/**************************************************************************** * * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. * Author: Thomas Gubler * Julian Oes * * 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 #include #include #include #include #include #include #include //internal definitions (not depending on the ubx protocol #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 2000000 /**< Check for current state every two seconds */ #define UBX_CONFIG_TIMEOUT 1000000 #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 #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 #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 */ // ************ /** the structures of the binary packets */ #pragma pack(push, 1) 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; } 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; } 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; } 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; } 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; } 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 } 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; } 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; } 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 } 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; } 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; } type_gps_bin_ack_nak_packet; 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, CFG = 4 }; 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, CFG_NAV5 = 8, ACK_ACK = 9, ACK_NAK = 10 }; 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]; } type_gps_bin_ubx_state; typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; #pragma pack(pop) 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(const uint8_t *message, const size_t length, const int *fd); void calculate_ubx_checksum(uint8_t *message, uint8_t length); void *ubx_watchdog_loop(void *args); void *ubx_loop(void *args); #endif /* UBX_H_ */