mirror of
https://github.com/PX4/PX4-Autopilot.git
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Reduced, but functional u-blox series driver
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,80 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* 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.
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||||
*
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****************************************************************************/
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/**
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* @file GPS driver interface.
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*/
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#ifndef _DRV_GPS_H
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#define _DRV_GPS_H
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include "drv_sensor.h"
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#include "drv_orb_dev.h"
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#define GPS_DEVICE_PATH "/dev/gps"
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typedef enum {
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GPS_DRIVER_MODE_UBX = 0,
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GPS_DRIVER_MODE_MTK19,
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GPS_DRIVER_MODE_MTK16,
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GPS_DRIVER_MODE_NMEA,
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} gps_driver_mode_t;
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/*
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* ObjDev tag for GPS data.
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*/
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ORB_DECLARE(gps);
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/*
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* ioctl() definitions
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*/
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#define _GPSIOCBASE (0x2800) //TODO: arbitrary choice...
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#define _GPSIOC(_n) (_IOC(_GPSIOCBASE, _n))
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/** configure ubx mode */
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#define GPS_CONFIGURE_UBX _GPSIOC(0)
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/** configure mtk mode */
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#define GPS_CONFIGURE_MTK19 _GPSIOC(1)
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#define GPS_CONFIGURE_MTK16 _GPSIOC(2)
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/** configure mtk mode */
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#define GPS_CONFIGURE_NMEA _GPSIOC(3)
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#endif /* _DRV_GPS_H */
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@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# 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.
|
||||
#
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############################################################################
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#
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# GPS driver
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#
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APPNAME = gps
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,47 @@
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/****************************************************************************
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*
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* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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*
|
||||
* 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.
|
||||
*
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****************************************************************************/
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/* @file U-Blox protocol definitions */
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#ifndef GPS_HELPER_H
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class GPS_Helper
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{
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public:
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virtual void configure(bool&, bool&, unsigned&, uint8_t*, int&, const unsigned) = 0;
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virtual int parse(uint8_t, struct vehicle_gps_position_s*) = 0;
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};
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#endif /* GPS_HELPER_H */
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,369 @@
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/****************************************************************************
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||||
*
|
||||
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
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||||
* 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.
|
||||
*
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||||
****************************************************************************/
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/* @file U-Blox protocol definitions */
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#ifndef UBX_H_
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#define UBX_H_
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#include "gps_helper.h"
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#define UBX_NO_OF_MESSAGES 7 /**< Read 7 UBX GPS messages */
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#define UBX_SYNC1 0xB5
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#define UBX_SYNC2 0x62
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//UBX Protocol definitions (this is the subset of the messages that are parsed)
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#define UBX_CLASS_NAV 0x01
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//#define UBX_CLASS_RXM 0x02
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#define UBX_CLASS_ACK 0x05
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#define UBX_CLASS_CFG 0x06
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#define UBX_MESSAGE_NAV_POSLLH 0x02
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#define UBX_MESSAGE_NAV_SOL 0x06
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#define UBX_MESSAGE_NAV_TIMEUTC 0x21
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#define UBX_MESSAGE_NAV_DOP 0x04
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#define UBX_MESSAGE_NAV_SVINFO 0x30
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#define UBX_MESSAGE_NAV_VELNED 0x12
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//#define UBX_MESSAGE_RXM_SVSI 0x20
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#define UBX_MESSAGE_ACK_ACK 0x01
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#define UBX_MESSAGE_ACK_NAK 0x00
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#define UBX_MESSAGE_CFG_PRT 0x00
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#define UBX_MESSAGE_CFG_NAV5 0x24
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#define UBX_MESSAGE_CFG_MSG 0x01
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#define UBX_MESSAGE_CFG_RATE 0x08
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#define UBX_CFG_PRT_LENGTH 20
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#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< port 1 */
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#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
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#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */
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#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< ubx in */
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#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< ubx out */
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#define UBX_CFG_RATE_LENGTH 6
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#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */
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#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */
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#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */
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#define UBX_CFG_NAV5_LENGTH 36
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#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */
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#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 */
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#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
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#define UBX_CFG_MSG_LENGTH 8
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#define UBX_CFG_MSG_PAYLOAD_RATE1 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} UART1 chosen */
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// ************
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/** the structures of the binary packets */
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#pragma pack(push, 1)
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typedef struct {
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uint32_t time_milliseconds; // GPS Millisecond Time of Week
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int32_t lon; // Longitude * 1e-7, deg
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int32_t lat; // Latitude * 1e-7, deg
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int32_t height; // Height above Ellipsoid, mm
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int32_t height_msl; // Height above mean sea level, mm
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uint32_t hAcc; // Horizontal Accuracy Estimate, mm
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uint32_t vAcc; // Vertical Accuracy Estimate, mm
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uint8_t ck_a;
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uint8_t ck_b;
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} gps_bin_nav_posllh_packet_t;
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typedef struct {
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uint32_t time_milliseconds; // GPS Millisecond Time of Week
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int32_t time_nanoseconds; // Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000
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int16_t week; // GPS week (GPS time)
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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
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uint8_t flags;
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int32_t ecefX;
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int32_t ecefY;
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int32_t ecefZ;
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uint32_t pAcc;
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int32_t ecefVX;
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int32_t ecefVY;
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int32_t ecefVZ;
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uint32_t sAcc;
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uint16_t pDOP;
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uint8_t reserved1;
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uint8_t numSV;
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uint32_t reserved2;
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uint8_t ck_a;
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uint8_t ck_b;
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} gps_bin_nav_sol_packet_t;
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typedef struct {
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uint32_t time_milliseconds; // GPS Millisecond Time of Week
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uint32_t time_accuracy; //Time Accuracy Estimate, ns
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int32_t time_nanoseconds; //Nanoseconds of second, range -1e9 .. 1e9 (UTC)
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uint16_t year; //Year, range 1999..2099 (UTC)
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uint8_t month; //Month, range 1..12 (UTC)
|
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uint8_t day; //Day of Month, range 1..31 (UTC)
|
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uint8_t hour; //Hour of Day, range 0..23 (UTC)
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uint8_t min; //Minute of Hour, range 0..59 (UTC)
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uint8_t sec; //Seconds of Minute, range 0..59 (UTC)
|
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uint8_t valid_flag; //Validity Flags (see ubx documentation)
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uint8_t ck_a;
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uint8_t ck_b;
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} gps_bin_nav_timeutc_packet_t;
|
||||
|
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typedef struct {
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uint32_t time_milliseconds; // GPS Millisecond Time of Week
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uint16_t gDOP; //Geometric DOP (scaling 0.01)
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uint16_t pDOP; //Position DOP (scaling 0.01)
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uint16_t tDOP; //Time DOP (scaling 0.01)
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uint16_t vDOP; //Vertical DOP (scaling 0.01)
|
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uint16_t hDOP; //Horizontal DOP (scaling 0.01)
|
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uint16_t nDOP; //Northing DOP (scaling 0.01)
|
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uint16_t eDOP; //Easting DOP (scaling 0.01)
|
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uint8_t ck_a;
|
||||
uint8_t ck_b;
|
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} gps_bin_nav_dop_packet_t;
|
||||
|
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typedef struct {
|
||||
uint32_t time_milliseconds; // GPS Millisecond Time of Week
|
||||
uint8_t numCh; //Number of channels
|
||||
uint8_t globalFlags;
|
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uint16_t reserved2;
|
||||
|
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} gps_bin_nav_svinfo_part1_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t chn; //Channel number, 255 for SVs not assigned to a channel
|
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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
|
||||
|
||||
} gps_bin_nav_svinfo_part2_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} 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;
|
||||
} 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
|
||||
//
|
||||
//} gps_bin_rxm_svsi_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} gps_bin_ack_ack_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} 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_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
uint16_t length;
|
||||
uint16_t measRate;
|
||||
uint16_t navRate;
|
||||
uint16_t timeRef;
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_cfg_rate_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_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_t;
|
||||
|
||||
|
||||
// END the structures of the binary packets
|
||||
// ************
|
||||
|
||||
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,
|
||||
UBX_DECODE_GOT_CLASS,
|
||||
UBX_DECODE_GOT_MESSAGEID,
|
||||
UBX_DECODE_GOT_LENGTH1,
|
||||
UBX_DECODE_GOT_LENGTH2
|
||||
} ubx_decode_state_t;
|
||||
|
||||
//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
|
||||
#pragma pack(pop)
|
||||
|
||||
#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer
|
||||
|
||||
class UBX : public GPS_Helper
|
||||
{
|
||||
public:
|
||||
UBX();
|
||||
~UBX();
|
||||
|
||||
void configure(bool&, bool&, unsigned&, uint8_t*, int&, const unsigned);
|
||||
int parse(uint8_t, struct vehicle_gps_position_s*);
|
||||
|
||||
private:
|
||||
void decodeInit(void);
|
||||
void addByteToChecksum(uint8_t);
|
||||
void addChecksumToMessage(uint8_t*, const unsigned);
|
||||
unsigned _waited;
|
||||
bool _waiting_for_ack;
|
||||
ubx_config_state_t _config_state;
|
||||
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;
|
||||
unsigned _payload_size;
|
||||
bool _new_nav_posllh;
|
||||
bool _new_nav_timeutc;
|
||||
bool _new_nav_dop;
|
||||
bool _new_nav_sol;
|
||||
bool _new_nav_velned;
|
||||
};
|
||||
|
||||
#endif /* UBX_H_ */
|
||||
Reference in New Issue
Block a user