src/main/io/gps_ublox.h

   1 /*
   2  * This file is part of INAV
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include <stdint.h>
  21 #include <stdbool.h>
  22
  23 #include "common/time.h"
  24
  25 #ifdef __cplusplus
  26 extern "C" {
  27 #endif
  28
  29 #define GPS_CFG_CMD_TIMEOUT_MS              500
  30 #define GPS_VERSION_RETRY_TIMES             3
  31 #define MAX_UBLOX_PAYLOAD_SIZE              256
  32 #define UBLOX_BUFFER_SIZE                   MAX_UBLOX_PAYLOAD_SIZE
  33 #define UBLOX_SBAS_MESSAGE_LENGTH           16
  34 #define GPS_CAPA_INTERVAL                   5000
  35
  36 #define UBX_DYNMODEL_PEDESTRIAN 3
  37 #define UBX_DYNMODEL_AUTOMOVITE 4
  38 #define UBX_DYNMODEL_AIR_1G     6
  39 #define UBX_DYNMODEL_AIR_2G     7
  40 #define UBX_DYNMODEL_AIR_4G     8
  41
  42 #define UBX_FIXMODE_2D_ONLY 1
  43 #define UBX_FIXMODE_3D_ONLY 2
  44 #define UBX_FIXMODE_AUTO    3
  45
  46 #define UBX_VALID_GPS_DATE(valid) (valid & 1 << 0)
  47 #define UBX_VALID_GPS_TIME(valid) (valid & 1 << 1)
  48 #define UBX_VALID_GPS_DATE_TIME(valid) (UBX_VALID_GPS_DATE(valid) && UBX_VALID_GPS_TIME(valid))
  49
  50 #define UBX_HW_VERSION_UNKNOWN  0
  51 #define UBX_HW_VERSION_UBLOX5   500
  52 #define UBX_HW_VERSION_UBLOX6   600
  53 #define UBX_HW_VERSION_UBLOX7   700
  54 #define UBX_HW_VERSION_UBLOX8   800
  55 #define UBX_HW_VERSION_UBLOX9   900
  56 #define UBX_HW_VERSION_UBLOX10  1000
  57
  58
  59 #define UBLOX_CFG_SIGNAL_SBAS_ENA       0x10310020 // U1
  60 #define UBLOX_CFG_SIGNAL_SBAS_L1CA_ENA  0x10310005 // U1
  61
  62 #define UBLOX_CFG_SIGNAL_GAL_ENA        0x10310021 // U1
  63 #define UBLOX_CFG_SIGNAL_GAL_E1_ENA     0x10310007 // U1
  64
  65 #define UBLOX_CFG_SIGNAL_BDS_ENA        0x10310022 // U1
  66 #define UBLOX_CFG_SIGNAL_BDS_B1_ENA     0x1031000d // U1
  67 #define UBLOX_CFG_SIGNAL_BDS_B1C_ENA    0x1031000f // U1 default off
  68
  69 #define UBLOX_CFG_QZSS_ENA              0x10310024 // U1
  70 #define UBLOX_CFG_QZSS_L1CA_ENA         0x10310012 // U1
  71 #define UBLOX_CFG_QZSS_L1S_ENA          0x10310014 // U1
  72
  73 #define UBLOX_CFG_GLO_ENA               0x10310025 // U1 default off - may conflict with other constelations
  74 #define UBLOX_CFG_GLO_L1_ENA            0x10310018 // U1 default off
  75
  76 #define UBLOX_CFG_SBAS_PRNSCANMASK      0x50360006 // 0 = auto // X8
  77 #define UBLOX_SBAS_ALL                  0x0000000000000000 //Enable search for all SBAS PRNs
  78 #define UBLOX_SBAS_PRN120               0x0000000000000001 //Enable search for SBAS PRN120
  79 #define UBLOX_SBAS_PRN121               0x0000000000000002 //Enable search for SBAS PRN121
  80 #define UBLOX_SBAS_PRN122               0x0000000000000004 //Enable search for SBAS PRN122
  81 #define UBLOX_SBAS_PRN123               0x0000000000000008 //Enable search for SBAS PRN123
  82 #define UBLOX_SBAS_PRN124               0x0000000000000010 //Enable search for SBAS PRN124
  83 #define UBLOX_SBAS_PRN125               0x0000000000000020 //Enable search for SBAS PRN125
  84 #define UBLOX_SBAS_PRN126               0x0000000000000040 //Enable search for SBAS PRN126
  85 #define UBLOX_SBAS_PRN127               0x0000000000000080 //Enable search for SBAS PRN127
  86 #define UBLOX_SBAS_PRN128               0x0000000000000100 //Enable search for SBAS PRN128
  87 #define UBLOX_SBAS_PRN129               0x0000000000000200 //Enable search for SBAS PRN129
  88 #define UBLOX_SBAS_PRN130               0x0000000000000400 //Enable search for SBAS PRN130
  89 #define UBLOX_SBAS_PRN131               0x0000000000000800 //Enable search for SBAS PRN131
  90 #define UBLOX_SBAS_PRN132               0x0000000000001000 //Enable search for SBAS PRN132
  91 #define UBLOX_SBAS_PRN133               0x0000000000002000 //Enable search for SBAS PRN133
  92 #define UBLOX_SBAS_PRN134               0x0000000000004000 //Enable search for SBAS PRN134
  93 #define UBLOX_SBAS_PRN135               0x0000000000008000 //Enable search for SBAS PRN135
  94 #define UBLOX_SBAS_PRN136               0x0000000000010000 //Enable search for SBAS PRN136
  95 #define UBLOX_SBAS_PRN137               0x0000000000020000 //Enable search for SBAS PRN137
  96 #define UBLOX_SBAS_PRN138               0x0000000000040000 //Enable search for SBAS PRN138
  97 #define UBLOX_SBAS_PRN139               0x0000000000080000 //Enable search for SBAS PRN139
  98 #define UBLOX_SBAS_PRN140               0x0000000000100000 //Enable search for SBAS PRN140
  99 #define UBLOX_SBAS_PRN141               0x0000000000200000 //Enable search for SBAS PRN141
 100 #define UBLOX_SBAS_PRN142               0x0000000000400000 //Enable search for SBAS PRN142
 101 #define UBLOX_SBAS_PRN143               0x0000000000800000 //Enable search for SBAS PRN143
 102 #define UBLOX_SBAS_PRN144               0x0000000001000000 //Enable search for SBAS PRN144
 103 #define UBLOX_SBAS_PRN145               0x0000000002000000 //Enable search for SBAS PRN145
 104 #define UBLOX_SBAS_PRN146               0x0000000004000000 //Enable search for SBAS PRN146
 105 #define UBLOX_SBAS_PRN147               0x0000000008000000 //Enable search for SBAS PRN147
 106 #define UBLOX_SBAS_PRN148               0x0000000010000000 //Enable search for SBAS PRN148
 107 #define UBLOX_SBAS_PRN149               0x0000000020000000 //Enable search for SBAS PRN149
 108 #define UBLOX_SBAS_PRN150               0x0000000040000000 //Enable search for SBAS PRN150
 109 #define UBLOX_SBAS_PRN151               0x0000000080000000 //Enable search for SBAS PRN151
 110 #define UBLOX_SBAS_PRN152               0x0000000100000000 //Enable search for SBAS PRN152
 111 #define UBLOX_SBAS_PRN153               0x0000000200000000 //Enable search for SBAS PRN153
 112 #define UBLOX_SBAS_PRN154               0x0000000400000000 //Enable search for SBAS PRN154
 113 #define UBLOX_SBAS_PRN155               0x0000000800000000 //Enable search for SBAS PRN155
 114 #define UBLOX_SBAS_PRN156               0x0000001000000000 //Enable search for SBAS PRN156
 115 #define UBLOX_SBAS_PRN157               0x0000002000000000 //Enable search for SBAS PRN157
 116 #define UBLOX_SBAS_PRN158               0x0000004000000000 //Enable search for SBAS PRN158
 117
 118 // payload types
 119 typedef struct {
 120     uint8_t mode;
 121     uint8_t usage;
 122     uint8_t maxSBAS;
 123     uint8_t scanmode2;
 124     uint32_t scanmode1;
 125 } ubx_sbas;
 126
 127 typedef struct {
 128     uint8_t msg_class;
 129     uint8_t id;
 130     uint8_t rate;
 131 } ubx_msg;
 132
 133 typedef struct {
 134     uint16_t meas;
 135     uint16_t nav;
 136     uint16_t time;
 137 } ubx_rate;
 138
 139 typedef struct {
 140      uint8_t gnssId;
 141      uint8_t resTrkCh;
 142      uint8_t maxTrkCh;
 143      uint8_t reserved1;
 144 // flags
 145      uint8_t enabled;
 146      uint8_t undefined0;
 147      uint8_t sigCfgMask;
 148      uint8_t undefined1;
 149 } ubx_gnss_element_t;
 150
 151 typedef struct {
 152      uint8_t msgVer;
 153      uint8_t numTrkChHw;
 154      uint8_t numTrkChUse;
 155      uint8_t numConfigBlocks;
 156      ubx_gnss_element_t config[0];
 157 } ubx_gnss_msg_t;
 158
 159 typedef struct {
 160     uint8_t version;
 161     uint8_t layers;
 162     uint8_t reserved;
 163 } __attribute__((packed)) ubx_config_data_header_v0_t;
 164
 165 typedef struct {
 166     uint8_t version;
 167     uint8_t layers;
 168     uint8_t transaction;
 169     uint8_t reserved;
 170 } __attribute__((packed)) ubx_config_data_header_v1_t;
 171
 172
 173 #define MAX_GNSS 7
 174 #define MAX_GNSS_SIZE_BYTES (sizeof(ubx_gnss_msg_t) + sizeof(ubx_gnss_element_t)*MAX_GNSS)
 175
 176 typedef union {
 177     uint8_t bytes[MAX_GNSS_SIZE_BYTES]; // placeholder
 178     ubx_sbas sbas;
 179     ubx_msg msg;
 180     ubx_rate rate;
 181     ubx_gnss_msg_t gnss;
 182 } ubx_payload;
 183
 184 // UBX support
 185 typedef struct {
 186     uint8_t preamble1;
 187     uint8_t preamble2;
 188     uint8_t msg_class;
 189     uint8_t msg_id;
 190     uint16_t length;
 191 } ubx_header;
 192
 193 typedef struct {
 194     uint32_t key;
 195     uint8_t value;
 196 } __attribute__((packed)) ubx_config_data8_payload_t;
 197
 198
 199 #define MAX_CONFIG_SET_VAL_VALUES   32
 200
 201 typedef struct {
 202     ubx_header header;
 203     ubx_config_data_header_v1_t configHeader;
 204     union {
 205         ubx_config_data8_payload_t payload[0];
 206         uint8_t buffer[(MAX_CONFIG_SET_VAL_VALUES * sizeof(ubx_config_data8_payload_t)) + 2]; // 12 key/value pairs + 2 checksum bytes
 207     } data;
 208 } __attribute__((packed)) ubx_config_data8_t;
 209
 210 typedef struct {
 211     ubx_header header;
 212     ubx_payload payload;
 213 } __attribute__((packed)) ubx_message;
 214
 215 typedef struct {
 216     char swVersion[30];      // Zero-terminated Software Version String
 217     char hwVersion[10];      // Zero-terminated Hardware Version String
 218 } ubx_mon_ver;
 219
 220 typedef struct {
 221     uint32_t time;              // GPS msToW
 222     int32_t longitude;
 223     int32_t latitude;
 224     int32_t altitude_ellipsoid;
 225     int32_t altitude_msl;
 226     uint32_t horizontal_accuracy;
 227     uint32_t vertical_accuracy;
 228 } ubx_nav_posllh;
 229
 230 typedef struct {
 231     uint32_t time;              // GPS msToW
 232     uint8_t fix_type;
 233     uint8_t fix_status;
 234     uint8_t differential_status;
 235     uint8_t res;
 236     uint32_t time_to_first_fix;
 237     uint32_t uptime;            // milliseconds
 238 } ubx_nav_status;
 239
 240 typedef struct {
 241     uint32_t time;
 242     int32_t time_nsec;
 243     int16_t week;
 244     uint8_t fix_type;
 245     uint8_t fix_status;
 246     int32_t ecef_x;
 247     int32_t ecef_y;
 248     int32_t ecef_z;
 249     uint32_t position_accuracy_3d;
 250     int32_t ecef_x_velocity;
 251     int32_t ecef_y_velocity;
 252     int32_t ecef_z_velocity;
 253     uint32_t speed_accuracy;
 254     uint16_t position_DOP;
 255     uint8_t res;
 256     uint8_t satellites;
 257     uint32_t res2;
 258 } ubx_nav_solution;
 259
 260 typedef struct {
 261     uint32_t time;              // GPS msToW
 262     int32_t ned_north;
 263     int32_t ned_east;
 264     int32_t ned_down;
 265     uint32_t speed_3d;
 266     uint32_t speed_2d;
 267     int32_t heading_2d;
 268     uint32_t speed_accuracy;
 269     uint32_t heading_accuracy;
 270 } ubx_nav_velned;
 271
 272 typedef struct {
 273     uint8_t chn;                // Channel number, 255 for SVx not assigned to channel
 274     uint8_t svid;               // Satellite ID
 275     uint8_t flags;              // Bitmask
 276     uint8_t quality;            // Bitfield
 277     uint8_t cno;                // Carrier to Noise Ratio (Signal Strength) // dbHz, 0-55.
 278     uint8_t elev;               // Elevation in integer degrees
 279     int16_t azim;               // Azimuth in integer degrees
 280     int32_t prRes;              // Pseudo range residual in centimetres
 281 } ubx_nav_svinfo_channel;
 282
 283 typedef struct {
 284     uint32_t time;              // GPS Millisecond time of week
 285     uint8_t numCh;              // Number of channels
 286     uint8_t globalFlags;        // Bitmask, Chip hardware generation 0:Antaris, 1:u-blox 5, 2:u-blox 6
 287     uint16_t reserved2;         // Reserved
 288     ubx_nav_svinfo_channel channel[16];         // 16 satellites * 12 byte
 289 } ubx_nav_svinfo;
 290
 291 typedef struct {
 292     uint32_t time;              // GPS msToW
 293     uint32_t tAcc;
 294     int32_t nano;
 295     uint16_t year;
 296     uint8_t month;
 297     uint8_t day;
 298     uint8_t hour;
 299     uint8_t min;
 300     uint8_t sec;
 301     uint8_t valid;
 302 } ubx_nav_timeutc;
 303
 304 typedef struct {
 305     uint32_t time; // GPS msToW
 306     uint16_t year;
 307     uint8_t month;
 308     uint8_t day;
 309     uint8_t hour;
 310     uint8_t min;
 311     uint8_t sec;
 312     uint8_t valid;
 313     uint32_t tAcc;
 314     int32_t nano;
 315     uint8_t fix_type;
 316     uint8_t fix_status;
 317     uint8_t reserved1;
 318     uint8_t satellites;
 319     int32_t longitude;
 320     int32_t latitude;
 321     int32_t altitude_ellipsoid;
 322     int32_t altitude_msl;
 323     uint32_t horizontal_accuracy;
 324     uint32_t vertical_accuracy;
 325     int32_t ned_north;
 326     int32_t ned_east;
 327     int32_t ned_down;
 328     int32_t speed_2d;
 329     int32_t heading_2d;
 330     uint32_t speed_accuracy;
 331     uint32_t heading_accuracy;
 332     uint16_t position_DOP;
 333     uint16_t reserved2;
 334     uint16_t reserved3;
 335 } ubx_nav_pvt;
 336
 337 #define UBX_MON_GNSS_GPS_MASK       (1 << 0)
 338 #define UBX_MON_GNSS_GLONASS_MASK   (1 << 1)
 339 #define UBX_MON_GNSS_BEIDOU_MASK    (1 << 2)
 340 #define UBX_MON_GNSS_GALILEO_MASK   (1 << 3)
 341
 342 typedef struct {
 343     uint8_t version;
 344     uint8_t supported;     // bitfield for GNSS types: 0:GPS, 1:Glonass, 2:Beidou, 3:Galileo
 345     uint8_t defaultGnss;   // bitfield for GNSS types: 0:GPS, 1:Glonass, 2:Beidou, 3:Galileo
 346     uint8_t enabled;       // bitfield for GNSS types: 0:GPS, 1:Glonass, 2:Beidou, 3:Galileo
 347     uint8_t maxConcurrent;
 348     uint8_t reserverd1;
 349     uint8_t reserverd2;
 350     uint8_t reserverd3;
 351 } ubx_mon_gnss;
 352
 353 typedef struct {
 354     uint8_t msg_class;
 355     uint8_t msg;
 356 } ubx_ack_ack;
 357
 358 typedef enum {
 359     UBX_ACK_WAITING = 0,
 360     UBX_ACK_GOT_ACK = 1,
 361     UBX_ACK_GOT_NAK = 2
 362 } ubx_ack_state_t;
 363
 364 typedef enum {
 365     PREAMBLE1 = 0xB5,
 366     PREAMBLE2 = 0x62,
 367     CLASS_NAV = 0x01,
 368     CLASS_ACK = 0x05,
 369     CLASS_CFG = 0x06,
 370     CLASS_MON = 0x0A,
 371     MSG_CLASS_UBX = 0x01,
 372     MSG_CLASS_NMEA = 0xF0,
 373     MSG_VER = 0x04,
 374     MSG_ACK_NACK = 0x00,
 375     MSG_ACK_ACK = 0x01,
 376     MSG_NMEA_GGA = 0x0,
 377     MSG_NMEA_GLL = 0x1,
 378     MSG_NMEA_GSA = 0x2,
 379     MSG_NMEA_GSV = 0x3,
 380     MSG_NMEA_RMC = 0x4,
 381     MSG_NMEA_VGS = 0x5,
 382     MSG_POSLLH = 0x2,
 383     MSG_STATUS = 0x3,
 384     MSG_SOL = 0x6,
 385     MSG_PVT = 0x7,
 386     MSG_VELNED = 0x12,
 387     MSG_TIMEUTC = 0x21,
 388     MSG_SVINFO = 0x30,
 389     MSG_NAV_SAT = 0x35,
 390     MSG_NAV_SIG = 0x35,
 391     MSG_CFG_PRT = 0x00,
 392     MSG_CFG_RATE = 0x08,
 393     MSG_CFG_SET_RATE = 0x01,
 394     MSG_CFG_NAV_SETTINGS = 0x24,
 395     MSG_CFG_SBAS = 0x16,
 396     MSG_CFG_GNSS = 0x3e,
 397     MSG_MON_GNSS = 0x28
 398 } ubx_protocol_bytes_t;
 399
 400 typedef enum {
 401     FIX_NONE = 0,
 402     FIX_DEAD_RECKONING = 1,
 403     FIX_2D = 2,
 404     FIX_3D = 3,
 405     FIX_GPS_DEAD_RECKONING = 4,
 406     FIX_TIME = 5
 407 } ubs_nav_fix_type_t;
 408
 409 typedef enum {
 410     NAV_STATUS_FIX_VALID = 1
 411 } ubx_nav_status_bits_t;
 412
 413 uint8_t gpsUbloxMaxGnss(void);
 414 timeMs_t gpsUbloxCapLastUpdate(void);
 415
 416 bool gpsUbloxHasGalileo(void);
 417 bool gpsUbloxHasBeidou(void);
 418 bool gpsUbloxHasGlonass(void);
 419
 420 bool gpsUbloxGalileoDefault(void);
 421 bool gpsUbloxBeidouDefault(void);
 422 bool gpsUbloxGlonassDefault(void);
 423
 424 bool gpsUbloxGalileoEnabled(void);
 425 bool gpsUbloxBeidouEnabled(void);
 426 bool gpsUbloxGlonassEnabled(void);
 427
 428
 429 #ifdef __cplusplus
 430 }
 431 #endif