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ubx.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2023 PX4 Development Team. All rights reserved.
*
* 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 ubx.cpp
*
* U-Blox protocol implementation. Following u-blox 6/7/8/9 Receiver Description
* including Prototol Specification.
*
* @author Thomas Gubler <[email protected]>
* @author Julian Oes <[email protected]>
* @author Anton Babushkin <[email protected]>
* @author Beat Kueng <[email protected]>
*
* @author Hannes Delago
* (rework, add ubx7+ compatibility)
*
* @see https://www.u-blox.com/sites/default/files/products/documents/u-blox6-GPS-GLONASS-QZSS-V14_ReceiverDescrProtSpec_%28GPS.G6-SW-12013%29_Public.pdf
* @see https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf
* @see https://www.u-blox.com/sites/default/files/ZED-F9P_InterfaceDescription_%28UBX-18010854%29.pdf
*/
#include <string.h>
#include "rtcm.h"
#include "ubx.h"
#define MIN(X,Y) ((X) < (Y) ? (X) : (Y))
#define SWAP16(X) ((((X) >> 8) & 0x00ff) | (((X) << 8) & 0xff00))
/**** Trace macros, disable for production builds */
#define UBX_TRACE_PARSER(...) {/*GPS_INFO(__VA_ARGS__);*/} // decoding progress in parse_char()
#define UBX_TRACE_RXMSG(...) {/*GPS_INFO(__VA_ARGS__);*/} // Rx msgs in payload_rx_done()
#define UBX_TRACE_SVINFO(...) {/*GPS_INFO(__VA_ARGS__);*/} // NAV-SVINFO processing (debug use only, will cause rx buffer overflows)
/**** Warning macros, disable to save memory */
#define UBX_WARN(...) {GPS_WARN(__VA_ARGS__);}
#define UBX_DEBUG(...) {/*GPS_WARN(__VA_ARGS__);*/}
GPSDriverUBX::GPSDriverUBX(Interface gpsInterface, GPSCallbackPtr callback, void *callback_user,
sensor_gps_s *gps_position, satellite_info_s *satellite_info, uint8_t dynamic_model,
float heading_offset, int32_t uart2_baudrate, UBXMode mode) :
GPSBaseStationSupport(callback, callback_user),
_interface(gpsInterface),
_gps_position(gps_position),
_satellite_info(satellite_info),
_dyn_model(dynamic_model),
_mode(mode),
_heading_offset(heading_offset),
_uart2_baudrate(uart2_baudrate)
{
decodeInit();
}
GPSDriverUBX::~GPSDriverUBX()
{
delete _rtcm_parsing;
}
int
GPSDriverUBX::configure(unsigned &baudrate, const GPSConfig &config)
{
_configured = false;
_output_mode = config.output_mode;
ubx_payload_tx_cfg_prt_t cfg_prt[2];
uint16_t out_proto_mask = _output_mode == OutputMode::GPS ?
UBX_TX_CFG_PRT_PROTO_UBX :
(UBX_TX_CFG_PRT_PROTO_UBX | UBX_TX_CFG_PRT_PROTO_RTCM);
uint16_t in_proto_mask = (_output_mode == OutputMode::GPS || _output_mode == OutputMode::GPSAndRTCM) ?
(UBX_TX_CFG_PRT_PROTO_UBX | UBX_TX_CFG_PRT_PROTO_RTCM) :
UBX_TX_CFG_PRT_PROTO_UBX;
const bool auto_baudrate = baudrate == 0;
if (_interface == Interface::UART) {
/* try different baudrates */
const unsigned baudrates[] = {38400, 57600, 9600, 115200, 230400, 460800, 921600};
unsigned baud_i;
unsigned desired_baudrate = auto_baudrate ? UBX_BAUDRATE_M8_AND_NEWER : baudrate;
if ((_mode == UBXMode::RoverWithMovingBaseUART1) || (_mode == UBXMode::MovingBaseUART1)) {
desired_baudrate = UART1_BAUDRATE_HEADING;
}
for (baud_i = 0; baud_i < sizeof(baudrates) / sizeof(baudrates[0]); baud_i++) {
unsigned test_baudrate = baudrates[baud_i];
if (!auto_baudrate && baudrate != test_baudrate) {
continue; // skip to next baudrate
}
UBX_DEBUG("baudrate set to %i", test_baudrate);
setBaudrate(test_baudrate);
/* flush input and wait for at least 20 ms silence */
decodeInit();
receive(20);
decodeInit();
// try CFG-VALSET: if we get an ACK we know we can use protocol version 27+
int cfg_valset_msg_size = initCfgValset();
// UART1
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1_STOPBITS, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1_DATABITS, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1_PARITY, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_NMEA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_NMEA, 0, cfg_valset_msg_size);
// TODO: are we ever connected to UART2?
// Note: USB protocol settings are handled later in the configureDevice function.
bool cfg_valset_success = false;
if (sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
// Note: The M10 comes up sending NMEA sentences at 9600. It can't
// respond with an ACK until the current sentence has completed transmission.
// This can take over a second so need a large timeout on this particular wait.
// Once it has acked this it will turn off the NMEA sentences and all is good
// for future transactions.
if (waitForAck(UBX_MSG_CFG_VALSET, 2000, true) == 0) {
cfg_valset_success = true;
}
}
if (cfg_valset_success) {
_proto_ver_27_or_higher = true;
// Now we only have to change the baudrate
cfg_valset_msg_size = initCfgValset();
cfgValset<uint32_t>(UBX_CFG_KEY_CFG_UART1_BAUDRATE, desired_baudrate, cfg_valset_msg_size);
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
continue;
}
/* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */
waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, false);
} else {
_proto_ver_27_or_higher = false;
UBX_DEBUG("trying old protocol");
/* Send a CFG-PRT message to set the UBX protocol for in and out
* and leave the baudrate as it is, we just want an ACK-ACK for this */
memset(cfg_prt, 0, 2 * sizeof(ubx_payload_tx_cfg_prt_t));
cfg_prt[0].portID = UBX_TX_CFG_PRT_PORTID;
cfg_prt[0].mode = UBX_TX_CFG_PRT_MODE;
cfg_prt[0].baudRate = test_baudrate;
cfg_prt[0].inProtoMask = in_proto_mask;
cfg_prt[0].outProtoMask = out_proto_mask;
cfg_prt[1].portID = UBX_TX_CFG_PRT_PORTID_USB;
cfg_prt[1].mode = UBX_TX_CFG_PRT_MODE;
cfg_prt[1].baudRate = test_baudrate;
cfg_prt[1].inProtoMask = in_proto_mask;
cfg_prt[1].outProtoMask = out_proto_mask;
if (!sendMessage(UBX_MSG_CFG_PRT, (uint8_t *)cfg_prt, 2 * sizeof(ubx_payload_tx_cfg_prt_t))) {
continue;
}
if (waitForAck(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false) < 0) {
/* try next baudrate */
continue;
}
if (auto_baudrate) {
desired_baudrate = UBX_TX_CFG_PRT_BAUDRATE;
}
/* Send a CFG-PRT message again, this time change the baudrate */
cfg_prt[0].baudRate = desired_baudrate;
cfg_prt[1].baudRate = desired_baudrate;
if (!sendMessage(UBX_MSG_CFG_PRT, (uint8_t *)cfg_prt, 2 * sizeof(ubx_payload_tx_cfg_prt_t))) {
continue;
}
/* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */
waitForAck(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false);
}
if (desired_baudrate != test_baudrate) {
setBaudrate(desired_baudrate);
decodeInit();
receive(20);
decodeInit();
}
/* at this point we have correct baudrate on both ends */
baudrate = desired_baudrate;
break;
}
if (baud_i >= sizeof(baudrates) / sizeof(baudrates[0])) {
return -1; // connection and/or baudrate detection failed
}
} else if (_interface == Interface::SPI) {
// try CFG-VALSET: if we get an ACK we know we can use protocol version 27+
int cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_SPI_ENABLED, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_SPI_MAXFF, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_SPIINPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_SPIINPROT_RTCM3X, _output_mode == OutputMode::RTCM ? 0 : 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_SPIINPROT_NMEA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_SPIOUTPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_SPIOUTPROT_RTCM3X, _output_mode == OutputMode::GPS ? 0 : 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_SPIOUTPROT_NMEA, 0, cfg_valset_msg_size);
bool cfg_valset_success = false;
if (sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) == 0) {
cfg_valset_success = true;
}
}
if (cfg_valset_success) {
_proto_ver_27_or_higher = true;
} else {
_proto_ver_27_or_higher = false;
memset(cfg_prt, 0, sizeof(ubx_payload_tx_cfg_prt_t));
cfg_prt[0].portID = UBX_TX_CFG_PRT_PORTID_SPI;
cfg_prt[0].mode = UBX_TX_CFG_PRT_MODE_SPI;
cfg_prt[0].inProtoMask = in_proto_mask;
cfg_prt[0].outProtoMask = out_proto_mask;
if (!sendMessage(UBX_MSG_CFG_PRT, (uint8_t *)cfg_prt, sizeof(ubx_payload_tx_cfg_prt_t))) {
return -1;
}
waitForAck(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false);
}
} else {
return -1;
}
UBX_DEBUG("Protocol version 27+: %i", static_cast<int>(_proto_ver_27_or_higher));
/* Request module version information by sending an empty MON-VER message */
if (!sendMessage(UBX_MSG_MON_VER, nullptr, 0)) {
return -1;
}
/* Wait for the reply so that we know to which device we're connected (_board will be set).
* Note: we won't actually get an ACK-ACK, but UBX_MSG_MON_VER will also set the ack state.
*/
if (waitForAck(UBX_MSG_MON_VER, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
/* Now that we know the board, update the baudrate on M8 boards (on F9+ we already used the
* higher baudrate with CFG-VALSET) */
if (_interface == Interface::UART && auto_baudrate && _board == Board::u_blox8) {
cfg_prt[0].baudRate = UBX_BAUDRATE_M8_AND_NEWER;
cfg_prt[1].baudRate = UBX_BAUDRATE_M8_AND_NEWER;
if (sendMessage(UBX_MSG_CFG_PRT, (uint8_t *)cfg_prt, 2 * sizeof(ubx_payload_tx_cfg_prt_t))) {
/* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */
waitForAck(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false);
setBaudrate(UBX_BAUDRATE_M8_AND_NEWER);
baudrate = UBX_BAUDRATE_M8_AND_NEWER;
}
}
if (_output_mode == OutputMode::RTCM) {
// RTCM mode force stationary dynamic model
_dyn_model = 2;
}
int ret;
if (_proto_ver_27_or_higher) {
ret = configureDevice(config, _uart2_baudrate);
} else {
ret = configureDevicePreV27(config.gnss_systems);
}
if (ret != 0) {
return ret;
}
if (_output_mode == OutputMode::RTCM) {
if (restartSurveyIn() < 0) {
return -1;
}
} else if (_output_mode == OutputMode::GPSAndRTCM) {
if (activateRTCMOutput(false) < 0) {
return -1;
}
}
_configured = true;
return 0;
}
int GPSDriverUBX::configureDevicePreV27(const GNSSSystemsMask &gnssSystems)
{
/* Send a CFG-RATE message to define update rate */
memset(&_buf.payload_tx_cfg_rate, 0, sizeof(_buf.payload_tx_cfg_rate));
_buf.payload_tx_cfg_rate.measRate = UBX_TX_CFG_RATE_MEASINTERVAL;
_buf.payload_tx_cfg_rate.navRate = UBX_TX_CFG_RATE_NAVRATE;
_buf.payload_tx_cfg_rate.timeRef = UBX_TX_CFG_RATE_TIMEREF;
if (!sendMessage(UBX_MSG_CFG_RATE, (uint8_t *)&_buf, sizeof(_buf.payload_tx_cfg_rate))) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_RATE, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
/* send a NAV5 message to set the options for the internal filter */
memset(&_buf.payload_tx_cfg_nav5, 0, sizeof(_buf.payload_tx_cfg_nav5));
_buf.payload_tx_cfg_nav5.mask = UBX_TX_CFG_NAV5_MASK;
_buf.payload_tx_cfg_nav5.dynModel = _dyn_model;
_buf.payload_tx_cfg_nav5.fixMode = UBX_TX_CFG_NAV5_FIXMODE;
if (!sendMessage(UBX_MSG_CFG_NAV5, (uint8_t *)&_buf, sizeof(_buf.payload_tx_cfg_nav5))) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_NAV5, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
/* configure active GNSS systems (number of channels and used signals taken from U-Center default) */
if (static_cast<int32_t>(gnssSystems) != 0) {
memset(&_buf.payload_tx_cfg_gnss, 0, sizeof(_buf.payload_tx_cfg_gnss));
_buf.payload_tx_cfg_gnss.msgVer = 0x00;
_buf.payload_tx_cfg_gnss.numTrkChHw = 0x00; // read only
_buf.payload_tx_cfg_gnss.numTrkChUse = 0xFF; // use max number of HW channels
_buf.payload_tx_cfg_gnss.numConfigBlocks = 7; // always configure all systems
// GPS and QZSS should always be enabled and disabled together, according to uBlox
_buf.payload_tx_cfg_gnss.block[0].gnssId = UBX_TX_CFG_GNSS_GNSSID_GPS;
_buf.payload_tx_cfg_gnss.block[1].gnssId = UBX_TX_CFG_GNSS_GNSSID_QZSS;
if (gnssSystems & GNSSSystemsMask::ENABLE_GPS) {
UBX_DEBUG("GNSS Systems: Use GPS + QZSS");
_buf.payload_tx_cfg_gnss.block[0].resTrkCh = 8;
_buf.payload_tx_cfg_gnss.block[0].maxTrkCh = 16;
_buf.payload_tx_cfg_gnss.block[0].flags = UBX_TX_CFG_GNSS_FLAGS_GPS_L1CA | UBX_TX_CFG_GNSS_FLAGS_ENABLE;
_buf.payload_tx_cfg_gnss.block[1].resTrkCh = 0;
_buf.payload_tx_cfg_gnss.block[1].maxTrkCh = 3;
_buf.payload_tx_cfg_gnss.block[1].flags = UBX_TX_CFG_GNSS_FLAGS_QZSS_L1CA | UBX_TX_CFG_GNSS_FLAGS_ENABLE;
}
_buf.payload_tx_cfg_gnss.block[2].gnssId = UBX_TX_CFG_GNSS_GNSSID_SBAS;
if (gnssSystems & GNSSSystemsMask::ENABLE_SBAS) {
UBX_DEBUG("GNSS Systems: Use SBAS");
_buf.payload_tx_cfg_gnss.block[2].resTrkCh = 1;
_buf.payload_tx_cfg_gnss.block[2].maxTrkCh = 3;
_buf.payload_tx_cfg_gnss.block[2].flags = UBX_TX_CFG_GNSS_FLAGS_SBAS_L1CA | UBX_TX_CFG_GNSS_FLAGS_ENABLE;
}
_buf.payload_tx_cfg_gnss.block[3].gnssId = UBX_TX_CFG_GNSS_GNSSID_GALILEO;
if (gnssSystems & GNSSSystemsMask::ENABLE_GALILEO) {
UBX_DEBUG("GNSS Systems: Use Galileo");
_buf.payload_tx_cfg_gnss.block[3].resTrkCh = 4;
_buf.payload_tx_cfg_gnss.block[3].maxTrkCh = 8;
_buf.payload_tx_cfg_gnss.block[3].flags = UBX_TX_CFG_GNSS_FLAGS_GALILEO_E1 | UBX_TX_CFG_GNSS_FLAGS_ENABLE;
}
_buf.payload_tx_cfg_gnss.block[4].gnssId = UBX_TX_CFG_GNSS_GNSSID_BEIDOU;
if (gnssSystems & GNSSSystemsMask::ENABLE_BEIDOU) {
UBX_DEBUG("GNSS Systems: Use BeiDou");
_buf.payload_tx_cfg_gnss.block[4].resTrkCh = 8;
_buf.payload_tx_cfg_gnss.block[4].maxTrkCh = 16;
_buf.payload_tx_cfg_gnss.block[4].flags = UBX_TX_CFG_GNSS_FLAGS_BEIDOU_B1I | UBX_TX_CFG_GNSS_FLAGS_ENABLE;
}
_buf.payload_tx_cfg_gnss.block[5].gnssId = UBX_TX_CFG_GNSS_GNSSID_GLONASS;
if (gnssSystems & GNSSSystemsMask::ENABLE_GLONASS) {
UBX_DEBUG("GNSS Systems: Use GLONASS");
_buf.payload_tx_cfg_gnss.block[5].resTrkCh = 8;
_buf.payload_tx_cfg_gnss.block[5].maxTrkCh = 14;
_buf.payload_tx_cfg_gnss.block[5].flags = UBX_TX_CFG_GNSS_FLAGS_GLONASS_L1 | UBX_TX_CFG_GNSS_FLAGS_ENABLE;
}
// IMES always disabled
_buf.payload_tx_cfg_gnss.block[6].gnssId = UBX_TX_CFG_GNSS_GNSSID_IMES;
_buf.payload_tx_cfg_gnss.block[6].flags = 0;
// send message
if (!sendMessage(UBX_MSG_CFG_GNSS, (uint8_t *)&_buf, sizeof(_buf.payload_tx_cfg_gnss))) {
UBX_DEBUG("UBX CFG-GNSS message send failed");
return -1;
}
if (waitForAck(UBX_MSG_CFG_GNSS, UBX_CONFIG_TIMEOUT, true) < 0) {
UBX_DEBUG("UBX CFG-GNSS message ACK failed");
return -1;
}
}
/* configure message rates */
/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
/* try to set rate for NAV-PVT */
/* (implemented for ubx7+ modules only, use NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC for ubx6) */
if (!configureMessageRate(UBX_MSG_NAV_PVT, 1)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
_use_nav_pvt = false;
} else {
_use_nav_pvt = true;
}
UBX_DEBUG("%susing NAV-PVT", _use_nav_pvt ? "" : "not ");
if (!_use_nav_pvt) {
if (!configureMessageRateAndAck(UBX_MSG_NAV_TIMEUTC, 5, true)) {
return -1;
}
if (!configureMessageRateAndAck(UBX_MSG_NAV_POSLLH, 1, true)) {
return -1;
}
if (!configureMessageRateAndAck(UBX_MSG_NAV_SOL, 1, true)) {
return -1;
}
if (!configureMessageRateAndAck(UBX_MSG_NAV_VELNED, 1, true)) {
return -1;
}
}
if (!configureMessageRateAndAck(UBX_MSG_NAV_STATUS, 1, true)) {
return -1;
}
if (!configureMessageRateAndAck(UBX_MSG_NAV_DOP, 1, true)) {
return -1;
}
if (!configureMessageRateAndAck(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0, true)) {
return -1;
}
if (!configureMessageRateAndAck(UBX_MSG_MON_HW, 1, true)) {
return -1;
}
return 0;
}
int GPSDriverUBX::configureDevice(const GPSConfig &config, const int32_t uart2_baudrate)
{
// There is no RTCM or USB interface on M10
if (_board != Board::u_blox10) {
int cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_RTCM3X, _output_mode == OutputMode::RTCM ? 0 : 1,
cfg_valset_msg_size);
if (_output_mode != OutputMode::GPS) {
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_RTCM3X, 1, cfg_valset_msg_size);
}
// USB
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_USBINPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_USBINPROT_RTCM3X, _output_mode == OutputMode::RTCM ? 0 : 1,
cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_USBINPROT_NMEA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_USBOUTPROT_UBX, 1, cfg_valset_msg_size);
if (_output_mode != OutputMode::GPS) {
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_USBOUTPROT_RTCM3X, 1, cfg_valset_msg_size);
}
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_USBOUTPROT_NMEA, 0, cfg_valset_msg_size);
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
}
/* set configuration parameters */
int cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_NAVSPG_FIXMODE, 3 /* Auto 2d/3d */, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_NAVSPG_UTCSTANDARD, 3 /* USNO (U.S. Naval Observatory derived from GPS) */,
cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_NAVSPG_DYNMODEL, _dyn_model, cfg_valset_msg_size);
// disable odometer & filtering
cfgValset<uint8_t>(UBX_CFG_KEY_ODO_USE_ODO, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_ODO_USE_COG, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_ODO_OUTLPVEL, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_ODO_OUTLPCOG, 0, cfg_valset_msg_size);
// measurement rate
// F9P L1L2 in firmware <1.50 the max update rate with 4 constellations is 9Hz without RTK and 7Hz with RTK
// F9P L1L2 in firmware >=1.50 the max update rate with 4 constellations is 7Hz without RTK and 5Hz with RTK
// F9P L1L5 the max update rate with 4 constellations is 8Hz without RTK and 7Hz with RTK
// Receivers such as M9N can go higher than 10Hz, but the number of used satellites will be restricted to 16. (Not mentioned in datasheet)
int rate_meas = 100; // 10Hz
switch (_board) {
case Board::u_blox9_F9P_L1L2:
rate_meas = 200; // 5Hz
break;
case Board::u_blox9_F9P_L1L5:
rate_meas = 143; // 7Hz
break;
default:
break;
}
cfgValset<uint16_t>(UBX_CFG_KEY_RATE_MEAS, rate_meas, cfg_valset_msg_size);
cfgValset<uint16_t>(UBX_CFG_KEY_RATE_NAV, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_RATE_TIMEREF, 0, cfg_valset_msg_size);
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
// RTK (optional, as only RTK devices like F9P support it)
cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_NAVHPG_DGNSSMODE, 3 /* RTK Fixed */, cfg_valset_msg_size);
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, false);
cfg_valset_msg_size = initCfgValset();
// enable jamming monitor
cfgValset<uint8_t>(UBX_CFG_KEY_ITFM_ENABLE, 1, cfg_valset_msg_size);
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, false);
// configure active GNSS systems (leave signal bands as is)
// Note: For M10 configuration if changing from default. As per the
// MAX-M10S integration guide UBX-20053088 - R03, see section
// 2.1.1.3 GNSS signal configuration for details on some restrictions.
// Implementing these restrictions are a TODO item for M10.
if (static_cast<int32_t>(config.gnss_systems) != 0) {
cfg_valset_msg_size = initCfgValset();
// GPS and QZSS should always be enabled and disabled together, according to uBlox
if (config.gnss_systems & GNSSSystemsMask::ENABLE_GPS) {
UBX_DEBUG("GNSS Systems: Use GPS + QZSS");
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GPS_ENA, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_QZSS_ENA, 1, cfg_valset_msg_size);
if (_board == Board::u_blox9_F9P_L1L2) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GPS_L2C_ENA, 1, cfg_valset_msg_size);
} else if (_board == Board::u_blox9_F9P_L1L5) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GPS_L5_ENA, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_L5_HEALTH_OVERRIDE, 1, cfg_valset_msg_size);
}
} else {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GPS_ENA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_QZSS_ENA, 0, cfg_valset_msg_size);
if (_board == Board::u_blox9_F9P_L1L2) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GPS_L2C_ENA, 0, cfg_valset_msg_size);
} else if (_board == Board::u_blox9_F9P_L1L5) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GPS_L5_ENA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_L5_HEALTH_OVERRIDE, 0, cfg_valset_msg_size);
}
}
if (config.gnss_systems & GNSSSystemsMask::ENABLE_GALILEO) {
UBX_DEBUG("GNSS Systems: Use Galileo");
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GAL_ENA, 1, cfg_valset_msg_size);
if (_board == Board::u_blox9_F9P_L1L2) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GAL_E5B_ENA, 1, cfg_valset_msg_size);
} else if (_board == Board::u_blox9_F9P_L1L5) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GAL_E5A_ENA, 1, cfg_valset_msg_size);
}
} else {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GAL_ENA, 0, cfg_valset_msg_size);
if (_board == Board::u_blox9_F9P_L1L2) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GAL_E5B_ENA, 0, cfg_valset_msg_size);
} else if (_board == Board::u_blox9_F9P_L1L5) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GAL_E5A_ENA, 0, cfg_valset_msg_size);
}
}
if (config.gnss_systems & GNSSSystemsMask::ENABLE_BEIDOU) {
UBX_DEBUG("GNSS Systems: Use BeiDou");
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_BDS_ENA, 1, cfg_valset_msg_size);
if (_board == Board::u_blox9_F9P_L1L2) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_BDS_B2_ENA, 1, cfg_valset_msg_size);
} else if (_board == Board::u_blox9_F9P_L1L5) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_BDS_B2A_ENA, 1, cfg_valset_msg_size);
}
} else {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_BDS_ENA, 0, cfg_valset_msg_size);
if (_board == Board::u_blox9_F9P_L1L2) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_BDS_B2_ENA, 0, cfg_valset_msg_size);
} else if (_board == Board::u_blox9_F9P_L1L5) {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_BDS_B2A_ENA, 0, cfg_valset_msg_size);
}
}
if (config.gnss_systems & GNSSSystemsMask::ENABLE_GLONASS) {
UBX_DEBUG("GNSS Systems: Use GLONASS");
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GLO_ENA, 1, cfg_valset_msg_size);
} else {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_GLO_ENA, 0, cfg_valset_msg_size);
}
if (_board == Board::u_blox9_F9P_L1L5) {
if (config.gnss_systems & GNSSSystemsMask::ENABLE_NAVIC) {
UBX_DEBUG("GNSS Systems: Use NavIC");
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_NAVIC_ENA, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_NAVIC_L5_ENA, 1, cfg_valset_msg_size);
} else {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_NAVIC_ENA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_NAVIC_L5_ENA, 0, cfg_valset_msg_size);
}
}
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
UBX_DEBUG("UBX GNSS config send failed");
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
// send SBAS config separately, because it seems to be buggy (with u-center, too)
cfg_valset_msg_size = initCfgValset();
if (config.gnss_systems & GNSSSystemsMask::ENABLE_SBAS) {
UBX_DEBUG("GNSS Systems: Use SBAS");
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_SBAS_ENA, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_SBAS_L1CA_ENA, 1, cfg_valset_msg_size);
} else {
cfgValset<uint8_t>(UBX_CFG_KEY_SIGNAL_SBAS_ENA, 0, cfg_valset_msg_size);
}
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true);
}
// Configure message rates
// Send a new CFG-VALSET message to make sure it does not get too large
cfg_valset_msg_size = initCfgValset();
cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_PVT_I2C, 1, cfg_valset_msg_size);
// There is no RTCM on M10 and M9* (except F9P)
if (_board != Board::u_blox10 && _board != Board::u_blox9) {
cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_HPPOSLLH_I2C, 1, cfg_valset_msg_size);
cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_RELPOSNED_I2C,
_mode == UBXMode::RoverWithMovingBase || _mode == UBXMode::RoverWithMovingBaseUART1 ? 1 : 0,
cfg_valset_msg_size);
}
_use_nav_pvt = true;
cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_DOP_I2C, 1, cfg_valset_msg_size);
cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_SAT_I2C, (_satellite_info != nullptr) ? 10 : 0, cfg_valset_msg_size);
cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_NAV_STATUS_I2C, 1, cfg_valset_msg_size);
cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_MON_RF_I2C, 1, cfg_valset_msg_size);
if ((_board == Board::u_blox9) || (_board == Board::u_blox9_F9P_L1L2) || (_board == Board::u_blox9_F9P_L1L5)) {
cfgValsetPort(UBX_CFG_KEY_MSGOUT_UBX_RXM_RTCM_I2C, 1, cfg_valset_msg_size);
}
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
if (_interface == Interface::UART || _interface == Interface::SPI) {
// Enable/Disable GPS protocols at I2C interface
cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2CINPROT_UBX,
config.interface_protocols & InterfaceProtocolsMask::I2C_IN_PROT_UBX, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2CINPROT_NMEA,
config.interface_protocols & InterfaceProtocolsMask::I2C_IN_PROT_NMEA, cfg_valset_msg_size);
// There is no RTCM on M10
if (_board != Board::u_blox10) {
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2CINPROT_RTCM3X,
config.interface_protocols & InterfaceProtocolsMask::I2C_IN_PROT_RTCM3X, cfg_valset_msg_size);
}
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2COUTPROT_UBX,
config.interface_protocols & InterfaceProtocolsMask::I2C_OUT_PROT_UBX, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2COUTPROT_NMEA,
config.interface_protocols & InterfaceProtocolsMask::I2C_OUT_PROT_NMEA, cfg_valset_msg_size);
if ((_board == Board::u_blox9_F9P_L1L2) || (_board == Board::u_blox9_F9P_L1L5)) {
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2COUTPROT_RTCM3X,
config.interface_protocols & InterfaceProtocolsMask::I2C_OUT_PROT_RTCM3X, cfg_valset_msg_size);
}
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
}
if (_mode == UBXMode::RoverWithStaticBaseUart2 || _mode == UBXMode::RoverWithMovingBase) {
UBX_DEBUG("Configuring UART2 for rover");
cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_RTCM3X, 0, cfg_valset_msg_size);
// enable RTCM input on uart2 + set baudrate
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2_STOPBITS, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2_DATABITS, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2_PARITY, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2INPROT_UBX, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2INPROT_RTCM3X, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2INPROT_NMEA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2OUTPROT_UBX, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2OUTPROT_RTCM3X, 0, cfg_valset_msg_size);
cfgValset<uint32_t>(UBX_CFG_KEY_CFG_UART2_BAUDRATE, uart2_baudrate, cfg_valset_msg_size);
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
} else if (_mode == UBXMode::MovingBase) {
UBX_DEBUG("Configuring UART2 for moving base");
// enable RTCM output on uart2 + set baudrate
cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2_STOPBITS, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2_DATABITS, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2_PARITY, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2INPROT_UBX, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2INPROT_RTCM3X, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2INPROT_NMEA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2OUTPROT_UBX, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART2OUTPROT_RTCM3X, 1, cfg_valset_msg_size);
cfgValset<uint32_t>(UBX_CFG_KEY_CFG_UART2_BAUDRATE, uart2_baudrate, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_UART2, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1074_UART2, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1084_UART2, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1094_UART2, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1124_UART2, 1, cfg_valset_msg_size);
if (_board == Board::u_blox9_F9P_L1L2) {
// F9P-15B doesn't support 4072
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE4072_0_UART2, 1, cfg_valset_msg_size);
}
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
} else if (_mode == UBXMode::RoverWithMovingBaseUART1) {
UBX_DEBUG("Configuring UART1 for rover");
// heading output period 1 second
cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_RTCM3X, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_NMEA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_RTCM3X, 0, cfg_valset_msg_size);
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
} else if (_mode == UBXMode::MovingBaseUART1) {
UBX_DEBUG("Configuring UART1 for moving base");
// enable RTCM output on uart1
cfg_valset_msg_size = initCfgValset();
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_RTCM3X, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1INPROT_NMEA, 0, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_UBX, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_CFG_UART1OUTPROT_RTCM3X, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_UART1, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1074_UART1, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1084_UART1, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1094_UART1, 1, cfg_valset_msg_size);
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1124_UART1, 1, cfg_valset_msg_size);
if (_board == Board::u_blox9_F9P_L1L2) {
// F9P-15B doesn't support 4072
cfgValset<uint8_t>(UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE4072_0_UART1, 1, cfg_valset_msg_size);
}
if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
}
return 0;
}
int GPSDriverUBX::initCfgValset()
{
memset(&_buf.payload_tx_cfg_valset, 0, sizeof(_buf.payload_tx_cfg_valset));
_buf.payload_tx_cfg_valset.layers = UBX_CFG_LAYER_RAM;
return sizeof(_buf.payload_tx_cfg_valset) - sizeof(_buf.payload_tx_cfg_valset.cfgData);
}
template<typename T>
bool GPSDriverUBX::cfgValset(uint32_t key_id, T value, int &msg_size)
{
if (msg_size + sizeof(key_id) + sizeof(value) > sizeof(_buf)) {
// If this happens use several CFG-VALSET messages instead of one
UBX_WARN("buf for CFG_VALSET too small");
return false;
}
uint8_t *buffer = (uint8_t *)&_buf.payload_tx_cfg_valset;
memcpy(buffer + msg_size, &key_id, sizeof(key_id));
msg_size += sizeof(key_id);
memcpy(buffer + msg_size, &value, sizeof(value));
msg_size += sizeof(value);
return true;
}
bool GPSDriverUBX::cfgValsetPort(uint32_t key_id, uint8_t value, int &msg_size)
{
if (_interface == Interface::SPI) {
if (!cfgValset<uint8_t>(key_id + 4, value, msg_size)) {
return false;
}
} else {
// enable on UART1 & USB (TODO: should we enable UART2 too? -> better would be to detect the port)
if (!cfgValset<uint8_t>(key_id + 1, value, msg_size)) {
return false;
}
// M10 has no USB
if (_board != Board::u_blox10) {
if (!cfgValset<uint8_t>(key_id + 3, value, msg_size)) {
return false;
}
}
}
return true;
}
int GPSDriverUBX::restartSurveyInPreV27()
{
//disable RTCM output
configureMessageRate(UBX_MSG_RTCM3_1005, 0);
configureMessageRate(UBX_MSG_RTCM3_1077, 0);
configureMessageRate(UBX_MSG_RTCM3_1087, 0);
configureMessageRate(UBX_MSG_RTCM3_1230, 0);
configureMessageRate(UBX_MSG_RTCM3_1097, 0);
configureMessageRate(UBX_MSG_RTCM3_1127, 0);
//stop it first
//FIXME: stopping the survey-in process does not seem to work
memset(&_buf.payload_tx_cfg_tmode3, 0, sizeof(_buf.payload_tx_cfg_tmode3));
_buf.payload_tx_cfg_tmode3.flags = 0; /* disable time mode */
if (!sendMessage(UBX_MSG_CFG_TMODE3, (uint8_t *)&_buf, sizeof(_buf.payload_tx_cfg_tmode3))) {
UBX_WARN("TMODE3 failed. Device w/o base station support?");
return -1;
}
if (waitForAck(UBX_MSG_CFG_TMODE3, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
if (_base_settings.type == BaseSettingsType::survey_in) {
UBX_DEBUG("Starting Survey-in");
memset(&_buf.payload_tx_cfg_tmode3, 0, sizeof(_buf.payload_tx_cfg_tmode3));
_buf.payload_tx_cfg_tmode3.flags = 1; /* start survey-in */
_buf.payload_tx_cfg_tmode3.svinMinDur = _base_settings.settings.survey_in.min_dur;
_buf.payload_tx_cfg_tmode3.svinAccLimit = _base_settings.settings.survey_in.acc_limit;
if (!sendMessage(UBX_MSG_CFG_TMODE3, (uint8_t *)&_buf, sizeof(_buf.payload_tx_cfg_tmode3))) {
return -1;
}
if (waitForAck(UBX_MSG_CFG_TMODE3, UBX_CONFIG_TIMEOUT, true) < 0) {
return -1;
}
/* enable status output of survey-in */
if (!configureMessageRateAndAck(UBX_MSG_NAV_SVIN, 5, true)) {
return -1;