MON_HW = 0x09,
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UBX_ID_MON_IO = 0x02,
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UBX_ID_MON_MSGPP = 0x06,
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UBX_ID_MON_RXBUFF = 0x07,
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UBX_ID_MON_RXR = 0x21,
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UBX_ID_MON_TXBUF = 0x08,
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} ubx_class_mon_id;
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typedef enum {
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UBX_ID_CFG_NAV5 = 0x24,
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UBX_ID_CFG_RATE = 0x08,
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UBX_ID_CFG_MSG = 0x01,
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UBX_ID_CFG_CFG = 0x09,
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UBX_ID_CFG_SBAS = 0x16,
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UBX_ID_CFG_GNSS = 0x3E
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} ubx_class_cfg_id;
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typedef enum {
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UBX_ID_ACK_ACK = 0x01,
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UBX_ID_ACK_NAK = 0x00,
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} ubx_class_ack_id;
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typedef enum {
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UBX_ID_AID_ALM = 0x0B,
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UBX_ID_AID_ALPSRV = 0x32,
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UBX_ID_AID_ALP = 0x50,
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UBX_ID_AID_AOP = 0x33,
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UBX_ID_AID_DATA = 0x10,
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UBX_ID_AID_EPH = 0x31,
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UBX_ID_AID_HUI = 0x02,
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UBX_ID_AID_INI = 0x01,
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UBX_ID_AID_REQ = 0x00,
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} ubx_class_aid_id;
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typedef enum {
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UBX_ID_RXM_ALM = 0x30,
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UBX_ID_RXM_EPH = 0x31,
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UBX_ID_RXM_RAW = 0x10,
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UBX_ID_RXM_SFRB = 0x11,
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UBX_ID_RXM_SVSI = 0x20,
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} ubx_class_rxm_id;
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// private structures
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// Geodetic Position Solution
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struct UBX_NAV_POSLLH {
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uint32_t iTOW; // GPS Millisecond Time of Week (ms)
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int32_t lon; // Longitude (deg*1e-7)
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int32_t lat; // Latitude (deg*1e-7)
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int32_t height; // Height above Ellipsoid (mm)
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int32_t hMSL; // Height above mean sea level (mm)
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uint32_t hAcc; // Horizontal Accuracy Estimate (mm)
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uint32_t vAcc; // Vertical Accuracy Estimate (mm)
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};
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// Receiver Navigation Status
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#define STATUS_GPSFIX_NOFIX 0x00
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#define STATUS_GPSFIX_DRONLY 0x01
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#define STATUS_GPSFIX_2DFIX 0x02
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#define STATUS_GPSFIX_3DFIX 0x03
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#define STATUS_GPSFIX_GPSDR 0x04
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#define STATUS_GPSFIX_TIMEONLY 0x05
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#define STATUS_FLAGS_GPSFIX_OK (1 << 0)
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#define STATUS_FLAGS_DIFFSOLN (1 << 1)
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#define STATUS_FLAGS_WKNSET (1 << 2)
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#define STATUS_FLAGS_TOWSET (1 << 3)
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struct UBX_NAV_STATUS {
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uint32_t iTOW; // GPS Millisecond Time of Week (ms)
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uint8_t gpsFix; // GPS fix type
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uint8_t flags; // Navigation Status Flags
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uint8_t fixStat; // Fix Status Information
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uint8_t flags2; // Additional navigation output information
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uint32_t ttff; // Time to first fix (ms)
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uint32_t msss; // Milliseconds since startup/reset (ms)
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};
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// Dilution of precision
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struct UBX_NAV_DOP {
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uint32_t iTOW; // GPS Millisecond Time of Week (ms)
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uint16_t gDOP; // Geometric DOP
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uint16_t pDOP; // Position DOP
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uint16_t tDOP; // Time DOP
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uint16_t vDOP; // Vertical DOP
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uint16_t hDOP; // Horizontal DOP
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uint16_t nDOP; // Northing DOP
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uint16_t eDOP; // Easting DOP
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};
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// Navigation solution
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struct UBX_NAV_SOL {
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uint32_t iTOW; // GPS Millisecond Time of Week (ms)
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int32_t fTOW; // fractional nanoseconds (ns)
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int16_t week; // GPS week
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uint8_t gpsFix; // GPS fix type
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uint8_t flags; // Fix status flags
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int32_t ecefX; // ECEF X coordinate (cm)
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int32_t ecefY; // ECEF Y coordinate (cm)
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int32_t ecefZ; // ECEF Z coordinate (cm)
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uint32_t pAcc; // 3D Position Accuracy Estimate (cm)
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int32_t ecefVX; // ECEF X coordinate (cm/s)
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int32_t ecefVY; // ECEF Y coordinate (cm/s)
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int32_t ecefVZ; // ECEF Z coordinate (cm/s)
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uint32_t sAcc; // Speed Accuracy Estimate
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uint16_t pDOP; // Position DOP
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uint8_t reserved1; // Reserved
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uint8_t numSV; // Number of SVs used in Nav Solution
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uint32_t reserved2; // Reserved
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};
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// North/East/Down velocity
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struct UBX_NAV_VELNED {
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uint32_t iTOW; // ms GPS Millisecond Time of Week
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int32_t velN; // cm/s NED north velocity
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int32_t velE; // cm/s NED east velocity
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int32_t velD; // cm/s NED down velocity
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uint32_t speed; // cm/s Speed (3-D)
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uint32_t gSpeed; // cm/s Ground Speed (2-D)
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int32_t heading; // 1e-5 *deg Heading of motion 2-D
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uint32_t sAcc; // cm/s Speed Accuracy Estimate
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uint32_t cAcc; // 1e-5 *deg Course / Heading Accuracy Estimate
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};
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// UTC Time Solution
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#define TIMEUTC_VALIDTOW (1 << 0)
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#define TIMEUTC_VALIDWKN (1 << 1)
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#define TIMEUTC_VALIDUTC (1 << 2)
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struct UBX_NAV_TIMEUTC {
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uint32_t iTOW; // GPS Millisecond Time of Week (ms)
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uint32_t tAcc; // Time Accuracy Estimate (ns)
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int32_t nano; // Nanoseconds of second
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uint16_t year;
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uint8_t month;
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uint8_t day;
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uint8_t hour;
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uint8_t min;
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uint8_t sec;
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uint8_t valid; // Validity Flags
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};
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#define PVT_VALID_VALIDDATE 0x01
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#define PVT_VALID_VALIDTIME 0x02
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#define PVT_VALID_FULLYRESOLVED 0x04
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#define PVT_FIX_TYPE_NO_FIX 0
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#define PVT_FIX_TYPE_DEAD_RECKON 0x01 // Dead Reckoning only
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#define PVT_FIX_TYPE_2D 0x02 // 2D-Fix
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#define PVT_FIX_TYPE_3D 0x03 // 3D-Fix
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#define PVT_FIX_TYPE_GNSS_DEAD_RECKON 0x04 // GNSS + dead reckoning combined
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#define PVT_FIX_TYPE_TIME_ONLY 0x05 // Time only fix
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#define PVT_FLAGS_GNSSFIX_OK (1 << 0)
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#define PVT_FLAGS_DIFFSOLN (1 << 1)
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#define PVT_FLAGS_PSMSTATE_ENABLED (1 << 2)
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#define PVT_FLAGS_PSMSTATE_ACQUISITION (2 << 2)
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#define PVT_FLAGS_PSMSTATE_TRACKING (3 << 2)
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#define PVT_FLAGS_PSMSTATE_PO_TRACKING (4 << 2)
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#define PVT_FLAGS_PSMSTATE_INACTIVE (5 << 2)
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// PVT Navigation Position Velocity Time Solution
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struct UBX_NAV_PVT {
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uint32_t iTOW;
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uint16_t year;
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uint8_t month;
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uint8_t day;
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uint8_t hour;
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uint8_t min;
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uint8_t sec;
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uint8_t valid;
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uint32_t tAcc;
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int32_t nano;
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uint8_t fixType;
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uint8_t flags;
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uint8_t reserved1;
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uint8_t numSV;
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int32_t lon;
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int32_t lat;
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int32_t height;
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int32_t hMSL;
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uint32_t hAcc;
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uint32_t vAcc;
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int32_t velN;
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int32_t velE;
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int32_t velD;
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int32_t gSpeed;
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int32_t heading;
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uint32_t sAcc;
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uint32_t headingAcc;
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uint16_t pDOP;
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uint16_t reserved2;
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uint32_t reserved3;
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} __attribute__((packed));
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// Space Vehicle (SV) Information
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// Single SV information block
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#define SVUSED (1 << 0) // This SV is used for navigation
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#define DIFFCORR (1 << 1) // Differential correction available
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#define ORBITAVAIL (1 << 2) // Orbit information available
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#define ORBITEPH (1 << 3) // Orbit information is Ephemeris
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#define UNHEALTHY (1 << 4) // SV is unhealthy
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#define ORBITALM (1 << 5) // Orbit information is Almanac Plus
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#define ORBITAOP (1 << 6) // Orbit information is AssistNow Autonomous
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#define SMOOTHED (1 << 7) // Carrier smoothed pseudoranges used
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struct UBX_NAV_SVINFO_SV {
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uint8_t chn; // Channel number
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uint8_t svid; // Satellite ID
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uint8_t flags; // Misc SV information
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uint8_t quality; // Misc quality indicators
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uint8_t cno; // Carrier to Noise Ratio (dbHz)
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int8_t elev; // Elevation (integer degrees)
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int16_t azim; // Azimuth (integer degrees)
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int32_t prRes; // Pseudo range residual (cm)
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};
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// SV information message
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#define MAX_SVS 32
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struct UBX_NAV_SVINFO {
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uint32_t iTOW; // GPS Millisecond Time of Week (ms)
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uint8_t numCh; // Number of channels
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uint8_t globalFlags; //
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uint16_t reserved2; // Reserved
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struct UBX_NAV_SVINFO_SV sv[MAX_SVS]; // Repeated 'numCh' times
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};
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// ACK message class
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struct UBX_ACK_ACK {
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uint8_t clsID; // ClassID
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uint8_t msgID; // MessageID
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};
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struct UBX_ACK_NAK {
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uint8_t clsID; // ClassID
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uint8_t msgID; // MessageID
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};
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// MON message Class
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#define UBX_MON_MAX_EXT 5
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struct UBX_MON_VER {
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char swVersion[30];
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char hwVersion[10];
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#if UBX_MON_MAX_EXT > 0
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char extension[UBX_MON_MAX_EXT][30];
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#endif
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};
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// OP custom messages
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struct UBX_OP_SYSINFO {
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uint32_t flightTime;
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uint16_t options;
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uint8_t board_type;
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uint8_t board_revision;
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uint8_t commit_tag_name[26];
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uint8_t sha1sum[8];
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} __attribute__((packed));
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// OP custom messages
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struct UBX_OP_MAG {
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int16_t x;
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int16_t y;
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int16_t z;
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uint16_t Status;
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};
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typedef union {
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uint8_t payload[0];
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// Nav Class
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struct UBX_NAV_POSLLH nav_posllh;
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struct UBX_NAV_STATUS nav_status;
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struct UBX_NAV_DOP nav_dop;
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struct UBX_NAV_SOL nav_sol;
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struct UBX_NAV_VELNED nav_velned;
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#if !defined(PIOS_GPS_MINIMAL)
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struct UBX_NAV_PVT nav_pvt;
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struct UBX_NAV_TIMEUTC nav_timeutc;
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struct UBX_NAV_SVINFO nav_svinfo;
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// Ack Class
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struct UBX_ACK_ACK ack_ack;
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struct UBX_ACK_NAK ack_nak;
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// Mon Class
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struct UBX_MON_VER mon_ver;
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struct UBX_OP_SYSINFO op_sysinfo;
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struct UBX_OP_MAG op_mag;
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#endif
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} UBXPayload;
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struct UBXHeader {
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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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uint8_t ck_a;
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uint8_t ck_b;
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};
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struct UBXPacket {
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struct UBXHeader header;
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UBXPayload payload;
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};
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// Used by AutoConfig code
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extern int32_t ubxHwVersion;
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extern struct UBX_ACK_ACK ubxLastAck;
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extern struct UBX_ACK_NAK ubxLastNak;
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bool checksum_ubx_message(struct UBXPacket *);
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uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
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int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
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void load_mag_settings();
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#endif /* UBX_H */
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