#include "openpilot.h"
#include "pios_com.h"
#include "pios_thread.h"
#include "GPS.h"
#include "UBX.h"
#include "gpsposition.h"
#include "modulesettings.h"

Go to the source code of this file.

Macros
#define	UBLOX_SYNC1 0xB5

#define	UBLOX_SYNC2 0x62

#define	UBLOX_NAV_CLASS 0x01

#define	UBLOX_RXM_CLASS 0x02

#define	UBLOX_CFG_CLASS 0x06

#define	UBLOX_MON_CLASS 0x0a

#define	UBLOX_AID_CLASS 0x0b

#define	UBLOX_TIM_CLASS 0x0d

#define	UBLOX_NAV_POSLLH 0x02

#define	UBLOX_NAV_STATUS 0x03

#define	UBLOX_NAV_DOP 0x04

#define	UBLOX_NAV_SOL 0x06

#define	UBLOX_NAV_VELNED 0x12

#define	UBLOX_NAV_TIMEUTC 0x21

#define	UBLOX_NAV_SBAS 0x32

#define	UBLOX_NAV_SVINFO 0x30

#define	UBLOX_AID_REQ 0x00

#define	UBLOX_RXM_RAW 0x10

#define	UBLOX_RXM_SFRB 0x11

#define	UBLOX_MON_VER 0x04

#define	UBLOX_MON_HW 0x09

#define	UBLOX_TIM_TP 0x01

#define	UBLOX_CFG_MSG 0x01

#define	UBLOX_CFG_TP 0x07

#define	UBLOX_CFG_RATE 0x08

#define	UBLOX_CFG_CFG 0x09

#define	UBLOX_CFG_SBAS 0x16

#define	UBLOX_CFG_NAV5 0x24

#define	UBLOX_CFG_GNSS 0x3E

#define	UBLOX_SBAS_AUTO 0x00000000

#define	UBLOX_SBAS_WAAS 0x0004E004

#define	UBLOX_SBAS_EGNOS 0x00000851

#define	UBLOX_SBAS_MSAS 0x00020200

#define	UBLOX_SBAS_GAGAN 0x00000108

#define	UBLOX_DYN_PORTABLE 0

#define	UBLOX_DYN_STATIONARY 2

#define	UBLOX_DYN_PED 3

#define	UBLOX_DYN_AUTOMOTIVE 4

#define	UBLOX_DYN_SEA 5

#define	UBLOX_DYN_AIR1G 6

#define	UBLOX_DYN_AIR2G 7

#define	UBLOX_DYN_AIR4G 8

#define	UBLOX_GNSSID_GPS 0

#define	UBLOX_GNSSID_SBAS 1

#define	UBLOX_GNSSID_BEIDOU 3

#define	UBLOX_GNSSID_QZSS 5

#define	UBLOX_GNSSID_GLONASS 6

#define	UBLOX_MAX_PAYLOAD 384

#define	UBLOX_WAIT_MS 50

#define	MAX_CH_PER_CATEGORY 16

Functions
static void	ubx_cfg_send_checksummed (uintptr_t gps_port, const uint8_t *dat, uint16_t len)
	Send a stream of data followed by checksum. More...

static void	ubloxTxChecksumReset (void)
	Reset the TX checksum calculation. More...

static void	ubloxTxChecksum (uint8_t c)
	Update the checksum calculation. More...

static void	ubx_cfg_enable_message (uintptr_t gps_port, uint8_t c, uint8_t i, uint8_t rate)
	Enable the selected UBX message at the specified rate. More...

static void	ubx_cfg_set_rate (uintptr_t gps_port, uint16_t ms)
	Set the rate of all messages. More...

static void	ubx_cfg_set_mode (uintptr_t gps_port, ModuleSettingsGPSDynamicsModeOptions dyn_mode)
	Configure the navigation mode and minimum fix. More...

static void	ubx_cfg_set_timepulse (uintptr_t gps_port)
	Configure the timepulse output pin. More...

static void	ubx_cfg_set_sbas (uintptr_t gps_port, ModuleSettingsGPSSBASConstellationOptions sbas_const)
	Enable or disable SBAS satellites. More...

static void	ubx_cfg_clear_cfg (uintptr_t gps_port)

static void	ubx_cfg_poll_version (uintptr_t gps_port)
	Request a MON-VER message with the firmware version. More...

static void	ubx_cfg_set_constellation (uintptr_t gps_port, ModuleSettingsGPSConstellationOptions constellation, ModuleSettingsGPSSBASConstellationOptions sbas_const)

static void	ubx_cfg_version_specific (uintptr_t gps_port, uint8_t ver, ModuleSettingsGPSConstellationOptions constellation, ModuleSettingsGPSSBASConstellationOptions sbas_const)
	Apply firmware version specific configuration tweaks. More...

static void	ubx_cfg_pause_parse (uintptr_t gps_port, uint32_t delay_ticks)
	Parse incoming data while paused. More...

void	ubx_cfg_send_configuration (uintptr_t gps_port, char *buffer, ModuleSettingsGPSConstellationOptions constellation, ModuleSettingsGPSSBASConstellationOptions sbas_const, ModuleSettingsGPSDynamicsModeOptions dyn_mode)

void	ubx_cfg_set_baudrate (uintptr_t gps_port, ModuleSettingsGPSSpeedOptions baud_rate)
	Make sure the GPS is set to the same baud. More...

Variables
uint8_t	ubloxTxCK_A

uint8_t	ubloxTxCK_B

static char *	gps_rx_buffer

Macros

Functions

Variables