diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-03 10:32:01 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-03 10:32:01 +0100 |
commit | 5cefd4811f7913402baabf93939ed4fbf4727654 (patch) | |
tree | 5e97cf7a45c4c5b7fd6e01e05e2ec87bd2aaf2aa /src/drivers/gps | |
parent | 7bb583d6e21a0fa7e51f147d23997aaeb7e218c9 (diff) | |
parent | 3dd3ba4637bfe6d665f20c1e5712ac22131b5b22 (diff) | |
download | px4-firmware-5cefd4811f7913402baabf93939ed4fbf4727654.tar.gz px4-firmware-5cefd4811f7913402baabf93939ed4fbf4727654.tar.bz2 px4-firmware-5cefd4811f7913402baabf93939ed4fbf4727654.zip |
Merged with master, cleanup of varlength prototypemavlink_variable_length
Diffstat (limited to 'src/drivers/gps')
-rw-r--r-- | src/drivers/gps/gps.cpp | 211 | ||||
-rw-r--r-- | src/drivers/gps/gps_helper.cpp | 14 | ||||
-rw-r--r-- | src/drivers/gps/gps_helper.h | 8 | ||||
-rw-r--r-- | src/drivers/gps/module.mk | 2 | ||||
-rw-r--r-- | src/drivers/gps/mtk.cpp | 37 | ||||
-rw-r--r-- | src/drivers/gps/mtk.h | 11 | ||||
-rw-r--r-- | src/drivers/gps/ubx.cpp | 887 | ||||
-rw-r--r-- | src/drivers/gps/ubx.h | 82 |
8 files changed, 628 insertions, 624 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 38835418b..a736cbdf6 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -85,7 +85,7 @@ static const int ERROR = -1; class GPS : public device::CDev { public: - GPS(const char* uart_path); + GPS(const char *uart_path, bool fake_gps); virtual ~GPS(); virtual int init(); @@ -112,6 +112,7 @@ private: struct vehicle_gps_position_s _report; ///< uORB topic for gps position orb_advert_t _report_pub; ///< uORB pub for gps position float _rate; ///< position update rate + bool _fake_gps; ///< fake gps output /** @@ -156,7 +157,7 @@ GPS *g_dev; } -GPS::GPS(const char* uart_path) : +GPS::GPS(const char *uart_path, bool fake_gps) : CDev("gps", GPS_DEVICE_PATH), _task_should_exit(false), _healthy(false), @@ -164,7 +165,8 @@ GPS::GPS(const char* uart_path) : _mode(GPS_DRIVER_MODE_UBX), _Helper(nullptr), _report_pub(-1), - _rate(0.0f) + _rate(0.0f), + _fake_gps(fake_gps) { /* store port name */ strncpy(_port, uart_path, sizeof(_port)); @@ -192,6 +194,7 @@ GPS::~GPS() /* well, kill it anyway, though this will probably crash */ if (_task != -1) task_delete(_task); + g_dev = nullptr; } @@ -263,84 +266,143 @@ GPS::task_main() /* loop handling received serial bytes and also configuring in between */ while (!_task_should_exit) { - if (_Helper != nullptr) { - delete(_Helper); - /* set to zero to ensure parser is not used while not instantiated */ - _Helper = nullptr; - } + if (_fake_gps) { + + _report.timestamp_position = hrt_absolute_time(); + _report.lat = (int32_t)47.378301e7f; + _report.lon = (int32_t)8.538777e7f; + _report.alt = (int32_t)400e3f; + _report.timestamp_variance = hrt_absolute_time(); + _report.s_variance_m_s = 10.0f; + _report.p_variance_m = 10.0f; + _report.c_variance_rad = 0.1f; + _report.fix_type = 3; + _report.eph_m = 10.0f; + _report.epv_m = 10.0f; + _report.timestamp_velocity = hrt_absolute_time(); + _report.vel_n_m_s = 0.0f; + _report.vel_e_m_s = 0.0f; + _report.vel_d_m_s = 0.0f; + _report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s); + _report.cog_rad = 0.0f; + _report.vel_ned_valid = true; + + //no time and satellite information simulated + + if (!(_pub_blocked)) { + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } + } + + usleep(2e5); + + } else { + + if (_Helper != nullptr) { + delete(_Helper); + /* set to zero to ensure parser is not used while not instantiated */ + _Helper = nullptr; + } - switch (_mode) { + switch (_mode) { case GPS_DRIVER_MODE_UBX: _Helper = new UBX(_serial_fd, &_report); break; + case GPS_DRIVER_MODE_MTK: _Helper = new MTK(_serial_fd, &_report); break; - case GPS_DRIVER_MODE_NMEA: - //_Helper = new NMEA(); //TODO: add NMEA - break; + default: break; - } - unlock(); - if (_Helper->configure(_baudrate) == 0) { + } + unlock(); - // GPS is obviously detected successfully, reset statistics - _Helper->reset_update_rates(); + if (_Helper->configure(_baudrate) == 0) { + unlock(); - while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { -// lock(); - /* opportunistic publishing - else invalid data would end up on the bus */ - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); - } + // GPS is obviously detected successfully, reset statistics + _Helper->reset_update_rates(); + + while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { + // lock(); + /* opportunistic publishing - else invalid data would end up on the bus */ + + if (!(_pub_blocked)) { + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - last_rate_count++; + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } + } - /* measure update rate every 5 seconds */ - if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) { - _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); - last_rate_measurement = hrt_absolute_time(); - last_rate_count = 0; - _Helper->store_update_rates(); - _Helper->reset_update_rates(); + last_rate_count++; + + /* measure update rate every 5 seconds */ + if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) { + _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); + last_rate_measurement = hrt_absolute_time(); + last_rate_count = 0; + _Helper->store_update_rates(); + _Helper->reset_update_rates(); + } + + if (!_healthy) { + char *mode_str = "unknown"; + + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + mode_str = "UBX"; + break; + + case GPS_DRIVER_MODE_MTK: + mode_str = "MTK"; + break; + + default: + break; + } + + warnx("module found: %s", mode_str); + _healthy = true; + } } - if (!_healthy) { - warnx("module found"); - _healthy = true; + if (_healthy) { + warnx("module lost"); + _healthy = false; + _rate = 0.0f; } - } - if (_healthy) { - warnx("module lost"); - _healthy = false; - _rate = 0.0f; + + lock(); } lock(); - } - lock(); - /* select next mode */ - switch (_mode) { + /* select next mode */ + switch (_mode) { case GPS_DRIVER_MODE_UBX: _mode = GPS_DRIVER_MODE_MTK; break; + case GPS_DRIVER_MODE_MTK: _mode = GPS_DRIVER_MODE_UBX; break; - // case GPS_DRIVER_MODE_NMEA: - // _mode = GPS_DRIVER_MODE_UBX; - // break; + default: break; + } } } - debug("exiting"); + + warnx("exiting"); ::close(_serial_fd); @@ -361,23 +423,25 @@ void GPS::print_info() { switch (_mode) { - case GPS_DRIVER_MODE_UBX: - warnx("protocol: UBX"); - break; - case GPS_DRIVER_MODE_MTK: - warnx("protocol: MTK"); - break; - case GPS_DRIVER_MODE_NMEA: - warnx("protocol: NMEA"); - break; - default: - break; + case GPS_DRIVER_MODE_UBX: + warnx("protocol: UBX"); + break; + + case GPS_DRIVER_MODE_MTK: + warnx("protocol: MTK"); + break; + + default: + break; } + warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); + if (_report.timestamp_position != 0) { - warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, - (double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f)); + warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type, + _report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f); warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); + warnx("eph: %.2fm, epv: %.2fm", _report.eph_m, _report.epv_m); warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate()); warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate()); warnx("rate publication:\t%6.2f Hz", (double)_rate); @@ -395,7 +459,7 @@ namespace gps GPS *g_dev; -void start(const char *uart_path); +void start(const char *uart_path, bool fake_gps); void stop(); void test(); void reset(); @@ -405,7 +469,7 @@ void info(); * Start the driver. */ void -start(const char *uart_path) +start(const char *uart_path, bool fake_gps) { int fd; @@ -413,7 +477,7 @@ start(const char *uart_path) errx(1, "already started"); /* create the driver */ - g_dev = new GPS(uart_path); + g_dev = new GPS(uart_path, fake_gps); if (g_dev == nullptr) goto fail; @@ -428,6 +492,7 @@ start(const char *uart_path) errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH); goto fail; } + exit(0); fail: @@ -503,7 +568,8 @@ gps_main(int argc, char *argv[]) { /* set to default */ - char* device_name = GPS_DEFAULT_UART_PORT; + char *device_name = GPS_DEFAULT_UART_PORT; + bool fake_gps = false; /* * Start/load the driver. @@ -513,15 +579,24 @@ gps_main(int argc, char *argv[]) if (argc > 3) { if (!strcmp(argv[2], "-d")) { device_name = argv[3]; + } else { goto out; } } - gps::start(device_name); + + /* Detect fake gps option */ + for (int i = 2; i < argc; i++) { + if (!strcmp(argv[i], "-f")) + fake_gps = true; + } + + gps::start(device_name, fake_gps); } if (!strcmp(argv[1], "stop")) gps::stop(); + /* * Test the driver/device. */ @@ -541,5 +616,5 @@ gps_main(int argc, char *argv[]) gps::info(); out: - errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]"); + errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]"); } diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index ba86d370a..2360ff39b 100644 --- a/src/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012-2014 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 @@ -41,6 +39,9 @@ /** * @file gps_helper.cpp + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ float @@ -87,13 +88,15 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud) case 115200: speed = B115200; break; - warnx("try baudrate: %d\n", speed); + warnx("try baudrate: %d\n", speed); default: warnx("ERROR: Unsupported baudrate: %d\n", baud); return -EINVAL; } + struct termios uart_config; + int termios_state; /* fill the struct for the new configuration */ @@ -109,14 +112,17 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud) warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state); return -1; } + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state); return -1; } + if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { warnx("ERROR setting baudrate (tcsetattr)\n"); return -1; } + /* XXX if resetting the parser here, ensure it does exist (check for null pointer) */ return 0; } diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h index defc1a074..cfb9e0d43 100644 --- a/src/drivers/gps/gps_helper.h +++ b/src/drivers/gps/gps_helper.h @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012-2014 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 @@ -33,8 +31,10 @@ * ****************************************************************************/ -/** +/** * @file gps_helper.h + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef GPS_HELPER_H diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index 097db2abf..82c67d40a 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2014 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 diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 62941d74b..c90ecbe28 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -33,7 +31,12 @@ * ****************************************************************************/ -/* @file mkt.cpp */ +/** + * @file mtk.cpp + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ #include <unistd.h> #include <stdio.h> @@ -48,9 +51,9 @@ MTK::MTK(const int &fd, struct vehicle_gps_position_s *gps_position) : -_fd(fd), -_gps_position(gps_position), -_mtk_revision(0) + _fd(fd), + _gps_position(gps_position), + _mtk_revision(0) { decode_init(); } @@ -73,24 +76,28 @@ MTK::configure(unsigned &baudrate) warnx("mtk: config write failed"); return -1; } + usleep(10000); if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) { warnx("mtk: config write failed"); return -1; } + usleep(10000); if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) { warnx("mtk: config write failed"); return -1; } + usleep(10000); if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) { warnx("mtk: config write failed"); return -1; } + usleep(10000); if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) { @@ -128,12 +135,15 @@ MTK::receive(unsigned timeout) handle_message(packet); return 1; } + /* in case we keep trying but only get crap from GPS */ - if (time_started + timeout*1000 < hrt_absolute_time() ) { + if (time_started + timeout * 1000 < hrt_absolute_time()) { return -1; } + j++; } + /* everything is read */ j = count = 0; } @@ -181,6 +191,7 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) if (b == MTK_SYNC1_V16) { _decode_state = MTK_DECODE_GOT_CK_A; _mtk_revision = 16; + } else if (b == MTK_SYNC1_V19) { _decode_state = MTK_DECODE_GOT_CK_A; _mtk_revision = 19; @@ -201,7 +212,7 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) add_byte_to_checksum(b); // Fill packet buffer - ((uint8_t*)(&packet))[_rx_count] = b; + ((uint8_t *)(&packet))[_rx_count] = b; _rx_count++; /* Packet size minus checksum, XXX ? */ @@ -209,14 +220,17 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) /* Compare checksum */ if (_rx_ck_a == packet.ck_a && _rx_ck_b == packet.ck_b) { ret = 1; + } else { warnx("MTK Checksum invalid"); ret = -1; } + // Reset state machine to decode next packet decode_init(); } } + return ret; } @@ -226,19 +240,22 @@ MTK::handle_message(gps_mtk_packet_t &packet) if (_mtk_revision == 16) { _gps_position->lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7 _gps_position->lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7 + } else if (_mtk_revision == 19) { _gps_position->lat = packet.latitude; // both degrees*1e7 _gps_position->lon = packet.longitude; // both degrees*1e7 + } else { warnx("mtk: unknown revision"); _gps_position->lat = 0; _gps_position->lon = 0; } + _gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm _gps_position->fix_type = packet.fix_type; _gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit _gps_position->epv_m = 0.0; //unknown in mtk custom mode - _gps_position->vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s + _gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad _gps_position->satellites_visible = packet.satellites; diff --git a/src/drivers/gps/mtk.h b/src/drivers/gps/mtk.h index b5cfbf0a6..a2d5e27bb 100644 --- a/src/drivers/gps/mtk.h +++ b/src/drivers/gps/mtk.h @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -33,7 +31,12 @@ * ****************************************************************************/ -/* @file mtk.h */ +/** + * @file mtk.cpp + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ #ifndef MTK_H_ #define MTK_H_ diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index b3093b0f6..8a2afecb7 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -39,15 +37,21 @@ * U-Blox protocol implementation. Following u-blox 6/7 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> + * * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf */ -#include <unistd.h> -#include <stdio.h> -#include <poll.h> +#include <assert.h> #include <math.h> +#include <poll.h> +#include <stdio.h> #include <string.h> -#include <assert.h> +#include <time.h> +#include <unistd.h> + #include <systemlib/err.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_gps_position.h> @@ -55,13 +59,17 @@ #include "ubx.h" -#define UBX_CONFIG_TIMEOUT 100 +#define UBX_CONFIG_TIMEOUT 200 // ms, timeout for waiting ACK +#define UBX_PACKET_TIMEOUT 2 // ms, if now data during this delay assume that full update received +#define UBX_WAIT_BEFORE_READ 20 // ms, wait before reading to save read() calls +#define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval 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_last(0) { decode_init(); } @@ -73,12 +81,13 @@ 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 +98,8 @@ 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 +111,9 @@ 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 +129,125 @@ 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)); + + _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; + } + + /* 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"); + 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"); + return 1; + } - 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, - 1); - // /* 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, - 1); - // /* 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, - 1); - // /* 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, - 0); - // /* insist of receiving the ACK for this packet */ - // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) - // continue; - - _waiting_for_ack = false; - return 0; + 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"); + 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"); + return 1; + } + + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5); + + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("ubx: msg rate configuration failed: NAV SVINFO"); + return 1; } - 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 @@ -224,56 +258,61 @@ UBX::receive(unsigned timeout) fds[0].fd = _fd; fds[0].events = POLLIN; - uint8_t buf[32]; + uint8_t buf[128]; /* timeout additional to poll */ uint64_t time_started = hrt_absolute_time(); - int j = 0; ssize_t count = 0; - while (true) { + bool handled = false; - /* pass received bytes to the packet decoder */ - while (j < count) { - if (parse_char(buf[j]) > 0) { - /* return to configure during configuration or to the gps driver during normal work - * if a packet has arrived */ - if (handle_message() > 0) - return 1; - } - /* in case we keep trying but only get crap from GPS */ - if (time_started + timeout*1000 < hrt_absolute_time() ) { - return -1; - } - j++; - } - - /* everything is read */ - j = count = 0; + while (true) { - /* then 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 */ + warnx("ubx: poll error"); return -1; } else if (ret == 0) { - /* Timeout */ - return -1; + /* return success after short delay after receiving a packet or timeout after long delay */ + if (handled) { + return 1; + + } else { + return -1; + } } else if (ret > 0) { /* if we have new data from GPS, go handle it */ if (fds[0].revents & POLLIN) { /* * We are here because poll says there is some data, so this - * won't block even on a blocking device. If more bytes are - * available, we'll go back to poll() again... + * won't block even on a blocking device. But don't read immediately + * by 1-2 bytes, wait for some more data to save expensive read() calls. + * If more bytes are available, we'll go back to poll() again. */ - count = ::read(_fd, buf, sizeof(buf)); + usleep(UBX_WAIT_BEFORE_READ * 1000); + 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]) > 0) { + if (handle_message() > 0) + handled = true; + } + } } } + + /* abort after timeout if no useful packets received */ + if (time_started + timeout * 1000 < hrt_absolute_time()) { + warnx("ubx: timeout - no useful messages"); + return -1; + } } } @@ -282,410 +321,304 @@ 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; - /* 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; - /* 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_UNINIT: + if (b == UBX_SYNC1) { + _decode_state = UBX_DECODE_GOT_SYNC1; + } - case UBX_CLASS_NAV: - _decode_state = UBX_DECODE_GOT_CLASS; - _message_class = NAV; - break; + break; -// case UBX_CLASS_RXM: -// _decode_state = UBX_DECODE_GOT_CLASS; -// _message_class = RXM; -// 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(); + /* don't return error, it can be just false sync1 */ + } - 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: - 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; + 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; - } - 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"); - } + /* 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); + _message_class = b; + _decode_state = UBX_DECODE_GOT_CLASS; + break; - return 1; - } else if (_rx_count < RECV_BUFFER_SIZE) { - _rx_count++; - } else { - warnx("ubx: buffer full"); - decode_init(); - return -1; - } - break; - default: - break; - } - return 0; //XXX ? -} + case UBX_DECODE_GOT_CLASS: + add_byte_to_checksum(b); + _message_id = b; + _decode_state = UBX_DECODE_GOT_MESSAGEID; + 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; -int -UBX::handle_message() -{ - int ret = 0; + 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; - 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; + case UBX_DECODE_GOT_LENGTH2: - _gps_position->lat = packet->lat; - _gps_position->lon = packet->lon; - _gps_position->alt = packet->height_msl; + /* Add to checksum if not yet at checksum byte */ + if (_rx_count < _payload_size) + add_byte_to_checksum(b); - _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 + _rx_buffer[_rx_count] = b; - _rate_count_lat_lon++; + /* 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 - /* Add timestamp to finish the report */ - _gps_position->timestamp_position = hrt_absolute_time(); - /* only return 1 when new position is available */ - ret = 1; + } else { + warnx("ubx: checksum wrong"); + decode_init(); + return -1; } - break; + + } else if (_rx_count < RECV_BUFFER_SIZE) { + _rx_count++; + + } else { + warnx("ubx: buffer full"); + decode_init(); + return -1; } - 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; + break; - _gps_position->fix_type = packet->gpsFix; - _gps_position->s_variance_m_s = packet->sAcc; - _gps_position->p_variance_m = packet->pAcc; + default: + break; + } - _gps_position->timestamp_variance = hrt_absolute_time(); - } - break; - } + return 0; // message decoding in progress +} -// 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"); - if (!_waiting_for_ack) { - gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer; - //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; +int +UBX::handle_message() +{ + int ret = 0; - time_t epoch = mktime(&timeinfo); + 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->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this - _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); + _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->timestamp_time = hrt_absolute_time(); - } - break; - } + _rate_count_lat_lon++; - case NAV_SVINFO: { -// printf("GOT NAV_SVINFO MESSAGE\n"); + ret = 1; + break; + } - 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; + 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; - //read checksum - const int length_part3 = 2; - char _rx_buffer_part3[length_part3]; - memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3); + _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(); - //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 + ret = 1; + break; + } - uint8_t satellites_used = 0; - int i; + 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; + + /* 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); + +#ifndef CONFIG_RTC + //Since we lack a hardware RTC, set the system time clock based on GPS UTC + //TODO generalize this by moving into gps.cpp? + timespec ts; + ts.tv_sec = epoch; + ts.tv_nsec = packet->time_nanoseconds; + clock_settime(CLOCK_REALTIME, &ts); +#endif + + _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(); - for (i = 0; i < packet_part1->numCh; i++) { //for each channel + ret = 1; + break; + } - /* 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; + case UBX_MESSAGE_NAV_SVINFO: { + //printf("GOT NAV_SVINFO\n"); + const int length_part1 = 8; + gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer; + const int length_part2 = 12; + gps_bin_nav_svinfo_part2_packet_t *packet_part2; + uint8_t satellites_used = 0; + int i; - /* Write satellite information in the global storage */ - _gps_position->satellite_prn[i] = packet_part2->svid; + //printf("Number of Channels: %d\n", packet_part1->numCh); + for (i = 0; i < packet_part1->numCh; i++) { + /* set pointer to sattelite_i information */ + packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]); - //if satellite information is healthy store the data - uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield + /* write satellite information to global storage */ + uint8_t sv_used = packet_part2->flags & 0x01; - if (!unhealthy) { - if ((packet_part2->flags) & 1) { //flags is a bitfield - _gps_position->satellite_used[i] = 1; + if (sv_used) { + /* count SVs used for NAV */ satellites_used++; - - } else { - _gps_position->satellite_used[i] = 0; } + /* 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; + //printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid); + } - } else { + for (i = packet_part1->numCh; i < 20; i++) { + /* 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 + + 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(); - 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; + 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", (unsigned)_message_class, (unsigned)_message_id); + + hrt_abstime t = hrt_absolute_time(); + + if (t > _disable_cmd_last + DISABLE_MSG_INTERVAL) { + /* don't attempt for every message to disable, some might not be disabled */ + _disable_cmd_last = t; + 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 @@ -695,9 +628,8 @@ 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 @@ -708,23 +640,24 @@ 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; + + /* the checksum is written to the last to bytes of a message */ + 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]; @@ -735,11 +668,11 @@ 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(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 @@ -747,36 +680,36 @@ UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) { ssize_t ret = 0; - /* Calculate the checksum now */ + /* calculate the checksum now */ add_checksum_to_message(packet, length); const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2}; - /* Start with the two sync bytes */ + /* start with the two sync bytes */ ret += write(fd, sync_bytes, sizeof(sync_bytes)); ret += write(fd, packet, length); if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning? - warnx("ubx: config write fail"); + warnx("ubx: configuration write fail"); } 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; + /* configure ACK check */ + _message_class_needed = msg_class; + _message_id_needed = msg_id; write(_fd, (const char *)&header, sizeof(header)); write(_fd, (const char *)msg, size); diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 5a433642c..79a904f4a 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -33,7 +31,17 @@ * ****************************************************************************/ -/* @file U-Blox protocol definitions */ +/** + * @file ubx.h + * + * U-Blox protocol definition. Following u-blox 6/7 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> + * + */ #ifndef UBX_H_ #define UBX_H_ @@ -51,23 +59,23 @@ /* MessageIDs (the ones that are used) */ #define UBX_MESSAGE_NAV_POSLLH 0x02 -#define UBX_MESSAGE_NAV_SOL 0x06 -#define UBX_MESSAGE_NAV_TIMEUTC 0x21 //#define UBX_MESSAGE_NAV_DOP 0x04 -#define UBX_MESSAGE_NAV_SVINFO 0x30 +#define UBX_MESSAGE_NAV_SOL 0x06 #define UBX_MESSAGE_NAV_VELNED 0x12 //#define UBX_MESSAGE_RXM_SVSI 0x20 -#define UBX_MESSAGE_ACK_ACK 0x01 +#define UBX_MESSAGE_NAV_TIMEUTC 0x21 +#define UBX_MESSAGE_NAV_SVINFO 0x30 #define UBX_MESSAGE_ACK_NAK 0x00 +#define UBX_MESSAGE_ACK_ACK 0x01 #define UBX_MESSAGE_CFG_PRT 0x00 -#define UBX_MESSAGE_CFG_NAV5 0x24 #define UBX_MESSAGE_CFG_MSG 0x01 #define UBX_MESSAGE_CFG_RATE 0x08 +#define UBX_MESSAGE_CFG_NAV5 0x24 #define UBX_CFG_PRT_LENGTH 20 #define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ #define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ -#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ +#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< choose 38400 as GPS baudrate */ #define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ #define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ @@ -299,44 +307,6 @@ struct ubx_cfg_msg_rate { // ************ typedef enum { - UBX_CONFIG_STATE_PRT = 0, - UBX_CONFIG_STATE_PRT_NEW_BAUDRATE, - UBX_CONFIG_STATE_RATE, - UBX_CONFIG_STATE_NAV5, - UBX_CONFIG_STATE_MSG_NAV_POSLLH, - UBX_CONFIG_STATE_MSG_NAV_TIMEUTC, - UBX_CONFIG_STATE_MSG_NAV_DOP, - UBX_CONFIG_STATE_MSG_NAV_SVINFO, - UBX_CONFIG_STATE_MSG_NAV_SOL, - UBX_CONFIG_STATE_MSG_NAV_VELNED, -// UBX_CONFIG_STATE_MSG_RXM_SVSI, - UBX_CONFIG_STATE_CONFIGURED -} ubx_config_state_t; - -typedef enum { - CLASS_UNKNOWN = 0, - NAV = 1, - RXM = 2, - ACK = 3, - CFG = 4 -} ubx_message_class_t; - -typedef enum { - //these numbers do NOT correspond to the message id numbers of the ubx protocol - ID_UNKNOWN = 0, - NAV_POSLLH, - NAV_SOL, - NAV_TIMEUTC, -// NAV_DOP, - NAV_SVINFO, - NAV_VELNED, -// RXM_SVSI, - CFG_NAV5, - ACK_ACK, - ACK_NAK, -} ubx_message_id_t; - -typedef enum { UBX_DECODE_UNINIT = 0, UBX_DECODE_GOT_SYNC1, UBX_DECODE_GOT_SYNC2, @@ -384,7 +354,7 @@ private: /** * Add the two checksum bytes to an outgoing message */ - void add_checksum_to_message(uint8_t* message, const unsigned length); + void add_checksum_to_message(uint8_t *message, const unsigned length); /** * Helper to send a config packet @@ -395,25 +365,25 @@ private: void send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size); - void add_checksum(uint8_t* message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b); + void add_checksum(uint8_t *message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b); int wait_for_ack(unsigned timeout); int _fd; struct vehicle_gps_position_s *_gps_position; - ubx_config_state_t _config_state; + bool _configured; bool _waiting_for_ack; - uint8_t _clsID_needed; - uint8_t _msgID_needed; + uint8_t _message_class_needed; + uint8_t _message_id_needed; ubx_decode_state_t _decode_state; uint8_t _rx_buffer[RECV_BUFFER_SIZE]; unsigned _rx_count; uint8_t _rx_ck_a; uint8_t _rx_ck_b; - ubx_message_class_t _message_class; - ubx_message_id_t _message_id; + uint8_t _message_class; + uint8_t _message_id; unsigned _payload_size; - uint8_t _disable_cmd_counter; + uint8_t _disable_cmd_last; }; #endif /* UBX_H_ */ |