/****************************************************************************
*
* Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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****************************************************************************/
/**
* @file ubx.h
*
* U-Blox protocol definition. Following u-blox 6/7/8 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* @author Hannes Delago
* (rework, add ubx7+ compatibility)
*
*/
#ifndef UBX_H_
#define UBX_H_
#include "gps_helper.h"
#define UBX_SYNC1 0xB5
#define UBX_SYNC2 0x62
/* Message Classes */
#define UBX_CLASS_NAV 0x01
#define UBX_CLASS_ACK 0x05
#define UBX_CLASS_CFG 0x06
#define UBX_CLASS_MON 0x0A
/* Message IDs */
#define UBX_ID_NAV_POSLLH 0x02
#define UBX_ID_NAV_SOL 0x06
#define UBX_ID_NAV_PVT 0x07
#define UBX_ID_NAV_VELNED 0x12
#define UBX_ID_NAV_TIMEUTC 0x21
#define UBX_ID_NAV_SVINFO 0x30
#define UBX_ID_ACK_NAK 0x00
#define UBX_ID_ACK_ACK 0x01
#define UBX_ID_CFG_PRT 0x00
#define UBX_ID_CFG_MSG 0x01
#define UBX_ID_CFG_RATE 0x08
#define UBX_ID_CFG_NAV5 0x24
#define UBX_ID_CFG_SBAS 0x16
#define UBX_ID_MON_VER 0x04
#define UBX_ID_MON_HW 0x09
/* Message Classes & IDs */
#define UBX_MSG_NAV_POSLLH ((UBX_CLASS_NAV) | UBX_ID_NAV_POSLLH << 8)
#define UBX_MSG_NAV_SOL ((UBX_CLASS_NAV) | UBX_ID_NAV_SOL << 8)
#define UBX_MSG_NAV_PVT ((UBX_CLASS_NAV) | UBX_ID_NAV_PVT << 8)
#define UBX_MSG_NAV_VELNED ((UBX_CLASS_NAV) | UBX_ID_NAV_VELNED << 8)
#define UBX_MSG_NAV_TIMEUTC ((UBX_CLASS_NAV) | UBX_ID_NAV_TIMEUTC << 8)
#define UBX_MSG_NAV_SVINFO ((UBX_CLASS_NAV) | UBX_ID_NAV_SVINFO << 8)
#define UBX_MSG_ACK_NAK ((UBX_CLASS_ACK) | UBX_ID_ACK_NAK << 8)
#define UBX_MSG_ACK_ACK ((UBX_CLASS_ACK) | UBX_ID_ACK_ACK << 8)
#define UBX_MSG_CFG_PRT ((UBX_CLASS_CFG) | UBX_ID_CFG_PRT << 8)
#define UBX_MSG_CFG_MSG ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8)
#define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8)
#define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8)
#define UBX_MSG_CFG_SBAS ((UBX_CLASS_CFG) | UBX_ID_CFG_SBAS << 8)
#define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8)
#define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8)
/* RX NAV-PVT message content details */
/* Bitfield "valid" masks */
#define UBX_RX_NAV_PVT_VALID_VALIDDATE 0x01 /**< validDate (Valid UTC Date) */
#define UBX_RX_NAV_PVT_VALID_VALIDTIME 0x02 /**< validTime (Valid UTC Time) */
#define UBX_RX_NAV_PVT_VALID_FULLYRESOLVED 0x04 /**< fullyResolved (1 = UTC Time of Day has been fully resolved (no seconds uncertainty)) */
/* Bitfield "flags" masks */
#define UBX_RX_NAV_PVT_FLAGS_GNSSFIXOK 0x01 /**< gnssFixOK (A valid fix (i.e within DOP & accuracy masks)) */
#define UBX_RX_NAV_PVT_FLAGS_DIFFSOLN 0x02 /**< diffSoln (1 if differential corrections were applied) */
#define UBX_RX_NAV_PVT_FLAGS_PSMSTATE 0x1C /**< psmState (Power Save Mode state (see Power Management)) */
#define UBX_RX_NAV_PVT_FLAGS_HEADVEHVALID 0x20 /**< headVehValid (Heading of vehicle is valid) */
/* RX NAV-TIMEUTC message content details */
/* Bitfield "valid" masks */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDTOW 0x01 /**< validTOW (1 = Valid Time of Week) */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDKWN 0x02 /**< validWKN (1 = Valid Week Number) */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDUTC 0x04 /**< validUTC (1 = Valid UTC Time) */
#define UBX_RX_NAV_TIMEUTC_VALID_UTCSTANDARD 0xF0 /**< utcStandard (0..15 = UTC standard identifier) */
/* TX CFG-PRT message contents */
#define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */
#define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
#define UBX_TX_CFG_PRT_BAUDRATE 38400 /**< choose 38400 as GPS baudrate */
#define UBX_TX_CFG_PRT_INPROTOMASK 0x01 /**< UBX in */
#define UBX_TX_CFG_PRT_OUTPROTOMASK 0x01 /**< UBX out */
/* TX CFG-RATE message contents */
#define UBX_TX_CFG_RATE_MEASINTERVAL 200 /**< 200ms for 5Hz */
#define UBX_TX_CFG_RATE_NAVRATE 1 /**< cannot be changed */
#define UBX_TX_CFG_RATE_TIMEREF 0 /**< 0: UTC, 1: GPS time */
/* TX CFG-NAV5 message contents */
#define UBX_TX_CFG_NAV5_MASK 0x0005 /**< Only update dynamic model and fix mode */
#define UBX_TX_CFG_NAV5_DYNMODEL 7 /**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
#define UBX_TX_CFG_NAV5_FIXMODE 2 /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */
/* TX CFG-SBAS message contents */
#define UBX_TX_CFG_SBAS_MODE_ENABLED 1 /**< SBAS enabled */
#define UBX_TX_CFG_SBAS_MODE_DISABLED 0 /**< SBAS disabled */
#define UBX_TX_CFG_SBAS_MODE UBX_TX_CFG_SBAS_MODE_DISABLED /**< SBAS enabled or disabled */
/* TX CFG-MSG message contents */
#define UBX_TX_CFG_MSG_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
#define UBX_TX_CFG_MSG_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
#define UBX_TX_CFG_MSG_RATE1_05HZ 10
/*** u-blox protocol binary message and payload definitions ***/
#pragma pack(push, 1)
/* General: Header */
typedef struct {
uint8_t sync1;
uint8_t sync2;
uint16_t msg;
uint16_t length;
} ubx_header_t;
/* General: Checksum */
typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} ubx_checksum_t ;
/* Rx NAV-POSLLH */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
int32_t lon; /**< Longitude [1e-7 deg] */
int32_t lat; /**< Latitude [1e-7 deg] */
int32_t height; /**< Height above ellipsoid [mm] */
int32_t hMSL; /**< Height above mean sea level [mm] */
uint32_t hAcc; /**< Horizontal accuracy estimate [mm] */
uint32_t vAcc; /**< Vertical accuracy estimate [mm] */
} ubx_payload_rx_nav_posllh_t;
/* Rx NAV-SOL */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
int32_t fTOW; /**< Fractional part of iTOW (range: +/-500000) [ns] */
int16_t week; /**< GPS week */
uint8_t gpsFix; /**< GPSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
uint8_t flags;
int32_t ecefX;
int32_t ecefY;
int32_t ecefZ;
uint32_t pAcc;
int32_t ecefVX;
int32_t ecefVY;
int32_t ecefVZ;
uint32_t sAcc;
uint16_t pDOP;
uint8_t reserved1;
uint8_t numSV; /**< Number of SVs used in Nav Solution */
uint32_t reserved2;
} ubx_payload_rx_nav_sol_t;
/* Rx NAV-PVT (ubx8) */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
uint16_t year; /**< Year (UTC)*/
uint8_t month; /**< Month, range 1..12 (UTC) */
uint8_t day; /**< Day of month, range 1..31 (UTC) */
uint8_t hour; /**< Hour of day, range 0..23 (UTC) */
uint8_t min; /**< Minute of hour, range 0..59 (UTC) */
uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */
uint8_t valid; /**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */
uint32_t tAcc; /**< Time accuracy estimate (UTC) [ns] */
int32_t nano; /**< Fraction of second (UTC) [-1e9...1e9 ns] */
uint8_t fixType; /**< GNSSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GNSS + dead reckoning, 5 = time only fix */
uint8_t flags; /**< Fix Status Flags (see UBX_RX_NAV_PVT_FLAGS_...) */
uint8_t reserved1;
uint8_t numSV; /**< Number of SVs used in Nav Solution */
int32_t lon; /**< Longitude [1e-7 deg] */
int32_t lat; /**< Latitude [1e-7 deg] */
int32_t height; /**< Height above ellipsoid [mm] */
int32_t hMSL; /**< Height above mean sea level [mm] */
uint32_t hAcc; /**< Horizontal accuracy estimate [mm] */
uint32_t vAcc; /**< Vertical accuracy estimate [mm] */
int32_t velN; /**< NED north velocity [mm/s]*/
int32_t velE; /**< NED east velocity [mm/s]*/
int32_t velD; /**< NED down velocity [mm/s]*/
int32_t gSpeed; /**< Ground Speed (2-D) [mm/s] */
int32_t headMot; /**< Heading of motion (2-D) [1e-5 deg] */
uint32_t sAcc; /**< Speed accuracy estimate [mm/s] */
uint32_t headAcc; /**< Heading accuracy estimate (motion and vehicle) [1e-5 deg] */
uint16_t pDOP; /**< Position DOP [0.01] */
uint16_t reserved2;
uint32_t reserved3;
int32_t headVeh; /**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */
uint32_t reserved4; /**< (ubx8+ only) */
} ubx_payload_rx_nav_pvt_t;
#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7 (sizeof(ubx_payload_rx_nav_pvt_t) - 8)
#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8 (sizeof(ubx_payload_rx_nav_pvt_t))
/* Rx NAV-TIMEUTC */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
uint32_t tAcc; /**< Time accuracy estimate (UTC) [ns] */
int32_t nano; /**< Fraction of second, range -1e9 .. 1e9 (UTC) [ns] */
uint16_t year; /**< Year, range 1999..2099 (UTC) */
uint8_t month; /**< Month, range 1..12 (UTC) */
uint8_t day; /**< Day of month, range 1..31 (UTC) */
uint8_t hour; /**< Hour of day, range 0..23 (UTC) */
uint8_t min; /**< Minute of hour, range 0..59 (UTC) */
uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */
uint8_t valid; /**< Validity Flags (see UBX_RX_NAV_TIMEUTC_VALID_...) */
} ubx_payload_rx_nav_timeutc_t;
/* Rx NAV-SVINFO Part 1 */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
uint8_t numCh; /**< Number of channels */
uint8_t globalFlags;
uint16_t reserved2;
} ubx_payload_rx_nav_svinfo_part1_t;
/* Rx NAV-SVINFO Part 2 (repeated) */
typedef struct {
uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */
uint8_t svid; /**< Satellite ID */
uint8_t flags;
uint8_t quality;
uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength) [dbHz] */
int8_t elev; /**< Elevation [deg] */
int16_t azim; /**< Azimuth [deg] */
int32_t prRes; /**< Pseudo range residual [cm] */
} ubx_payload_rx_nav_svinfo_part2_t;
/* Rx NAV-VELNED */
typedef struct {
uint32_t iTOW; /**< GPS Time of Week [ms] */
int32_t velN; /**< North velocity component [cm/s]*/
int32_t velE; /**< East velocity component [cm/s]*/
int32_t velD; /**< Down velocity component [cm/s]*/
uint32_t speed; /**< Speed (3-D) [cm/s] */
uint32_t gSpeed; /**< Ground speed (2-D) [cm/s] */
int32_t heading; /**< Heading of motion 2-D [1e-5 deg] */
uint32_t sAcc; /**< Speed accuracy estimate [cm/s] */
uint32_t cAcc; /**< Course / Heading accuracy estimate [1e-5 deg] */
} ubx_payload_rx_nav_velned_t;
/* Rx MON-HW (ubx6) */
typedef struct {
uint32_t pinSel;
uint32_t pinBank;
uint32_t pinDir;
uint32_t pinVal;
uint16_t noisePerMS;
uint16_t agcCnt;
uint8_t aStatus;
uint8_t aPower;
uint8_t flags;
uint8_t reserved1;
uint32_t usedMask;
uint8_t VP[25];
uint8_t jamInd;
uint16_t reserved3;
uint32_t pinIrq;
uint32_t pullH;
uint32_t pullL;
} ubx_payload_rx_mon_hw_ubx6_t;
/* Rx MON-HW (ubx7+) */
typedef struct {
uint32_t pinSel;
uint32_t pinBank;
uint32_t pinDir;
uint32_t pinVal;
uint16_t noisePerMS;
uint16_t agcCnt;
uint8_t aStatus;
uint8_t aPower;
uint8_t flags;
uint8_t reserved1;
uint32_t usedMask;
uint8_t VP[17];
uint8_t jamInd;
uint16_t reserved3;
uint32_t pinIrq;
uint32_t pullH;
uint32_t pullL;
} ubx_payload_rx_mon_hw_ubx7_t;
/* Rx MON-VER Part 1 */
typedef struct {
uint8_t swVersion[30];
uint8_t hwVersion[10];
} ubx_payload_rx_mon_ver_part1_t;
/* Rx MON-VER Part 2 (repeated) */
typedef struct {
uint8_t extension[30];
} ubx_payload_rx_mon_ver_part2_t;
/* Rx ACK-ACK */
typedef union {
uint16_t msg;
struct {
uint8_t clsID;
uint8_t msgID;
};
} ubx_payload_rx_ack_ack_t;
/* Rx ACK-NAK */
typedef union {
uint16_t msg;
struct {
uint8_t clsID;
uint8_t msgID;
};
} ubx_payload_rx_ack_nak_t;
/* Tx CFG-PRT */
typedef struct {
uint8_t portID;
uint8_t reserved0;
uint16_t txReady;
uint32_t mode;
uint32_t baudRate;
uint16_t inProtoMask;
uint16_t outProtoMask;
uint16_t flags;
uint16_t reserved5;
} ubx_payload_tx_cfg_prt_t;
/* Tx CFG-RATE */
typedef struct {
uint16_t measRate; /**< Measurement Rate, GPS measurements are taken every measRate milliseconds */
uint16_t navRate; /**< Navigation Rate, in number of measurement cycles. This parameter cannot be changed, and must be set to 1 */
uint16_t timeRef; /**< Alignment to reference time: 0 = UTC time, 1 = GPS time */
} ubx_payload_tx_cfg_rate_t;
/* Tx CFG-NAV5 */
typedef struct {
uint16_t mask;
uint8_t dynModel; /**< Dynamic Platform model: 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
uint8_t fixMode; /**< Position Fixing Mode: 1 2D only, 2 3D only, 3 Auto 2D/3D */
int32_t fixedAlt;
uint32_t fixedAltVar;
int8_t minElev;
uint8_t drLimit;
uint16_t pDop;
uint16_t tDop;
uint16_t pAcc;
uint16_t tAcc;
uint8_t staticHoldThresh;
uint8_t dgpsTimeOut;
uint8_t cnoThreshNumSVs; /**< (ubx7+ only, else 0) */
uint8_t cnoThresh; /**< (ubx7+ only, else 0) */
uint16_t reserved;
uint16_t staticHoldMaxDist; /**< (ubx8+ only, else 0) */
uint8_t utcStandard; /**< (ubx8+ only, else 0) */
uint8_t reserved3;
uint32_t reserved4;
} ubx_payload_tx_cfg_nav5_t;
/* tx cfg-sbas */
typedef struct {
uint8_t mode;
uint8_t usage;
uint8_t maxSBAS;
uint8_t scanmode2;
uint32_t scanmode1;
} ubx_payload_tx_cfg_sbas_t;
/* Tx CFG-MSG */
typedef struct {
union {
uint16_t msg;
struct {
uint8_t msgClass;
uint8_t msgID;
};
};
uint8_t rate;
} ubx_payload_tx_cfg_msg_t;
/* General message and payload buffer union */
typedef union {
ubx_payload_rx_nav_pvt_t payload_rx_nav_pvt;
ubx_payload_rx_nav_posllh_t payload_rx_nav_posllh;
ubx_payload_rx_nav_sol_t payload_rx_nav_sol;
ubx_payload_rx_nav_timeutc_t payload_rx_nav_timeutc;
ubx_payload_rx_nav_svinfo_part1_t payload_rx_nav_svinfo_part1;
ubx_payload_rx_nav_svinfo_part2_t payload_rx_nav_svinfo_part2;
ubx_payload_rx_nav_velned_t payload_rx_nav_velned;
ubx_payload_rx_mon_hw_ubx6_t payload_rx_mon_hw_ubx6;
ubx_payload_rx_mon_hw_ubx7_t payload_rx_mon_hw_ubx7;
ubx_payload_rx_mon_ver_part1_t payload_rx_mon_ver_part1;
ubx_payload_rx_mon_ver_part2_t payload_rx_mon_ver_part2;
ubx_payload_rx_ack_ack_t payload_rx_ack_ack;
ubx_payload_rx_ack_nak_t payload_rx_ack_nak;
ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt;
ubx_payload_tx_cfg_rate_t payload_tx_cfg_rate;
ubx_payload_tx_cfg_nav5_t payload_tx_cfg_nav5;
ubx_payload_tx_cfg_sbas_t payload_tx_cfg_sbas;
ubx_payload_tx_cfg_msg_t payload_tx_cfg_msg;
uint8_t raw[];
} ubx_buf_t;
#pragma pack(pop)
/*** END OF u-blox protocol binary message and payload definitions ***/
/* Decoder state */
typedef enum {
UBX_DECODE_SYNC1 = 0,
UBX_DECODE_SYNC2,
UBX_DECODE_CLASS,
UBX_DECODE_ID,
UBX_DECODE_LENGTH1,
UBX_DECODE_LENGTH2,
UBX_DECODE_PAYLOAD,
UBX_DECODE_CHKSUM1,
UBX_DECODE_CHKSUM2
} ubx_decode_state_t;
/* Rx message state */
typedef enum {
UBX_RXMSG_IGNORE = 0,
UBX_RXMSG_HANDLE,
UBX_RXMSG_DISABLE,
UBX_RXMSG_ERROR_LENGTH
} ubx_rxmsg_state_t;
/* ACK state */
typedef enum {
UBX_ACK_IDLE = 0,
UBX_ACK_WAITING,
UBX_ACK_GOT_ACK,
UBX_ACK_GOT_NAK
} ubx_ack_state_t;
class UBX : public GPS_Helper
{
public:
UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
~UBX();
int receive(const unsigned timeout);
int configure(unsigned &baudrate);
private:
/**
* Parse the binary UBX packet
*/
int parse_char(const uint8_t b);
/**
* Start payload rx
*/
int payload_rx_init(void);
/**
* Add payload rx byte
*/
int payload_rx_add(const uint8_t b);
int payload_rx_add_nav_svinfo(const uint8_t b);
int payload_rx_add_mon_ver(const uint8_t b);
/**
* Finish payload rx
*/
int payload_rx_done(void);
/**
* Reset the parse state machine for a fresh start
*/
void decode_init(void);
/**
* While parsing add every byte (except the sync bytes) to the checksum
*/
void add_byte_to_checksum(const uint8_t);
/**
* Send a message
*/
void send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length);
/**
* Configure message rate
*/
void configure_message_rate(const uint16_t msg, const uint8_t rate);
/**
* Calculate & add checksum for given buffer
*/
void calc_checksum(const uint8_t *buffer, const uint16_t length, ubx_checksum_t *checksum);
/**
* Wait for message acknowledge
*/
int wait_for_ack(const uint16_t msg, const unsigned timeout, const bool report);
/**
* Calculate FNV1 hash
*/
uint32_t fnv1_32_str(uint8_t *str, uint32_t hval);
int _fd;
struct vehicle_gps_position_s *_gps_position;
struct satellite_info_s *_satellite_info;
bool _enable_sat_info;
bool _configured;
ubx_ack_state_t _ack_state;
bool _got_posllh;
bool _got_velned;
ubx_decode_state_t _decode_state;
uint16_t _rx_msg;
ubx_rxmsg_state_t _rx_state;
uint16_t _rx_payload_length;
uint16_t _rx_payload_index;
uint8_t _rx_ck_a;
uint8_t _rx_ck_b;
hrt_abstime _disable_cmd_last;
uint16_t _ack_waiting_msg;
ubx_buf_t _buf;
uint32_t _ubx_version;
bool _use_nav_pvt;
};
#endif /* UBX_H_ */
