gps_ubx.h File Reference

UBX protocol specific code. More...

#include "modules/gps/gps.h"
#include "mcu_periph/uart.h"
#include "pprzlink/pprzlink_device.h"

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Data Structures
struct	GpsUbx

Macros
#define	PRIMARY_GPS   GPS_UBX
#define	gps_ubx_periodic_check()   gps_periodic_check(&gps_ubx.state)
#define	GPS_UBX_NB_CHANNELS   40
#define	GPS_UBX_MAX_PAYLOAD   512
#define	CFG_RST_Reset_Hardware   0x00
#define	CFG_RST_Reset_Controlled   0x01
#define	CFG_RST_Reset_Controlled_GPS_only   0x02
#define	CFG_RST_Reset_Controlled_GPS_stop   0x08
#define	CFG_RST_Reset_Controlled_GPS_start   0x09
#define	CFG_RST_BBR_Hotstart   0x0000
#define	CFG_RST_BBR_Warmstart   0x0001
#define	CFG_RST_BBR_Coldstart   0xffff
#define	gps_ubx_Reset(_val)

Functions
void	gps_ubx_init (void)
void	gps_ubx_event (void)
void	gps_ubx_parse_HITL_UBX (uint8_t *buf)
void	ubx_header (struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len)
void	ubx_trailer (struct link_device *dev)
void	ubx_send_bytes (struct link_device *dev, uint8_t len, uint8_t *bytes)
void	ubx_send_cfg_rst (struct link_device *dev, uint16_t bbr, uint8_t reset_mode)
void	gps_ubx_read_message (void)
void	gps_ubx_parse (uint8_t c)
void	gps_ubx_msg (void)

Variables
struct GpsUbx	gps_ubx

Detailed Description

UBX protocol specific code.

Definition in file gps_ubx.h.

---

Data Structure Documentation

GpsUbx

struct GpsUbx

Definition at line 55 of file gps_ubx.h.

Collaboration diagram for GpsUbx:

Data Fields
uint8_t	ck_a
uint8_t	ck_b
uint8_t	error_cnt
uint8_t	error_last
uint16_t	len
bool	msg_available
uint8_t	msg_buf[GPS_UBX_MAX_PAYLOAD]
uint8_t	msg_class
uint8_t	msg_id
uint16_t	msg_idx
bool	pacc_valid
uint8_t	reset
uint8_t	send_ck_a
uint8_t	send_ck_b
uint8_t	sol_flags
struct GpsState	state
uint8_t	status
uint8_t	status_flags

Macro Definition Documentation

CFG_RST_BBR_Coldstart

#define CFG_RST_BBR_Coldstart   0xffff

Definition at line 126 of file gps_ubx.h.

CFG_RST_BBR_Hotstart

#define CFG_RST_BBR_Hotstart   0x0000

Definition at line 124 of file gps_ubx.h.

CFG_RST_BBR_Warmstart

#define CFG_RST_BBR_Warmstart   0x0001

Definition at line 125 of file gps_ubx.h.

CFG_RST_Reset_Controlled

#define CFG_RST_Reset_Controlled   0x01

Definition at line 119 of file gps_ubx.h.

CFG_RST_Reset_Controlled_GPS_only

#define CFG_RST_Reset_Controlled_GPS_only   0x02

Definition at line 120 of file gps_ubx.h.

CFG_RST_Reset_Controlled_GPS_start

#define CFG_RST_Reset_Controlled_GPS_start   0x09

Definition at line 122 of file gps_ubx.h.

CFG_RST_Reset_Controlled_GPS_stop

#define CFG_RST_Reset_Controlled_GPS_stop   0x08

Definition at line 121 of file gps_ubx.h.

CFG_RST_Reset_Hardware

#define CFG_RST_Reset_Hardware   0x00

Definition at line 118 of file gps_ubx.h.

GPS_UBX_MAX_PAYLOAD

#define GPS_UBX_MAX_PAYLOAD   512

Definition at line 54 of file gps_ubx.h.

GPS_UBX_NB_CHANNELS

#define GPS_UBX_NB_CHANNELS   40

Definition at line 52 of file gps_ubx.h.

gps_ubx_periodic_check

#define gps_ubx_periodic_check

(

)

gps_periodic_check(&gps_ubx.state)

Definition at line 50 of file gps_ubx.h.

gps_ubx_Reset

#define gps_ubx_Reset

(

_val

)

Value:

    {                               \
    gps_ubx.reset = _val;                                       \
    if (gps_ubx.reset > CFG_RST_BBR_Warmstart)                  \
      gps_ubx.reset = CFG_RST_BBR_Coldstart;                    \
    ubx_send_cfg_rst(&(UBX_GPS_LINK).device, gps_ubx.reset, CFG_RST_Reset_Controlled);   \
  }

Definition at line 128 of file gps_ubx.h.

PRIMARY_GPS

#define PRIMARY_GPS   GPS_UBX

Definition at line 43 of file gps_ubx.h.

Function Documentation

gps_ubx_event()

void gps_ubx_event

(

void

)

Definition at line 117 of file gps_ubx.c.

References CFG_RST_BBR_Coldstart, CFG_RST_BBR_Hotstart, CFG_RST_BBR_Warmstart, CFG_RST_Reset_Controlled, DEBUG_PRINT, dev, gps_ubx, gps_ubx_msg(), gps_ubx_parse(), GpsUbx::msg_available, GpsUbx::reset, and ubx_send_cfg_rst().

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gps_ubx_init()

void gps_ubx_init

(

void

)

Definition at line 104 of file gps_ubx.c.

References GpsState::comp_id, GpsUbx::error_cnt, GpsUbx::error_last, gps_ubx, GPS_UBX_BOOTRESET, GPS_UBX_ERR_NONE, GPS_UBX_ID, GpsUbx::msg_available, GpsUbx::pacc_valid, GpsUbx::reset, GpsUbx::state, GpsUbx::status, and UNINIT.

gps_ubx_msg()

void gps_ubx_msg

(

void

)

Definition at line 681 of file gps_ubx.c.

References GpsState::fix, get_sys_time_usec(), GPS_FIX_3D, gps_ubx, GPS_UBX_ID, gps_ubx_read_message(), gps_ubx_ucenter_event, GPS_VALID_VEL_NED_BIT, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LED_ON, LED_TOGGLE, GpsUbx::msg_class, GpsUbx::msg_id, sys_time::nb_sec, sys_time::nb_sec_rem, GpsUbx::state, and GpsState::valid_fields.

Referenced by gps_ubx_event().

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gps_ubx_parse()

void gps_ubx_parse

(

uint8_t

c

)

Definition at line 550 of file gps_ubx.c.

References GpsUbx::ck_a, GpsUbx::ck_b, GpsUbx::error_cnt, GpsUbx::error_last, GOT_CHECKSUM1, GOT_CLASS, GOT_ID, GOT_LEN1, GOT_LEN2, GOT_PAYLOAD, GOT_SYNC1, GOT_SYNC2, gps_ubx, GPS_UBX_ERR_CHECKSUM, GPS_UBX_ERR_MSG_TOO_LONG, GPS_UBX_ERR_OUT_OF_SYNC, GPS_UBX_ERR_OVERRUN, GPS_UBX_ERR_UNEXPECTED, GPS_UBX_MAX_PAYLOAD, GpsUbx::len, GpsUbx::msg_available, GpsUbx::msg_buf, GpsUbx::msg_class, GpsUbx::msg_id, GpsUbx::msg_idx, pprzLogFile, GpsUbx::status, and UNINIT.

Referenced by gps_ubx_event().

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gps_ubx_parse_HITL_UBX()

void gps_ubx_parse_HITL_UBX

(

uint8_t *

buf

)

This code simulates gps_ubx.c:parse_ubx()

Definition at line 139 of file gps_ubx.c.

References GpsUbx::error_cnt, GpsUbx::error_last, gps_ubx, GPS_UBX_ERR_OVERRUN, GpsUbx::msg_available, GpsUbx::msg_buf, GpsUbx::msg_class, and GpsUbx::msg_id.

gps_ubx_read_message()

void gps_ubx_read_message

(

void

)

Definition at line 488 of file gps_ubx.c.

References gps_ubx, gps_ubx_parse_nav_posecef(), gps_ubx_parse_nav_posllh(), gps_ubx_parse_nav_posutm(), gps_ubx_parse_nav_pvt(), gps_ubx_parse_nav_relposned(), gps_ubx_parse_nav_sat(), gps_ubx_parse_nav_sol(), gps_ubx_parse_nav_status(), gps_ubx_parse_nav_svinfo(), gps_ubx_parse_nav_velned(), gps_ubx_parse_rxm_raw(), gps_ubx_parse_rxm_rtcm(), gps_ubx_parse_velecef(), GpsUbx::msg_class, and GpsUbx::msg_id.

Referenced by gps_ubx_msg().

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ubx_header()

void ubx_header	(	struct link_device *	dev,
		uint8_t	nav_id,
		uint8_t	msg_id,
		uint16_t	len
	)

Definition at line 641 of file gps_ubx.c.

References dev, gps_ubx, GpsUbx::send_ck_a, GpsUbx::send_ck_b, and ubx_send_1byte().

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ubx_send_bytes()

void ubx_send_bytes	(	struct link_device *	dev,
		uint8_t	len,
		uint8_t *	bytes
	)

Definition at line 660 of file gps_ubx.c.

References dev, and ubx_send_1byte().

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ubx_send_cfg_rst()

void ubx_send_cfg_rst	(	struct link_device *	dev,
		uint16_t	bbr,
		uint8_t	reset_mode
	)

Definition at line 668 of file gps_ubx.c.

References dev.

Referenced by gps_ubx_event().

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ubx_trailer()

void ubx_trailer

(

struct link_device *

dev

)

Definition at line 653 of file gps_ubx.c.

References dev, gps_ubx, GpsUbx::send_ck_a, and GpsUbx::send_ck_b.

Variable Documentation

gps_ubx

struct GpsUbx gps_ubx

extern

Definition at line 1 of file gps_ubx.c.

Referenced by ArduIMU_periodicGPS(), gps_ubx_event(), gps_ubx_init(), gps_ubx_msg(), gps_ubx_parse(), gps_ubx_parse_HITL_UBX(), gps_ubx_parse_nav_posecef(), gps_ubx_parse_nav_posllh(), gps_ubx_parse_nav_posutm(), gps_ubx_parse_nav_pvt(), gps_ubx_parse_nav_relposned(), gps_ubx_parse_nav_sat(), gps_ubx_parse_nav_sol(), gps_ubx_parse_nav_status(), gps_ubx_parse_nav_svinfo(), gps_ubx_parse_nav_velned(), gps_ubx_parse_rxm_raw(), gps_ubx_parse_rxm_rtcm(), gps_ubx_parse_velecef(), gps_ubx_read_message(), gps_ubx_ucenter_event(), ubx_header(), ubx_send_1byte(), and ubx_trailer().