gps_ubx.h

Go to the documentation of this file.

/*
 * Copyright (C) 2008-2011 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

#ifndef GPS_UBX_H
#define GPS_UBX_H

#ifdef GPS_CONFIGURE
#warning "Please use gps_ubx_ucenter.xml module instead of GPS_CONFIGURE"
#endif

#include "mcu_periph/uart.h"

#define GPS_NB_CHANNELS 16

#define GPS_UBX_MAX_PAYLOAD 255
struct GpsUbx {
  bool_t msg_available;
  uint8_t msg_buf[GPS_UBX_MAX_PAYLOAD] __attribute__((aligned));
  uint8_t msg_id;
  uint8_t msg_class;

  uint8_t status;
  uint16_t len;
  uint8_t msg_idx;
  uint8_t ck_a, ck_b;
  uint8_t send_ck_a, send_ck_b;
  uint8_t error_cnt;
  uint8_t error_last;

  uint8_t status_flags;
  uint8_t sol_flags;
  uint8_t have_velned;

};

extern struct GpsUbx gps_ubx;

#if USE_GPS_UBX_RXM_RAW
struct GpsUbxRawMes {
  double cpMes;
  double prMes;
  float doMes;
  uint8_t sv;
  int8_t mesQI;
  int8_t cno;
  uint8_t lli;
};

struct GpsUbxRaw {
  int32_t iTOW;
  int16_t week;
  uint8_t numSV;
  struct GpsUbxRawMes measures[GPS_NB_CHANNELS];
};

extern struct GpsUbxRaw gps_ubx_raw;
#endif

/*
 * This part is used by the autopilot to read data from a uart
 */
#include "mcu_periph/link_device.h"

extern void ubx_header(struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len);
extern void ubx_trailer(struct link_device *dev);
extern void ubx_send_bytes(struct link_device *dev, uint8_t len, uint8_t *bytes);
extern void ubx_send_cfg_rst(struct link_device *dev, uint16_t bbr, uint8_t reset_mode);

extern void gps_ubx_read_message(void);
extern void gps_ubx_parse(uint8_t c);
extern void gps_ubx_msg(void);


/* Gps callback is called when receiving a VELNED or a SOL message
 * All position/speed messages are sent in one shot and VELNED is the last one on fixedwing
 * For rotorcraft, only SOL message is needed for pos/speed data
 */
static inline void GpsEvent(void)
{
  struct link_device *dev = &((GPS_LINK).device);

  while (dev->char_available(dev->periph)) {
    gps_ubx_parse(dev->get_byte(dev->periph));
    if (gps_ubx.msg_available) {
      gps_ubx_msg();
    }
  }
}


/*
 * GPS Reset
 */

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

#endif /* GPS_UBX_H */