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Major ubx driver cleanup: few pages of code removed, send update only when full navigation solution received

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Anton Babushkin
2013-07-11 15:28:56 +04:00
parent 3a76162b08
commit 4685871c83
2 changed files with 422 additions and 540 deletions
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901
src/drivers/gps/ubx.cpp
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61
src/drivers/gps/ubx.h
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@@ -3,6 +3,7 @@
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -51,23 +52,23 @@
/* MessageIDs (the ones that are used) */
#define UBX_MESSAGE_NAV_POSLLH 0x02
#define UBX_MESSAGE_NAV_SOL 0x06
#define UBX_MESSAGE_NAV_TIMEUTC 0x21
//#define UBX_MESSAGE_NAV_DOP 0x04
#define UBX_MESSAGE_NAV_SVINFO 0x30
#define UBX_MESSAGE_NAV_SOL 0x06
#define UBX_MESSAGE_NAV_VELNED 0x12
//#define UBX_MESSAGE_RXM_SVSI 0x20
#define UBX_MESSAGE_ACK_ACK 0x01
#define UBX_MESSAGE_NAV_TIMEUTC 0x21
#define UBX_MESSAGE_NAV_SVINFO 0x30
#define UBX_MESSAGE_ACK_NAK 0x00
#define UBX_MESSAGE_ACK_ACK 0x01
#define UBX_MESSAGE_CFG_PRT 0x00
#define UBX_MESSAGE_CFG_NAV5 0x24
#define UBX_MESSAGE_CFG_MSG 0x01
#define UBX_MESSAGE_CFG_RATE 0x08
#define UBX_MESSAGE_CFG_NAV5 0x24
#define UBX_CFG_PRT_LENGTH 20
#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */
#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */
#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< choose 38400 as GPS baudrate */
#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */
#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */
@@ -298,44 +299,6 @@ struct ubx_cfg_msg_rate {
// END the structures of the binary packets
// ************
typedef enum {
UBX_CONFIG_STATE_PRT = 0,
UBX_CONFIG_STATE_PRT_NEW_BAUDRATE,
UBX_CONFIG_STATE_RATE,
UBX_CONFIG_STATE_NAV5,
UBX_CONFIG_STATE_MSG_NAV_POSLLH,
UBX_CONFIG_STATE_MSG_NAV_TIMEUTC,
UBX_CONFIG_STATE_MSG_NAV_DOP,
UBX_CONFIG_STATE_MSG_NAV_SVINFO,
UBX_CONFIG_STATE_MSG_NAV_SOL,
UBX_CONFIG_STATE_MSG_NAV_VELNED,
// UBX_CONFIG_STATE_MSG_RXM_SVSI,
UBX_CONFIG_STATE_CONFIGURED
} ubx_config_state_t;
typedef enum {
CLASS_UNKNOWN = 0,
NAV = 1,
RXM = 2,
ACK = 3,
CFG = 4
} ubx_message_class_t;
typedef enum {
//these numbers do NOT correspond to the message id numbers of the ubx protocol
ID_UNKNOWN = 0,
NAV_POSLLH,
NAV_SOL,
NAV_TIMEUTC,
// NAV_DOP,
NAV_SVINFO,
NAV_VELNED,
// RXM_SVSI,
CFG_NAV5,
ACK_ACK,
ACK_NAK,
} ubx_message_id_t;
typedef enum {
UBX_DECODE_UNINIT = 0,
UBX_DECODE_GOT_SYNC1,
@@ -401,17 +364,17 @@ private:
int _fd;
struct vehicle_gps_position_s *_gps_position;
ubx_config_state_t _config_state;
bool _configured;
bool _waiting_for_ack;
uint8_t _clsID_needed;
uint8_t _msgID_needed;
uint8_t _message_class_needed;
uint8_t _message_id_needed;
ubx_decode_state_t _decode_state;
uint8_t _rx_buffer[RECV_BUFFER_SIZE];
unsigned _rx_count;
uint8_t _rx_ck_a;
uint8_t _rx_ck_b;
ubx_message_class_t _message_class;
ubx_message_id_t _message_id;
uint8_t _message_class;
uint8_t _message_id;
unsigned _payload_size;
uint8_t _disable_cmd_counter;
};