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ubx with 38400 working, all messages seem to arrive, configuration procedure is still funny (work in progress)

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This commit is contained in:
Julian Oes
2013-01-16 19:54:05 -08:00
parent dce9b2d045
commit ebaa38ad1b
3 changed files with 317 additions and 87 deletions
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apps/gps/gps.c
+1 -1
View File
@@ -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);
apps/gps/ubx.c
+242 -81
View File
@@ -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;
// }
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 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]) {
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
// 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;
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] CFG_NAV5: checksum invalid\n");
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] 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));
// 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
};
//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);
// 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
};
//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);
// 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
};
//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);
if (gps_verbose) printf("Config state: %d\n", ubx_config_state);
//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);
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;
}
//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);
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; i<length-2; i++) {
// printf("%00#x", message[i]);
// }
buffer[0] = ck_a;
buffer[1] = ck_b;
result_write += write(*fd, buffer, sizeof(buffer));
//// printf("%00#x", ck_a);
result_write += write(*fd, &ck_b, sizeof(ck_b));
// printf("%00#x", ck_b);
fsync(*fd);
if (result_write != length + 2)
return ERROR;
}
@@ -792,7 +951,7 @@ void *ubx_watchdog_loop(void *args)
bool once_ok = false;
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
ubx_config_state = UBX_CONFIG_STATE_PRT;
//int err_skip_counter = 0;
while (!(*thread_should_exit)) {
@@ -811,9 +970,9 @@ void *ubx_watchdog_loop(void *args)
}
}
// check if CFG-NAV5 is correct
if (!gps_nav5_conf_success)
all_okay = false;
// // check if CFG-NAV5 is correct
// if (!gps_nav5_conf_success)
// all_okay = false;
pthread_mutex_unlock(ubx_mutex);
@@ -867,6 +1026,7 @@ void *ubx_watchdog_loop(void *args)
if(gps_verbose) printf("[gps] ubx loop is going to terminate\n");
close(mavlink_fd);
return NULL;
}
@@ -890,6 +1050,7 @@ void *ubx_loop(void *args)
//ubx state
ubx_state = malloc(sizeof(gps_bin_ubx_state_t));
//printf("gps: ubx_state created\n");
ubx_decode_init();
ubx_state->print_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;
}
apps/gps/ubx.h
+74 -5
View File
@@ -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);