diff options
Diffstat (limited to 'apps/gps/ubx.h')
| -rw-r--r-- | apps/gps/ubx.h | 117 |
1 files changed, 108 insertions, 9 deletions
diff --git a/apps/gps/ubx.h b/apps/gps/ubx.h index f4f01df9a..e700fe388 100644 --- a/apps/gps/ubx.h +++ b/apps/gps/ubx.h @@ -49,15 +49,17 @@ //internal definitions (not depending on the ubx protocol -#define CONFIGURE_UBX_FINISHED 0 -#define CONFIGURE_UBX_MESSAGE_ACKNOWLEDGED 1 -#define CONFIGURE_UBX_MESSAGE_NOT_ACKNOWLEDGED 2 #define UBX_NO_OF_MESSAGES 7 /**< Read 7 UBX GPS messages */ #define UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS 3000000 /**< Allow 3 seconds maximum inter-message time */ -#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 500000 /**< Check for current state every 0.4 seconds */ +#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 1000000 /**< Check for current state every second */ + +#define UBX_CONFIG_TIMEOUT 500000 #define APPNAME "gps: ubx" +#define UBX_SYNC_1 0xB5 +#define UBX_SYNC_2 0x62 + //UBX Protocoll definitions (this is the subset of the messages that are parsed) #define UBX_CLASS_NAV 0x01 #define UBX_CLASS_RXM 0x02 @@ -72,6 +74,24 @@ #define UBX_MESSAGE_RXM_SVSI 0x20 #define UBX_MESSAGE_ACK_ACK 0x01 #define UBX_MESSAGE_ACK_NAK 0x00 +#define UBX_MESSAGE_CFG_PRT 0x00 +#define UBX_MESSAGE_CFG_NAV5 0x24 +#define UBX_MESSAGE_CFG_MSG 0x01 + +#define UBX_CFG_PRT_LENGTH 20 +#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< port 1 */ +#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_INPROTOMASK 0x01 /**< ubx in */ +#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< ubx out */ + +#define UBX_CFG_NAV5_LENGTH 36 +#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */ +#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ +#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ + +#define UBX_CFG_MSG_LENGTH 8 +#define UBX_CFG_MSG_PAYLOAD_RATE {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} /**< UART1 chosen */ // ************ @@ -216,7 +236,7 @@ typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t; typedef struct { uint8_t clsID; - uint8_t msgId; + uint8_t msgID; uint8_t ck_a; uint8_t ck_b; @@ -226,7 +246,7 @@ typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t; typedef struct { uint8_t clsID; - uint8_t msgId; + uint8_t msgID; uint8_t ck_a; uint8_t ck_b; @@ -234,15 +254,91 @@ typedef struct { typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t; +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint8_t portID; + uint8_t res0; + uint16_t res1; + uint32_t mode; + uint32_t baudRate; + uint16_t inProtoMask; + uint16_t outProtoMask; + uint16_t flags; + uint16_t pad; + + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_prt_packet; + +typedef type_gps_bin_cfg_prt_packet type_gps_bin_cfg_prt_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint16_t mask; + uint8_t dynModel; + uint8_t fixMode; + 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; + uint32_t reserved2; + uint32_t reserved3; + uint32_t reserved4; + + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_nav5_packet; + +typedef type_gps_bin_cfg_nav5_packet type_gps_bin_cfg_nav5_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint8_t msgClass_payload; + uint8_t msgID_payload; + uint8_t rate[6]; + + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_msg_packet; + +typedef type_gps_bin_cfg_msg_packet type_gps_bin_cfg_msg_packet_t; + // END the structures of the binary packets // ************ +enum UBX_CONFIG_STATE { + UBX_CONFIG_STATE_NONE = 0, + UBX_CONFIG_STATE_PRT = 1, + UBX_CONFIG_STATE_NAV5 = 2, + UBX_CONFIG_STATE_MSG_NAV_POSLLH = 3, + UBX_CONFIG_STATE_MSG_NAV_TIMEUTC = 4, + UBX_CONFIG_STATE_MSG_NAV_DOP = 5, + UBX_CONFIG_STATE_MSG_NAV_SVINFO = 6, + UBX_CONFIG_STATE_MSG_NAV_SOL = 7, + UBX_CONFIG_STATE_MSG_NAV_VELNED = 8, + UBX_CONFIG_STATE_MSG_RXM_SVSI = 9, + UBX_CONFIG_STATE_CONFIGURED = 10 +}; + enum UBX_MESSAGE_CLASSES { CLASS_UNKNOWN = 0, NAV = 1, RXM = 2, - ACK = 3 + ACK = 3, + CFG = 4 }; enum UBX_MESSAGE_IDS { @@ -254,7 +350,10 @@ enum UBX_MESSAGE_IDS { NAV_DOP = 4, NAV_SVINFO = 5, NAV_VELNED = 6, - RXM_SVSI = 7 + RXM_SVSI = 7, + CFG_NAV5 = 8, + ACK_ACK = 9, + ACK_NAK = 10 }; enum UBX_DECODE_STATES { @@ -304,7 +403,7 @@ int configure_gps_ubx(int *fd); int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size); -int write_config_message_ubx(uint8_t *message, size_t length, int fd); +int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd); void calculate_ubx_checksum(uint8_t *message, uint8_t length); |