gps_ubx.c File Reference

#include "modules/gps/gps_ubx.h"
#include "modules/core/abi.h"
#include "pprzlink/dl_protocol.h"
#include "led.h"
#include "ubx_protocol.h"

Include dependency graph for gps_ubx.c:

Go to the source code of this file.

Macros
#define	USE_GPS_UBX_RTCM   0
#define	DEBUG_PRINT(...)   {}
#define	UNINIT   0
	Includes macros generated from ubx.xml. More...
#define	GOT_SYNC1   1
#define	GOT_SYNC2   2
#define	GOT_CLASS   3
#define	GOT_ID   4
#define	GOT_LEN1   5
#define	GOT_LEN2   6
#define	GOT_PAYLOAD   7
#define	GOT_CHECKSUM1   8
#define	RXM_RTCM_VERSION   0x02
#define	NAV_RELPOSNED_VERSION   0x01
#define	GPS_UBX_ERR_NONE   0
#define	GPS_UBX_ERR_OVERRUN   1
#define	GPS_UBX_ERR_MSG_TOO_LONG   2
#define	GPS_UBX_ERR_CHECKSUM   3
#define	GPS_UBX_ERR_UNEXPECTED   4
#define	GPS_UBX_ERR_OUT_OF_SYNC   5
#define	UTM_HEM_NORTH   0
#define	UTM_HEM_SOUTH   1
#define	GPS_UBX_BOOTRESET   0
#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_ucenter_event()   {}

Functions
void	gps_ubx_parse (struct GpsUbx *gubx, uint8_t c)
void	gps_ubx_msg (struct GpsUbx *gubx)
void	gps_ubx_init (void)
void	gps_ubx_event (void)
void	gps_ubx_parse_HITL_UBX (uint8_t *buf)
static void	gps_ubx_parse_nav_pvt (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_sol (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_posecef (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_posllh (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_posutm (struct GpsUbx *gubx)
static void	gps_ubx_parse_velecef (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_velned (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_svinfo (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_sat (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_status (struct GpsUbx *gubx)
static void	gps_ubx_parse_nav_relposned (struct GpsUbx *gubx)
void	gps_ubx_read_message (struct GpsUbx *gubx)
static void	ubx_send_1byte (struct link_device *dev, uint8_t byte)
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, UNUSED uint8_t reset_mode)
void	gps_ubx_periodic_check (void)
void	gps_ublox_write (struct link_device *dev, uint8_t *buff, uint32_t n)

Variables
struct GpsUbx	gps_ubx [GPS_UBX_NB]
uint8_t	gps_ubx_reset = 0

Macro Definition Documentation

CFG_RST_BBR_Coldstart

#define CFG_RST_BBR_Coldstart   0xffff

Definition at line 114 of file gps_ubx.c.

CFG_RST_BBR_Hotstart

#define CFG_RST_BBR_Hotstart   0x0000

Definition at line 112 of file gps_ubx.c.

CFG_RST_BBR_Warmstart

#define CFG_RST_BBR_Warmstart   0x0001

Definition at line 113 of file gps_ubx.c.

CFG_RST_Reset_Controlled

#define CFG_RST_Reset_Controlled   0x01

Definition at line 107 of file gps_ubx.c.

CFG_RST_Reset_Controlled_GPS_only

#define CFG_RST_Reset_Controlled_GPS_only   0x02

Definition at line 108 of file gps_ubx.c.

CFG_RST_Reset_Controlled_GPS_start

#define CFG_RST_Reset_Controlled_GPS_start   0x09

Definition at line 110 of file gps_ubx.c.

CFG_RST_Reset_Controlled_GPS_stop

#define CFG_RST_Reset_Controlled_GPS_stop   0x08

Definition at line 109 of file gps_ubx.c.

CFG_RST_Reset_Hardware

#define CFG_RST_Reset_Hardware   0x00

Definition at line 106 of file gps_ubx.c.

DEBUG_PRINT

#define DEBUG_PRINT

(

...

)

{}

Definition at line 46 of file gps_ubx.c.

GOT_CHECKSUM1

#define GOT_CHECKSUM1   8

Definition at line 61 of file gps_ubx.c.

GOT_CLASS

#define GOT_CLASS   3

Definition at line 56 of file gps_ubx.c.

GOT_ID

#define GOT_ID   4

Definition at line 57 of file gps_ubx.c.

GOT_LEN1

#define GOT_LEN1   5

Definition at line 58 of file gps_ubx.c.

GOT_LEN2

#define GOT_LEN2   6

Definition at line 59 of file gps_ubx.c.

GOT_PAYLOAD

#define GOT_PAYLOAD   7

Definition at line 60 of file gps_ubx.c.

GOT_SYNC1

#define GOT_SYNC1   1

Definition at line 54 of file gps_ubx.c.

GOT_SYNC2

#define GOT_SYNC2   2

Definition at line 55 of file gps_ubx.c.

GPS_UBX_BOOTRESET

#define GPS_UBX_BOOTRESET   0

Definition at line 103 of file gps_ubx.c.

GPS_UBX_ERR_CHECKSUM

#define GPS_UBX_ERR_CHECKSUM   3

Definition at line 69 of file gps_ubx.c.

GPS_UBX_ERR_MSG_TOO_LONG

#define GPS_UBX_ERR_MSG_TOO_LONG   2

Definition at line 68 of file gps_ubx.c.

GPS_UBX_ERR_NONE

#define GPS_UBX_ERR_NONE   0

Definition at line 66 of file gps_ubx.c.

GPS_UBX_ERR_OUT_OF_SYNC

#define GPS_UBX_ERR_OUT_OF_SYNC   5

Definition at line 71 of file gps_ubx.c.

GPS_UBX_ERR_OVERRUN

#define GPS_UBX_ERR_OVERRUN   1

Definition at line 67 of file gps_ubx.c.

GPS_UBX_ERR_UNEXPECTED

#define GPS_UBX_ERR_UNEXPECTED   4

Definition at line 70 of file gps_ubx.c.

gps_ubx_ucenter_event

#define gps_ubx_ucenter_event

(

void

)

{}

Definition at line 665 of file gps_ubx.c.

NAV_RELPOSNED_VERSION

#define NAV_RELPOSNED_VERSION   0x01

Definition at line 64 of file gps_ubx.c.

RXM_RTCM_VERSION

#define RXM_RTCM_VERSION   0x02

Definition at line 63 of file gps_ubx.c.

UNINIT

#define UNINIT   0

Includes macros generated from ubx.xml.

Definition at line 53 of file gps_ubx.c.

USE_GPS_UBX_RTCM

#define USE_GPS_UBX_RTCM   0

Definition at line 29 of file gps_ubx.c.

UTM_HEM_NORTH

#define UTM_HEM_NORTH   0

Definition at line 73 of file gps_ubx.c.

UTM_HEM_SOUTH

#define UTM_HEM_SOUTH   1

Definition at line 74 of file gps_ubx.c.

Function Documentation

gps_ublox_write()

void gps_ublox_write	(	struct link_device *	dev,
		uint8_t *	buff,
		uint32_t	n
	)

Definition at line 712 of file gps_ubx.c.

References buff, and dev.

gps_ubx_event()

void gps_ubx_event

(

void

)

Definition at line 138 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, GpsUbx::dev, gps_ubx, gps_ubx_msg(), GPS_UBX_NB, gps_ubx_parse(), gps_ubx_reset, reset, and ubx_send_cfg_rst().

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gps_ubx_init()

void gps_ubx_init

(

void

)

Definition at line 116 of file gps_ubx.c.

References GpsState::comp_id, GpsUbx::dev, GpsUbx::error_cnt, GpsUbx::error_last, gps_ubx, GPS_UBX2_ID, GPS_UBX_BOOTRESET, GPS_UBX_ERR_NONE, GPS_UBX_ID, GPS_UBX_NB, gps_ubx_reset, GpsUbx::msg_available, GpsUbx::pacc_valid, GpsUbx::state, GpsUbx::status, and UNINIT.

gps_ubx_msg()

void gps_ubx_msg

(

struct GpsUbx *

gubx

)

Definition at line 670 of file gps_ubx.c.

References GpsState::comp_id, GpsState::fix, get_sys_time_usec(), GPS_FIX_3D, 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	(	struct GpsUbx *	gubx,
		uint8_t	c
	)

Definition at line 524 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_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 165 of file gps_ubx.c.

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

gps_ubx_parse_nav_posecef()

static void gps_ubx_parse_nav_posecef ( struct GpsUbx *  gubx )

static

Definition at line 276 of file gps_ubx.c.

References GpsState::ecef_pos, GPS_VALID_POS_ECEF_BIT, GpsUbx::msg_buf, GpsState::pacc, GpsUbx::pacc_valid, GpsUbx::state, GpsState::tow, GpsState::valid_fields, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_posllh()

static void gps_ubx_parse_nav_posllh ( struct GpsUbx *  gubx )

static

Definition at line 291 of file gps_ubx.c.

References LlaCoor_i::alt, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GpsState::hacc, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsUbx::msg_buf, GpsUbx::state, GpsState::vacc, and GpsState::valid_fields.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_posutm()

static void gps_ubx_parse_nav_posutm ( struct GpsUbx *  gubx )

static

Definition at line 308 of file gps_ubx.c.

References UtmCoor_i::alt, UtmCoor_i::east, GPS_VALID_HMSL_BIT, GPS_VALID_POS_UTM_BIT, GpsState::hmsl, GpsUbx::msg_buf, UtmCoor_i::north, GpsUbx::state, UTM_HEM_SOUTH, GpsState::utm_pos, GpsState::valid_fields, and UtmCoor_i::zone.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_pvt()

static void gps_ubx_parse_nav_pvt ( struct GpsUbx *  gubx )

static

Definition at line 181 of file gps_ubx.c.

References LlaCoor_i::alt, GpsState::cacc, GpsState::course, GpsState::fix, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_NED_BIT, gps_week_number(), GpsState::gspeed, GpsState::hacc, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsUbx::msg_buf, GpsState::ned_vel, GpsState::num_sv, GpsState::pacc, GpsUbx::pacc_valid, GpsState::pdop, GpsState::sacc, GpsUbx::state, GpsState::tow, GpsState::vacc, GpsState::valid_fields, GpsState::week, NedCoor_i::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_relposned()

static void gps_ubx_parse_nav_relposned ( struct GpsUbx *  gubx )

static

Definition at line 414 of file gps_ubx.c.

References GpsRelposNED::accD, GpsRelposNED::accE, GpsRelposNED::accN, GpsRelposNED::carrSoln, GpsRelposNED::diffSoln, GpsState::fix, GpsRelposNED::gnssFixOK, gps_relposned, GpsRelposNED::iTOW, GpsUbx::msg_buf, NAV_RELPOSNED_VERSION, GpsRelposNED::refStationId, GpsRelposNED::relPosD, GpsRelposNED::relPosE, GpsRelposNED::relPosHeading, GpsRelposNED::relPosHPD, GpsRelposNED::relPosHPE, GpsRelposNED::relPosHPN, GpsRelposNED::relPosLength, GpsRelposNED::relPosN, GpsRelposNED::relPosValid, RTCMgetbitu(), and GpsUbx::state.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_sat()

static void gps_ubx_parse_nav_sat ( struct GpsUbx *  gubx )

static

Definition at line 378 of file gps_ubx.c.

References SVinfo::azim, SVinfo::cno, SVinfo::elev, SVinfo::flags, GPS_NB_CHANNELS, Min, GpsUbx::msg_buf, GpsState::nb_channels, SVinfo::qi, GpsUbx::state, SVinfo::svid, GpsState::svinfos, and GpsState::tow.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_sol()

static void gps_ubx_parse_nav_sol ( struct GpsUbx *  gubx )

static

Definition at line 244 of file gps_ubx.c.

References GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, GPS_FIX_3D, GPS_VALID_POS_ECEF_BIT, GPS_VALID_VEL_ECEF_BIT, GpsUbx::msg_buf, GpsState::num_sv, GpsState::pacc, GpsUbx::pacc_valid, GpsState::pdop, GpsState::sacc, GpsUbx::state, GpsState::tow, GpsState::valid_fields, GpsState::week, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_status()

static void gps_ubx_parse_nav_status ( struct GpsUbx *  gubx )

static

Definition at line 402 of file gps_ubx.c.

References GpsState::fix, GPS_FIX_3D, GpsUbx::msg_buf, GpsUbx::state, GpsUbx::status_flags, and GpsState::tow.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_svinfo()

static void gps_ubx_parse_nav_svinfo ( struct GpsUbx *  gubx )

static

Definition at line 362 of file gps_ubx.c.

References SVinfo::azim, SVinfo::cno, SVinfo::elev, SVinfo::flags, GPS_NB_CHANNELS, Min, GpsUbx::msg_buf, GpsState::nb_channels, SVinfo::qi, GpsUbx::state, SVinfo::svid, and GpsState::svinfos.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_nav_velned()

static void gps_ubx_parse_nav_velned ( struct GpsUbx *  gubx )

static

Definition at line 341 of file gps_ubx.c.

References GpsState::cacc, GpsState::course, GPS_VALID_COURSE_BIT, GPS_VALID_VEL_NED_BIT, GpsState::gspeed, GpsUbx::msg_buf, GpsState::ned_vel, GpsState::speed_3d, GpsUbx::state, GpsState::tow, GpsState::valid_fields, NedCoor_i::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by gps_ubx_read_message().

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gps_ubx_parse_velecef()

static void gps_ubx_parse_velecef ( struct GpsUbx *  gubx )

static

Definition at line 327 of file gps_ubx.c.

References GpsState::ecef_vel, GPS_VALID_VEL_ECEF_BIT, GpsUbx::msg_buf, GpsState::sacc, GpsUbx::state, GpsState::tow, GpsState::valid_fields, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by gps_ubx_read_message().

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gps_ubx_periodic_check()

void gps_ubx_periodic_check

(

void

)

Definition at line 700 of file gps_ubx.c.

References gps_periodic_check(), gps_ubx, GPS_UBX_NB, and state.

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gps_ubx_read_message()

void gps_ubx_read_message

(

struct GpsUbx *

gubx

)

Definition at line 465 of file gps_ubx.c.

References 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_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 620 of file gps_ubx.c.

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

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ubx_send_1byte()

static void ubx_send_1byte ( struct link_device *  dev, uint8_t  byte  )

static

Definition at line 608 of file gps_ubx.c.

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

Referenced by ubx_header(), and ubx_send_bytes().

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ubx_send_bytes()

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

Definition at line 649 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,
		UNUSED uint8_t	reset_mode
	)

Definition at line 657 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 637 of file gps_ubx.c.

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

Variable Documentation

gps_ubx

struct GpsUbx gps_ubx[GPS_UBX_NB]

Definition at line 1 of file gps_ubx.c.

Referenced by ArduIMU_periodicGPS(), gps_ubx_event(), gps_ubx_init(), gps_ubx_parse_HITL_UBX(), gps_ubx_periodic_check(), gps_ubx_ucenter_event(), ubx_header(), ubx_send_1byte(), and ubx_trailer().

gps_ubx_reset

uint8_t gps_ubx_reset = 0

Definition at line 77 of file gps_ubx.c.

Referenced by gps_ubx_event(), and gps_ubx_init().