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| author | Kynos <mail01@delago.net> | 2014-06-16 01:43:44 +0200 |
|---|---|---|
| committer | Kynos <mail01@delago.net> | 2014-06-16 01:43:44 +0200 |
| commit | 243db01a37d5d3adecc2e010ac4d9819cf3d6c37 (patch) | |
| tree | 3743d37dbcc836eefbd340c9016eba8569889ecd /src/drivers/gps/ubx.h | |
| parent | 1b8e72be1b9614bff4e1bdf81ad7f3265754e062 (diff) | |
| download | px4-firmware-243db01a37d5d3adecc2e010ac4d9819cf3d6c37.tar.gz px4-firmware-243db01a37d5d3adecc2e010ac4d9819cf3d6c37.tar.bz2 px4-firmware-243db01a37d5d3adecc2e010ac4d9819cf3d6c37.zip | |
Request and display MON-VER message at startup
Diffstat (limited to 'src/drivers/gps/ubx.h')
| -rw-r--r-- | src/drivers/gps/ubx.h | 21 |
1 files changed, 19 insertions, 2 deletions
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 8fd8d4da6..c8c89dfad 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -72,6 +72,7 @@ #define UBX_ID_CFG_MSG 0x01 #define UBX_ID_CFG_RATE 0x08 #define UBX_ID_CFG_NAV5 0x24 +#define UBX_ID_MON_VER 0x04 #define UBX_ID_MON_HW 0x09 /* Message Classes & IDs */ @@ -87,6 +88,7 @@ #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_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8) +#define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8) /* TX CFG-PRT message contents */ #define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */ @@ -249,6 +251,17 @@ typedef struct { 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; @@ -333,6 +346,8 @@ typedef union { 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; @@ -366,7 +381,6 @@ typedef enum { UBX_RXMSG_ERROR_LENGTH } ubx_rxmsg_state_t; - /* ACK state */ typedef enum { UBX_ACK_IDLE = 0, @@ -400,7 +414,8 @@ private: * Add payload rx byte */ int payload_rx_add(const uint8_t b); - int payload_rx_add_svinfo(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 @@ -455,6 +470,8 @@ private: hrt_abstime _disable_cmd_last; uint16_t _ack_waiting_msg; ubx_buf_t _buf; + char _ubx_sw_version[30]; + char _ubx_hw_version[10]; }; #endif /* UBX_H_ */ |