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 #include "common/maths.h"
  25 #include "common/utils.h"
  26 #include "build/debug.h"
  27
  28 #ifdef __cplusplus
  29 extern "C" {
  30 #endif
  31
  32 #define GPS_CFG_CMD_TIMEOUT_MS              500
  33 #define GPS_VERSION_RETRY_TIMES             3
  34 #ifndef UBLOX_MAX_SIGNALS
  35 #define UBLOX_MAX_SIGNALS                   64
  36 #endif
  37 #define MAX_UBLOX_PAYLOAD_SIZE              ((UBLOX_MAX_SIGNALS * 16) + 8) // UBX-NAV-SIG info would be UBLOX_MAX_SIGNALS * 16 + 8
  38 #define UBLOX_BUFFER_SIZE                   MAX_UBLOX_PAYLOAD_SIZE
  39 #define UBLOX_SBAS_MESSAGE_LENGTH           16
  40 #define GPS_CAPA_INTERVAL                   5000
  41
  42 STATIC_ASSERT(MAX_UBLOX_PAYLOAD_SIZE >= 256, ubx_size_too_small);
  43
  44 #define UBX_DYNMODEL_PORTABLE   0
  45 #define UBX_DYNMODEL_STATIONARY 2
  46 #define UBX_DYNMODEL_PEDESTRIAN 3
  47 #define UBX_DYNMODEL_AUTOMOVITE 4
  48 #define UBX_DYNMODEL_SEA        5
  49 #define UBX_DYNMODEL_AIR_1G     6
  50 #define UBX_DYNMODEL_AIR_2G     7
  51 #define UBX_DYNMODEL_AIR_4G     8
  52 #define UBX_DYNMODEL_WRIST      9
  53 #define UBX_DYNMODEL_BIKE       10
  54 #define UBX_DYNMODEL_MOWER      11
  55 #define UBX_DYNMODEL_ESCOOTER   12
  56
  57 #define UBX_FIXMODE_2D_ONLY 1
  58 #define UBX_FIXMODE_3D_ONLY 2
  59 #define UBX_FIXMODE_AUTO    3
  60
  61 #define UBX_VALID_GPS_DATE(valid) (valid & 1 << 0)
  62 #define UBX_VALID_GPS_TIME(valid) (valid & 1 << 1)
  63 #define UBX_VALID_GPS_DATE_TIME(valid) (UBX_VALID_GPS_DATE(valid) && UBX_VALID_GPS_TIME(valid))
  64
  65 #define UBX_HW_VERSION_UNKNOWN  0
  66 #define UBX_HW_VERSION_UBLOX5   500
  67 #define UBX_HW_VERSION_UBLOX6   600
  68 #define UBX_HW_VERSION_UBLOX7   700
  69 #define UBX_HW_VERSION_UBLOX8   800
  70 #define UBX_HW_VERSION_UBLOX9   900
  71 #define UBX_HW_VERSION_UBLOX10  1000
  72
  73 #define UBLOX_CFG_MSGOUT_NAV_POSLLH_UART1   0x2091002a // U1
  74 #define UBLOX_CFG_MSGOUT_NAV_SAT_UART1      0x20910016 // U1
  75 #define UBLOX_CFG_MSGOUT_NAV_SIG_UART1      0x20910346 // U1
  76 #define UBLOX_CFG_MSGOUT_NAV_STATUS_UART1   0x2091001b // U1
  77 #define UBLOX_CFG_MSGOUT_NAV_VELNED_UART1   0x20910043 // U1
  78 #define UBLOX_CFG_MSGOUT_NAV_TIMEUTC_UART1  0x2091005c // U1
  79 #define UBLOX_CFG_MSGOUT_NAV_PVT_UART1      0x20910007 // U1
  80 #define UBLOX_CFG_MSGOUT_NMEA_ID_GGA_UART1  0x209100bb // U1
  81 #define UBLOX_CFG_MSGOUT_NMEA_ID_GLL_UART1  0x209100ca // U1
  82 #define UBLOX_CFG_MSGOUT_NMEA_ID_GSA_UART1  0x209100c0 // U1
  83 #define UBLOX_CFG_MSGOUT_NMEA_ID_RMC_UART1  0x209100ac // U1
  84 #define UBLOX_CFG_MSGOUT_NMEA_ID_VTG_UART1  0x209100b1 // U1
  85 #define UBLOX_CFG_NAVSPG_FIXMODE            0x20110011 // E1
  86 #define UBLOX_CFG_NAVSPG_DYNMODEL           0x20110021 // E1
  87 #define UBLOX_CFG_RATE_MEAS                 0x30210001 // U2
  88 #define UBLOX_CFG_RATE_NAV                  0x30210002 // U2
  89 #define UBLOX_CFG_RATE_TIMEREF              0x30210002 // E1
  90
  91
  92
  93 #define UBLOX_CFG_SIGNAL_SBAS_ENA       0x10310020 // U1
  94 #define UBLOX_CFG_SIGNAL_SBAS_L1CA_ENA  0x10310005 // U1
  95
  96 #define UBLOX_CFG_SIGNAL_GAL_ENA        0x10310021 // U1
  97 #define UBLOX_CFG_SIGNAL_GAL_E1_ENA     0x10310007 // U1
  98
  99 #define UBLOX_CFG_SIGNAL_BDS_ENA        0x10310022 // U1
 100 #define UBLOX_CFG_SIGNAL_BDS_B1_ENA     0x1031000d // U1
 101 #define UBLOX_CFG_SIGNAL_BDS_B1C_ENA    0x1031000f // U1 default off
 102
 103 #define UBLOX_CFG_QZSS_ENA              0x10310024 // U1
 104 #define UBLOX_CFG_QZSS_L1CA_ENA         0x10310012 // U1
 105 #define UBLOX_CFG_QZSS_L1S_ENA          0x10310014 // U1
 106
 107 #define UBLOX_CFG_GLO_ENA               0x10310025 // U1 default off - may conflict with other constelations
 108 #define UBLOX_CFG_GLO_L1_ENA            0x10310018 // U1 default off
 109
 110 #define UBLOX_CFG_SBAS_PRNSCANMASK      0x50360006 // 0 = auto // X8
 111 #define UBLOX_SBAS_ALL                  0x0000000000000000 //Enable search for all SBAS PRNs
 112 #define UBLOX_SBAS_PRN120               0x0000000000000001 //Enable search for SBAS PRN120
 113 #define UBLOX_SBAS_PRN121               0x0000000000000002 //Enable search for SBAS PRN121
 114 #define UBLOX_SBAS_PRN122               0x0000000000000004 //Enable search for SBAS PRN122
 115 #define UBLOX_SBAS_PRN123               0x0000000000000008 //Enable search for SBAS PRN123
 116 #define UBLOX_SBAS_PRN124               0x0000000000000010 //Enable search for SBAS PRN124
 117 #define UBLOX_SBAS_PRN125               0x0000000000000020 //Enable search for SBAS PRN125
 118 #define UBLOX_SBAS_PRN126               0x0000000000000040 //Enable search for SBAS PRN126
 119 #define UBLOX_SBAS_PRN127               0x0000000000000080 //Enable search for SBAS PRN127
 120 #define UBLOX_SBAS_PRN128               0x0000000000000100 //Enable search for SBAS PRN128
 121 #define UBLOX_SBAS_PRN129               0x0000000000000200 //Enable search for SBAS PRN129
 122 #define UBLOX_SBAS_PRN130               0x0000000000000400 //Enable search for SBAS PRN130
 123 #define UBLOX_SBAS_PRN131               0x0000000000000800 //Enable search for SBAS PRN131
 124 #define UBLOX_SBAS_PRN132               0x0000000000001000 //Enable search for SBAS PRN132
 125 #define UBLOX_SBAS_PRN133               0x0000000000002000 //Enable search for SBAS PRN133
 126 #define UBLOX_SBAS_PRN134               0x0000000000004000 //Enable search for SBAS PRN134
 127 #define UBLOX_SBAS_PRN135               0x0000000000008000 //Enable search for SBAS PRN135
 128 #define UBLOX_SBAS_PRN136               0x0000000000010000 //Enable search for SBAS PRN136
 129 #define UBLOX_SBAS_PRN137               0x0000000000020000 //Enable search for SBAS PRN137
 130 #define UBLOX_SBAS_PRN138               0x0000000000040000 //Enable search for SBAS PRN138
 131 #define UBLOX_SBAS_PRN139               0x0000000000080000 //Enable search for SBAS PRN139
 132 #define UBLOX_SBAS_PRN140               0x0000000000100000 //Enable search for SBAS PRN140
 133 #define UBLOX_SBAS_PRN141               0x0000000000200000 //Enable search for SBAS PRN141
 134 #define UBLOX_SBAS_PRN142               0x0000000000400000 //Enable search for SBAS PRN142
 135 #define UBLOX_SBAS_PRN143               0x0000000000800000 //Enable search for SBAS PRN143
 136 #define UBLOX_SBAS_PRN144               0x0000000001000000 //Enable search for SBAS PRN144
 137 #define UBLOX_SBAS_PRN145               0x0000000002000000 //Enable search for SBAS PRN145
 138 #define UBLOX_SBAS_PRN146               0x0000000004000000 //Enable search for SBAS PRN146
 139 #define UBLOX_SBAS_PRN147               0x0000000008000000 //Enable search for SBAS PRN147
 140 #define UBLOX_SBAS_PRN148               0x0000000010000000 //Enable search for SBAS PRN148
 141 #define UBLOX_SBAS_PRN149               0x0000000020000000 //Enable search for SBAS PRN149
 142 #define UBLOX_SBAS_PRN150               0x0000000040000000 //Enable search for SBAS PRN150
 143 #define UBLOX_SBAS_PRN151               0x0000000080000000 //Enable search for SBAS PRN151
 144 #define UBLOX_SBAS_PRN152               0x0000000100000000 //Enable search for SBAS PRN152
 145 #define UBLOX_SBAS_PRN153               0x0000000200000000 //Enable search for SBAS PRN153
 146 #define UBLOX_SBAS_PRN154               0x0000000400000000 //Enable search for SBAS PRN154
 147 #define UBLOX_SBAS_PRN155               0x0000000800000000 //Enable search for SBAS PRN155
 148 #define UBLOX_SBAS_PRN156               0x0000001000000000 //Enable search for SBAS PRN156
 149 #define UBLOX_SBAS_PRN157               0x0000002000000000 //Enable search for SBAS PRN157
 150 #define UBLOX_SBAS_PRN158               0x0000004000000000 //Enable search for SBAS PRN158
 151
 152 // payload types
 153 typedef struct {
 154     uint8_t mode;
 155     uint8_t usage;
 156     uint8_t maxSBAS;
 157     uint8_t scanmode2;
 158     uint32_t scanmode1;
 159 } ubx_sbas;
 160
 161 typedef struct {
 162     uint8_t msg_class;
 163     uint8_t id;
 164     uint8_t rate;
 165 } ubx_msg;
 166
 167 typedef struct {
 168     uint16_t meas;
 169     uint16_t nav;
 170     uint16_t time;
 171 } ubx_rate;
 172
 173 typedef struct {
 174      uint8_t gnssId;
 175      uint8_t resTrkCh;
 176      uint8_t maxTrkCh;
 177      uint8_t reserved1;
 178 // flags
 179      uint8_t enabled;
 180      uint8_t undefined0;
 181      uint8_t sigCfgMask;
 182      uint8_t undefined1;
 183 } ubx_gnss_element_t;
 184
 185 typedef struct {
 186      uint8_t msgVer;
 187      uint8_t numTrkChHw;
 188      uint8_t numTrkChUse;
 189      uint8_t numConfigBlocks;
 190      ubx_gnss_element_t config[0];
 191 } ubx_gnss_msg_t;
 192
 193 typedef struct {
 194     uint8_t version;
 195     uint8_t layers;
 196     uint8_t reserved;
 197 } __attribute__((packed)) ubx_config_data_header_v0_t;
 198
 199 typedef struct {
 200     uint8_t version;
 201     uint8_t layers;
 202     uint8_t transaction;
 203     uint8_t reserved;
 204 } __attribute__((packed)) ubx_config_data_header_v1_t;
 205
 206 #define UBLOX_SIG_HEALTH_MASK   (BIT(0) | BIT(1))
 207 #define UBLOX_SIG_PRSMOOTHED    (BIT(2))
 208 #define UBLOX_SIG_PRUSED        (BIT(3))
 209 #define UBLOX_SIG_CRUSED        (BIT(4))
 210 #define UBLOX_SIG_DOUSED        (BIT(5))
 211 #define UBLOX_SIG_PRCORRUSED    (BIT(6))
 212 #define UBLOX_SIG_CRCORRUSED    (BIT(7))
 213 #define UBLOX_SIG_DOCORRUSED    (BIT(8))
 214 #define UBLOX_SIG_AUTHSTATUS    (BIT(9))
 215
 216 typedef enum {
 217     UBLOX_SIG_HEALTH_UNKNOWN = 0,
 218     UBLOX_SIG_HEALTH_HEALTHY = 1,
 219     UBLOX_SIG_HEALTH_UNHEALTHY = 2
 220 } ublox_nav_sig_health_e;
 221
 222 typedef enum {
 223     UBLOX_SIG_QUALITY_NOSIGNAL = 0,
 224     UBLOX_SIG_QUALITY_SEARCHING = 1,
 225     UBLOX_SIG_QUALITY_ACQUIRED = 2,
 226     UBLOX_SIG_QUALITY_UNUSABLE = 3,
 227     UBLOX_SIG_QUALITY_CODE_LOCK_TIME_SYNC = 4,
 228     UBLOX_SIG_QUALITY_CODE_CARRIER_LOCK_TIME_SYNC = 5,
 229     UBLOX_SIG_QUALITY_CODE_CARRIER_LOCK_TIME_SYNC2 = 6,
 230     UBLOX_SIG_QUALITY_CODE_CARRIER_LOCK_TIME_SYNC3 = 7,
 231 } ublox_nav_sig_quality;
 232
 233 typedef struct {
 234     uint8_t gnssId;   // gnssid 0 = GPS, 1 = SBAS, 2 = GALILEO, 3 = BEIDOU, 4 = IMES, 5 = QZSS, 6 = GLONASS
 235     uint8_t svId;     // space vehicle ID
 236     uint8_t sigId;    // signal ID
 237     uint8_t freqId;   // 0-13 slot +, 0-13, glonass only
 238     int16_t prRes;    // pseudo range residual (0.1m)
 239     uint8_t cno;      // carrier to noise density ratio (dbHz)
 240     uint8_t quality;  // 0 = no signal, 1 = search, 2 = acq, 3 = detected, 4 = code lock + time, 5,6,7 = code/carrier lock + time
 241     uint8_t corrSource; // Correction source: 0 = no correction, 1 = SBAS, 2 = BeiDou, 3 = RTCM2, 4 = RTCM3 OSR, 5 = RTCM3 SSR, 6 = QZSS SLAS, 7 = SPARTN
 242     uint8_t ionoModel;  // 0 = no mode, 1 = Klobuchar GPS, 2 = SBAS, 3 = Klobuchar BeiDou, 8 = Iono derived from dual frequency observations
 243     uint16_t sigFlags;  // bit:0-1 UBLOX_SIG_HEALTH_MASK
 244                         // bit2: pseudorange smoothed,
 245                         // bit3: pseudorange used,
 246                         // bit4: carrioer range used;
 247                         // bit5: doppler used
 248                         // bit6: pseudorange corrections used
 249                         // bit7: carrier correction used
 250                         // bit8: doper corrections used
 251     uint8_t reserved[4];
 252 } __attribute__((packed)) ubx_nav_sig_info;
 253
 254 STATIC_ASSERT(sizeof(ubx_nav_sig_info) == 16, wrong_ubx_nav_sig_info_size);
 255
 256 typedef struct {
 257     uint32_t time;              // GPS iToW
 258     uint8_t version;            // We support version 0
 259     uint8_t numSigs;            // number of signals
 260     uint16_t reserved;
 261     ubx_nav_sig_info sig[UBLOX_MAX_SIGNALS];  // 32 signals
 262 }  __attribute__((packed)) ubx_nav_sig;
 263
 264 #define MAX_GNSS 7
 265 #define MAX_GNSS_SIZE_BYTES (sizeof(ubx_gnss_msg_t) + sizeof(ubx_gnss_element_t)*MAX_GNSS)
 266
 267 typedef union {
 268     uint8_t bytes[MAX_GNSS_SIZE_BYTES]; // placeholder
 269     ubx_sbas sbas;
 270     ubx_msg msg;
 271     ubx_rate rate;
 272     ubx_gnss_msg_t gnss;
 273 } ubx_payload;
 274
 275 // UBX support
 276 typedef struct {
 277     uint8_t preamble1;
 278     uint8_t preamble2;
 279     uint8_t msg_class;
 280     uint8_t msg_id;
 281     uint16_t length;
 282 } ubx_header;
 283
 284 typedef struct {
 285     uint32_t key;
 286     uint8_t value;
 287 } __attribute__((packed)) ubx_config_data8_payload_t;
 288
 289 typedef struct {
 290     uint32_t key;
 291     uint16_t value;
 292 } __attribute__((packed)) ubx_config_data16_payload_t;
 293
 294
 295
 296
 297 #define MAX_CONFIG_SET_VAL_VALUES   32
 298
 299 typedef struct {
 300     ubx_header header;
 301     ubx_config_data_header_v1_t configHeader;
 302     union {
 303         ubx_config_data8_payload_t payload[0];
 304         uint8_t buffer[(MAX_CONFIG_SET_VAL_VALUES * sizeof(ubx_config_data8_payload_t)) + 2]; // 12 key/value pairs + 2 checksum bytes
 305     } data;
 306 } __attribute__((packed)) ubx_config_data8_t;
 307
 308 typedef struct {
 309     ubx_header header;
 310     ubx_config_data_header_v1_t configHeader;
 311     union {
 312         ubx_config_data16_payload_t payload[0];
 313         uint8_t buffer[(MAX_CONFIG_SET_VAL_VALUES * sizeof(ubx_config_data16_payload_t)) + 2]; // 12 key/value pairs + 2 checksum bytes
 314     } data;
 315 } __attribute__((packed)) ubx_config_data16_t;
 316
 317
 318
 319 typedef struct {
 320     ubx_header header;
 321     ubx_payload payload;
 322 } __attribute__((packed)) ubx_message;
 323
 324 typedef struct {
 325     char swVersion[30];      // Zero-terminated Software Version String
 326     char hwVersion[10];      // Zero-terminated Hardware Version String
 327 } ubx_mon_ver;
 328
 329 typedef struct {
 330     uint32_t time;              // GPS msToW
 331     int32_t longitude;
 332     int32_t latitude;
 333     int32_t altitude_ellipsoid;
 334     int32_t altitude_msl;
 335     uint32_t horizontal_accuracy;
 336     uint32_t vertical_accuracy;
 337 } ubx_nav_posllh;
 338
 339 typedef struct {
 340     uint32_t time;              // GPS msToW
 341     uint8_t fix_type;
 342     uint8_t fix_status;
 343     uint8_t differential_status;
 344     uint8_t res;
 345     uint32_t time_to_first_fix;
 346     uint32_t uptime;            // milliseconds
 347 } ubx_nav_status;
 348
 349 typedef struct {
 350     uint32_t time;
 351     int32_t time_nsec;
 352     int16_t week;
 353     uint8_t fix_type;
 354     uint8_t fix_status;
 355     int32_t ecef_x;
 356     int32_t ecef_y;
 357     int32_t ecef_z;
 358     uint32_t position_accuracy_3d;
 359     int32_t ecef_x_velocity;
 360     int32_t ecef_y_velocity;
 361     int32_t ecef_z_velocity;
 362     uint32_t speed_accuracy;
 363     uint16_t position_DOP;
 364     uint8_t res;
 365     uint8_t satellites;
 366     uint32_t res2;
 367 } ubx_nav_solution;
 368
 369 typedef struct {
 370     uint32_t time;              // GPS msToW
 371     int32_t ned_north;
 372     int32_t ned_east;
 373     int32_t ned_down;
 374     uint32_t speed_3d;
 375     uint32_t speed_2d;
 376     int32_t heading_2d;
 377     uint32_t speed_accuracy;
 378     uint32_t heading_accuracy;
 379 } ubx_nav_velned;
 380
 381 typedef struct {
 382     uint8_t gnssId;             // Channel number, 255 for SVx not assigned to channel
 383     uint8_t svId;               // Satellite ID
 384     uint8_t cno;                // Carrier to Noise Ratio (Signal Strength) // dbHz, 0-55.
 385     int8_t elev;                // Elevation in integer degrees +/-90
 386     int16_t azim;               // Azimuth in integer degrees 0-360
 387     int16_t prRes;              // Pseudo range residual in .1m
 388     uint32_t flags;              // Bitmask
 389 } ubx_nav_svinfo_channel;
 390
 391 STATIC_ASSERT(sizeof(ubx_nav_svinfo_channel) == 12, wrong_ubx_nav_svinfo_channel_size);
 392
 393 typedef struct {
 394     uint32_t itow;              // GPS Millisecond time of week
 395     uint8_t version;            // Version = 0-1
 396     uint8_t numSvs;             // (Space vehicle) Satelite count
 397     uint16_t reserved2;         // Reserved
 398     ubx_nav_svinfo_channel channel[UBLOX_MAX_SIGNALS]; // UBLOX_MAX_SIGNALS satellites * 12 byte
 399 } ubx_nav_svinfo;
 400
 401 typedef struct {
 402     uint32_t time;              // GPS msToW
 403     uint32_t tAcc;
 404     int32_t nano;
 405     uint16_t year;
 406     uint8_t month;
 407     uint8_t day;
 408     uint8_t hour;
 409     uint8_t min;
 410     uint8_t sec;
 411     uint8_t valid;
 412 } ubx_nav_timeutc;
 413
 414 typedef struct {
 415     uint32_t time; // GPS msToW
 416     uint16_t year;
 417     uint8_t month;
 418     uint8_t day;
 419     uint8_t hour;
 420     uint8_t min;
 421     uint8_t sec;
 422     uint8_t valid;
 423     uint32_t tAcc;
 424     int32_t nano;
 425     uint8_t fix_type;
 426     uint8_t fix_status;
 427     uint8_t reserved1;
 428     uint8_t satellites;
 429     int32_t longitude;
 430     int32_t latitude;
 431     int32_t altitude_ellipsoid;
 432     int32_t altitude_msl;
 433     uint32_t horizontal_accuracy;
 434     uint32_t vertical_accuracy;
 435     int32_t ned_north;
 436     int32_t ned_east;
 437     int32_t ned_down;
 438     int32_t speed_2d;
 439     int32_t heading_2d;
 440     uint32_t speed_accuracy;
 441     uint32_t heading_accuracy;
 442     uint16_t position_DOP;
 443     uint16_t reserved2;
 444     uint16_t reserved3;
 445 } ubx_nav_pvt;
 446
 447 #define UBX_MON_GNSS_GPS_MASK       (1 << 0)
 448 #define UBX_MON_GNSS_GLONASS_MASK   (1 << 1)
 449 #define UBX_MON_GNSS_BEIDOU_MASK    (1 << 2)
 450 #define UBX_MON_GNSS_GALILEO_MASK   (1 << 3)
 451
 452 typedef struct {
 453     uint8_t version;
 454     uint8_t supported;     // bitfield for GNSS types: 0:GPS, 1:Glonass, 2:Beidou, 3:Galileo
 455     uint8_t defaultGnss;   // bitfield for GNSS types: 0:GPS, 1:Glonass, 2:Beidou, 3:Galileo
 456     uint8_t enabled;       // bitfield for GNSS types: 0:GPS, 1:Glonass, 2:Beidou, 3:Galileo
 457     uint8_t maxConcurrent;
 458     uint8_t reserverd1;
 459     uint8_t reserverd2;
 460     uint8_t reserverd3;
 461 } ubx_mon_gnss;
 462
 463
 464
 465 typedef struct {
 466     uint8_t msg_class;
 467     uint8_t msg;
 468 } ubx_ack_ack;
 469
 470 typedef enum {
 471     UBX_ACK_WAITING = 0,
 472     UBX_ACK_GOT_ACK = 1,
 473     UBX_ACK_GOT_NAK = 2
 474 } ubx_ack_state_t;
 475
 476 typedef enum {
 477     PREAMBLE1 = 0xB5,
 478     PREAMBLE2 = 0x62,
 479     CLASS_NAV = 0x01,
 480     CLASS_ACK = 0x05,
 481     CLASS_CFG = 0x06,
 482     CLASS_MON = 0x0A,
 483     MSG_CLASS_UBX = 0x01,
 484     MSG_CLASS_NMEA = 0xF0,
 485     MSG_VER = 0x04,
 486     MSG_ACK_NACK = 0x00,
 487     MSG_ACK_ACK = 0x01,
 488     MSG_NMEA_GGA = 0x0,
 489     MSG_NMEA_GLL = 0x1,
 490     MSG_NMEA_GSA = 0x2,
 491     MSG_NMEA_GSV = 0x3,
 492     MSG_NMEA_RMC = 0x4,
 493     MSG_NMEA_VGS = 0x5,
 494     MSG_POSLLH = 0x2,
 495     MSG_STATUS = 0x3,
 496     MSG_SOL = 0x6,
 497     MSG_PVT = 0x7,
 498     MSG_VELNED = 0x12,
 499     MSG_TIMEUTC = 0x21,
 500     MSG_SVINFO = 0x30,
 501     MSG_NAV_SAT = 0x35,
 502     MSG_CFG_PRT = 0x00,
 503     MSG_CFG_RATE = 0x08,
 504     MSG_CFG_SET_RATE = 0x01,
 505     MSG_CFG_NAV_SETTINGS = 0x24,
 506     MSG_CFG_SBAS = 0x16,
 507     MSG_CFG_GNSS = 0x3e,
 508     MSG_MON_GNSS = 0x28,
 509     MSG_NAV_SIG = 0x43
 510 } ubx_protocol_bytes_t;
 511
 512 typedef enum {
 513     FIX_NONE = 0,
 514     FIX_DEAD_RECKONING = 1,
 515     FIX_2D = 2,
 516     FIX_3D = 3,
 517     FIX_GPS_DEAD_RECKONING = 4,
 518     FIX_TIME = 5
 519 } ubs_nav_fix_type_t;
 520
 521 typedef enum {
 522     NAV_STATUS_FIX_VALID = 1
 523 } ubx_nav_status_bits_t;
 524
 525 uint8_t gpsUbloxMaxGnss(void);
 526 timeMs_t gpsUbloxCapLastUpdate(void);
 527
 528 bool gpsUbloxHasGalileo(void);
 529 bool gpsUbloxHasBeidou(void);
 530 bool gpsUbloxHasGlonass(void);
 531
 532 bool gpsUbloxGalileoDefault(void);
 533 bool gpsUbloxBeidouDefault(void);
 534 bool gpsUbloxGlonassDefault(void);
 535
 536 bool gpsUbloxGalileoEnabled(void);
 537 bool gpsUbloxBeidouEnabled(void);
 538 bool gpsUbloxGlonassEnabled(void);
 539 bool gpsUbloxSendCommand(uint8_t *rawCommand, uint16_t commandLen, uint16_t timeout);
 540
 541 bool isGpsUblox(void);
 542
 543 const ubx_nav_sig_info *gpsGetUbloxSatelite(uint8_t index);
 544
 545 bool ubloxVersionLTE(uint8_t mj, uint8_t mn);
 546 bool ubloxVersionLT(uint8_t mj, uint8_t mn);
 547 bool ubloxVersionGT(uint8_t mj, uint8_t mn);
 548 bool ubloxVersionGTE(uint8_t mj, uint8_t mn);
 549 bool ubloxVersionE(uint8_t mj, uint8_t mn);
 550
 551 #ifdef __cplusplus
 552 }
 553 #endif