From ebaa38ad1b5c1d625467fc867480e1969edd60aa Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 16 Jan 2013 19:54:05 -0800 Subject: ubx with 38400 working, all messages seem to arrive, configuration procedure is still funny (work in progress) --- apps/gps/gps.c | 2 +- apps/gps/ubx.c | 333 ++++++++++++++++++++++++++++++++++++++++++--------------- apps/gps/ubx.h | 79 +++++++++++++- 3 files changed, 322 insertions(+), 92 deletions(-) (limited to 'apps/gps') diff --git a/apps/gps/gps.c b/apps/gps/gps.c index 00f6ee9f8..cb9a77c51 100644 --- a/apps/gps/gps.c +++ b/apps/gps/gps.c @@ -189,7 +189,7 @@ int gps_thread_main(int argc, char *argv[]) { gps_mode_success = true; terminate_gps_thread = false; bool retry = false; - gps_verbose = false; + gps_verbose = true; int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index 85cdcafbf..33f44287b 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -66,12 +66,16 @@ extern int current_gps_speed; pthread_mutex_t *ubx_mutex; gps_bin_ubx_state_t *ubx_state; +enum UBX_CONFIG_STATE ubx_config_state; static struct vehicle_gps_position_s *ubx_gps; bool gps_nav5_conf_success = false; +unsigned int got_ack = 0; +unsigned int got_nak = 0; + //Definitions for ubx, last two bytes are checksum which is calculated below -uint8_t UBX_CONFIG_MESSAGE_PRT[] = {0xB5 , 0x62 , 0x06 , 0x00 , 0x14 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0xD0 , 0x08 , 0x00 , 0x00 , 0x80 , 0x25 , 0x00 , 0x00 , 0x07 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0x00 , 0x00}; +uint8_t UBX_CONFIG_MESSAGE_PRT[] = {0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0x96, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x02, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x21, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_DOP[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x04, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; @@ -80,8 +84,8 @@ uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SOL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_VELNED[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x12, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_RXM_SVSI[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x02, 0x20, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00}; -uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5[] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x01, DYN_MODEL_NO, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; -uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5_POLL[] = {0xB5, 0x62, 0x06, 0x00, 0x00}; +//uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5[] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x01, DYN_MODEL_NO, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; +//uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5_POLL[] = {0xB5, 0x62, 0x06, 0x00, 0x00}; @@ -109,15 +113,17 @@ void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b) int ubx_parse(uint8_t b, char *gps_rx_buffer) { -// printf("b=%x\n",b); + //printf("b=%x\n",b); if (ubx_state->decode_state == UBX_DECODE_UNINIT) { - if (b == 0xb5) { + if (b == UBX_SYNC_1) { +// printf("got sync1"); ubx_state->decode_state = UBX_DECODE_GOT_SYNC1; } } else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC1) { - if (b == 0x62) { + if (b == UBX_SYNC_2) { +// printf("got sync2"); ubx_state->decode_state = UBX_DECODE_GOT_SYNC2; } else { @@ -131,12 +137,18 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) //check for known class switch (b) { - case UBX_CLASS_NAV: //NAV + case UBX_CLASS_ACK: + printf("class ack"); + ubx_state->decode_state = UBX_DECODE_GOT_CLASS; + ubx_state->message_class = ACK; + break; + + case UBX_CLASS_NAV: ubx_state->decode_state = UBX_DECODE_GOT_CLASS; ubx_state->message_class = NAV; break; - case UBX_CLASS_RXM: //RXM + case UBX_CLASS_RXM: ubx_state->decode_state = UBX_DECODE_GOT_CLASS; ubx_state->message_class = RXM; break; @@ -221,6 +233,21 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } break; + case ACK: + switch (b) { + case UBX_MESSAGE_ACK_ACK: + ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; + ubx_state->message_id = ACK_ACK; + break; + case UBX_MESSAGE_ACK_NAK: + ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; + ubx_state->message_id = ACK_NAK; + break; + default: //unknown class: reset state machine, should not happen + ubx_decode_init(); + break; + } + break; default: //should not happen ubx_decode_init(); break; @@ -254,7 +281,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) //convert to correct struct switch (ubx_state->message_id) { //this enum is unique for all ids --> no need to check the class case NAV_POSLLH: { -// printf("GOT NAV_POSLLH MESSAGE\n"); + printf("GOT NAV_POSLLH MESSAGE\n"); gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -287,7 +314,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_SOL: { -// printf("GOT NAV_SOL MESSAGE\n"); + printf("GOT NAV_SOL MESSAGE\n"); gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -319,7 +346,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_DOP: { -// printf("GOT NAV_DOP MESSAGE\n"); + printf("GOT NAV_DOP MESSAGE\n"); gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -351,7 +378,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_TIMEUTC: { -// printf("GOT NAV_TIMEUTC MESSAGE\n"); + printf("GOT NAV_TIMEUTC MESSAGE\n"); gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -397,7 +424,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_SVINFO: { -// printf("GOT NAV_SVINFO MESSAGE\n"); + printf("GOT NAV_SVINFO MESSAGE\n"); //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; @@ -498,7 +525,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_VELNED: { -// printf("GOT NAV_VELNED MESSAGE\n"); + printf("GOT NAV_VELNED MESSAGE\n"); gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -534,7 +561,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case RXM_SVSI: { -// printf("GOT RXM_SVSI MESSAGE\n"); + printf("GOT RXM_SVSI MESSAGE\n"); const int length_part1 = 7; char gps_rx_buffer_part1[length_part1]; memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1); @@ -566,26 +593,96 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) break; } - case CFG_NAV5: { - printf("GOT CFG_NAV5 MESSAGE\n"); - type_gps_bin_cfg_nav5_packet_t *packet = (type_gps_bin_cfg_nav5_packet_t *) gps_rx_buffer; +// case CFG_NAV5: { +// printf("GOT CFG_NAV5 MESSAGE\n"); +// type_gps_bin_cfg_nav5_packet_t *packet = (type_gps_bin_cfg_nav5_packet_t *) gps_rx_buffer; +// +// //Check if checksum is valid +// if (ubx_state->ck_a == gps_rx_buffer[ubx_state->rx_count - 1] && ubx_state->ck_b == gps_rx_buffer[ubx_state->rx_count]) { +// +// // check if dynamic model number is correct +// if (packet->dynModel == DYN_MODEL_NO) { +// printf("[gps] ubx dynamic model set successful\n"); +// gps_nav5_conf_success = true; +// } +// else { +// printf("[gps] ubx dynamic model set failed\n"); +// gps_nav5_conf_success = false; +// } +// ret = 1; +// +// } else { +// if (gps_verbose) printf("[gps] CFG_NAV5: checksum invalid\n"); +// +// ret = 0; +// } +// +// // Reset state machine to decode next packet +// ubx_decode_init(); +// return ret; +// +// break; +// } - //Check if checksum is valid - if (ubx_state->ck_a == gps_rx_buffer[ubx_state->rx_count - 1] && ubx_state->ck_b == gps_rx_buffer[ubx_state->rx_count]) { + case ACK_ACK: { + printf("GOT ACK_ACK\n"); + gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) gps_rx_buffer; - // check if dynamic model number is correct - if (packet->dynModel == DYN_MODEL_NO) { - printf("[gps] ubx dynamic model set successful\n"); - gps_nav5_conf_success = true; - } - else { - printf("[gps] ubx dynamic model set failed\n"); - gps_nav5_conf_success = false; + //Check if checksum is valid + if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { + + switch (ubx_config_state) { + case UBX_CONFIG_STATE_PRT: + printf("clsID: %d, msgID: %d\n", packet->clsID, packet->msgID); + if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT) + ubx_config_state++; + break; + case UBX_CONFIG_STATE_NAV5: + if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5) + ubx_config_state++; + break; + case UBX_CONFIG_STATE_MSG_NAV_POSLLH: + case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC: + case UBX_CONFIG_STATE_MSG_NAV_DOP: + case UBX_CONFIG_STATE_MSG_NAV_SVINFO: + case UBX_CONFIG_STATE_MSG_NAV_SOL: + case UBX_CONFIG_STATE_MSG_NAV_VELNED: + case UBX_CONFIG_STATE_MSG_RXM_SVSI: + if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG) + ubx_config_state++; + break; + default: + break; } + + + ret = 1; + + } else { + if (gps_verbose) printf("[gps] ACK_ACK: checksum invalid\n"); + + ret = 0; + } + + // Reset state machine to decode next packet + ubx_decode_init(); + return ret; + + break; + } + + case ACK_NAK: { + printf("GOT ACK_NAK\n"); + gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) gps_rx_buffer; + + //Check if checksum is valid + if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { + + printf("[gps] the ubx gps returned: not acknowledged\n"); ret = 1; } else { - if (gps_verbose) printf("[gps] CFG_NAV5: checksum invalid\n"); + if (gps_verbose) printf("[gps] ACK_NAK: checksum invalid\n"); ret = 0; } @@ -637,50 +734,93 @@ void calculate_ubx_checksum(uint8_t *message, uint8_t length) int configure_gps_ubx(int *fd) { - //fflush(((FILE *)fd)); - - //TODO: write this in a loop once it is tested - //UBX_CFG_PRT_PART: - write_config_message_ubx(UBX_CONFIG_MESSAGE_PRT, sizeof(UBX_CONFIG_MESSAGE_PRT) / sizeof(uint8_t) , *fd); - usleep(100000); - - //CFG_NAV5 - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5, sizeof(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5) / sizeof(uint8_t), *fd); - usleep(100000); - - //NAV_POSLLH: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_TIMEUTC: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_DOP: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_DOP, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_DOP) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_SOL: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SOL, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SOL) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_SVINFO: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_VELNED: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED) / sizeof(uint8_t) , *fd); - usleep(100000); - - //RXM_SVSI: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI, sizeof(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI) / sizeof(uint8_t) , *fd); - usleep(100000); - - //send CFG_NAV5_POLL to check whether previous CFG_NAV5 has been successful - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5_POLL, sizeof(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5_POLL) / sizeof(uint8_t) , *fd); - usleep(100000); + // only needed once like this + const type_gps_bin_cfg_prt_packet_t cfg_prt_packet = { + .clsID = UBX_CLASS_CFG, + .msgID = UBX_MESSAGE_CFG_PRT, + .length = UBX_CFG_PRT_LENGTH, + .portID = UBX_CFG_PRT_PAYLOAD_PORTID, + .mode = UBX_CFG_PRT_PAYLOAD_MODE, + .baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE, + .inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK, + .outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK, + .ck_a = 0, + .ck_b = 0 + }; + + // only needed once like this + const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = { + .clsID = UBX_CLASS_CFG, + .msgID = UBX_MESSAGE_CFG_NAV5, + .length = UBX_CFG_NAV5_LENGTH, + .mask = UBX_CFG_NAV5_PAYLOAD_MASK, + .dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL, + .fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE, + .ck_a = 0, + .ck_b = 0 + }; + + // this message is reusable for different configuration commands, so not const + type_gps_bin_cfg_msg_packet cfg_msg_packet = { + .clsID = UBX_CLASS_CFG, + .msgID = UBX_MESSAGE_CFG_MSG, + .length = UBX_CFG_MSG_LENGTH, + .rate = UBX_CFG_MSG_PAYLOAD_RATE + }; + + if (gps_verbose) printf("Config state: %d\n", ubx_config_state); + + switch (ubx_config_state) { + case UBX_CONFIG_STATE_PRT: + write_config_message_ubx((uint8_t*)(&cfg_prt_packet), sizeof(cfg_prt_packet), fd); + break; + case UBX_CONFIG_STATE_NAV5: + write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_POSLLH: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_DOP: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_SVINFO: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_SOL: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_VELNED: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_RXM_SVSI: + cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_CONFIGURED: + if (gps_verbose) printf("[gps] ubx configuration finished\n"); + return OK; + break; + default: + break; + } - return 0; + return OK; } @@ -748,7 +888,7 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size) return ret; } -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) { //calculate and write checksum to the end uint8_t ck_a = 0; @@ -756,19 +896,38 @@ int write_config_message_ubx(uint8_t *message, size_t length, int fd) unsigned int i; - for (i = 2; i < length; i++) { + uint8_t buffer[2]; + ssize_t result_write = 0; + + for (i = 0; i < length-2; i++) { ck_a = ck_a + message[i]; ck_b = ck_b + ck_a; } -// printf("[%x,%x]\n", ck_a, ck_b); +// printf("chk: [%x,%x]\n", ck_a, ck_b); - unsigned int result_write = write(fd, message, length); - result_write += write(fd, &ck_a, 1); - result_write += write(fd, &ck_b, 1); - fsync(fd); + buffer[0] = UBX_SYNC_1; + buffer[1] = UBX_SYNC_2; - return (result_write != length + 2); //return 0 as success + result_write = write(*fd, buffer, sizeof(buffer)); + result_write += write(*fd, message, length-2); + +// for(i=0; iprint_errors = false; @@ -933,8 +1094,8 @@ void *ubx_loop(void *args) } } - if(gps_verbose) printf("[gps] ubx read is going to terminate\n"); - close(gps_pub); +// if(gps_verbose) printf("[gps] ubx read is going to terminate\n"); +// close(gps_pub); return NULL; } diff --git a/apps/gps/ubx.h b/apps/gps/ubx.h index c3f203184..eb19d17f2 100644 --- a/apps/gps/ubx.h +++ b/apps/gps/ubx.h @@ -58,6 +58,9 @@ #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 @@ -72,8 +75,24 @@ #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 */ // ************ @@ -218,7 +237,7 @@ 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; @@ -228,7 +247,7 @@ 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; @@ -238,8 +257,28 @@ typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t; typedef struct { uint8_t clsID; - uint8_t msgId; + 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; @@ -263,10 +302,38 @@ typedef struct { 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, @@ -285,7 +352,9 @@ enum UBX_MESSAGE_IDS { NAV_SVINFO = 5, NAV_VELNED = 6, RXM_SVSI = 7, - CFG_NAV5 = 8 + CFG_NAV5 = 8, + ACK_ACK = 9, + ACK_NAK = 10 }; enum UBX_DECODE_STATES { @@ -335,7 +404,7 @@ 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); -- cgit v1.2.3