diff options
Diffstat (limited to 'src/drivers/gps/ubx.h')
| -rw-r--r-- | src/drivers/gps/ubx.h | 61 |
1 files changed, 12 insertions, 49 deletions
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 5a433642c..4fc276975 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -3,6 +3,7 @@ * Copyright (C) 2008-2013 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 @@ -51,23 +52,23 @@ /* 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 +300,6 @@ 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, @@ -401,17 +364,17 @@ private: 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; }; |