Configure Ublox GPS. More...

#include "modules/gps/gps_ubx_ucenter.h"
#include "subsystems/gps/gps_ubx.h"
#include "ubx_protocol.h"
#include "subsystems/datalink/downlink.h"
#include <stdio.h>

Include dependency graph for gps_ubx_ucenter.c:

Go to the source code of this file.

Macros
#define	DEBUG_PRINT(...) {}

#define	GPS_UBX_UCENTER_STATUS_STOPPED 0

#define	GPS_UBX_UCENTER_STATUS_AUTOBAUD 1

#define	GPS_UBX_UCENTER_STATUS_CONFIG 2

#define	GPS_UBX_UCENTER_STATUS_WAITING 3

#define	GPS_UBX_UCENTER_REPLY_NONE 0

#define	GPS_UBX_UCENTER_REPLY_ACK 1

#define	GPS_UBX_UCENTER_REPLY_NACK 2

#define	GPS_UBX_UCENTER_REPLY_VERSION 3

#define	GPS_UBX_UCENTER_REPLY_CFG_PRT 4

#define	UBX_GPS_BAUD (UBX_GPS_LINK).baudrate

#define	NAV_DYN_STATIONARY 1

#define	NAV_DYN_PEDESTRIAN 2

#define	NAV_DYN_AUTOMOTIVE 3

#define	NAV_DYN_SEA 4

#define	NAV_DYN_AIRBORNE_1G 5

#define	NAV_DYN_AIRBORNE_2G 6

#define	NAV_DYN_AIRBORNE_4G 7

#define	NAV5_DYN_PORTABLE 0

#define	NAV5_DYN_FIXED 1

#define	NAV5_DYN_STATIONARY 2

#define	NAV5_DYN_PEDESTRIAN 3

#define	NAV5_DYN_AUTOMOTIVE 4

#define	NAV5_DYN_SEA 5

#define	NAV5_DYN_AIRBORNE_1G 6

#define	NAV5_DYN_AIRBORNE_2G 7

#define	NAV5_DYN_AIRBORNE_4G 8

#define	GPS_UBX_NAV5_DYNAMICS NAV5_DYN_AIRBORNE_2G

#define	NAV5_MASK 0x05

#define	NAV5_2D_ONLY 1

#define	NAV5_3D_ONLY 2

#define	NAV5_AUTO 3

#define	NAV5_DEFAULT_MIN_ELEV 5

#define	NAV5_DEFAULT_PDOP_MASK 25

#define	NAV5_DEFAULT_TDOP_MASK 25

#define	NAV5_DEFAULT_P_ACC 100

#define	NAV5_DEFAULT_T_ACC 300

#define	NAV5_DEFAULT_STATIC_HOLD_THRES 0

#define	IGNORED 0

#define	RESERVED 0

#define	UBX_UART_MODE_MASK 0x000008D0

#define	UBX_PROTO_MASK 0x0001

#define	NMEA_PROTO_MASK 0x0002

#define	RTCM_PROTO_MASK 0x0004

#define	GPS_PORT_DDC 0x00

#define	GPS_PORT_UART1 0x01

#define	GPS_PORT_UART2 0x02

#define	GPS_PORT_USB 0x03

#define	GPS_PORT_SPI 0x04

#define	GPS_PORT_RESERVED 0x05

#define	GPS_UBX_UCENTER_RATE 0x00FA

#define	GPS_SBAS_ENABLED 0x01

#define	GPS_SBAS_RANGING 0x01

#define	GPS_SBAS_CORRECTIONS 0x02

#define	GPS_SBAS_INTEGRITY 0x04

#define	GPS_SBAS_MAX_SBAS 1

#define	GPS_SBAS_AUTOSCAN 0x00

Functions
static bool	gps_ubx_ucenter_autobaud (uint8_t nr)
	Automatically determine the baudrate of the u-blox module. More...

static bool	gps_ubx_ucenter_configure (uint8_t nr)

void	gps_ubx_ucenter_init (void)

void	gps_ubx_ucenter_periodic (void)

void	gps_ubx_ucenter_event (void)

static void	gps_ubx_ucenter_config_port_poll (void)
	Polls the u-blox port configuration When the payload is omitted (zero length), the configuration for the incoming (currently used) port is reported. More...

static void	gps_ubx_ucenter_enable_msg (uint8_t class, uint8_t id, uint8_t rate)
	Enable u-blox message at desired period. More...

static void	gps_ubx_ucenter_config_nav (void)

static void	gps_ubx_ucenter_config_port (void)

static void	gps_ubx_ucenter_config_sbas (void)

Variables
struct gps_ubx_ucenter_struct	gps_ubx_ucenter

Detailed Description

Configure Ublox GPS.

Definition in file gps_ubx_ucenter.c.

Macro Definition Documentation

#define DEBUG_PRINT ( ... ) {}

Definition at line 39 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port(), gps_ubx_ucenter_configure(), gps_ubx_ucenter_event(), and gps_ubx_ucenter_periodic().

#define GPS_PORT_DDC 0x00

Definition at line 400 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port().

#define GPS_PORT_RESERVED 0x05

Definition at line 405 of file gps_ubx_ucenter.c.

#define GPS_PORT_SPI 0x04

Definition at line 404 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port().

#define GPS_PORT_UART1 0x01

Definition at line 401 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port().

#define GPS_PORT_UART2 0x02

Definition at line 402 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port().

#define GPS_PORT_USB 0x03

Definition at line 403 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port().

#define GPS_SBAS_AUTOSCAN 0x00

Definition at line 453 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_sbas().

#define GPS_SBAS_CORRECTIONS 0x02

Definition at line 448 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_sbas().

#define GPS_SBAS_ENABLED 0x01

Definition at line 445 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_sbas().

#define GPS_SBAS_INTEGRITY 0x04

Definition at line 449 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_sbas().

#define GPS_SBAS_MAX_SBAS 1

Definition at line 451 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_sbas().

#define GPS_SBAS_RANGING 0x01

Definition at line 447 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_sbas().

#define GPS_UBX_NAV5_DYNAMICS NAV5_DYN_AIRBORNE_2G

Definition at line 347 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define GPS_UBX_UCENTER_RATE 0x00FA

Definition at line 408 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_configure().

#define GPS_UBX_UCENTER_REPLY_ACK 1

Definition at line 57 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_autobaud(), gps_ubx_ucenter_configure(), and gps_ubx_ucenter_event().

#define GPS_UBX_UCENTER_REPLY_CFG_PRT 4

Definition at line 60 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_event().

#define GPS_UBX_UCENTER_REPLY_NACK 2

Definition at line 58 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_event().

#define GPS_UBX_UCENTER_REPLY_NONE 0

Definition at line 56 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_autobaud(), gps_ubx_ucenter_configure(), and gps_ubx_ucenter_init().

#define GPS_UBX_UCENTER_REPLY_VERSION 3

Definition at line 59 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_event().

#define GPS_UBX_UCENTER_STATUS_AUTOBAUD 1

Definition at line 52 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_init(), and gps_ubx_ucenter_periodic().

#define GPS_UBX_UCENTER_STATUS_CONFIG 2

Definition at line 53 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_periodic().

#define GPS_UBX_UCENTER_STATUS_STOPPED 0

Definition at line 51 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_event(), and gps_ubx_ucenter_periodic().

#define GPS_UBX_UCENTER_STATUS_WAITING 3

Definition at line 54 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_periodic().

#define IGNORED 0

Definition at line 363 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV5_2D_ONLY 1

Definition at line 352 of file gps_ubx_ucenter.c.

#define NAV5_3D_ONLY 2

Definition at line 353 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV5_AUTO 3

Definition at line 354 of file gps_ubx_ucenter.c.

#define NAV5_DEFAULT_MIN_ELEV 5

Definition at line 356 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV5_DEFAULT_P_ACC 100

Definition at line 359 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV5_DEFAULT_PDOP_MASK 25

Definition at line 357 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV5_DEFAULT_STATIC_HOLD_THRES 0

Definition at line 361 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV5_DEFAULT_T_ACC 300

Definition at line 360 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV5_DEFAULT_TDOP_MASK 25

Definition at line 358 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV5_DYN_AIRBORNE_1G 6

Definition at line 342 of file gps_ubx_ucenter.c.

#define NAV5_DYN_AIRBORNE_2G 7

Definition at line 343 of file gps_ubx_ucenter.c.

#define NAV5_DYN_AIRBORNE_4G 8

Definition at line 344 of file gps_ubx_ucenter.c.

#define NAV5_DYN_AUTOMOTIVE 4

Definition at line 340 of file gps_ubx_ucenter.c.

#define NAV5_DYN_FIXED 1

Definition at line 337 of file gps_ubx_ucenter.c.

#define NAV5_DYN_PEDESTRIAN 3

Definition at line 339 of file gps_ubx_ucenter.c.

#define NAV5_DYN_PORTABLE 0

Definition at line 336 of file gps_ubx_ucenter.c.

#define NAV5_DYN_SEA 5

Definition at line 341 of file gps_ubx_ucenter.c.

#define NAV5_DYN_STATIONARY 2

Definition at line 338 of file gps_ubx_ucenter.c.

#define NAV5_MASK 0x05

Definition at line 350 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV_DYN_AIRBORNE_1G 5

Definition at line 332 of file gps_ubx_ucenter.c.

#define NAV_DYN_AIRBORNE_2G 6

Definition at line 333 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define NAV_DYN_AIRBORNE_4G 7

Definition at line 334 of file gps_ubx_ucenter.c.

#define NAV_DYN_AUTOMOTIVE 3

Definition at line 330 of file gps_ubx_ucenter.c.

#define NAV_DYN_PEDESTRIAN 2

Definition at line 329 of file gps_ubx_ucenter.c.

#define NAV_DYN_SEA 4

Definition at line 331 of file gps_ubx_ucenter.c.

#define NAV_DYN_STATIONARY 1

Definition at line 328 of file gps_ubx_ucenter.c.

#define NMEA_PROTO_MASK 0x0002

Definition at line 397 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port().

#define RESERVED 0

Definition at line 364 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_nav().

#define RTCM_PROTO_MASK 0x0004

Definition at line 398 of file gps_ubx_ucenter.c.

#define UBX_GPS_BAUD (UBX_GPS_LINK).baudrate

Definition at line 63 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_init().

#define UBX_PROTO_MASK 0x0001

Definition at line 396 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port().

#define UBX_UART_MODE_MASK 0x000008D0

Definition at line 394 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_config_port().

Function Documentation

static bool gps_ubx_ucenter_autobaud ( uint8_t nr )

static

Automatically determine the baudrate of the u-blox module.

Only needed when connecting to a UART port on the u-blox. The discovered baudrate is copied to gps_ubx_ucenter.baud_init.

Parameters

nr	Autobaud step number to perform

Returns: FALSE when completed

Definition at line 250 of file gps_ubx_ucenter.c.

References B115200, B230400, B38400, B4800, B57600, B9600, gps_ubx_ucenter_struct::baud_init, gps_ubx_ucenter_struct::baud_run, gps_ubx_ucenter, gps_ubx_ucenter_config_port_poll(), GPS_UBX_UCENTER_REPLY_ACK, GPS_UBX_UCENTER_REPLY_NONE, gps_ubx_ucenter_struct::reply, and uart_periph_set_baudrate().

Referenced by gps_ubx_ucenter_periodic().

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static void gps_ubx_ucenter_config_nav ( void )

inlinestatic

Definition at line 366 of file gps_ubx_ucenter.c.

References gps_ubx_ucenter_struct::dev, GPS_UBX_NAV5_DYNAMICS, gps_ubx_ucenter, gps_ubx_ucenter_struct::hw_ver_h, IGNORED, NAV5_3D_ONLY, NAV5_DEFAULT_MIN_ELEV, NAV5_DEFAULT_P_ACC, NAV5_DEFAULT_PDOP_MASK, NAV5_DEFAULT_STATIC_HOLD_THRES, NAV5_DEFAULT_T_ACC, NAV5_DEFAULT_TDOP_MASK, NAV5_MASK, NAV_DYN_AIRBORNE_2G, RESERVED, and gps_ubx_ucenter_struct::sw_ver_h.

Referenced by gps_ubx_ucenter_configure().

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static void gps_ubx_ucenter_config_port ( void )

inlinestatic

Definition at line 411 of file gps_ubx_ucenter.c.

References gps_ubx_ucenter_struct::baud_target, DEBUG_PRINT, gps_ubx_ucenter_struct::dev, GPS_PORT_DDC, GPS_PORT_SPI, GPS_PORT_UART1, GPS_PORT_UART2, GPS_PORT_USB, gps_ubx_ucenter, NMEA_PROTO_MASK, gps_ubx_ucenter_struct::port_id, UART_SPEED, UBX_PROTO_MASK, and UBX_UART_MODE_MASK.

Referenced by gps_ubx_ucenter_configure().

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static void gps_ubx_ucenter_config_port_poll ( void )

inlinestatic

Polls the u-blox port configuration When the payload is omitted (zero length), the configuration for the incoming (currently used) port is reported.

Definition at line 219 of file gps_ubx_ucenter.c.

References gps_ubx_ucenter_struct::dev, and gps_ubx_ucenter.

Referenced by gps_ubx_ucenter_autobaud().

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static void gps_ubx_ucenter_config_sbas ( void )

inlinestatic

Definition at line 455 of file gps_ubx_ucenter.c.

References gps_ubx_ucenter_struct::dev, GPS_SBAS_AUTOSCAN, GPS_SBAS_CORRECTIONS, GPS_SBAS_ENABLED, GPS_SBAS_INTEGRITY, GPS_SBAS_MAX_SBAS, GPS_SBAS_RANGING, and gps_ubx_ucenter.

Referenced by gps_ubx_ucenter_configure().

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static bool gps_ubx_ucenter_configure ( uint8_t nr )

static

Definition at line 466 of file gps_ubx_ucenter.c.

Referenced by gps_ubx_ucenter_periodic().

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static void gps_ubx_ucenter_enable_msg	(	uint8_t	class,
		uint8_t	id,
		uint8_t	rate
	)

inlinestatic

Enable u-blox message at desired period.

Will enable the message on the port that this command is received on. For example, sending this configuration message over UART1 will cause the desired message to be published on UART1.

For more information on u-blox messages, see the protocol specification. http://www.ublox.com/en/download/documents-a-resources.html

Parameters

class	u-blox message class
id	u-blox message ID
rate	Desired period to send message. Example: Setting 3 would send the message on every 3rd navigation solution.

Definition at line 236 of file gps_ubx_ucenter.c.

References gps_ubx_ucenter_struct::dev, and gps_ubx_ucenter.

Referenced by gps_ubx_ucenter_configure().

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