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Diffstat (limited to 'apps/gps/ubx.h')
| -rw-r--r-- | apps/gps/ubx.h | 314 |
1 files changed, 314 insertions, 0 deletions
diff --git a/apps/gps/ubx.h b/apps/gps/ubx.h new file mode 100644 index 000000000..5def1ed33 --- /dev/null +++ b/apps/gps/ubx.h @@ -0,0 +1,314 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file U-Blox protocol definitions */ + +#ifndef UBX_H_ +#define UBX_H_ + +#include <stdint.h> +#include <stdlib.h> +#include <stdio.h> +#include <time.h> +#include <math.h> +#include <stdbool.h> +#include <unistd.h> +#include <pthread.h> + + +//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 APPNAME "gps: ubx" + +//UBX Protocoll definitions (this is the subset of the messages that are parsed) +#define UBX_CLASS_NAV 0x01 +#define UBX_CLASS_RXM 0x02 +#define UBX_CLASS_ACK 0x05 +#define UBX_CLASS_CFG 0x06 +#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_VELNED 0x12 +#define UBX_MESSAGE_RXM_SVSI 0x20 +#define UBX_MESSAGE_ACK_ACK 0x01 +#define UBX_MESSAGE_ACK_NAK 0x00 + + +// ************ +/** the structures of the binary packets */ +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + int32_t lon; // Longitude * 1e-7, deg + int32_t lat; // Latitude * 1e-7, deg + int32_t height; // Height above Ellipsoid, mm + int32_t height_msl; // Height above mean sea level, mm + uint32_t hAcc; // Horizontal Accuracy Estimate, mm + uint32_t vAcc; // Vertical Accuracy Estimate, mm + + uint8_t ck_a; + uint8_t ck_b; +} __attribute__((__packed__)) type_gps_bin_nav_posllh_packet; + +typedef type_gps_bin_nav_posllh_packet gps_bin_nav_posllh_packet_t; + +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + int32_t time_nanoseconds; // Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 + int16_t week; // GPS week (GPS time) + uint8_t gpsFix; //GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix + uint8_t flags; + int32_t ecefX; + int32_t ecefY; + int32_t ecefZ; + uint32_t pAcc; + int32_t ecefVX; + int32_t ecefVY; + int32_t ecefVZ; + uint32_t sAcc; + uint16_t pDOP; + uint8_t reserved1; + uint8_t numSV; + uint32_t reserved2; + + uint8_t ck_a; + uint8_t ck_b; +} __attribute__((__packed__)) type_gps_bin_nav_sol_packet; + +typedef type_gps_bin_nav_sol_packet gps_bin_nav_sol_packet_t; + +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + uint32_t time_accuracy; //Time Accuracy Estimate, ns + int32_t time_nanoseconds; //Nanoseconds of second, range -1e9 .. 1e9 (UTC) + uint16_t year; //Year, range 1999..2099 (UTC) + uint8_t month; //Month, range 1..12 (UTC) + uint8_t day; //Day of Month, range 1..31 (UTC) + uint8_t hour; //Hour of Day, range 0..23 (UTC) + uint8_t min; //Minute of Hour, range 0..59 (UTC) + uint8_t sec; //Seconds of Minute, range 0..59 (UTC) + uint8_t valid_flag; //Validity Flags (see ubx documentation) + + + uint8_t ck_a; + uint8_t ck_b; +} __attribute__((__packed__)) type_gps_bin_nav_timeutc_packet; + +typedef type_gps_bin_nav_timeutc_packet gps_bin_nav_timeutc_packet_t; + +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + uint16_t gDOP; //Geometric DOP (scaling 0.01) + uint16_t pDOP; //Position DOP (scaling 0.01) + uint16_t tDOP; //Time DOP (scaling 0.01) + uint16_t vDOP; //Vertical DOP (scaling 0.01) + uint16_t hDOP; //Horizontal DOP (scaling 0.01) + uint16_t nDOP; //Northing DOP (scaling 0.01) + uint16_t eDOP; //Easting DOP (scaling 0.01) + + + uint8_t ck_a; + uint8_t ck_b; +} __attribute__((__packed__)) type_gps_bin_nav_dop_packet; + +typedef type_gps_bin_nav_dop_packet gps_bin_nav_dop_packet_t; + +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + uint8_t numCh; //Number of channels + uint8_t globalFlags; + uint16_t reserved2; + +} __attribute__((__packed__)) type_gps_bin_nav_svinfo_part1_packet; + +typedef type_gps_bin_nav_svinfo_part1_packet gps_bin_nav_svinfo_part1_packet_t; + +typedef struct { + uint8_t chn; //Channel number, 255 for SVs not assigned to a channel + uint8_t svid; //Satellite ID + uint8_t flags; + uint8_t quality; + uint8_t cno; //Carrier to Noise Ratio (Signal Strength), dbHz + int8_t elev; //Elevation in integer degrees + int16_t azim; //Azimuth in integer degrees + int32_t prRes; //Pseudo range residual in centimetres + +} __attribute__((__packed__)) type_gps_bin_nav_svinfo_part2_packet; + +typedef type_gps_bin_nav_svinfo_part2_packet gps_bin_nav_svinfo_part2_packet_t; + +typedef struct { + uint8_t ck_a; + uint8_t ck_b; + +} __attribute__((__packed__)) type_gps_bin_nav_svinfo_part3_packet; + +typedef type_gps_bin_nav_svinfo_part3_packet gps_bin_nav_svinfo_part3_packet_t; + + +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + int32_t velN; //NED north velocity, cm/s + int32_t velE; //NED east velocity, cm/s + int32_t velD; //NED down velocity, cm/s + uint32_t speed; //Speed (3-D), cm/s + uint32_t gSpeed; //Ground Speed (2-D), cm/s + int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5 + uint32_t sAcc; //Speed Accuracy Estimate, cm/s + uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5 + + uint8_t ck_a; + uint8_t ck_b; +} __attribute__((__packed__)) type_gps_bin_nav_velned_packet; + +typedef type_gps_bin_nav_velned_packet gps_bin_nav_velned_packet_t; + +typedef struct { + int32_t time_milliseconds; // Measurement integer millisecond GPS time of week + int16_t week; //Measurement GPS week number + uint8_t numVis; //Number of visible satellites + + //... rest of package is not used in this implementation + +} __attribute__((__packed__)) type_gps_bin_rxm_svsi_packet; + +typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgId; + + uint8_t ck_a; + uint8_t ck_b; +} __attribute__((__packed__)) type_gps_bin_ack_ack_packet; + +typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgId; + + uint8_t ck_a; + uint8_t ck_b; +} __attribute__((__packed__)) type_gps_bin_ack_nak_packet; + +typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t; + + +// END the structures of the binary packets +// ************ + +enum UBX_MESSAGE_CLASSES { + CLASS_UNKNOWN = 0, + NAV = 1, + RXM = 2, + ACK = 3 +}; + +enum UBX_MESSAGE_IDS { + //these numbers do NOT correspond to the message id numbers of the ubx protocol + ID_UNKNOWN = 0, + NAV_POSLLH = 1, + NAV_SOL = 2, + NAV_TIMEUTC = 3, + NAV_DOP = 4, + NAV_SVINFO = 5, + NAV_VELNED = 6, + RXM_SVSI = 7 +}; + +enum UBX_DECODE_STATES { + UBX_DECODE_UNINIT = 0, + UBX_DECODE_GOT_SYNC1 = 1, + UBX_DECODE_GOT_SYNC2 = 2, + UBX_DECODE_GOT_CLASS = 3, + UBX_DECODE_GOT_MESSAGEID = 4, + UBX_DECODE_GOT_LENGTH1 = 5, + UBX_DECODE_GOT_LENGTH2 = 6 +}; + +typedef struct { + union { + uint16_t ck; + struct { + uint8_t ck_a; + uint8_t ck_b; + }; + }; + enum UBX_DECODE_STATES decode_state; + bool print_errors; + int16_t rx_count; + uint16_t payload_size; + + enum UBX_MESSAGE_CLASSES message_class; + enum UBX_MESSAGE_IDS message_id; + uint64_t last_message_timestamps[UBX_NO_OF_MESSAGES]; + +} __attribute__((__packed__)) type_gps_bin_ubx_state; + +typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; + +extern pthread_mutex_t *ubx_mutex; +extern gps_bin_ubx_state_t *ubx_state; + +void ubx_decode_init(void); + +void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b); + + + +int ubx_parse(uint8_t b, char *gps_rx_buffer); + +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); + +void calculate_ubx_checksum(uint8_t *message, uint8_t length); + +void *ubx_watchdog_loop(void *arg); + +void *ubx_loop(void *arg); + + +#endif /* UBX_H_ */ |