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Kynos
2014-05-30 11:03:16 +02:00
parent 6df2fe9aeb
commit 7349fa9037
2 changed files with 40 additions and 40 deletions
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src/drivers/gps/ubx.cpp
+3 -3
View File
@@ -59,10 +59,10 @@
#include "ubx.h"
#define UBX_CONFIG_TIMEOUT 200 // ms, timeout for waiting ACK
#define UBX_PACKET_TIMEOUT 2 // ms, if now data during this delay assume that full update received
#define UBX_CONFIG_TIMEOUT 200 // ms, timeout for waiting ACK
#define UBX_PACKET_TIMEOUT 2 // ms, if now data during this delay assume that full update received
#define UBX_WAIT_BEFORE_READ 20 // ms, wait before reading to save read() calls
#define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval
#define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval
UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) :
_fd(fd),
src/drivers/gps/ubx.h
+37 -37
View File
@@ -34,7 +34,7 @@
/**
* @file ubx.h
*
* U-Blox protocol definition. Following u-blox 6/7 Receiver Description
* U-Blox protocol definition. Following u-blox 6/7/8 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
@@ -86,7 +86,7 @@
#define UBX_MAX_RX_PAYLOAD_SIZE 70 /**< arbitrary maximum for calculating parser buffer size w/o NAV_SVINFO active */
/* NAV_SVINFO has variable length w/o a published max size, so limit processing to UBX_MAX_NUM_SAT */
#define UBX_MAX_NUM_SAT 50 /**< Practical observed max number of satellites in SVNFO msg */
#define UBX_MAX_NUM_SAT 50 /**< Practical observed max number of satellites in SVNFO msg */
#define UBX_NAV_SVINFO_RX_PAYLOAD_SIZE (8 + 12 * UBX_MAX_NUM_SAT) /**< NAV_SVINFO Rx msg payload size */
/* CFG class Tx msg defs */
@@ -127,21 +127,21 @@ struct ubx_header {
typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
int32_t lon; /**< Longitude * 1e-7, deg */
int32_t lat; /**< Latitude * 1e-7, deg */
int32_t height; /**< Height above Ellipsoid, mm */
int32_t height_msl; /**< Height above mean sea level, mm */
uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */
uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */
int32_t lon; /**< Longitude * 1e-7, deg */
int32_t lat; /**< Latitude * 1e-7, deg */
int32_t height; /**< Height above Ellipsoid, mm */
int32_t height_msl; /**< Height above mean sea level, mm */
uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */
uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */
uint8_t ck_a;
uint8_t ck_b;
} gps_bin_nav_posllh_packet_t;
typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
int32_t time_nanoseconds; /**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */
int16_t week; /**< GPS week (GPS time) */
uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
int16_t week; /**< GPS week (GPS time) */
uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
uint8_t flags;
int32_t ecefX;
int32_t ecefY;
@@ -153,7 +153,7 @@ typedef struct {
uint32_t sAcc;
uint16_t pDOP;
uint8_t reserved1;
uint8_t numSV; /**< Number of SVs used in Nav Solution */
uint8_t numSV; /**< Number of SVs used in Nav Solution */
uint32_t reserved2;
uint8_t ck_a;
uint8_t ck_b;
@@ -163,47 +163,47 @@ typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
uint32_t time_accuracy; /**< Time Accuracy Estimate, ns */
int32_t time_nanoseconds; /**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */
uint16_t year; /**< Year, range 1999..2099 (UTC) */
uint8_t month; /**< Month, range 1..12 (UTC) */
uint8_t day; /**< Day of Month, range 1..31 (UTC) */
uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */
uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */
uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */
uint16_t year; /**< Year, range 1999..2099 (UTC) */
uint8_t month; /**< Month, range 1..12 (UTC) */
uint8_t day; /**< Day of Month, range 1..31 (UTC) */
uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */
uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */
uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */
uint8_t valid_flag; /**< Validity Flags (see ubx documentation) */
uint8_t ck_a;
uint8_t ck_b;
} gps_bin_nav_timeutc_packet_t;
//typedef struct {
// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */
// uint16_t pDOP; /**< Position DOP (scaling 0.01) */
// uint16_t tDOP; /**< Time DOP (scaling 0.01) */
// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */
// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */
// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */
// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */
// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */
// uint16_t pDOP; /**< Position DOP (scaling 0.01) */
// uint16_t tDOP; /**< Time DOP (scaling 0.01) */
// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */
// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */
// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */
// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */
// uint8_t ck_a;
// uint8_t ck_b;
//} gps_bin_nav_dop_packet_t;
typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
uint8_t numCh; /**< Number of channels */
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
uint8_t numCh; /**< Number of channels */
uint8_t globalFlags;
uint16_t reserved2;
} gps_bin_nav_svinfo_part1_packet_t;
typedef struct {
uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */
uint8_t svid; /**< Satellite ID */
uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */
uint8_t svid; /**< Satellite ID */
uint8_t flags;
uint8_t quality;
uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */
int8_t elev; /**< Elevation in integer degrees */
int16_t azim; /**< Azimuth in integer degrees */
int32_t prRes; /**< Pseudo range residual in centimetres */
uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */
int8_t elev; /**< Elevation in integer degrees */
int16_t azim; /**< Azimuth in integer degrees */
int32_t prRes; /**< Pseudo range residual in centimetres */
} gps_bin_nav_svinfo_part2_packet_t;
@@ -268,8 +268,8 @@ struct gps_bin_mon_hw_ubx7_packet {
//typedef struct {
// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */
// int16_t week; /**< Measurement GPS week number */
// uint8_t numVis; /**< Number of visible satellites */
// int16_t week; /**< Measurement GPS week number */
// uint8_t numVis; /**< Number of visible satellites */
//
// //... rest of package is not used in this implementation
//
@@ -395,7 +395,7 @@ public:
private:
/**
* Parse the binary MTK packet
* Parse the binary UBX packet
*/
int parse_char(uint8_t b);