U-blox GPS (UART)
Driver for u-blox GPS modules parsing the binary UBX protocol.
The reset variable allows us to manually restart the u-blox GPS. There are three modes:
- Hotstart (GPS_UBX_BOOTRESET = 1)
- Warmstart (GPS_UBX_BOOTRESET = 2)
- Coldstart (GPS_UBX_BOOTRESET = 3)
Example for airframe file
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
<module name="gps_ublox">
b'<configure name="UBX_GPS_PORT" value="UARTx" />\n '
b'<configure name="UBX_GPS_BAUD" value="B38400" />\n '
b'<configure name="GPS_UBX_BOOTRESET" value="0" />\n '
</module>
Module configuration options
Configure Options
- name:
UBX_GPS_PORT
value: UARTx
Description: UART where the GPS is connected to (UART1, UART2, etc
- name:
UBX_GPS_BAUD
value: B38400
Description: UART baud rate
- name:
GPS_UBX_BOOTRESET
value: 0
Description: Force a hot, warm or cold reset when the system boot up
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Periodic Functions
These functions are called periodically at the specified frequency from the module periodic loop.
Datalink Functions
Whenever the specified datalink message is received, the corresponing handler function is called.
- on message HITL_UBX call gps_ubx_parse_HITL_UBX(buf)
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw gps_ublox.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_ublox" dir="gps" task="sensors">
<doc>
<description>
U-blox GPS (UART)
Driver for u-blox GPS modules parsing the binary UBX protocol.
The reset variable allows us to manually restart the u-blox GPS. There are three modes:
- Hotstart (GPS_UBX_BOOTRESET = 1)
- Warmstart (GPS_UBX_BOOTRESET = 2)
- Coldstart (GPS_UBX_BOOTRESET = 3)
</description>
<configure name="UBX_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
<configure name="UBX_GPS_BAUD" value="B38400" description="UART baud rate"/>
<configure name="GPS_UBX_BOOTRESET" value="0" description="Force a hot, warm or cold reset when the system boot up"/>
</doc>
<settings>
<dl_settings>
<dl_settings name="gps_ublox">
<dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx.reset" shortname="reset"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>uart,gps</depends>
<provides>gps</provides>
</dep>
<header>
<file name="gps.h"/>
</header>
<init fun="gps_ubx_init()"/>
<periodic fun="gps_ubx_periodic_check()" freq="1." autorun="TRUE"/>
<event fun="gps_ubx_event()"/>
<datalink message="HITL_UBX" fun="gps_ubx_parse_HITL_UBX(buf)"/>
<makefile target="ap|fbw">
<configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
<configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
<file name="gps_ubx.c"/>
<define name="USE_$(UBX_GPS_PORT_UPPER)"/>
<define name="UBX_GPS_LINK" value="$(UBX_GPS_PORT_LOWER)"/>
<define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>
<raw>
ifdef SECONDARY_GPS
ifneq (,$(findstring $(SECONDARY_GPS), ublox))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
else
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
endif
else
# plain old single GPS usage
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
endif
</raw>
<test>
<define name="PRIMARY_GPS" value="GPS_UBX"/>
<define name="USE_UART2"/>
<define name="UBX_GPS_LINK" value="uart2"/>
</test>
</makefile>
</module>