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author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-11 15:28:56 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-11 15:28:56 +0400 |
commit | 4685871c83e5175e58da08a68b49642daf79267d (patch) | |
tree | aabc71ad6e2fe91902ad8a39d657d3447ec69a54 /src/drivers/gps/ubx.cpp | |
parent | 3a76162b08ba6d8a8403aeac1889066964ac244b (diff) | |
download | px4-firmware-4685871c83e5175e58da08a68b49642daf79267d.tar.gz px4-firmware-4685871c83e5175e58da08a68b49642daf79267d.tar.bz2 px4-firmware-4685871c83e5175e58da08a68b49642daf79267d.zip |
Major ubx driver cleanup: few pages of code removed, send update only when full navigation solution received
Diffstat (limited to 'src/drivers/gps/ubx.cpp')
-rw-r--r-- | src/drivers/gps/ubx.cpp | 841 |
1 files changed, 380 insertions, 461 deletions
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 762c257aa..895d16437 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -3,6 +3,7 @@ * Copyright (C) 2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> + * Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -56,12 +57,14 @@ #include "ubx.h" #define UBX_CONFIG_TIMEOUT 100 +#define UBX_PACKET_TIMEOUT 2 UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : -_fd(fd), -_gps_position(gps_position), -_waiting_for_ack(false), -_disable_cmd_counter(0) + _fd(fd), + _gps_position(gps_position), + _configured(false), + _waiting_for_ack(false), + _disable_cmd_counter(0) { decode_init(); } @@ -73,12 +76,13 @@ UBX::~UBX() int UBX::configure(unsigned &baudrate) { - _waiting_for_ack = true; - + _configured = false; /* try different baudrates */ const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200}; - for (int baud_i = 0; baud_i < 5; baud_i++) { + int baud_i; + + for (baud_i = 0; baud_i < 5; baud_i++) { baudrate = baudrates_to_try[baud_i]; set_baudrate(_fd, baudrate); @@ -89,8 +93,8 @@ UBX::configure(unsigned &baudrate) /* Set everything else of the packet to 0, otherwise the module wont accept it */ memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet)); - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_PRT; + _message_class_needed = UBX_CLASS_CFG; + _message_id_needed = UBX_MESSAGE_CFG_PRT; /* Define the package contents, don't change the baudrate */ cfg_prt_packet.clsID = UBX_CLASS_CFG; @@ -102,9 +106,9 @@ UBX::configure(unsigned &baudrate) cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; - send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); + send_config_packet(_fd, (uint8_t *)&cfg_prt_packet, sizeof(cfg_prt_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { /* try next baudrate */ continue; } @@ -120,100 +124,125 @@ UBX::configure(unsigned &baudrate) cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; - send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); - + send_config_packet(_fd, (uint8_t *)&cfg_prt_packet, sizeof(cfg_prt_packet)); + /* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */ - receive(UBX_CONFIG_TIMEOUT); - + wait_for_ack(UBX_CONFIG_TIMEOUT); + if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) { set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE); baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; } - /* send a CFT-RATE message to define update rate */ - type_gps_bin_cfg_rate_packet_t cfg_rate_packet; - memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet)); + /* at this point we have correct baudrate on both ends */ + break; + } - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_RATE; + if (baud_i >= 5) { + return 1; + } - cfg_rate_packet.clsID = UBX_CLASS_CFG; - cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; - cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; - cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASINTERVAL; - cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; - cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; + /* send a CFG-RATE message to define update rate */ + type_gps_bin_cfg_rate_packet_t cfg_rate_packet; + memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet)); - send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet)); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } + _message_class_needed = UBX_CLASS_CFG; + _message_id_needed = UBX_MESSAGE_CFG_RATE; - /* send a NAV5 message to set the options for the internal filter */ - type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet; - memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); + cfg_rate_packet.clsID = UBX_CLASS_CFG; + cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; + cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; + cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASINTERVAL; + cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; + cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_NAV5; + send_config_packet(_fd, (uint8_t *)&cfg_rate_packet, sizeof(cfg_rate_packet)); - cfg_nav5_packet.clsID = UBX_CLASS_CFG; - cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5; - cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH; - cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK; - cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL; - cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("ubx: configuration failed: RATE"); + return 1; + } - send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } + /* send a NAV5 message to set the options for the internal filter */ + type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet; + memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, - UBX_CFG_MSG_PAYLOAD_RATE1_5HZ); - /* insist of receiving the ACK for this packet */ - // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) - // continue; - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, - UBX_CFG_MSG_PAYLOAD_RATE1_1HZ); - // /* insist of receiving the ACK for this packet */ - // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) - // continue; - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, - UBX_CFG_MSG_PAYLOAD_RATE1_5HZ); - // /* insist of receiving the ACK for this packet */ - // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) - // continue; - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, - UBX_CFG_MSG_PAYLOAD_RATE1_5HZ); - // /* insist of receiving the ACK for this packet */ - // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) - // continue; - // configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_DOP, - // 0); - // /* insist of receiving the ACK for this packet */ - // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) - // continue; - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, - UBX_CFG_MSG_PAYLOAD_RATE1_05HZ); - // /* insist of receiving the ACK for this packet */ - // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) - // continue; - - _waiting_for_ack = false; - return 0; + _message_class_needed = UBX_CLASS_CFG; + _message_id_needed = UBX_MESSAGE_CFG_NAV5; + + cfg_nav5_packet.clsID = UBX_CLASS_CFG; + cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5; + cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH; + cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK; + cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL; + cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; + + send_config_packet(_fd, (uint8_t *)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); + + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("ubx: configuration failed: NAV5"); + return 1; } - return -1; + + /* configure message rates */ + /* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */ + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, 1); + + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("ubx: msg rate configuration failed: NAV POSLLH\n"); + return 1; + } + + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1); + + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("ubx: msg rate configuration failed: NAV TIMEUTC\n"); + return 1; + } + + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, 1); + + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("ubx: msg rate configuration failed: NAV SOL\n"); + return 1; + } + + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, 1); + + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("ubx: msg rate configuration failed: NAV VELNED\n"); + return 1; + } + + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 10); + + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("ubx: msg rate configuration failed: NAV SVINFO\n"); + return 1; + } + + _configured = true; + return 0; } int UBX::wait_for_ack(unsigned timeout) { _waiting_for_ack = true; - int ret = receive(timeout); - _waiting_for_ack = false; - return ret; + uint64_t time_started = hrt_absolute_time(); + + while (hrt_absolute_time() < time_started + timeout * 1000) { + if (receive(timeout) > 0) { + if (!_waiting_for_ack) { + return 1; + } + + } else { + return -1; // timeout or error receiving, or NAK + } + } + + return -1; // timeout } int @@ -231,20 +260,20 @@ UBX::receive(unsigned timeout) ssize_t count = 0; - bool position_updated = false; + bool handled = false; while (true) { - /* poll for new data */ - int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); + /* poll for new data, wait for only UBX_PACKET_TIMEOUT (2ms) if something already received */ + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), handled ? UBX_PACKET_TIMEOUT : timeout); if (ret < 0) { /* something went wrong when polling */ return -1; } else if (ret == 0) { - /* Timeout */ - return -1; + /* return success after short delay after receiving a packet or timeout after long delay */ + return handled ? 1 : -1; } else if (ret > 0) { /* if we have new data from GPS, go handle it */ @@ -254,25 +283,22 @@ UBX::receive(unsigned timeout) * won't block even on a blocking device. If more bytes are * available, we'll go back to poll() again... */ - count = ::read(_fd, buf, sizeof(buf)); - /* pass received bytes to the packet decoder */ + count = read(_fd, buf, sizeof(buf)); + + /* pass received bytes to the packet decoder */ for (int i = 0; i < count; i++) { - if (parse_char(buf[i])) { + if (parse_char(buf[i]) > 0) { /* return to configure during configuration or to the gps driver during normal work * if a packet has arrived */ - if (handle_message()) - position_updated = true; + if (handle_message() > 0) + handled = true; } } } } - /* return success after receiving a packet */ - if (position_updated) - return 1; - - /* abort after timeout if no packet parsed successfully */ - if (time_started + timeout*1000 < hrt_absolute_time() ) { + /* abort after timeout if no useful packets received */ + if (time_started + timeout * 1000 < hrt_absolute_time()) { return -1; } } @@ -283,406 +309,299 @@ UBX::parse_char(uint8_t b) { switch (_decode_state) { /* First, look for sync1 */ - case UBX_DECODE_UNINIT: - if (b == UBX_SYNC1) { - _decode_state = UBX_DECODE_GOT_SYNC1; - } - break; + case UBX_DECODE_UNINIT: + if (b == UBX_SYNC1) { + _decode_state = UBX_DECODE_GOT_SYNC1; + } + + break; + /* Second, look for sync2 */ - case UBX_DECODE_GOT_SYNC1: - if (b == UBX_SYNC2) { - _decode_state = UBX_DECODE_GOT_SYNC2; - } else { - /* Second start symbol was wrong, reset state machine */ - decode_init(); - } - break; + case UBX_DECODE_GOT_SYNC1: + if (b == UBX_SYNC2) { + _decode_state = UBX_DECODE_GOT_SYNC2; + + } else { + /* Second start symbol was wrong, reset state machine */ + decode_init(); + /* don't return error, it can be just false sync1 */ + } + + break; + /* Now look for class */ - case UBX_DECODE_GOT_SYNC2: - /* everything except sync1 and sync2 needs to be added to the checksum */ - add_byte_to_checksum(b); - /* check for known class */ - switch (b) { - case UBX_CLASS_ACK: - _decode_state = UBX_DECODE_GOT_CLASS; - _message_class = ACK; - break; + case UBX_DECODE_GOT_SYNC2: + /* everything except sync1 and sync2 needs to be added to the checksum */ + add_byte_to_checksum(b); + _message_class = b; + _decode_state = UBX_DECODE_GOT_CLASS; + break; - case UBX_CLASS_NAV: - _decode_state = UBX_DECODE_GOT_CLASS; - _message_class = NAV; - break; + case UBX_DECODE_GOT_CLASS: + add_byte_to_checksum(b); + _message_id = b; + _decode_state = UBX_DECODE_GOT_MESSAGEID; + break; -// case UBX_CLASS_RXM: -// _decode_state = UBX_DECODE_GOT_CLASS; -// _message_class = RXM; -// break; + case UBX_DECODE_GOT_MESSAGEID: + add_byte_to_checksum(b); + _payload_size = b; //this is the first length byte + _decode_state = UBX_DECODE_GOT_LENGTH1; + break; - case UBX_CLASS_CFG: - _decode_state = UBX_DECODE_GOT_CLASS; - _message_class = CFG; - break; - default: //unknown class: reset state machine - decode_init(); - break; - } - break; - case UBX_DECODE_GOT_CLASS: - { + case UBX_DECODE_GOT_LENGTH1: + add_byte_to_checksum(b); + _payload_size += b << 8; // here comes the second byte of length + _decode_state = UBX_DECODE_GOT_LENGTH2; + break; + + case UBX_DECODE_GOT_LENGTH2: + + /* Add to checksum if not yet at checksum byte */ + if (_rx_count < _payload_size) add_byte_to_checksum(b); - switch (_message_class) { - case NAV: - switch (b) { - case UBX_MESSAGE_NAV_POSLLH: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_POSLLH; - break; - - case UBX_MESSAGE_NAV_SOL: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_SOL; - break; - - case UBX_MESSAGE_NAV_TIMEUTC: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_TIMEUTC; - break; - -// case UBX_MESSAGE_NAV_DOP: -// _decode_state = UBX_DECODE_GOT_MESSAGEID; -// _message_id = NAV_DOP; -// break; - - case UBX_MESSAGE_NAV_SVINFO: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_SVINFO; - break; - - case UBX_MESSAGE_NAV_VELNED: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_VELNED; - break; - - default: //unknown class: reset state machine, should not happen - decode_init(); - break; - } - break; -// case RXM: -// switch (b) { -// case UBX_MESSAGE_RXM_SVSI: -// _decode_state = UBX_DECODE_GOT_MESSAGEID; -// _message_id = RXM_SVSI; -// break; -// -// default: //unknown class: reset state machine, should not happen -// decode_init(); -// break; -// } -// break; - - case CFG: - switch (b) { - case UBX_MESSAGE_CFG_NAV5: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = CFG_NAV5; - break; - - default: //unknown class: reset state machine, should not happen - decode_init(); - break; - } - break; - case ACK: - switch (b) { - case UBX_MESSAGE_ACK_ACK: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = ACK_ACK; - break; - case UBX_MESSAGE_ACK_NAK: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = ACK_NAK; - break; - default: //unknown class: reset state machine, should not happen - decode_init(); - break; - } - break; - default: //should not happen because we set the class - warnx("UBX Error, we set a class that we don't know"); - decode_init(); -// config_needed = true; - break; - } - // Evaluate state machine - if the state changed, - // the state machine was reset via decode_init() - // and we want to tell the module to stop sending this message + _rx_buffer[_rx_count] = b; - // disable unknown message - //warnx("disabled class %d, msg %d", (int)_message_class, (int)b); - //configure_message_rate(_message_class, b, 0); + /* once the payload has arrived, we can process the information */ + if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes + /* compare checksum */ + if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) { + decode_init(); + return 1; // message received successfully + + } else { + warnx("ubx: checksum wrong"); + decode_init(); + return -1; } - break; - case UBX_DECODE_GOT_MESSAGEID: - add_byte_to_checksum(b); - _payload_size = b; //this is the first length byte - _decode_state = UBX_DECODE_GOT_LENGTH1; - break; - case UBX_DECODE_GOT_LENGTH1: - add_byte_to_checksum(b); - _payload_size += b << 8; // here comes the second byte of length - _decode_state = UBX_DECODE_GOT_LENGTH2; - break; - case UBX_DECODE_GOT_LENGTH2: - /* Add to checksum if not yet at checksum byte */ - if (_rx_count < _payload_size) - add_byte_to_checksum(b); - _rx_buffer[_rx_count] = b; - /* once the payload has arrived, we can process the information */ - if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes - - /* compare checksum */ - if (_rx_ck_a == _rx_buffer[_rx_count-1] && _rx_ck_b == _rx_buffer[_rx_count]) { - return 1; - } else { - decode_init(); - return -1; - warnx("ubx: Checksum wrong"); - } - return 1; - } else if (_rx_count < RECV_BUFFER_SIZE) { - _rx_count++; - } else { - warnx("ubx: buffer full"); - decode_init(); - return -1; - } - break; - default: - break; + } else if (_rx_count < RECV_BUFFER_SIZE) { + _rx_count++; + + } else { + warnx("ubx: buffer full"); + decode_init(); + return -1; + } + + break; + + default: + break; } - return 0; //XXX ? + + return 0; // message decoding in progress } + int UBX::handle_message() { int ret = 0; - switch (_message_id) { //this enum is unique for all ids --> no need to check the class - case NAV_POSLLH: { -// printf("GOT NAV_POSLLH MESSAGE\n"); - if (!_waiting_for_ack) { - gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer; + if (_configured) { + /* handle only info messages when configured */ + switch (_message_class) { + case UBX_CLASS_NAV: + switch (_message_id) { + case UBX_MESSAGE_NAV_POSLLH: { + // printf("GOT NAV_POSLLH\n"); + gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer; - _gps_position->lat = packet->lat; - _gps_position->lon = packet->lon; - _gps_position->alt = packet->height_msl; + _gps_position->lat = packet->lat; + _gps_position->lon = packet->lon; + _gps_position->alt = packet->height_msl; + _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m + _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m + _gps_position->timestamp_position = hrt_absolute_time(); - _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m - _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m + _rate_count_lat_lon++; - _rate_count_lat_lon++; + ret = 1; + break; + } - /* Add timestamp to finish the report */ - _gps_position->timestamp_position = hrt_absolute_time(); - /* only return 1 when new position is available */ - ret = 1; - } - break; - } + case UBX_MESSAGE_NAV_SOL: { + // printf("GOT NAV_SOL\n"); + gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; - case NAV_SOL: { -// printf("GOT NAV_SOL MESSAGE\n"); - if (!_waiting_for_ack) { - gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; + _gps_position->fix_type = packet->gpsFix; + _gps_position->s_variance_m_s = packet->sAcc; + _gps_position->p_variance_m = packet->pAcc; + _gps_position->timestamp_variance = hrt_absolute_time(); - _gps_position->fix_type = packet->gpsFix; - _gps_position->s_variance_m_s = packet->sAcc; - _gps_position->p_variance_m = packet->pAcc; + ret = 1; + break; + } - _gps_position->timestamp_variance = hrt_absolute_time(); - } - break; - } + case UBX_MESSAGE_NAV_TIMEUTC: { + // printf("GOT NAV_TIMEUTC\n"); + gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer; -// case NAV_DOP: { -//// printf("GOT NAV_DOP MESSAGE\n"); -// gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer; -// -// _gps_position->eph_m = packet->hDOP; -// _gps_position->epv = packet->vDOP; -// -// _gps_position->timestamp_posdilution = hrt_absolute_time(); -// -// _new_nav_dop = true; -// -// break; -// } - - case NAV_TIMEUTC: { -// printf("GOT NAV_TIMEUTC MESSAGE\n"); + /* convert to unix timestamp */ + struct tm timeinfo; + timeinfo.tm_year = packet->year - 1900; + timeinfo.tm_mon = packet->month - 1; + timeinfo.tm_mday = packet->day; + timeinfo.tm_hour = packet->hour; + timeinfo.tm_min = packet->min; + timeinfo.tm_sec = packet->sec; + time_t epoch = mktime(&timeinfo); - if (!_waiting_for_ack) { - gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer; + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this + _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); + _gps_position->timestamp_time = hrt_absolute_time(); + + ret = 1; + break; + } - //convert to unix timestamp - struct tm timeinfo; - timeinfo.tm_year = packet->year - 1900; - timeinfo.tm_mon = packet->month - 1; - timeinfo.tm_mday = packet->day; - timeinfo.tm_hour = packet->hour; - timeinfo.tm_min = packet->min; - timeinfo.tm_sec = packet->sec; + case UBX_MESSAGE_NAV_SVINFO: { + // printf("GOT NAV_SVINFO\n"); + // TODO avoid memcpy + const int length_part1 = 8; + char _rx_buffer_part1[length_part1]; + memcpy(_rx_buffer_part1, _rx_buffer, length_part1); + gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1; - time_t epoch = mktime(&timeinfo); + const int length_part2 = 12; + gps_bin_nav_svinfo_part2_packet_t *packet_part2; + char _rx_buffer_part2[length_part2]; // for temporal storage - _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this - _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); + uint8_t satellites_used = 0; + int i; - _gps_position->timestamp_time = hrt_absolute_time(); - } - break; - } + // printf("Number of Channels: %d\n", packet_part1->numCh); + for (i = 0; i < packet_part1->numCh; i++) { //for each channel - case NAV_SVINFO: { - // printf("GOT NAV_SVINFO MESSAGE\n"); + /* get satellite information from the buffer */ + memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2); + packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2; - if (!_waiting_for_ack) { - //this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message - const int length_part1 = 8; - char _rx_buffer_part1[length_part1]; - memcpy(_rx_buffer_part1, _rx_buffer, length_part1); - gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1; - - //read checksum - const int length_part3 = 2; - char _rx_buffer_part3[length_part3]; - memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3); - - //definitions needed to read numCh elements from the buffer: - const int length_part2 = 12; - gps_bin_nav_svinfo_part2_packet_t *packet_part2; - char _rx_buffer_part2[length_part2]; //for temporal storage - - uint8_t satellites_used = 0; - int i; - // printf("Number of Channels: %d\n", packet_part1->numCh); - for (i = 0; i < packet_part1->numCh; i++) { //for each channel - - /* Get satellite information from the buffer */ - memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2); - packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2; - - /* Write satellite information to global storage */ - uint8_t sv_used = packet_part2->flags & 0x01; - - if ( sv_used ) { - // Count SVs used for NAV. - satellites_used++; + /* write satellite information to global storage */ + uint8_t sv_used = packet_part2->flags & 0x01; + + if (sv_used) { + // Count SVs used for NAV. + satellites_used++; + } + + // Record info for all channels, whether or not the SV is used for NAV. + _gps_position->satellite_used[i] = sv_used; + _gps_position->satellite_snr[i] = packet_part2->cno; + _gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev); + _gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); + _gps_position->satellite_prn[i] = packet_part2->svid; } - - // Record info for all channels, whether or not the SV is used for NAV. - _gps_position->satellite_used[i] = sv_used; - _gps_position->satellite_snr[i] = packet_part2->cno; - _gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev); - _gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); - _gps_position->satellite_prn[i] = packet_part2->svid; - } - for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused - /* Unused channels have to be set to zero for e.g. MAVLink */ - _gps_position->satellite_prn[i] = 0; - _gps_position->satellite_used[i] = 0; - _gps_position->satellite_snr[i] = 0; - _gps_position->satellite_elevation[i] = 0; - _gps_position->satellite_azimuth[i] = 0; + for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused + /* Unused channels have to be set to zero for e.g. MAVLink */ + _gps_position->satellite_prn[i] = 0; + _gps_position->satellite_used[i] = 0; + _gps_position->satellite_snr[i] = 0; + _gps_position->satellite_elevation[i] = 0; + _gps_position->satellite_azimuth[i] = 0; + } + + _gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones + + /* set timestamp if any sat info is available */ + if (packet_part1->numCh > 0) { + _gps_position->satellite_info_available = true; + + } else { + _gps_position->satellite_info_available = false; + } + + _gps_position->timestamp_satellites = hrt_absolute_time(); + + ret = 1; + break; } - _gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones - /* set timestamp if any sat info is available */ - if (packet_part1->numCh > 0) { - _gps_position->satellite_info_available = true; - } else { - _gps_position->satellite_info_available = false; + case UBX_MESSAGE_NAV_VELNED: { + // printf("GOT NAV_VELNED\n"); + gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer; + + _gps_position->vel_m_s = (float)packet->speed * 1e-2f; + _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */ + _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */ + _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */ + _gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->vel_ned_valid = true; + _gps_position->timestamp_velocity = hrt_absolute_time(); + + _rate_count_vel++; + + ret = 1; + break; } - _gps_position->timestamp_satellites = hrt_absolute_time(); + + default: + break; } break; - } - case NAV_VELNED: { - - if (!_waiting_for_ack) { - /* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */ - gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer; - - _gps_position->vel_m_s = (float)packet->speed * 1e-2f; - _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */ - _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */ - _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */ - _gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f; - _gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f; - _gps_position->vel_ned_valid = true; - _gps_position->timestamp_velocity = hrt_absolute_time(); - - _rate_count_vel++; + case UBX_CLASS_ACK: { + /* ignore ACK when already configured */ + ret = 1; + break; } + default: break; } -// case RXM_SVSI: { -// printf("GOT RXM_SVSI MESSAGE\n"); -// const int length_part1 = 7; -// char _rx_buffer_part1[length_part1]; -// memcpy(_rx_buffer_part1, _rx_buffer, length_part1); -// gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1; -// -// _gps_position->satellites_visible = packet->numVis; -// _gps_position->counter++; -// _last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time(); -// -// break; -// } - case ACK_ACK: { -// printf("GOT ACK_ACK\n"); - gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer; - - if (_waiting_for_ack) { - if (packet->clsID == _clsID_needed && packet->msgID == _msgID_needed) { - ret = 1; - } + if (ret == 0) { + /* message not handled */ + warnx("ubx: unknown message received: 0x%02x-0x%02x\n", (unsigned)_message_class, (unsigned)_message_id); + + if ((_disable_cmd_counter = _disable_cmd_counter++ % 10) == 0) { + /* don't attempt for every message to disable, some might not be disabled */ + warnx("ubx: disabling message 0x%02x-0x%02x", (unsigned)_message_class, (unsigned)_message_id); + configure_message_rate(_message_class, _message_id, 0); } } - break; - case ACK_NAK: { -// printf("GOT ACK_NAK\n"); - warnx("UBX: Received: Not Acknowledged"); - /* configuration obviously not successful */ - ret = -1; - break; - } + } else { + /* handle only ACK while configuring */ + if (_message_class == UBX_CLASS_ACK) { + switch (_message_id) { + case UBX_MESSAGE_ACK_ACK: { + // printf("GOT ACK_ACK\n"); + gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer; + + if (_waiting_for_ack) { + if (packet->clsID == _message_class_needed && packet->msgID == _message_id_needed) { + _waiting_for_ack = false; + ret = 1; + } + } - default: //we don't know the message - warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id); - if (_disable_cmd_counter++ == 0) { - // Don't attempt for every message to disable, some might not be disabled */ - warnx("Disabling message 0x%02x 0x%02x", (unsigned)_message_class, (unsigned)_message_id); - configure_message_rate(_message_class, _message_id, 0); + break; + } + + case UBX_MESSAGE_ACK_NAK: { + // printf("GOT ACK_NAK\n"); + warnx("ubx: not acknowledged"); + /* configuration obviously not successful */ + _waiting_for_ack = false; + ret = -1; + break; + } + + default: + break; } - return ret; - ret = -1; - break; } - // end if _rx_count high enough + } + decode_init(); - return ret; //XXX? + return ret; } void @@ -692,9 +611,8 @@ UBX::decode_init(void) _rx_ck_b = 0; _rx_count = 0; _decode_state = UBX_DECODE_UNINIT; - _message_class = CLASS_UNKNOWN; - _message_id = ID_UNKNOWN; _payload_size = 0; + /* don't reset _message_class, _message_id, _rx_buffer leave it for message handler */ } void @@ -705,23 +623,24 @@ UBX::add_byte_to_checksum(uint8_t b) } void -UBX::add_checksum_to_message(uint8_t* message, const unsigned length) +UBX::add_checksum_to_message(uint8_t *message, const unsigned length) { uint8_t ck_a = 0; uint8_t ck_b = 0; unsigned i; - for (i = 0; i < length-2; i++) { + for (i = 0; i < length - 2; i++) { ck_a = ck_a + message[i]; ck_b = ck_b + ck_a; } + /* The checksum is written to the last to bytes of a message */ - message[length-2] = ck_a; - message[length-1] = ck_b; + message[length - 2] = ck_a; + message[length - 1] = ck_b; } void -UBX::add_checksum(uint8_t* message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b) +UBX::add_checksum(uint8_t *message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b) { for (unsigned i = 0; i < length; i++) { ck_a = ck_a + message[i]; @@ -732,11 +651,11 @@ UBX::add_checksum(uint8_t* message, const unsigned length, uint8_t &ck_a, uint8_ void UBX::configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) { - struct ubx_cfg_msg_rate msg; - msg.msg_class = msg_class; - msg.msg_id = msg_id; - msg.rate = rate; - send_message(UBX_CLASS_CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg)); + struct ubx_cfg_msg_rate msg; + msg.msg_class = msg_class; + msg.msg_id = msg_id; + msg.rate = rate; + send_message(UBX_CLASS_CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg)); } void @@ -761,19 +680,19 @@ void UBX::send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size) { struct ubx_header header; - uint8_t ck_a=0, ck_b=0; + uint8_t ck_a = 0, ck_b = 0; header.sync1 = UBX_SYNC1; header.sync2 = UBX_SYNC2; header.msg_class = msg_class; header.msg_id = msg_id; header.length = size; - add_checksum((uint8_t *)&header.msg_class, sizeof(header)-2, ck_a, ck_b); + add_checksum((uint8_t *)&header.msg_class, sizeof(header) - 2, ck_a, ck_b); add_checksum((uint8_t *)msg, size, ck_a, ck_b); // Configure receive check - _clsID_needed = msg_class; - _msgID_needed = msg_id; + _message_class_needed = msg_class; + _message_id_needed = msg_id; write(_fd, (const char *)&header, sizeof(header)); write(_fd, (const char *)msg, size); |