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px4_autopilot/apps/gps/ubx.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* @file U-Blox protocol implementation */
#include "ubx.h"
#include "gps.h"
#include <sys/prctl.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <string.h>
#include <stdbool.h>
#include <fcntl.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <mavlink/mavlink_log.h>
#define UBX_HEALTH_SUCCESS_COUNTER_LIMIT 2
#define UBX_HEALTH_FAIL_COUNTER_LIMIT 3
#define UBX_HEALTH_PROBE_COUNTER_LIMIT 4
#define UBX_BUFFER_SIZE 500
extern bool gps_mode_try_all;
extern bool gps_mode_success;
extern bool terminate_gps_thread;
extern bool gps_baud_try_all;
extern bool gps_verbose;
extern int current_gps_speed;
pthread_mutex_t *ubx_mutex;
gps_bin_ubx_state_t *ubx_state;
enum UBX_CONFIG_STATE ubx_config_state;
static struct vehicle_gps_position_s *ubx_gps;
void ubx_decode_init(void)
{
ubx_state->ck_a = 0;
ubx_state->ck_b = 0;
ubx_state->rx_count = 0;
ubx_state->decode_state = UBX_DECODE_UNINIT;
ubx_state->message_class = CLASS_UNKNOWN;
ubx_state->message_id = ID_UNKNOWN;
ubx_state->payload_size = 0;
ubx_state->print_errors = false;
}
void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
{
*(ck_a) = *(ck_a) + b;
*(ck_b) = *(ck_b) + *(ck_a);
}
int ubx_parse(uint8_t b, char *gps_rx_buffer)
{
//printf("b=%x\n",b);
if (ubx_state->decode_state == UBX_DECODE_UNINIT) {
if (b == UBX_SYNC_1) {
ubx_state->decode_state = UBX_DECODE_GOT_SYNC1;
}
} else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC1) {
if (b == UBX_SYNC_2) {
ubx_state->decode_state = UBX_DECODE_GOT_SYNC2;
} else {
// Second start symbol was wrong, reset state machine
ubx_decode_init();
}
} else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC2) {
// Add to checksum
ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
//check for known class
switch (b) {
case UBX_CLASS_ACK:
ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
ubx_state->message_class = ACK;
break;
case UBX_CLASS_NAV:
ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
ubx_state->message_class = NAV;
break;
case UBX_CLASS_RXM:
ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
ubx_state->message_class = RXM;
break;
case UBX_CLASS_CFG:
ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
ubx_state->message_class = CFG;
break;
default: //unknown class: reset state machine
ubx_decode_init();
break;
}
} else if (ubx_state->decode_state == UBX_DECODE_GOT_CLASS) {
// Add to checksum
ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
//depending on class look for message id
switch (ubx_state->message_class) {
case NAV:
switch (b) {
case UBX_MESSAGE_NAV_POSLLH: //NAV-POSLLH: Geodetic Position Solution
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = NAV_POSLLH;
break;
case UBX_MESSAGE_NAV_SOL:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = NAV_SOL;
break;
case UBX_MESSAGE_NAV_TIMEUTC:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = NAV_TIMEUTC;
break;
case UBX_MESSAGE_NAV_DOP:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = NAV_DOP;
break;
case UBX_MESSAGE_NAV_SVINFO:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = NAV_SVINFO;
break;
case UBX_MESSAGE_NAV_VELNED:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = NAV_VELNED;
break;
default: //unknown class: reset state machine, should not happen
ubx_decode_init();
break;
}
break;
case RXM:
switch (b) {
case UBX_MESSAGE_RXM_SVSI:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = RXM_SVSI;
break;
default: //unknown class: reset state machine, should not happen
ubx_decode_init();
break;
}
break;
case CFG:
switch (b) {
case UBX_MESSAGE_CFG_NAV5:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = CFG_NAV5;
break;
default: //unknown class: reset state machine, should not happen
ubx_decode_init();
break;
}
break;
case ACK:
switch (b) {
case UBX_MESSAGE_ACK_ACK:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = ACK_ACK;
break;
case UBX_MESSAGE_ACK_NAK:
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
ubx_state->message_id = ACK_NAK;
break;
default: //unknown class: reset state machine, should not happen
ubx_decode_init();
break;
}
break;
default: //should not happen
ubx_decode_init();
break;
}
} else if (ubx_state->decode_state == UBX_DECODE_GOT_MESSAGEID) {
// Add to checksum
ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
ubx_state->payload_size = b;
ubx_state->decode_state = UBX_DECODE_GOT_LENGTH1;
} else if (ubx_state->decode_state == UBX_DECODE_GOT_LENGTH1) {
// Add to checksum
ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
ubx_state->payload_size += b << 8;
ubx_state->decode_state = UBX_DECODE_GOT_LENGTH2;
} else if (ubx_state->decode_state == UBX_DECODE_GOT_LENGTH2) {
uint8_t ret = 0;
// Add to checksum if not yet at checksum byte
if (ubx_state->rx_count < ubx_state->payload_size) ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b));
// Fill packet buffer
gps_rx_buffer[ubx_state->rx_count] = b;
//if whole payload + checksum is in buffer:
if (ubx_state->rx_count >= ubx_state->payload_size + 1) {
//convert to correct struct
switch (ubx_state->message_id) { //this enum is unique for all ids --> no need to check the class
case NAV_POSLLH: {
// printf("GOT NAV_POSLLH MESSAGE\n");
gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) gps_rx_buffer;
//Check if checksum is valid and the store the gps information
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
ubx_gps->lat = packet->lat;
ubx_gps->lon = packet->lon;
ubx_gps->alt = packet->height_msl;
ubx_gps->counter_pos_valid++;
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_POSLLH - 1] = hrt_absolute_time();
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
if (gps_verbose) printf("[gps] NAV_POSLLH: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
case NAV_SOL: {
// printf("GOT NAV_SOL MESSAGE\n");
gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) gps_rx_buffer;
//Check if checksum is valid and the store the gps information
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
ubx_gps->fix_type = packet->gpsFix;
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
ubx_gps->s_variance = packet->sAcc;
ubx_gps->p_variance = packet->pAcc;
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time();
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
if (gps_verbose) printf("[gps] NAV_SOL: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
case NAV_DOP: {
// printf("GOT NAV_DOP MESSAGE\n");
gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) gps_rx_buffer;
//Check if checksum is valid and the store the gps information
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
ubx_gps->eph = packet->hDOP;
ubx_gps->epv = packet->vDOP;
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_DOP - 1] = hrt_absolute_time();
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
if (gps_verbose) printf("[gps] NAV_DOP: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
case NAV_TIMEUTC: {
// printf("GOT NAV_TIMEUTC MESSAGE\n");
gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) gps_rx_buffer;
//Check if checksum is valid and the store the gps information
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
//convert to unix timestamp
struct tm timeinfo;
timeinfo.tm_year = packet->year - 1900;
timeinfo.tm_mon = packet->month - 1;
timeinfo.tm_mday = packet->day;
timeinfo.tm_hour = packet->hour;
timeinfo.tm_min = packet->min;
timeinfo.tm_sec = packet->sec;
time_t epoch = mktime(&timeinfo);
// printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, packet->time_nanoseconds);
ubx_gps->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
ubx_gps->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_TIMEUTC - 1] = hrt_absolute_time();
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
if (gps_verbose) printf("\t[gps] NAV_TIMEUTC: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
case NAV_SVINFO: {
// printf("GOT NAV_SVINFO MESSAGE\n");
//this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message
const int length_part1 = 8;
char gps_rx_buffer_part1[length_part1];
memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1);
gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) gps_rx_buffer_part1;
//read checksum
const int length_part3 = 2;
char gps_rx_buffer_part3[length_part3];
memcpy(gps_rx_buffer_part3, &(gps_rx_buffer[ubx_state->rx_count - 1]), length_part3);
gps_bin_nav_svinfo_part3_packet_t *packet_part3 = (gps_bin_nav_svinfo_part3_packet_t *) gps_rx_buffer_part3;
//Check if checksum is valid and then store the gps information
if (ubx_state->ck_a == packet_part3->ck_a && ubx_state->ck_b == packet_part3->ck_b) {
//definitions needed to read numCh elements from the buffer:
const int length_part2 = 12;
gps_bin_nav_svinfo_part2_packet_t *packet_part2;
char gps_rx_buffer_part2[length_part2]; //for temporal storage
int i;
for (i = 0; i < packet_part1->numCh; i++) { //for each channel
/* Get satellite information from the buffer */
memcpy(gps_rx_buffer_part2, &(gps_rx_buffer[length_part1 + i * length_part2]), length_part2);
packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) gps_rx_buffer_part2;
/* Write satellite information in the global storage */
ubx_gps->satellite_prn[i] = packet_part2->svid;
//if satellite information is healthy store the data
uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
if (!unhealthy) {
if ((packet_part2->flags) & 1) { //flags is a bitfield
ubx_gps->satellite_used[i] = 1;
} else {
ubx_gps->satellite_used[i] = 0;
}
ubx_gps->satellite_snr[i] = packet_part2->cno;
ubx_gps->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
ubx_gps->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
} else {
ubx_gps->satellite_used[i] = 0;
ubx_gps->satellite_snr[i] = 0;
ubx_gps->satellite_elevation[i] = 0;
ubx_gps->satellite_azimuth[i] = 0;
}
}
for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused
/* Unused channels have to be set to zero for e.g. MAVLink */
ubx_gps->satellite_prn[i] = 0;
ubx_gps->satellite_used[i] = 0;
ubx_gps->satellite_snr[i] = 0;
ubx_gps->satellite_elevation[i] = 0;
ubx_gps->satellite_azimuth[i] = 0;
}
/* set flag if any sat info is available */
if (!packet_part1->numCh > 0) {
ubx_gps->satellite_info_available = 1;
} else {
ubx_gps->satellite_info_available = 0;
}
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_SVINFO - 1] = hrt_absolute_time();
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
if (gps_verbose) printf("\t[gps] NAV_SVINFO: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
case NAV_VELNED: {
// printf("GOT NAV_VELNED MESSAGE\n");
gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) gps_rx_buffer;
//Check if checksum is valid and the store the gps information
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
ubx_gps->vel = (uint16_t)packet->speed;
ubx_gps->vel_n = packet->velN / 100.0f;
ubx_gps->vel_e = packet->velE / 100.0f;
ubx_gps->vel_d = packet->velD / 100.0f;
ubx_gps->vel_ned_valid = true;
ubx_gps->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_VELNED - 1] = hrt_absolute_time();
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
if (gps_verbose) printf("[gps] NAV_VELNED: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
case RXM_SVSI: {
// printf("GOT RXM_SVSI MESSAGE\n");
const int length_part1 = 7;
char gps_rx_buffer_part1[length_part1];
memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1);
gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) gps_rx_buffer_part1;
//Check if checksum is valid and the store the gps information
if (ubx_state->ck_a == gps_rx_buffer[ubx_state->rx_count - 1] && ubx_state->ck_b == gps_rx_buffer[ubx_state->rx_count]) {
ubx_gps->satellites_visible = packet->numVis;
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
if (gps_verbose) printf("[gps] RXM_SVSI: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
case ACK_ACK: {
// printf("GOT ACK_ACK\n");
gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) gps_rx_buffer;
//Check if checksum is valid
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
switch (ubx_config_state) {
case UBX_CONFIG_STATE_PRT:
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
ubx_config_state++;
break;
case UBX_CONFIG_STATE_NAV5:
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5)
ubx_config_state++;
break;
case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
case UBX_CONFIG_STATE_MSG_NAV_DOP:
case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
case UBX_CONFIG_STATE_MSG_NAV_SOL:
case UBX_CONFIG_STATE_MSG_NAV_VELNED:
case UBX_CONFIG_STATE_MSG_RXM_SVSI:
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
ubx_config_state++;
break;
default:
break;
}
ret = 1;
} else {
if (gps_verbose) printf("[gps] ACK_ACK: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
case ACK_NAK: {
// printf("GOT ACK_NAK\n");
gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) gps_rx_buffer;
//Check if checksum is valid
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
if (gps_verbose) printf("[gps] the ubx gps returned: not acknowledged\n");
ret = 1;
} else {
if (gps_verbose) printf("[gps] ACK_NAK: checksum invalid\n");
ret = 0;
}
// Reset state machine to decode next packet
ubx_decode_init();
return ret;
break;
}
default: //something went wrong
ubx_decode_init();
break;
}
}
(ubx_state->rx_count)++;
}
return 0; // no valid packet found
}
void calculate_ubx_checksum(uint8_t *message, uint8_t length)
{
uint8_t ck_a = 0;
uint8_t ck_b = 0;
int i;
for (i = 2; i < length - 2; i++) {
ck_a = ck_a + message[i];
ck_b = ck_b + ck_a;
}
message[length - 2] = ck_a;
message[length - 1] = ck_b;
}
int configure_gps_ubx(int *fd)
{
// only needed once like this
const type_gps_bin_cfg_prt_packet_t cfg_prt_packet = {
.clsID = UBX_CLASS_CFG,
.msgID = UBX_MESSAGE_CFG_PRT,
.length = UBX_CFG_PRT_LENGTH,
.portID = UBX_CFG_PRT_PAYLOAD_PORTID,
.mode = UBX_CFG_PRT_PAYLOAD_MODE,
.baudRate = current_gps_speed,
.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK,
.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK,
.ck_a = 0,
.ck_b = 0
};
// only needed once like this
const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = {
.clsID = UBX_CLASS_CFG,
.msgID = UBX_MESSAGE_CFG_NAV5,
.length = UBX_CFG_NAV5_LENGTH,
.mask = UBX_CFG_NAV5_PAYLOAD_MASK,
.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL,
.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE,
.ck_a = 0,
.ck_b = 0
};
// this message is reusable for different configuration commands, so not const
type_gps_bin_cfg_msg_packet cfg_msg_packet = {
.clsID = UBX_CLASS_CFG,
.msgID = UBX_MESSAGE_CFG_MSG,
.length = UBX_CFG_MSG_LENGTH,
.rate = UBX_CFG_MSG_PAYLOAD_RATE
};
uint64_t time_before_config = hrt_absolute_time();
while(hrt_absolute_time() < time_before_config + UBX_CONFIG_TIMEOUT) {
// if (gps_verbose) printf("[gps] ubx config state: %d\n", ubx_config_state);
switch (ubx_config_state) {
case UBX_CONFIG_STATE_PRT:
// if (gps_verbose) printf("[gps] Configuring ubx with baudrate: %d\n", cfg_prt_packet.baudRate);
write_config_message_ubx((uint8_t*)(&cfg_prt_packet), sizeof(cfg_prt_packet), fd);
break;
case UBX_CONFIG_STATE_NAV5:
write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd);
break;
case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
break;
case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
break;
case UBX_CONFIG_STATE_MSG_NAV_DOP:
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
break;
case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
break;
case UBX_CONFIG_STATE_MSG_NAV_SOL:
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
break;
case UBX_CONFIG_STATE_MSG_NAV_VELNED:
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
break;
case UBX_CONFIG_STATE_MSG_RXM_SVSI:
cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
break;
case UBX_CONFIG_STATE_CONFIGURED:
if (gps_verbose) printf("[gps] ubx configuration finished\n");
return OK;
break;
default:
break;
}
usleep(10000);
}
if (gps_verbose) printf("[gps] ubx configuration timeout\n");
return ERROR;
}
int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
{
uint8_t ret = 0;
uint8_t c;
int rx_count = 0;
int gpsRxOverflow = 0;
struct pollfd fds;
fds.fd = *fd;
fds.events = POLLIN;
// UBX GPS mode
// This blocks the task until there is something on the buffer
while (1) {
//check if the thread should terminate
if (terminate_gps_thread == true) {
ret = 1;
break;
}
if (poll(&fds, 1, 1000) > 0) {
if (read(*fd, &c, 1) > 0) {
// printf("Read %x\n",c);
if (rx_count >= buffer_size) {
// The buffer is already full and we haven't found a valid ubx sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
rx_count = 0;
ubx_decode_init();
if (gps_verbose) printf("[gps] Buffer full\n");
} else {
//gps_rx_buffer[rx_count] = c;
rx_count++;
}
int msg_read = ubx_parse(c, gps_rx_buffer);
if (msg_read > 0) {
//printf("Found sequence\n");
break;
}
} else {
break;
}
} else {
break;
}
}
return ret;
}
int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd)
{
uint8_t ck_a = 0;
uint8_t ck_b = 0;
unsigned int i;
uint8_t buffer[2];
ssize_t result_write = 0;
//calculate and write checksum to the end
for (i = 0; i < length-2; i++) {
ck_a = ck_a + message[i];
ck_b = ck_b + ck_a;
}
// write sync bytes first
buffer[0] = UBX_SYNC_1;
buffer[1] = UBX_SYNC_2;
// write config message without the checksum
result_write = write(*fd, buffer, sizeof(buffer));
result_write += write(*fd, message, length-2);
buffer[0] = ck_a;
buffer[1] = ck_b;
// write the checksum
result_write += write(*fd, buffer, sizeof(buffer));
fsync(*fd);
if ((unsigned int)result_write != length + 2)
return ERROR;
return OK;
}
void *ubx_watchdog_loop(void *args)
{
/* Set thread name */
prctl(PR_SET_NAME, "gps ubx watchdog", getpid());
/* Retrieve file descriptor and thread flag */
struct arg_struct *arguments = (struct arg_struct *)args;
int *fd = arguments->fd_ptr;
bool *thread_should_exit = arguments->thread_should_exit_ptr;
ubx_config_state = UBX_CONFIG_STATE_PRT;
/* first try to configure the GPS anyway */
configure_gps_ubx(fd);
/* GPS watchdog error message skip counter */
bool ubx_healthy = false;
uint8_t ubx_fail_count = 0;
uint8_t ubx_success_count = 0;
bool once_ok = false;
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
//int err_skip_counter = 0;
while (!(*thread_should_exit)) {
/* if some values are to old reconfigure gps */
int i;
pthread_mutex_lock(ubx_mutex);
bool all_okay = true;
uint64_t timestamp_now = hrt_absolute_time();
for (i = 0; i < UBX_NO_OF_MESSAGES; i++) {
// printf("timestamp_now=%llu\n", timestamp_now);
// printf("last_message_timestamps=%llu\n", ubx_state->last_message_timestamps[i]);
if (timestamp_now - ubx_state->last_message_timestamps[i] > UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
//printf("Warning: GPS ubx message %d not received for a long time\n", i);
all_okay = false;
}
}
pthread_mutex_unlock(ubx_mutex);
if (!all_okay) {
/* gps error */
ubx_fail_count++;
// if (err_skip_counter == 0)
// {
// printf("GPS Watchdog detected gps not running or having problems\n");
// err_skip_counter = 20;
// }
// err_skip_counter--;
//printf("gps_mode_try_all =%u, ubx_fail_count=%u, ubx_healthy=%u, once_ok=%u\n", gps_mode_try_all, ubx_fail_count, ubx_healthy, once_ok);
/* If we have too many failures and another mode or baud should be tried, exit... */
if ((gps_mode_try_all == true || gps_baud_try_all == true) && (ubx_fail_count >= UBX_HEALTH_PROBE_COUNTER_LIMIT) && (ubx_healthy == false) && once_ok == false) {
if (gps_verbose) printf("[gps] Connection attempt failed, no UBX module found\n");
gps_mode_success = false;
break;
}
if (ubx_healthy && ubx_fail_count == UBX_HEALTH_FAIL_COUNTER_LIMIT) {
printf("[gps] ERROR: UBX GPS module stopped responding\n");
// global_data_send_subsystem_info(&ubx_present_enabled);
mavlink_log_critical(mavlink_fd, "[gps] UBX module stopped responding\n");
ubx_healthy = false;
ubx_success_count = 0;
}
/* trying to reconfigure the gps configuration */
ubx_config_state = UBX_CONFIG_STATE_PRT;
configure_gps_ubx(fd);
fflush(stdout);
sleep(1);
} else {
/* gps healthy */
ubx_success_count++;
ubx_fail_count = 0;
once_ok = true; // XXX Should this be true on a single success, or on same criteria as ubx_healthy?
if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
// global_data_send_subsystem_info(&ubx_present_enabled_healthy);
mavlink_log_info(mavlink_fd, "[gps] UBX module found, status ok\n");
ubx_healthy = true;
}
}
usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS);
}
if(gps_verbose) printf("[gps] ubx loop is going to terminate\n");
close(mavlink_fd);
return NULL;
}
void *ubx_loop(void *args)
{
/* Set thread name */
prctl(PR_SET_NAME, "gps ubx read", getpid());
/* Retrieve file descriptor and thread flag */
struct arg_struct *arguments = (struct arg_struct *)args;
int *fd = arguments->fd_ptr;
bool *thread_should_exit = arguments->thread_should_exit_ptr;
/* Initialize gps stuff */
char gps_rx_buffer[UBX_BUFFER_SIZE];
if (gps_verbose) printf("[gps] UBX protocol driver starting..\n");
//set parameters for ubx_state
//ubx state
ubx_state = malloc(sizeof(gps_bin_ubx_state_t));
//printf("gps: ubx_state created\n");
ubx_decode_init();
ubx_state->print_errors = false;
/* set parameters for ubx */
struct vehicle_gps_position_s ubx_gps_d = {.counter = 0};
ubx_gps = &ubx_gps_d;
orb_advert_t gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps);
while (!(*thread_should_exit)) {
/* Parse a message from the gps receiver */
if (0 == read_gps_ubx(fd, gps_rx_buffer, UBX_BUFFER_SIZE)) {
/* publish new GPS position */
orb_publish(ORB_ID(vehicle_gps_position), gps_pub, ubx_gps);
} else {
/* de-advertise */
close(gps_pub);
break;
}
}
if(gps_verbose) printf("[gps] ubx read is going to terminate\n");
close(gps_pub);
return NULL;
}