gps_ubx.h File Reference

UBX protocol specific code. More...

#include "subsystems/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   16
#define	GPS_UBX_MAX_PAYLOAD   255
#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	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

struct GpsUbx

Definition at line 54 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
uint8_t	msg_idx
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

#define CFG_RST_BBR_Coldstart   0xffff

Definition at line 123 of file gps_ubx.h.

#define CFG_RST_BBR_Hotstart   0x0000

Definition at line 121 of file gps_ubx.h.

#define CFG_RST_BBR_Warmstart   0x0001

Definition at line 122 of file gps_ubx.h.

#define CFG_RST_Reset_Controlled   0x01

Definition at line 116 of file gps_ubx.h.

#define CFG_RST_Reset_Controlled_GPS_only   0x02

Definition at line 117 of file gps_ubx.h.

#define CFG_RST_Reset_Controlled_GPS_start   0x09

Definition at line 119 of file gps_ubx.h.

#define CFG_RST_Reset_Controlled_GPS_stop   0x08

Definition at line 118 of file gps_ubx.h.

#define CFG_RST_Reset_Hardware   0x00

Definition at line 115 of file gps_ubx.h.

#define GPS_UBX_MAX_PAYLOAD   255

Definition at line 53 of file gps_ubx.h.

Referenced by gps_ubx_parse().

#define GPS_UBX_NB_CHANNELS   16

Definition at line 51 of file gps_ubx.h.

Referenced by gps_ubx_read_message().

#define gps_ubx_periodic_check

(

)

gps_periodic_check(&gps_ubx.state)

Definition at line 49 of file gps_ubx.h.

#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 125 of file gps_ubx.h.

#define PRIMARY_GPS   GPS_UBX

Definition at line 43 of file gps_ubx.h.

Function Documentation

void gps_ubx_event

(

void

)

Definition at line 109 of file gps_ubx.c.

References dev, gps_ubx, gps_ubx_msg(), gps_ubx_parse(), and GpsUbx::msg_available.

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void gps_ubx_init

(

void

)

Definition at line 99 of file gps_ubx.c.

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

void gps_ubx_msg

(

void

)

Definition at line 436 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, GpsUbx::msg_available, 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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void gps_ubx_parse

(

uint8_t

c

)

Definition at line 305 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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void gps_ubx_read_message

(

void

)

Definition at line 121 of file gps_ubx.c.

References GpsRelposNED::accD, GpsRelposNED::accE, GpsRelposNED::accN, LlaCoor_i::alt, UtmCoor_i::alt, SVinfo::azim, GpsState::cacc, GpsRelposNED::carrSoln, SVinfo::cno, RtcmMan::Cnt105, RtcmMan::Cnt177, RtcmMan::Cnt187, GpsState::course, RtcmMan::Crc105, RtcmMan::Crc177, RtcmMan::Crc187, DEBUG_PRINT, GpsRelposNED::diffSoln, UtmCoor_i::east, GpsState::ecef_pos, GpsState::ecef_vel, SVinfo::elev, GpsState::fix, SVinfo::flags, GpsRelposNED::gnssFixOK, GPS_FIX_3D, GPS_NB_CHANNELS, gps_relposned, gps_ubx, GPS_UBX_NB_CHANNELS, gps_ubx_time_sync, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_ECEF_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_POS_UTM_BIT, GPS_VALID_VEL_ECEF_BIT, GPS_VALID_VEL_NED_BIT, GpsState::gspeed, GpsState::hmsl, GpsRelposNED::iTOW, LlaCoor_i::lat, LED_ON, LED_TOGGLE, GpsState::lla_pos, LlaCoor_i::lon, Min, GpsUbx::msg_buf, GpsUbx::msg_class, GpsUbx::msg_id, RtcmMan::MsgType, NAV_RELPOSNED_VERSION, GpsState::nb_channels, sys_time::nb_tick, GpsState::ned_vel, UtmCoor_i::north, GpsState::num_sv, GpsState::pacc, GpsState::pdop, SVinfo::qi, RtcmMan::RefStation, GpsRelposNED::refStationId, GpsRelposNED::relPosD, GpsRelposNED::relPosE, GpsRelposNED::relPosHPD, GpsRelposNED::relPosHPE, GpsRelposNED::relPosHPN, GpsRelposNED::relPosN, GpsRelposNED::relPosValid, rtcm_man, RTCMgetbitu(), RXM_RTCM_VERSION, GpsState::sacc, GpsUbx::sol_flags, GpsState::speed_3d, GpsUbx::state, GpsUbx::status_flags, SVinfo::svid, GpsState::svinfos, GpsTimeSync::t0_ticks, GpsTimeSync::t0_tow, GpsTimeSync::t0_tow_frac, GpsState::tow, UTM_HEM_SOUTH, GpsState::utm_pos, GpsState::valid_fields, GpsState::week, EcefCoor_i::x, NedCoor_i::x, EcefCoor_i::y, NedCoor_i::y, EcefCoor_i::z, NedCoor_i::z, and UtmCoor_i::zone.

Referenced by gps_ubx_msg().

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

Definition at line 396 of file gps_ubx.c.

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

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

Definition at line 415 of file gps_ubx.c.

References ubx_send_1byte().

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

Definition at line 423 of file gps_ubx.c.

void ubx_trailer

(

struct link_device *

dev

)

Definition at line 408 of file gps_ubx.c.

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

Variable Documentation

struct GpsUbx gps_ubx

Definition at line 73 of file gps_ubx.c.

Referenced by ArduIMU_periodicGPS(), gps_ubx_event(), gps_ubx_init(), gps_ubx_msg(), gps_ubx_parse(), gps_ubx_read_message(), gps_ubx_ucenter_event(), ubx_header(), ubx_send_1byte(), and ubx_trailer().