flight/modules/GPS/inc/UBX.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup GPSModule GPS Module
   6  * @brief Process GPS information (UBX binary format)
   7  * @{
   8  *
   9  * @file       UBX.h
  10  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
  11  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  12  * @brief      GPS module, handles GPS and UBX stream
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef UBX_H
  33 #define UBX_H
  34 #include "openpilot.h"
  35 #include "gpspositionsensor.h"
  36 #include "gpsextendedstatus.h"
  37 #ifndef PIOS_GPS_MINIMAL
  38 #include "auxmagsensor.h"
  39 #endif
  40
  41 #include "GPS.h"
  42
  43 #define UBX_HW_VERSION_8 80000
  44 #define UBX_HW_VERSION_7 70000
  45 #define UBX_HW_VERSION_6 60000
  46 #define UBX_HW_VERSION_5 50000
  47
  48 #define UBX_SYNC1        0xb5 // UBX protocol synchronization characters
  49 #define UBX_SYNC2        0x62
  50
  51 // From u-blox6 receiver protocol specification
  52
  53 // Messages classes
  54 typedef enum {
  55     UBX_CLASS_NAV     = 0x01,
  56     UBX_CLASS_ACK     = 0x05,
  57     UBX_CLASS_CFG     = 0x06,
  58     UBX_CLASS_MON     = 0x0A,
  59     UBX_CLASS_OP_CUST = 0x99,
  60     UBX_CLASS_AID     = 0x0B,
  61     // unused class IDs, used for disabling them
  62     UBX_CLASS_RXM     = 0x02,
  63 } ubx_class;
  64
  65 // Message IDs
  66 typedef enum {
  67     UBX_ID_NAV_POSLLH    = 0x02,
  68     UBX_ID_NAV_STATUS    = 0x03,
  69     UBX_ID_NAV_DOP       = 0x04,
  70     UBX_ID_NAV_SOL       = 0x06,
  71     UBX_ID_NAV_VELNED    = 0x12,
  72     UBX_ID_NAV_TIMEUTC   = 0x21,
  73     UBX_ID_NAV_SVINFO    = 0x30,
  74     UBX_ID_NAV_PVT       = 0x07,
  75
  76     UBX_ID_NAV_AOPSTATUS = 0x60,
  77     UBX_ID_NAV_CLOCK     = 0x22,
  78     UBX_ID_NAV_DGPS      = 0x31,
  79     UBX_ID_NAV_POSECEF   = 0x01,
  80     UBX_ID_NAV_SBAS      = 0x32,
  81     UBX_ID_NAV_TIMEGPS   = 0x20,
  82     UBX_ID_NAV_VELECEF   = 0x11
  83 } ubx_class_nav_id;
  84
  85 typedef enum {
  86     UBX_ID_OP_SYS = 0x01,
  87     UBX_ID_OP_MAG = 0x02,
  88 } ubx_class_op_id;
  89
  90 typedef enum {
  91     UBX_ID_MON_VER    = 0x04,
  92     // unused messages IDs, used for disabling them
  93     UBX_ID_MON_HW2    = 0x0B,
  94     UBX_ID_MON_HW     = 0x09,
  95     UBX_ID_MON_IO     = 0x02,
  96     UBX_ID_MON_MSGPP  = 0x06,
  97     UBX_ID_MON_RXBUFF = 0x07,
  98     UBX_ID_MON_RXR    = 0x21,
  99     UBX_ID_MON_TXBUF  = 0x08,
 100 } ubx_class_mon_id;
 101
 102 typedef enum {
 103     UBX_ID_CFG_NAV5  = 0x24,
 104     UBX_ID_CFG_NAVX5 = 0x23,
 105     UBX_ID_CFG_RATE  = 0x08,
 106     UBX_ID_CFG_MSG   = 0x01,
 107     UBX_ID_CFG_CFG   = 0x09,
 108     UBX_ID_CFG_SBAS  = 0x16,
 109     UBX_ID_CFG_GNSS  = 0x3E,
 110     UBX_ID_CFG_PRT   = 0x00
 111 } ubx_class_cfg_id;
 112
 113 typedef enum {
 114     UBX_ID_ACK_ACK = 0x01,
 115     UBX_ID_ACK_NAK = 0x00,
 116 } ubx_class_ack_id;
 117
 118 typedef enum {
 119     UBX_ID_AID_ALM    = 0x0B,
 120     UBX_ID_AID_ALPSRV = 0x32,
 121     UBX_ID_AID_ALP    = 0x50,
 122     UBX_ID_AID_AOP    = 0x33,
 123     UBX_ID_AID_DATA   = 0x10,
 124     UBX_ID_AID_EPH    = 0x31,
 125     UBX_ID_AID_HUI    = 0x02,
 126     UBX_ID_AID_INI    = 0x01,
 127     UBX_ID_AID_REQ    = 0x00,
 128 } ubx_class_aid_id;
 129
 130 typedef enum {
 131     UBX_ID_RXM_ALM  = 0x30,
 132     UBX_ID_RXM_EPH  = 0x31,
 133     UBX_ID_RXM_RAW  = 0x10,
 134     UBX_ID_RXM_SFRB = 0x11,
 135     UBX_ID_RXM_SVSI = 0x20,
 136 } ubx_class_rxm_id;
 137
 138 typedef enum {
 139     UBX_GNSS_ID_GPS     = 0,
 140     UBX_GNSS_ID_SBAS    = 1,
 141     UBX_GNSS_ID_GALILEO = 2,
 142     UBX_GNSS_ID_BEIDOU  = 3,
 143     UBX_GNSS_ID_IMES    = 4,
 144     UBX_GNSS_ID_QZSS    = 5,
 145     UBX_GNSS_ID_GLONASS = 6,
 146     UBX_GNSS_ID_MAX
 147 } ubx_config_gnss_id_t;
 148
 149 // Enumeration options for field UBXDynamicModel
 150 typedef enum {
 151     UBX_DYNMODEL_PORTABLE   = 0,
 152     UBX_DYNMODEL_STATIONARY = 2,
 153     UBX_DYNMODEL_PEDESTRIAN = 3,
 154     UBX_DYNMODEL_AUTOMOTIVE = 4,
 155     UBX_DYNMODEL_SEA = 5,
 156     UBX_DYNMODEL_AIRBORNE1G = 6,
 157     UBX_DYNMODEL_AIRBORNE2G = 7,
 158     UBX_DYNMODEL_AIRBORNE4G = 8
 159 } ubx_config_dynamicmodel_t;
 160
 161 typedef enum {
 162     UBX_SBAS_SATS_AUTOSCAN = 0,
 163     UBX_SBAS_SATS_WAAS     = 1,
 164     UBX_SBAS_SATS_EGNOS    = 2,
 165     UBX_SBAS_SATS_MSAS     = 3,
 166     UBX_SBAS_SATS_GAGAN    = 4,
 167     UBX_SBAS_SATS_SDCM     = 5
 168 } ubx_config_sats_t;
 169
 170 // private structures
 171
 172 // Geodetic Position Solution
 173 struct UBX_NAV_POSLLH {
 174     uint32_t iTOW; // GPS Millisecond Time of Week (ms)
 175     int32_t  lon;    // Longitude (deg*1e-7)
 176     int32_t  lat;    // Latitude (deg*1e-7)
 177     int32_t  height; // Height above Ellipsoid (mm)
 178     int32_t  hMSL;   // Height above mean sea level (mm)
 179     uint32_t hAcc; // Horizontal Accuracy Estimate (mm)
 180     uint32_t vAcc; // Vertical Accuracy Estimate (mm)
 181 } __attribute__((packed));
 182
 183 // Receiver Navigation Status
 184 #define STATUS_GPSFIX_NOFIX    0x00
 185 #define STATUS_GPSFIX_DRONLY   0x01
 186 #define STATUS_GPSFIX_2DFIX    0x02
 187 #define STATUS_GPSFIX_3DFIX    0x03
 188 #define STATUS_GPSFIX_GPSDR    0x04
 189 #define STATUS_GPSFIX_TIMEONLY 0x05
 190
 191 #define STATUS_FLAGS_GPSFIX_OK (1 << 0)
 192 #define STATUS_FLAGS_DIFFSOLN  (1 << 1)
 193 #define STATUS_FLAGS_WKNSET    (1 << 2)
 194 #define STATUS_FLAGS_TOWSET    (1 << 3)
 195
 196 struct UBX_NAV_STATUS {
 197     uint32_t iTOW; // GPS Millisecond Time of Week (ms)
 198     uint8_t  gpsFix;  // GPS fix type
 199     uint8_t  flags;   // Navigation Status Flags
 200     uint8_t  fixStat; // Fix Status Information
 201     uint8_t  flags2;  // Additional navigation output information
 202     uint32_t ttff; // Time to first fix (ms)
 203     uint32_t msss; // Milliseconds since startup/reset (ms)
 204 } __attribute__((packed));
 205
 206 // Dilution of precision
 207 struct UBX_NAV_DOP {
 208     uint32_t iTOW; // GPS Millisecond Time of Week (ms)
 209     uint16_t gDOP; // Geometric DOP
 210     uint16_t pDOP; // Position DOP
 211     uint16_t tDOP; // Time DOP
 212     uint16_t vDOP; // Vertical DOP
 213     uint16_t hDOP; // Horizontal DOP
 214     uint16_t nDOP; // Northing DOP
 215     uint16_t eDOP; // Easting DOP
 216 } __attribute__((packed));
 217
 218 // Navigation solution
 219 struct UBX_NAV_SOL {
 220     uint32_t iTOW; // GPS Millisecond Time of Week (ms)
 221     int32_t  fTOW;       // fractional nanoseconds (ns)
 222     int16_t  week;       // GPS week
 223     uint8_t  gpsFix;     // GPS fix type
 224     uint8_t  flags;      // Fix status flags
 225     int32_t  ecefX;      // ECEF X coordinate (cm)
 226     int32_t  ecefY;      // ECEF Y coordinate (cm)
 227     int32_t  ecefZ;      // ECEF Z coordinate (cm)
 228     uint32_t pAcc; // 3D Position Accuracy Estimate (cm)
 229     int32_t  ecefVX;     // ECEF X coordinate (cm/s)
 230     int32_t  ecefVY;     // ECEF Y coordinate (cm/s)
 231     int32_t  ecefVZ;     // ECEF Z coordinate (cm/s)
 232     uint32_t sAcc; // Speed Accuracy Estimate
 233     uint16_t pDOP; // Position DOP
 234     uint8_t  reserved1;  // Reserved
 235     uint8_t  numSV;      // Number of SVs used in Nav Solution
 236     uint32_t reserved2; // Reserved
 237 } __attribute__((packed));
 238
 239 // PVT Navigation Position Velocity Time Solution
 240 #define PVT_VALID_VALIDDATE            0x01
 241 #define PVT_VALID_VALIDTIME            0x02
 242 #define PVT_VALID_FULLYRESOLVED        0x04
 243
 244 #define PVT_FIX_TYPE_NO_FIX            0
 245 #define PVT_FIX_TYPE_DEAD_RECKON       0x01 // Dead Reckoning only
 246 #define PVT_FIX_TYPE_2D                0x02 // 2D-Fix
 247 #define PVT_FIX_TYPE_3D                0x03 // 3D-Fix
 248 #define PVT_FIX_TYPE_GNSS_DEAD_RECKON  0x04 // GNSS + dead reckoning combined
 249 #define PVT_FIX_TYPE_TIME_ONLY         0x05 // Time only fix
 250
 251 #define PVT_FLAGS_GNSSFIX_OK           (1 << 0)
 252 #define PVT_FLAGS_DIFFSOLN             (1 << 1)
 253 #define PVT_FLAGS_PSMSTATE_ENABLED     (1 << 2)
 254 #define PVT_FLAGS_PSMSTATE_ACQUISITION (2 << 2)
 255 #define PVT_FLAGS_PSMSTATE_TRACKING    (3 << 2)
 256 #define PVT_FLAGS_PSMSTATE_PO_TRACKING (4 << 2)
 257 #define PVT_FLAGS_PSMSTATE_INACTIVE    (5 << 2)
 258
 259 struct UBX_NAV_PVT {
 260     uint32_t iTOW;
 261     uint16_t year;
 262     uint8_t  month;
 263     uint8_t  day;
 264     uint8_t  hour;
 265     uint8_t  min;
 266     uint8_t  sec;
 267     uint8_t  valid;
 268     uint32_t tAcc;
 269     int32_t  nano;
 270     uint8_t  fixType;
 271     uint8_t  flags;
 272     uint8_t  reserved1;
 273     uint8_t  numSV;
 274     int32_t  lon;
 275     int32_t  lat;
 276     int32_t  height;
 277     int32_t  hMSL;
 278     uint32_t hAcc;
 279     uint32_t vAcc;
 280     int32_t  velN;
 281     int32_t  velE;
 282     int32_t  velD;
 283     int32_t  gSpeed;
 284     int32_t  heading;
 285     uint32_t sAcc;
 286     uint32_t headingAcc;
 287     uint16_t pDOP;
 288     uint16_t reserved2;
 289     uint32_t reserved3;
 290 } __attribute__((packed));
 291
 292 // North/East/Down velocity
 293 struct UBX_NAV_VELNED {
 294     uint32_t iTOW; // ms GPS Millisecond Time of Week
 295     int32_t  velN;     // cm/s NED north velocity
 296     int32_t  velE;     // cm/s NED east velocity
 297     int32_t  velD;     // cm/s NED down velocity
 298     uint32_t speed; // cm/s Speed (3-D)
 299     uint32_t gSpeed; // cm/s Ground Speed (2-D)
 300     int32_t  heading;  // 1e-5 *deg Heading of motion 2-D
 301     uint32_t sAcc; // cm/s Speed Accuracy Estimate
 302     uint32_t cAcc; // 1e-5 *deg Course / Heading Accuracy Estimate
 303 } __attribute__((packed));
 304
 305 // UTC Time Solution
 306 #define TIMEUTC_VALIDTOW (1 << 0)
 307 #define TIMEUTC_VALIDWKN (1 << 1)
 308 #define TIMEUTC_VALIDUTC (1 << 2)
 309
 310 struct UBX_NAV_TIMEUTC {
 311     uint32_t iTOW; // GPS Millisecond Time of Week (ms)
 312     uint32_t tAcc; // Time Accuracy Estimate (ns)
 313     int32_t  nano;   // Nanoseconds of second
 314     uint16_t year;
 315     uint8_t  month;
 316     uint8_t  day;
 317     uint8_t  hour;
 318     uint8_t  min;
 319     uint8_t  sec;
 320     uint8_t  valid;  // Validity Flags
 321 } __attribute__((packed));
 322
 323 // Space Vehicle (SV) Information
 324 // Single SV information block
 325 #define SVUSED     (1 << 0) // This SV is used for navigation
 326 #define DIFFCORR   (1 << 1) // Differential correction available
 327 #define ORBITAVAIL (1 << 2) // Orbit information available
 328 #define ORBITEPH   (1 << 3) // Orbit information is Ephemeris
 329 #define UNHEALTHY  (1 << 4) // SV is unhealthy
 330 #define ORBITALM   (1 << 5) // Orbit information is Almanac Plus
 331 #define ORBITAOP   (1 << 6) // Orbit information is AssistNow Autonomous
 332 #define SMOOTHED   (1 << 7) // Carrier smoothed pseudoranges used
 333
 334 struct UBX_NAV_SVINFO_SV {
 335     uint8_t chn; // Channel number
 336     uint8_t svid; // Satellite ID
 337     uint8_t flags; // Misc SV information
 338     uint8_t quality; // Misc quality indicators
 339     uint8_t cno; // Carrier to Noise Ratio (dbHz)
 340     int8_t  elev;     // Elevation (integer degrees)
 341     int16_t azim; // Azimuth    (integer degrees)
 342     int32_t prRes; // Pseudo range residual (cm)
 343 } __attribute__((packed));
 344
 345 // SV information message
 346 #define MAX_SVS 32
 347
 348 struct UBX_NAV_SVINFO {
 349     uint32_t iTOW; // GPS Millisecond Time of Week (ms)
 350     uint8_t  numCh;        // Number of channels
 351     uint8_t  globalFlags;  //
 352     uint16_t reserved2; // Reserved
 353     struct UBX_NAV_SVINFO_SV sv[MAX_SVS]; // Repeated 'numCh' times
 354 } __attribute__((packed));
 355
 356 // ACK message class
 357 struct UBX_ACK_ACK {
 358     uint8_t clsID; // ClassID
 359     uint8_t msgID; // MessageID
 360 } __attribute__((packed));
 361
 362 struct UBX_ACK_NAK {
 363     uint8_t clsID; // ClassID
 364     uint8_t msgID; // MessageID
 365 } __attribute__((packed));
 366
 367 // Communication port information
 368 // default cfg_prt packet at 9600,N,8,1 (from u-center)
 369 // 0000  B5 62 06 00 14 00-01 00
 370 // 0008  00 00 D0 08 00 00 80 25
 371 // 0010  00 00 07 00 03 00 00 00
 372 // 0018  00 00-A2 B5
 373 #define UBX_CFG_PRT_PORTID_DDC       0
 374 #define UBX_CFG_PRT_PORTID_UART1     1
 375 #define UBX_CFG_PRT_PORTID_UART2     2
 376 #define UBX_CFG_PRT_PORTID_USB       3
 377 #define UBX_CFG_PRT_PORTID_SPI       4
 378 #define UBX_CFG_PRT_MODE_DATABITS5   0x00
 379 #define UBX_CFG_PRT_MODE_DATABITS6   0x40
 380 #define UBX_CFG_PRT_MODE_DATABITS7   0x80
 381 #define UBX_CFG_PRT_MODE_DATABITS8   0xC0
 382 #define UBX_CFG_PRT_MODE_EVENPARITY  0x000
 383 #define UBX_CFG_PRT_MODE_ODDPARITY   0x200
 384 #define UBX_CFG_PRT_MODE_NOPARITY    0x800
 385 #define UBX_CFG_PRT_MODE_STOPBITS1_0 0x0000
 386 #define UBX_CFG_PRT_MODE_STOPBITS1_5 0x1000
 387 #define UBX_CFG_PRT_MODE_STOPBITS2_0 0x2000
 388 #define UBX_CFG_PRT_MODE_STOPBITS0_5 0x3000
 389 #define UBX_CFG_PRT_MODE_RESERVED    0x10
 390
 391 #define UBX_CFG_PRT_MODE_DEFAULT     (UBX_CFG_PRT_MODE_DATABITS8 | UBX_CFG_PRT_MODE_NOPARITY | UBX_CFG_PRT_MODE_STOPBITS1_0 | UBX_CFG_PRT_MODE_RESERVED)
 392
 393 struct UBX_CFG_PRT {
 394     uint8_t  portID;       // 1 or 2 for UART ports
 395     uint8_t  res0;         // reserved
 396     uint16_t res1; // reserved
 397     uint32_t mode; // bit masks for databits, stopbits, parity, and non-zero reserved
 398     uint32_t baudRate; // bits per second, 9600 means 9600
 399     uint16_t inProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
 400     uint16_t outProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
 401     uint16_t flags; // reserved
 402     uint16_t pad; // reserved
 403 } __attribute__((packed));
 404
 405 struct UBX_CFG_MSG {
 406     uint8_t msgClass;
 407     uint8_t msgID;
 408     uint8_t rate;
 409 } __attribute__((packed));
 410
 411 struct UBX_CFG_RATE {
 412     uint16_t measRate;
 413     uint16_t navRate;
 414     uint16_t timeRef;
 415 } __attribute__((packed));
 416
 417 // Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
 418 #define UBX_CFG_CFG_DEVICE_BBR        0x01
 419 #define UBX_CFG_CFG_DEVICE_FLASH      0x02
 420 #define UBX_CFG_CFG_DEVICE_EEPROM     0x04
 421 #define UBX_CFG_CFG_DEVICE_SPIFLASH   0x10
 422 #define UBX_CFG_CFG_DEVICE_ALL        (UBX_CFG_CFG_DEVICE_BBR | UBX_CFG_CFG_DEVICE_FLASH | UBX_CFG_CFG_DEVICE_EEPROM | UBX_CFG_CFG_DEVICE_SPIFLASH)
 423 #define UBX_CFG_CFG_SETTINGS_NONE     0x000
 424 #define UBX_CFG_CFG_SETTINGS_IOPORT   0x001
 425 #define UBX_CFG_CFG_SETTINGS_MSGCONF  0x002
 426 #define UBX_CFG_CFG_SETTINGS_INFMSG   0x004
 427 #define UBX_CFG_CFG_SETTINGS_NAVCONF  0x008
 428 #define UBX_CFG_CFG_SETTINGS_TPCONF   0x010
 429 #define UBX_CFG_CFG_SETTINGS_SFDRCONF 0x100
 430 #define UBX_CFG_CFG_SETTINGS_RINVCONF 0x200
 431 #define UBX_CFG_CFG_SETTINGS_ANTCONF  0x400
 432
 433 #define UBX_CFG_CFG_SETTINGS_ALL \
 434     (UBX_CFG_CFG_SETTINGS_IOPORT | \
 435      UBX_CFG_CFG_SETTINGS_MSGCONF | \
 436      UBX_CFG_CFG_SETTINGS_INFMSG | \
 437      UBX_CFG_CFG_SETTINGS_NAVCONF | \
 438      UBX_CFG_CFG_SETTINGS_TPCONF | \
 439      UBX_CFG_CFG_SETTINGS_SFDRCONF | \
 440      UBX_CFG_CFG_SETTINGS_RINVCONF | \
 441      UBX_CFG_CFG_SETTINGS_ANTCONF)
 442
 443 // Sent messages for configuration support
 444 struct UBX_CFG_CFG {
 445     uint32_t clearMask;
 446     uint32_t saveMask;
 447     uint32_t loadMask;
 448     uint8_t  deviceMask;
 449 } __attribute__((packed));
 450
 451 #define UBX_CFG_SBAS_MODE_ENABLED    0x01
 452 #define UBX_CFG_SBAS_MODE_TEST       0x02
 453 #define UBX_CFG_SBAS_USAGE_RANGE     0x01
 454 #define UBX_CFG_SBAS_USAGE_DIFFCORR  0x02
 455 #define UBX_CFG_SBAS_USAGE_INTEGRITY 0x04
 456
 457 // SBAS used satellite PNR bitmask (120-151)
 458 // -------------------------------------1---------1---------1---------1
 459 // -------------------------------------5---------4---------3---------2
 460 // ------------------------------------10987654321098765432109876543210
 461 // WAAS 122, 133, 134, 135, 138---------|---------|---------|---------|
 462 #define UBX_CFG_SBAS_SCANMODE1_WAAS  0b00000000000001001110000000000100
 463 // EGNOS 120, 123, 136------------------|---------|---------|---------|
 464 #define UBX_CFG_SBAS_SCANMODE1_EGNOS 0b00000000000000010000000000001001
 465 // MSAS 129, 137------------------------|---------|---------|---------|
 466 #define UBX_CFG_SBAS_SCANMODE1_MSAS  0b00000000000000100000001000000000
 467 // GAGAN 127, 128-----------------------|---------|---------|---------|
 468 #define UBX_CFG_SBAS_SCANMODE1_GAGAN 0b00000000000000000000000110000000
 469 // SDCM 125, 140, 141-------------------|---------|---------|---------|
 470 #define UBX_CFG_SBAS_SCANMODE1_SDCM  0b00000000001100000000000000100000
 471
 472 #define UBX_CFG_SBAS_SCANMODE2       0x00
 473 struct UBX_CFG_SBAS {
 474     uint8_t  mode;
 475     uint8_t  usage;
 476     uint8_t  maxSBAS;
 477     uint8_t  scanmode2;
 478     uint32_t scanmode1;
 479 } __attribute__((packed));
 480
 481 #define UBX_CFG_GNSS_FLAGS_ENABLED      0x000001
 482 #define UBX_CFG_GNSS_FLAGS_GPS_L1CA     0x010000
 483 #define UBX_CFG_GNSS_FLAGS_SBAS_L1CA    0x010000
 484 #define UBX_CFG_GNSS_FLAGS_BEIDOU_B1I   0x010000
 485 #define UBX_CFG_GNSS_FLAGS_QZSS_L1CA    0x010000
 486 #define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF  0x040000
 487 #define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000
 488 #define UBX_CFG_GNSS_FLAGS_GALILEO_E1   0x010000
 489
 490 #define UBX_CFG_GNSS_NUMCH_VER7         22
 491 #define UBX_CFG_GNSS_NUMCH_VER8         32
 492
 493 struct UBX_CFG_GNSS_CFGBLOCK {
 494     uint8_t  gnssId;
 495     uint8_t  resTrkCh;
 496     uint8_t  maxTrkCh;
 497     uint8_t  resvd;
 498     uint32_t flags;
 499 } __attribute__((packed));
 500
 501 struct UBX_CFG_GNSS {
 502     uint8_t msgVer;
 503     uint8_t numTrkChHw;
 504     uint8_t numTrkChUse;
 505     uint8_t numConfigBlocks;
 506     struct UBX_CFG_GNSS_CFGBLOCK cfgBlocks[UBX_GNSS_ID_MAX];
 507 } __attribute__((packed));
 508
 509 // CFG-NAV5: Position Fixing Mode
 510 #define UBX_CFG_NAV5_FIXMODE_2D_ONLY   0x01
 511 #define UBX_CFG_NAV5_FIXMODE_3D_ONLY   0x02
 512 #define UBX_CFG_NAV5_FIXMODE_AUTO_2D3D 0x03
 513
 514 // CFG-NAV5: Bitfield mask
 515 #define UBX_CFG_NAV5_DYNMODEL          (1 << 0) // Apply dynamic model settings
 516 #define UBX_CFG_NAV5_MINELEV           (1 << 1) // Apply minimum elevation settings
 517 #define UBX_CFG_NAV5_FIXMODE           (1 << 2) // Apply fix mode settings
 518 #define UBX_CFG_NAV5_DRLIMIT           (1 << 3) // Reserved
 519 #define UBX_CFG_NAV5_POSITION          (1 << 4) // Apply position mask settings
 520 #define UBX_CFG_NAV5_TIME              (1 << 5) // Apply time mask settings
 521 #define UBX_CFG_NAV5_STATICHOLD        (1 << 6) // Apply static hold settings
 522 #define UBX_CFG_NAV5_DGPS              (1 << 7) // Reserved
 523
 524 struct UBX_CFG_NAV5 {
 525     uint16_t mask;
 526     uint8_t  dynModel;
 527     uint8_t  fixMode;
 528     int32_t  fixedAlt;
 529     uint32_t fixedAltVar;
 530     int8_t   minElev;
 531     uint8_t  drLimit;
 532     uint16_t pDop;
 533     uint16_t tDop;
 534     uint16_t pAcc;
 535     uint16_t tAcc;
 536     uint8_t  staticHoldThresh;
 537     uint8_t  dgpsTimeOut;
 538     uint8_t  cnoThreshNumSVs;
 539     uint8_t  cnoThresh;
 540     uint16_t reserved2;
 541     uint32_t reserved3;
 542     uint32_t reserved4;
 543 } __attribute__((packed));
 544
 545 // CFG-NAVX5: Bitfield mask1
 546 #define UBX_CFG_NAVX5_MIN_MAX    (1 << 2) // Apply min/max SVs settings
 547 #define UBX_CFG_NAVX5_MIN_CNO    (1 << 3) // Apply minimum C/N0 setting
 548 #define UBX_CFG_NAVX5_INIT_3DFIX (1 << 6) // Apply initial 3D fix settings
 549 #define UBX_CFG_NAVX5_WKN_ROLL   (1 << 9) // Apply GPS weeknumber rollover settings
 550 #define UBX_CFG_NAVX5_PPP        (1 << 13) // Apply PPP flag, only supported on certain product variants
 551 #define UBX_CFG_NAVX5_AOP        (1 << 14) // Apply useAOP flag and aopOrbMaxErr setting (AssistNow Autonomous)
 552
 553 struct UBX_CFG_NAVX5 {
 554     uint16_t version;
 555     uint16_t mask1;
 556     uint32_t reserved0;
 557     uint8_t  reserved1;
 558     uint8_t  reserved2;
 559     uint8_t  minSVs;
 560     uint8_t  maxSVs;
 561     uint8_t  minCN0;
 562     uint8_t  reserved5;
 563     uint8_t  iniFix3D;
 564     uint8_t  reserved6;
 565     uint8_t  reserved7;
 566     uint8_t  reserved8;
 567     uint16_t wknRollover;
 568     uint32_t reserved9;
 569     uint8_t  reserved10;
 570     uint8_t  reserved11;
 571     uint8_t  usePPP;
 572     uint8_t  useAOP;
 573     uint8_t  reserved12;
 574     uint8_t  reserved13;
 575     uint16_t aopOrbMaxErr;
 576     uint32_t reserved3;
 577     uint32_t reserved4;
 578 } __attribute__((packed));
 579
 580 // MON message Class
 581 #define UBX_MON_MAX_EXT 5
 582 struct UBX_MON_VER {
 583     char swVersion[30];
 584     char hwVersion[10];
 585 #if UBX_MON_MAX_EXT > 0
 586     char extension[UBX_MON_MAX_EXT][30];
 587 #endif
 588 } __attribute__((packed));
 589
 590 // OP custom messages
 591 struct UBX_OP_SYSINFO {
 592     uint32_t flightTime;
 593     uint16_t options;
 594     uint8_t  board_type;
 595     uint8_t  board_revision;
 596     uint8_t  commit_tag_name[26];
 597     uint8_t  sha1sum[8];
 598 } __attribute__((packed));
 599
 600 // OP custom messages
 601 struct UBX_OP_MAG {
 602     int16_t  x;
 603     int16_t  y;
 604     int16_t  z;
 605     uint16_t Status;
 606 } __attribute__((packed));
 607
 608 typedef union {
 609     uint8_t payload[0];
 610     // Nav Class
 611     struct UBX_NAV_POSLLH  nav_posllh;
 612     struct UBX_NAV_STATUS  nav_status;
 613     struct UBX_NAV_DOP     nav_dop;
 614     struct UBX_NAV_SOL     nav_sol;
 615     struct UBX_NAV_VELNED  nav_velned;
 616 #if !defined(PIOS_GPS_MINIMAL)
 617     struct UBX_NAV_PVT     nav_pvt;
 618     struct UBX_NAV_TIMEUTC nav_timeutc;
 619     struct UBX_NAV_SVINFO  nav_svinfo;
 620     struct UBX_CFG_PRT     cfg_prt;
 621     // Ack Class
 622     struct UBX_ACK_ACK     ack_ack;
 623     struct UBX_ACK_NAK     ack_nak;
 624     // Mon Class
 625     struct UBX_MON_VER     mon_ver;
 626     struct UBX_OP_SYSINFO  op_sysinfo;
 627     struct UBX_OP_MAG op_mag;
 628 #endif
 629 } UBXPayload;
 630
 631 struct UBXHeader {
 632     uint8_t  class;
 633     uint8_t  id;
 634     uint16_t len;
 635     uint8_t  ck_a;
 636     uint8_t  ck_b;
 637 } __attribute__((packed));
 638
 639 struct UBXPacket {
 640     struct UBXHeader header;
 641     UBXPayload payload;
 642 } __attribute__((packed));
 643
 644 struct UBXSENTHEADER {
 645     uint8_t  prolog[2];
 646     uint8_t  class;
 647     uint8_t  id;
 648     uint16_t len;
 649 } __attribute__((packed));
 650
 651 union UBXSENTPACKET {
 652     uint8_t buffer[0];
 653     struct {
 654         struct UBXSENTHEADER header;
 655         union {
 656             struct UBX_CFG_CFG   cfg_cfg;
 657             struct UBX_CFG_MSG   cfg_msg;
 658             struct UBX_CFG_NAV5  cfg_nav5;
 659             struct UBX_CFG_NAVX5 cfg_navx5;
 660             struct UBX_CFG_PRT   cfg_prt;
 661             struct UBX_CFG_RATE  cfg_rate;
 662             struct UBX_CFG_SBAS  cfg_sbas;
 663             struct UBX_CFG_GNSS  cfg_gnss;
 664         } payload;
 665         uint8_t resvd[2]; // added space for checksum bytes
 666     } message;
 667 } __attribute__((packed));
 668
 669 // Used by AutoConfig code
 670 extern int32_t ubxHwVersion;
 671 extern GPSPositionSensorSensorTypeOptions ubxSensorType;
 672 extern struct UBX_ACK_ACK ubxLastAck;
 673 extern struct UBX_ACK_NAK ubxLastNak;
 674
 675 bool checksum_ubx_message(struct UBXPacket *);
 676 uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
 677
 678 int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
 679 void op_gpsv9_load_mag_settings();
 680 void aux_hmc5x83_load_mag_settings();
 681
 682 #endif /* UBX_H */