#include <ubx.h>

Inheritance diagram for GPSDriverUBX:

Collaboration diagram for GPSDriverUBX:

Public Member Functions
	GPSDriverUBX (Interface gpsInterface, GPSCallbackPtr callback, void callback_user, struct vehicle_gps_position_s gps_position, struct satellite_info_s *satellite_info, uint8_t dynamic_model=7)

virtual	~GPSDriverUBX ()

int	receive (unsigned timeout) override
	receive & handle new data from the device More...

int	configure (unsigned &baudrate, OutputMode output_mode) override
	configure the device More...

int	reset (GPSRestartType restart_type) override
	Reset GPS device. More...

Public Member Functions inherited from GPSBaseStationSupport
	GPSBaseStationSupport (GPSCallbackPtr callback, void *callback_user)

virtual	~GPSBaseStationSupport ()=default

void	setSurveyInSpecs (uint32_t survey_in_acc_limit, uint32_t survey_in_min_dur)
	set survey-in specs for RTK base station setup (for finding an accurate base station position by averaging the position measurements over time). More...

void	setBasePosition (double latitude, double longitude, float altitude, float position_accuracy)
	Set a fixed base station position. More...

Public Member Functions inherited from GPSHelper
	GPSHelper (GPSCallbackPtr callback, void *callback_user)

virtual	~GPSHelper ()=default

float	getPositionUpdateRate ()

float	getVelocityUpdateRate ()

void	resetUpdateRates ()

void	storeUpdateRates ()

Private Types
enum	Board : uint8_t { Board::unknown = 0, Board::u_blox5 = 5, Board::u_blox6 = 6, Board::u_blox7 = 7, Board::u_blox8 = 8, Board::u_blox9 = 9 }

Private Member Functions
int	restartSurveyIn ()
	Start or restart the survey-in procees. More...

int	restartSurveyInPreV27 ()
	restartSurveyIn for protocol version < 27 (_proto_ver_27_or_higher == false) More...

int	parseChar (const uint8_t b)
	Parse the binary UBX packet. More...

int	payloadRxInit (void)
	Start payload rx. More...

int	payloadRxAdd (const uint8_t b)
	Add payload rx byte. More...

int	payloadRxAddNavSvinfo (const uint8_t b)
	Add NAV-SVINFO payload rx byte. More...

int	payloadRxAddNavSat (const uint8_t b)

int	payloadRxAddMonVer (const uint8_t b)
	Add MON-VER payload rx byte. More...

int	payloadRxDone (void)
	Finish payload rx. More...

void	decodeInit (void)
	Reset the parse state machine for a fresh start. More...

void	addByteToChecksum (const uint8_t)
	While parsing add every byte (except the sync bytes) to the checksum. More...

bool	sendMessage (const uint16_t msg, const uint8_t *payload, const uint16_t length)
	Send a message. More...

bool	configureMessageRate (const uint16_t msg, const uint8_t rate)
	Configure message rate. More...

void	calcChecksum (const uint8_t buffer, const uint16_t length, ubx_checksum_t checksum)
	Calculate & add checksum for given buffer. More...

int	waitForAck (const uint16_t msg, const unsigned timeout, const bool report)
	Wait for message acknowledge. More...

bool	configureMessageRateAndAck (uint16_t msg, uint8_t rate, bool report_ack_error=false)
	Combines the configure_message_rate & wait_for_ack calls. More...

int	configureDevice ()
	Send configuration values and desired message rates. More...

int	configureDevicePreV27 ()
	Send configuration values and desired message rates (for protocol version < 27) More...

int	initCfgValset ()
	Init _buf as CFG-VALSET. More...

template<typename T >
bool	cfgValset (uint32_t key_id, T value, int &msg_size)
	Add a configuration value to _buf and increase the message size msg_size as needed. More...

bool	cfgValsetPort (uint32_t key_id, uint8_t value, int &msg_size)
	Add a configuration value that is port-specific (MSGOUT messages). More...

int	activateRTCMOutput ()

uint32_t	fnv1_32_str (uint8_t *str, uint32_t hval)
	Calculate FNV1 hash. More...

Private Attributes
struct vehicle_gps_position_s *	_gps_position {nullptr}

struct satellite_info_s *	_satellite_info {nullptr}

uint64_t	_last_timestamp_time {0}

bool	_configured {false}

ubx_ack_state_t	_ack_state {UBX_ACK_IDLE}

bool	_got_posllh {false}

bool	_got_velned {false}

ubx_decode_state_t	_decode_state {}

uint16_t	_rx_msg {}

ubx_rxmsg_state_t	_rx_state {UBX_RXMSG_IGNORE}

uint16_t	_rx_payload_length {}

uint16_t	_rx_payload_index {}

uint8_t	_rx_ck_a {}

uint8_t	_rx_ck_b {}

gps_abstime	_disable_cmd_last {0}

uint16_t	_ack_waiting_msg {0}

ubx_buf_t	_buf {}

uint32_t	_ubx_version {0}

bool	_use_nav_pvt {false}

bool	_proto_ver_27_or_higher {false}
	true if protocol version 27 or higher detected More...

OutputMode	_output_mode {OutputMode::GPS}

RTCMParsing *	_rtcm_parsing {nullptr}

const Interface	_interface

Board	_board {Board::unknown}

uint8_t	_dyn_model {7}

Additional Inherited Members
Public Types inherited from GPSHelper
enum	OutputMode : uint8_t { OutputMode::GPS = 0, OutputMode::RTCM }

enum	Interface : uint8_t { Interface::UART = 0, Interface::SPI }

Protected Types inherited from GPSBaseStationSupport
enum	BaseSettingsType : uint8_t { BaseSettingsType::survey_in, BaseSettingsType::fixed_position }

Protected Member Functions inherited from GPSHelper
int	read (uint8_t *buf, int buf_length, int timeout)
	read from device More...

int	write (const void *buf, int buf_length)
	write to the device More...

int	setBaudrate (int baudrate)
	set the Baudrate More...

void	surveyInStatus (SurveyInStatus &status)

void	gotRTCMMessage (uint8_t *buf, int buf_length)
	got an RTCM message from the device More...

void	setClock (timespec &t)

Static Protected Member Functions inherited from GPSHelper
static void	ECEF2lla (double ecef_x, double ecef_y, double ecef_z, double &latitude, double &longitude, float &altitude)
	Convert an ECEF (Earth Centered Earth Fixed) coordinate to LLA WGS84 (Lat, Lon, Alt). More...

Protected Attributes inherited from GPSBaseStationSupport
BaseSettings	_base_settings

Protected Attributes inherited from GPSHelper
GPSCallbackPtr	_callback {nullptr}

void *	_callback_user {}

uint8_t	_rate_count_lat_lon {}

uint8_t	_rate_count_vel {}

float	_rate_lat_lon {0.0f}

float	_rate_vel {0.0f}

uint64_t	_interval_rate_start {0}

Detailed Description

Definition at line 761 of file ubx.h.

Member Enumeration Documentation

◆ Board

enum GPSDriverUBX::Board : uint8_t

strongprivate

Enumerator
unknown
u_blox5
u_blox6
u_blox7
u_blox8	M8N or M8P.
u_blox9	F9P.

Definition at line 899 of file ubx.h.

Constructor & Destructor Documentation

◆ GPSDriverUBX()

GPSDriverUBX::GPSDriverUBX	(	Interface	gpsInterface,
		GPSCallbackPtr	callback,
		void *	callback_user,
		struct vehicle_gps_position_s *	gps_position,
		struct satellite_info_s *	satellite_info,
		uint8_t	dynamic_model = `7`
	)

Definition at line 82 of file ubx.cpp.

References decodeInit().

Here is the call graph for this function:

◆ ~GPSDriverUBX()

GPSDriverUBX::~GPSDriverUBX ( )

virtual

Definition at line 95 of file ubx.cpp.

References _rtcm_parsing.

Member Function Documentation

◆ activateRTCMOutput()

int GPSDriverUBX::activateRTCMOutput ( )

private

Definition at line 1674 of file ubx.cpp.

References _buf, _proto_ver_27_or_higher, cfgValsetPort(), configureMessageRate(), initCfgValset(), ubx_payload_tx_cfg_rate_t::measRate, ubx_payload_tx_cfg_rate_t::navRate, ubx_buf_t::payload_tx_cfg_rate, sendMessage(), ubx_payload_tx_cfg_rate_t::timeRef, UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1005_I2C, UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1077_I2C, UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1087_I2C, UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1097_I2C, UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1127_I2C, UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_I2C, UBX_CFG_KEY_MSGOUT_UBX_NAV_SVIN_I2C, UBX_CFG_KEY_RATE_MEAS, UBX_CONFIG_TIMEOUT, UBX_MSG_CFG_RATE, UBX_MSG_CFG_VALSET, UBX_MSG_NAV_SVIN, UBX_MSG_RTCM3_1005, UBX_MSG_RTCM3_1077, UBX_MSG_RTCM3_1087, UBX_MSG_RTCM3_1097, UBX_MSG_RTCM3_1127, UBX_MSG_RTCM3_1230, UBX_TX_CFG_RATE_NAVRATE, UBX_TX_CFG_RATE_TIMEREF, and waitForAck().

Referenced by payloadRxDone(), restartSurveyIn(), and restartSurveyInPreV27().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ addByteToChecksum()

void GPSDriverUBX::addByteToChecksum ( const uint8_t b )

private

While parsing add every byte (except the sync bytes) to the checksum.

Definition at line 1757 of file ubx.cpp.

References _rx_ck_a, and _rx_ck_b.

Referenced by parseChar().

Here is the caller graph for this function:

◆ calcChecksum()

void GPSDriverUBX::calcChecksum	(	const uint8_t *	buffer,
		const uint16_t	length,
		ubx_checksum_t *	checksum
	)

private

Calculate & add checksum for given buffer.

Definition at line 1764 of file ubx.cpp.

References ubx_checksum_t::ck_a, and ubx_checksum_t::ck_b.

Referenced by sendMessage().

Here is the caller graph for this function:

◆ cfgValset()

template<typename T >

bool GPSDriverUBX::cfgValset	(	uint32_t	key_id,
		T	value,
		int &	msg_size
	)

private

Add a configuration value to _buf and increase the message size msg_size as needed.

Parameters

key_id	one of the UBX_CFG_KEY_* constants
value	configuration value
msg_size	CFG-VALSET message size: this is an input & output param

Returns: true on success, false if buffer too small

Definition at line 493 of file ubx.cpp.

References _buf, ubx_buf_t::payload_tx_cfg_valset, and UBX_WARN.

◆ cfgValsetPort()

bool GPSDriverUBX::cfgValsetPort	(	uint32_t	key_id,
		uint8_t	value,
		int &	msg_size
	)

private

Add a configuration value that is port-specific (MSGOUT messages).

Note: Key ID must be the one for I2C, and the implementation assumes the Key ID's are in increasing order for the other ports: I2C, UART1, UART2, USB, SPI (this is a safe assumption for all MSGOUT messages according to u-blox).

Parameters

key_id	I2C key ID
value	configuration value
msg_size	CFG-VALSET message size: this is an input & output param

Returns: true on success, false if buffer too small

Definition at line 509 of file ubx.cpp.

References _interface, and GPSHelper::SPI.

Referenced by activateRTCMOutput(), configureDevice(), and restartSurveyIn().

Here is the caller graph for this function:

◆ configure()

int GPSDriverUBX::configure	(	unsigned &	baud,
		OutputMode	output_mode
	)

overridevirtual

configure the device

Parameters

baud	Input and output parameter: if set to 0, the baudrate will be automatically detected and set to the detected baudrate. If not 0, a fixed baudrate is used.

Returns: 0 on success, <0 otherwise

Implements GPSHelper.

Definition at line 103 of file ubx.cpp.

Here is the call graph for this function:

◆ configureDevice()

int GPSDriverUBX::configureDevice ( )

private

Send configuration values and desired message rates.

Returns: 0 on success, <0 on error

Definition at line 436 of file ubx.cpp.

References _buf, _dyn_model, _satellite_info, _use_nav_pvt, cfgValsetPort(), initCfgValset(), sendMessage(), UBX_CFG_KEY_MSGOUT_UBX_MON_RF_I2C, UBX_CFG_KEY_MSGOUT_UBX_NAV_DOP_I2C, UBX_CFG_KEY_MSGOUT_UBX_NAV_PVT_I2C, UBX_CFG_KEY_MSGOUT_UBX_NAV_SAT_I2C, UBX_CFG_KEY_NAVHPG_DGNSSMODE, UBX_CFG_KEY_NAVSPG_DYNMODEL, UBX_CFG_KEY_NAVSPG_FIXMODE, UBX_CFG_KEY_NAVSPG_UTCSTANDARD, UBX_CFG_KEY_ODO_OUTLPCOG, UBX_CFG_KEY_ODO_OUTLPVEL, UBX_CFG_KEY_ODO_USE_COG, UBX_CFG_KEY_ODO_USE_ODO, UBX_CFG_KEY_RATE_MEAS, UBX_CFG_KEY_RATE_NAV, UBX_CFG_KEY_RATE_TIMEREF, UBX_CONFIG_TIMEOUT, UBX_MSG_CFG_VALSET, and waitForAck().

Referenced by configure().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ configureDevicePreV27()

int GPSDriverUBX::configureDevicePreV27 ( )

private

Send configuration values and desired message rates (for protocol version < 27)

Returns: 0 on success, <0 on error

Definition at line 355 of file ubx.cpp.

References _buf, _dyn_model, _satellite_info, _use_nav_pvt, configureMessageRate(), configureMessageRateAndAck(), ubx_payload_tx_cfg_rate_t::measRate, ubx_payload_tx_cfg_rate_t::navRate, ubx_buf_t::payload_tx_cfg_rate, sendMessage(), ubx_payload_tx_cfg_rate_t::timeRef, UBX_CONFIG_TIMEOUT, UBX_DEBUG, UBX_MSG_CFG_MSG, UBX_MSG_CFG_NAV5, UBX_MSG_CFG_RATE, UBX_MSG_MON_HW, UBX_MSG_NAV_DOP, UBX_MSG_NAV_POSLLH, UBX_MSG_NAV_PVT, UBX_MSG_NAV_SOL, UBX_MSG_NAV_SVINFO, UBX_MSG_NAV_TIMEUTC, UBX_MSG_NAV_VELNED, UBX_TX_CFG_NAV5_FIXMODE, UBX_TX_CFG_NAV5_MASK, UBX_TX_CFG_RATE_MEASINTERVAL, UBX_TX_CFG_RATE_NAVRATE, UBX_TX_CFG_RATE_TIMEREF, and waitForAck().

Referenced by configure().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ configureMessageRate()

bool GPSDriverUBX::configureMessageRate	(	const uint16_t	msg,
		const uint8_t	rate
	)

private

Configure message rate.

Note: this is deprecated with protocol version >= 27

Returns: true on success, false on write error

Definition at line 1773 of file ubx.cpp.

References _proto_ver_27_or_higher, msg, ubx_payload_tx_cfg_msg_t::msg, ubx_payload_tx_cfg_msg_t::rate, sendMessage(), UBX_MSG_CFG_MSG, and UBX_WARN.

Referenced by activateRTCMOutput(), configureDevicePreV27(), configureMessageRateAndAck(), payloadRxInit(), and restartSurveyInPreV27().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ configureMessageRateAndAck()

bool GPSDriverUBX::configureMessageRateAndAck	(	uint16_t	msg,
		uint8_t	rate,
		bool	report_ack_error = `false`
	)

inlineprivate

Combines the configure_message_rate & wait_for_ack calls.

Note: this is deprecated with protocol version >= 27

Returns: true on success

Definition at line 1791 of file ubx.cpp.

References configureMessageRate(), UBX_CONFIG_TIMEOUT, UBX_MSG_CFG_MSG, and waitForAck().

Referenced by configureDevicePreV27(), and restartSurveyInPreV27().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ decodeInit()

void GPSDriverUBX::decodeInit ( void )

private

Reset the parse state machine for a fresh start.

Definition at line 1739 of file ubx.cpp.

References _decode_state, _output_mode, _rtcm_parsing, _rx_ck_a, _rx_ck_b, _rx_payload_index, _rx_payload_length, RTCMParsing::reset(), GPSHelper::RTCM, and UBX_DECODE_SYNC1.

Referenced by configure(), GPSDriverUBX(), and parseChar().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ fnv1_32_str()

uint32_t GPSDriverUBX::fnv1_32_str	(	uint8_t *	str,
		uint32_t	hval
	)

private

Calculate FNV1 hash.

Definition at line 1834 of file ubx.cpp.

References FNV1_32_PRIME.

Referenced by payloadRxAddMonVer().

Here is the caller graph for this function:

◆ initCfgValset()

int GPSDriverUBX::initCfgValset ( )

private

Init _buf as CFG-VALSET.

Returns: size of the message (without any config values)

Definition at line 485 of file ubx.cpp.

References _buf, ubx_payload_tx_cfg_valset_t::cfgData, ubx_payload_tx_cfg_valset_t::layers, ubx_buf_t::payload_tx_cfg_valset, and UBX_CFG_LAYER_RAM.

Referenced by activateRTCMOutput(), configure(), configureDevice(), and restartSurveyIn().

Here is the caller graph for this function:

◆ parseChar()

int GPSDriverUBX::parseChar ( const uint8_t b )

private

Parse the binary UBX packet.

Definition at line 770 of file ubx.cpp.

References _decode_state, _rtcm_parsing, _rx_ck_a, _rx_ck_b, _rx_msg, _rx_payload_length, RTCMParsing::addByte(), addByteToChecksum(), decodeInit(), GPSHelper::gotRTCMMessage(), RTCMParsing::message(), RTCMParsing::messageLength(), payloadRxAdd(), payloadRxAddMonVer(), payloadRxAddNavSat(), payloadRxAddNavSvinfo(), payloadRxDone(), payloadRxInit(), RTCM3_PREAMBLE, UBX_DEBUG, UBX_DECODE_CHKSUM1, UBX_DECODE_CHKSUM2, UBX_DECODE_CLASS, UBX_DECODE_ID, UBX_DECODE_LENGTH1, UBX_DECODE_LENGTH2, UBX_DECODE_PAYLOAD, UBX_DECODE_RTCM3, UBX_DECODE_SYNC1, UBX_DECODE_SYNC2, UBX_MSG_MON_VER, UBX_MSG_NAV_SAT, UBX_MSG_NAV_SVINFO, UBX_SYNC1, UBX_SYNC2, and UBX_TRACE_PARSER.

Referenced by receive().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ payloadRxAdd()

int GPSDriverUBX::payloadRxAdd ( const uint8_t b )

private

Add payload rx byte.

Definition at line 1138 of file ubx.cpp.

References _buf, _rx_payload_index, and _rx_payload_length.

Referenced by parseChar().

Here is the caller graph for this function:

◆ payloadRxAddMonVer()

int GPSDriverUBX::payloadRxAddMonVer ( const uint8_t b )

private

Add MON-VER payload rx byte.

Definition at line 1264 of file ubx.cpp.

References _board, _buf, _rx_payload_index, _rx_payload_length, _ubx_version, ubx_payload_rx_mon_ver_part2_t::extension, FNV1_32_INIT, fnv1_32_str(), ubx_payload_rx_mon_ver_part1_t::hwVersion, ubx_buf_t::payload_rx_mon_ver_part1, ubx_buf_t::payload_rx_mon_ver_part2, ubx_payload_rx_mon_ver_part1_t::swVersion, u_blox5, u_blox6, u_blox7, u_blox8, u_blox9, UBX_DEBUG, and UBX_WARN.

Referenced by parseChar().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ payloadRxAddNavSat()

int GPSDriverUBX::payloadRxAddNavSat ( const uint8_t b )

private

Definition at line 1153 of file ubx.cpp.

Referenced by parseChar().

Here is the caller graph for this function:

◆ payloadRxAddNavSvinfo()

int GPSDriverUBX::payloadRxAddNavSvinfo ( const uint8_t b )

private

Add NAV-SVINFO payload rx byte.

Definition at line 1208 of file ubx.cpp.

References _buf, _rx_payload_index, _rx_payload_length, _satellite_info, ubx_payload_rx_nav_svinfo_part2_t::azim, satellite_info_s::azimuth, ubx_payload_rx_nav_svinfo_part2_t::cno, satellite_info_s::count, ubx_payload_rx_nav_svinfo_part2_t::elev, satellite_info_s::elevation, ubx_payload_rx_nav_svinfo_part2_t::flags, MIN, ubx_payload_rx_nav_svinfo_part1_t::numCh, ubx_buf_t::payload_rx_nav_svinfo_part1, ubx_buf_t::payload_rx_nav_svinfo_part2, satellite_info_s::snr, satellite_info_s::svid, ubx_payload_rx_nav_svinfo_part2_t::svid, UBX_TRACE_SVINFO, and satellite_info_s::used.

Referenced by parseChar().

Here is the caller graph for this function:

◆ payloadRxDone()

int GPSDriverUBX::payloadRxDone ( void )

private

Finish payload rx.

Definition at line 1332 of file ubx.cpp.

Referenced by parseChar().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ payloadRxInit()

int GPSDriverUBX::payloadRxInit ( void )

private

Start payload rx.

Definition at line 924 of file ubx.cpp.

References _configured, _disable_cmd_last, _proto_ver_27_or_higher, _rx_msg, _rx_payload_length, _rx_state, _satellite_info, _use_nav_pvt, configureMessageRate(), DISABLE_MSG_INTERVAL, gps_absolute_time, SWAP16, UBX_DEBUG, UBX_MSG_ACK_ACK, UBX_MSG_ACK_NAK, UBX_MSG_INF_DEBUG, UBX_MSG_INF_ERROR, UBX_MSG_INF_NOTICE, UBX_MSG_INF_WARNING, UBX_MSG_MON_HW, UBX_MSG_MON_RF, UBX_MSG_MON_VER, UBX_MSG_NAV_DOP, UBX_MSG_NAV_POSLLH, UBX_MSG_NAV_PVT, UBX_MSG_NAV_SAT, UBX_MSG_NAV_SOL, UBX_MSG_NAV_SVIN, UBX_MSG_NAV_SVINFO, UBX_MSG_NAV_TIMEUTC, UBX_MSG_NAV_VELNED, UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7, UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8, UBX_RXMSG_DISABLE, UBX_RXMSG_ERROR_LENGTH, UBX_RXMSG_HANDLE, UBX_RXMSG_IGNORE, and UBX_WARN.

Referenced by parseChar().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ receive()

int GPSDriverUBX::receive ( unsigned timeout )

overridevirtual

receive & handle new data from the device

Parameters

timeout [ms]

Returns: <0 on error, otherwise a bitset: bit 0 set: got gps position update bit 1 set: got satellite info update

Implements GPSHelper.

Definition at line 713 of file ubx.cpp.

References _configured, _got_posllh, _got_velned, _interface, gps_absolute_time, GPS_READ_BUFFER_SIZE, parseChar(), GPSHelper::read(), GPSHelper::SPI, UBX_DEBUG, UBX_PACKET_TIMEOUT, and UBX_WARN.

Referenced by configure(), and waitForAck().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ reset()

int GPSDriverUBX::reset ( GPSRestartType restart_type )

overridevirtual

Reset GPS device.

Parameters

restart_type

Returns: <0 failure -1 not implemented 0 success

Reimplemented from GPSHelper.

Definition at line 1859 of file ubx.cpp.

References _buf, Cold, Hot, ubx_payload_tx_cfg_rst_t::navBbrMask, ubx_buf_t::payload_tx_cfg_rst, ubx_payload_tx_cfg_rst_t::resetMode, sendMessage(), UBX_MSG_CFG_RST, UBX_TX_CFG_RST_BBR_MODE_COLD_START, UBX_TX_CFG_RST_BBR_MODE_HOT_START, UBX_TX_CFG_RST_BBR_MODE_WARM_START, UBX_TX_CFG_RST_MODE_SOFTWARE, and Warm.

Here is the call graph for this function:

◆ restartSurveyIn()

int GPSDriverUBX::restartSurveyIn ( )

private

Start or restart the survey-in procees.

This is only used in RTCM ouput mode. It will be called automatically after configuring.

Returns: 0 on success, <0 on error

Definition at line 609 of file ubx.cpp.

Referenced by configure().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ restartSurveyInPreV27()

int GPSDriverUBX::restartSurveyInPreV27 ( )

private

restartSurveyIn for protocol version < 27 (_proto_ver_27_or_higher == false)

Definition at line 530 of file ubx.cpp.

Referenced by restartSurveyIn().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ sendMessage()

bool GPSDriverUBX::sendMessage	(	const uint16_t	msg,
		const uint8_t *	payload,
		const uint16_t	length
	)

private

Send a message.

Returns: true on success, false on write error (errno set)

Definition at line 1801 of file ubx.cpp.

References calcChecksum(), ubx_header_t::length, msg, ubx_header_t::msg, UBX_SYNC1, UBX_SYNC2, and GPSHelper::write().

Referenced by activateRTCMOutput(), configure(), configureDevice(), configureDevicePreV27(), configureMessageRate(), reset(), restartSurveyIn(), and restartSurveyInPreV27().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ waitForAck()

int GPSDriverUBX::waitForAck	(	const uint16_t	msg,
		const unsigned	timeout,
		const bool	report
	)

private

Wait for message acknowledge.

Definition at line 683 of file ubx.cpp.

References _ack_state, _ack_waiting_msg, gps_absolute_time, msg, receive(), SWAP16, UBX_ACK_GOT_ACK, UBX_ACK_GOT_NAK, UBX_ACK_IDLE, UBX_ACK_WAITING, and UBX_DEBUG.

Referenced by activateRTCMOutput(), configure(), configureDevice(), configureDevicePreV27(), configureMessageRateAndAck(), restartSurveyIn(), and restartSurveyInPreV27().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _ack_state

ubx_ack_state_t GPSDriverUBX::_ack_state {UBX_ACK_IDLE}

private

Definition at line 912 of file ubx.h.

Referenced by payloadRxDone(), and waitForAck().

◆ _ack_waiting_msg

uint16_t GPSDriverUBX::_ack_waiting_msg {0}

private

Definition at line 923 of file ubx.h.

Referenced by payloadRxDone(), and waitForAck().

◆ _board

Board GPSDriverUBX::_board {Board::unknown}

private

Definition at line 933 of file ubx.h.

Referenced by configure(), and payloadRxAddMonVer().

◆ _buf

ubx_buf_t GPSDriverUBX::_buf {}

private

Definition at line 924 of file ubx.h.

Referenced by activateRTCMOutput(), cfgValset(), configure(), configureDevice(), configureDevicePreV27(), initCfgValset(), payloadRxAdd(), payloadRxAddMonVer(), payloadRxAddNavSat(), payloadRxAddNavSvinfo(), payloadRxDone(), reset(), restartSurveyIn(), and restartSurveyInPreV27().

◆ _configured

bool GPSDriverUBX::_configured {false}

private

Definition at line 911 of file ubx.h.

Referenced by configure(), payloadRxInit(), and receive().

◆ _decode_state

ubx_decode_state_t GPSDriverUBX::_decode_state {}

private

Definition at line 915 of file ubx.h.

Referenced by decodeInit(), and parseChar().

◆ _disable_cmd_last

gps_abstime GPSDriverUBX::_disable_cmd_last {0}

private

Definition at line 922 of file ubx.h.

Referenced by payloadRxInit().

◆ _dyn_model

uint8_t GPSDriverUBX::_dyn_model {7}

private

Definition at line 936 of file ubx.h.

Referenced by configure(), configureDevice(), and configureDevicePreV27().

◆ _got_posllh

bool GPSDriverUBX::_got_posllh {false}

private

Definition at line 913 of file ubx.h.

Referenced by payloadRxDone(), and receive().

◆ _got_velned

bool GPSDriverUBX::_got_velned {false}

private

Definition at line 914 of file ubx.h.

Referenced by payloadRxDone(), and receive().

◆ _gps_position

struct vehicle_gps_position_s* GPSDriverUBX::_gps_position {nullptr}

private

Definition at line 908 of file ubx.h.

Referenced by payloadRxDone().

◆ _interface

const Interface GPSDriverUBX::_interface

private

Definition at line 932 of file ubx.h.

Referenced by cfgValsetPort(), configure(), and receive().

◆ _last_timestamp_time

uint64_t GPSDriverUBX::_last_timestamp_time {0}

private

Definition at line 910 of file ubx.h.

Referenced by payloadRxDone().

◆ _output_mode

OutputMode GPSDriverUBX::_output_mode {OutputMode::GPS}

private

Definition at line 928 of file ubx.h.

Referenced by configure(), decodeInit(), and restartSurveyIn().

◆ _proto_ver_27_or_higher

bool GPSDriverUBX::_proto_ver_27_or_higher {false}

private

true if protocol version 27 or higher detected

Definition at line 927 of file ubx.h.

Referenced by activateRTCMOutput(), configure(), configureMessageRate(), payloadRxInit(), and restartSurveyIn().

◆ _rtcm_parsing

RTCMParsing* GPSDriverUBX::_rtcm_parsing {nullptr}

private

Definition at line 930 of file ubx.h.

Referenced by decodeInit(), parseChar(), and ~GPSDriverUBX().

◆ _rx_ck_a

uint8_t GPSDriverUBX::_rx_ck_a {}

private

Definition at line 920 of file ubx.h.

Referenced by addByteToChecksum(), decodeInit(), and parseChar().

◆ _rx_ck_b

uint8_t GPSDriverUBX::_rx_ck_b {}

private

Definition at line 921 of file ubx.h.

Referenced by addByteToChecksum(), decodeInit(), and parseChar().

◆ _rx_msg

uint16_t GPSDriverUBX::_rx_msg {}

private

Definition at line 916 of file ubx.h.

Referenced by parseChar(), payloadRxDone(), and payloadRxInit().

◆ _rx_payload_index

uint16_t GPSDriverUBX::_rx_payload_index {}

private

Definition at line 919 of file ubx.h.

Referenced by decodeInit(), payloadRxAdd(), payloadRxAddMonVer(), payloadRxAddNavSat(), and payloadRxAddNavSvinfo().

◆ _rx_payload_length

uint16_t GPSDriverUBX::_rx_payload_length {}

private

Definition at line 918 of file ubx.h.

Referenced by decodeInit(), parseChar(), payloadRxAdd(), payloadRxAddMonVer(), payloadRxAddNavSat(), payloadRxAddNavSvinfo(), payloadRxDone(), and payloadRxInit().

◆ _rx_state

ubx_rxmsg_state_t GPSDriverUBX::_rx_state {UBX_RXMSG_IGNORE}

private

Definition at line 917 of file ubx.h.

Referenced by payloadRxDone(), and payloadRxInit().

◆ _satellite_info

struct satellite_info_s* GPSDriverUBX::_satellite_info {nullptr}

private

Definition at line 909 of file ubx.h.

Referenced by configureDevice(), configureDevicePreV27(), payloadRxAddNavSat(), payloadRxAddNavSvinfo(), payloadRxDone(), and payloadRxInit().

◆ _ubx_version

uint32_t GPSDriverUBX::_ubx_version {0}

private

Definition at line 925 of file ubx.h.

Referenced by payloadRxAddMonVer().

◆ _use_nav_pvt

bool GPSDriverUBX::_use_nav_pvt {false}

private

Definition at line 926 of file ubx.h.

Referenced by configureDevice(), configureDevicePreV27(), and payloadRxInit().

The documentation for this class was generated from the following files:

src/drivers/gps/devices/src/ubx.h
src/drivers/gps/devices/src/ubx.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Board

Constructor & Destructor Documentation

◆ GPSDriverUBX()

◆ ~GPSDriverUBX()

Member Function Documentation

◆ activateRTCMOutput()

◆ addByteToChecksum()

◆ calcChecksum()

◆ cfgValset()

◆ cfgValsetPort()

◆ configure()

◆ configureDevice()

◆ configureDevicePreV27()

◆ configureMessageRate()

◆ configureMessageRateAndAck()

◆ decodeInit()

◆ fnv1_32_str()

◆ initCfgValset()

◆ parseChar()

◆ payloadRxAdd()

◆ payloadRxAddMonVer()

◆ payloadRxAddNavSat()

◆ payloadRxAddNavSvinfo()

◆ payloadRxDone()

◆ payloadRxInit()

◆ receive()

◆ reset()

◆ restartSurveyIn()

◆ restartSurveyInPreV27()

◆ sendMessage()

◆ waitForAck()

Member Data Documentation

◆ _ack_state

◆ _ack_waiting_msg

◆ _board

◆ _buf

◆ _configured

◆ _decode_state

◆ _disable_cmd_last

◆ _dyn_model

◆ _got_posllh

◆ _got_velned

◆ _gps_position

◆ _interface

◆ _last_timestamp_time

◆ _output_mode

◆ _proto_ver_27_or_higher

◆ _rtcm_parsing

◆ _rx_ck_a

◆ _rx_ck_b

◆ _rx_msg

◆ _rx_payload_index

◆ _rx_payload_length

◆ _rx_state

◆ _satellite_info

◆ _ubx_version

◆ _use_nav_pvt