[ubx] improve ubx parser and ubx_ucenter module

- configurable data output rate
- configurable baud rate (taken from GPS_BAUD variable)
- add support of double and float to ubx parser
- add option to configure RXM_RAW messages (on LEA-T versions)

sw/airborne/modules/gps/gps_ubx_ucenter.c

@@ -285,6 +285,10 @@ static inline void gps_ubx_ucenter_config_nav(void)
 #define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u)
 #define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK)
 
+#ifndef GPS_UBX_UCENTER_RATE
+#define GPS_UBX_UCENTER_RATE 0x00FA
+#endif
+
 static inline void gps_ubx_ucenter_config_port(void)
 {
  // I2C Interface
@@ -293,7 +297,7 @@ static inline void gps_ubx_ucenter_config_port(void)
   #endif
   // UART Interface
   #if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2
-    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, 38400, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, UBX_GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
   #endif
   #if GPS_PORT_ID == GPS_PORT_USB
     UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x0, 0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
@@ -374,8 +378,8 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
     break;
   case 6:
     // Now the GPS baudrate should have changed
-    GpsUartSetBaudrate(B38400);
-    gps_ubx_ucenter.baud_run = 38400;
+    GpsUartSetBaudrate(UBX_GPS_BAUD);
+    gps_ubx_ucenter.baud_run = UBX_GPS_BAUD;
     gps_ubx_ucenter_config_nav();
     break;
   case 7:
@@ -405,13 +409,18 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
     gps_ubx_ucenter_config_sbas();
     break;
   case 14:
-    UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
+    UbxSend_CFG_RATE(GPS_UBX_UCENTER_RATE, 0x0001, 0x0000);
     break;
   case 15:
+#if USE_GPS_UBX_RXM_RAW
+    gps_ubx_ucenter_enable_msg(UBX_RXM_ID, UBX_RXM_RAW_ID, 1);
+#endif
+    break;
+  case 16:
     // Try to save on non-ROM devices...
     UbxSend_CFG_CFG(0x00000000,0xffffffff,0x00000000);
     break;
-  case 16:
+  case 17:
 #if DEBUG_GPS_UBX_UCENTER
     // Debug Downlink the result of all configuration steps: see messages
     DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,GPS_UBX_UCENTER_CONFIG_STEPS,gps_ubx_ucenter.replies);

sw/airborne/modules/gps/gps_ubx_ucenter.h

@@ -31,7 +31,7 @@
 #include "std.h"
 
 /** U-Center Variables */
-#define GPS_UBX_UCENTER_CONFIG_STEPS	  17
+#define GPS_UBX_UCENTER_CONFIG_STEPS	  18
 
 struct gps_ubx_ucenter_struct
 {
@@ -39,8 +39,8 @@ struct gps_ubx_ucenter_struct
   uint8_t reply;
   uint8_t cnt;
 
-  uint16_t baud_init;
-  uint16_t baud_run;
+  uint32_t baud_init;
+  uint32_t baud_run;
 
   uint8_t sw_ver_h;
   uint8_t sw_ver_l;

sw/airborne/subsystems/gps/gps_ubx.c

@@ -57,6 +57,10 @@
 
 struct GpsUbx gps_ubx;
 
+#if USE_GPS_UBX_RXM_RAW
+struct GpsUbxRaw gps_ubx_raw;
+#endif
+
 void gps_impl_init(void) {
    gps_ubx.status = UNINIT;
    gps_ubx.msg_available = FALSE;
@@ -161,6 +165,25 @@ void gps_ubx_read_message(void) {
       gps_ubx.sol_flags = UBX_NAV_SOL_Flags(gps_ubx.msg_buf);
     }
   }
+#if USE_GPS_UBX_RXM_RAW
+  else if (gps_ubx.msg_class == UBX_RXM_ID) {
+    if (gps_ubx.msg_id == UBX_RXM_RAW_ID) {
+      gps_ubx_raw.iTOW = UBX_RXM_RAW_iTOW(gps_ubx.msg_buf);
+      gps_ubx_raw.week = UBX_RXM_RAW_week(gps_ubx.msg_buf);
+      gps_ubx_raw.numSV = UBX_RXM_RAW_numSV(gps_ubx.msg_buf);
+      uint8_t i;
+      for (i = 0; i < gps_ubx_raw.numSV; i++) {
+        gps_ubx_raw.measures[i].cpMes = UBX_RXM_RAW_cpMes(gps_ubx.msg_buf, i);
+        gps_ubx_raw.measures[i].prMes = UBX_RXM_RAW_prMes(gps_ubx.msg_buf, i);
+        gps_ubx_raw.measures[i].doMes = UBX_RXM_RAW_doMes(gps_ubx.msg_buf, i);
+        gps_ubx_raw.measures[i].sv = UBX_RXM_RAW_sv(gps_ubx.msg_buf, i);
+        gps_ubx_raw.measures[i].mesQI = UBX_RXM_RAW_mesQI(gps_ubx.msg_buf, i);
+        gps_ubx_raw.measures[i].cno = UBX_RXM_RAW_cno(gps_ubx.msg_buf, i);
+        gps_ubx_raw.measures[i].lli = UBX_RXM_RAW_lli(gps_ubx.msg_buf, i);
+      }
+    }
+  }
+#endif
 }
 
 

sw/airborne/subsystems/gps/gps_ubx.h

@@ -56,10 +56,31 @@ struct GpsUbx {
   uint8_t status_flags;
   uint8_t sol_flags;
   uint8_t have_velned;
+
 };
 
 extern struct GpsUbx gps_ubx;
 
+#if USE_GPS_UBX_RXM_RAW
+struct GpsUbxRawMes {
+  double cpMes;
+  double prMes;
+  float doMes;
+  uint8_t sv;
+  int8_t mesQI;
+  int8_t cno;
+  uint8_t lli;
+};
+
+struct GpsUbxRaw {
+  int32_t iTOW;
+  int16_t week;
+  uint8_t numSV;
+  struct GpsUbxRawMes measures[GPS_NB_CHANNELS];
+};
+
+extern struct GpsUbxRaw gps_ubx_raw;
+#endif
 
 /*
  * This part is used by the autopilot to read data from a uart