PX4 Firmware
PX4 Autopilot Software http://px4.io
Macros
ubx.cpp File Reference

U-Blox protocol implementation. More...

#include <assert.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <ctime>
#include "ubx.h"
#include "rtcm.h"
Include dependency graph for ubx.cpp:

Go to the source code of this file.

Macros

#define UBX_CONFIG_TIMEOUT   250
 
#define UBX_PACKET_TIMEOUT   2
 
#define DISABLE_MSG_INTERVAL   1000000
 
#define MIN(X, Y)   ((X) < (Y) ? (X) : (Y))
 
#define SWAP16(X)   ((((X) >> 8) & 0x00ff) | (((X) << 8) & 0xff00))
 
#define FNV1_32_INIT   ((uint32_t)0x811c9dc5)
 
#define FNV1_32_PRIME   ((uint32_t)0x01000193)
 
#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) */
 
#define UBX_WARN(...)   {GPS_WARN(__VA_ARGS__);}
 
#define UBX_DEBUG(...)   {/*GPS_WARN(__VA_ARGS__);*/}
 

Detailed Description

U-Blox protocol implementation.

Following u-blox 6/7/8/9 Receiver Description including Prototol Specification.

Author
Thomas Gubler thoma.nosp@m.sgub.nosp@m.ler@s.nosp@m.tude.nosp@m.nt.et.nosp@m.hz.c.nosp@m.h
Julian Oes julia.nosp@m.n@oe.nosp@m.s.ch
Anton Babushkin anton.nosp@m..bab.nosp@m.ushki.nosp@m.n@me.nosp@m..com
Beat Kueng beat-.nosp@m.kuen.nosp@m.g@gmx.nosp@m..net
Hannes Delago (rework, add ubx7+ compatibility)
See also
https://www2.u-blox.com/images/downloads/Product_Docs/u-blox6-GPS-GLONASS-QZSS-V14_ReceiverDescriptionProtocolSpec_Public_(GPS.G6-SW-12013).pdf
https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf
https://www.u-blox.com/sites/default/files/u-blox_ZED-F9P_InterfaceDescription_%28UBX-18010854%29.pdf

Following u-blox 6/7/8 Receiver Description including Prototol Specification.

Author
Thomas Gubler thoma.nosp@m.sgub.nosp@m.ler@s.nosp@m.tude.nosp@m.nt.et.nosp@m.hz.c.nosp@m.h
Julian Oes joes@.nosp@m.stud.nosp@m.ent.e.nosp@m.thz..nosp@m.ch
Anton Babushkin anton.nosp@m..bab.nosp@m.ushki.nosp@m.n@me.nosp@m..com
Hannes Delago (rework, add ubx7+ compatibility)
See also
http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf

Definition in file ubx.cpp.

Macro Definition Documentation

◆ DISABLE_MSG_INTERVAL

#define DISABLE_MSG_INTERVAL   1000000

Definition at line 64 of file ubx.cpp.

Referenced by GPSDriverUBX::payloadRxInit().

◆ FNV1_32_INIT

#define FNV1_32_INIT   ((uint32_t)0x811c9dc5)

Definition at line 69 of file ubx.cpp.

Referenced by GPSDriverUBX::payloadRxAddMonVer().

◆ FNV1_32_PRIME

#define FNV1_32_PRIME   ((uint32_t)0x01000193)

Definition at line 70 of file ubx.cpp.

Referenced by GPSDriverUBX::fnv1_32_str().

◆ MIN

#define MIN (   X,
  Y 
)    ((X) < (Y) ? (X) : (Y))

Definition at line 66 of file ubx.cpp.

Referenced by GPSDriverUBX::payloadRxAddNavSat(), and GPSDriverUBX::payloadRxAddNavSvinfo().

◆ SWAP16

#define SWAP16 (   X)    ((((X) >> 8) & 0x00ff) | (((X) << 8) & 0xff00))

Definition at line 67 of file ubx.cpp.

Referenced by GPSDriverUBX::payloadRxInit(), and GPSDriverUBX::waitForAck().

◆ UBX_CONFIG_TIMEOUT

#define UBX_CONFIG_TIMEOUT   250

Definition at line 62 of file ubx.cpp.

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

◆ UBX_DEBUG

#define UBX_DEBUG (   ...)    {/*GPS_WARN(__VA_ARGS__);*/}

Definition at line 80 of file ubx.cpp.

Referenced by GPSDriverUBX::configure(), GPSDriverUBX::configureDevicePreV27(), GPSDriverUBX::parseChar(), GPSDriverUBX::payloadRxAddMonVer(), GPSDriverUBX::payloadRxDone(), GPSDriverUBX::payloadRxInit(), GPSDriverUBX::receive(), GPSDriverUBX::restartSurveyIn(), GPSDriverUBX::restartSurveyInPreV27(), and GPSDriverUBX::waitForAck().

◆ UBX_PACKET_TIMEOUT

#define UBX_PACKET_TIMEOUT   2

Definition at line 63 of file ubx.cpp.

Referenced by GPSDriverUBX::receive().

◆ UBX_TRACE_PARSER

#define UBX_TRACE_PARSER (   ...)    {/*GPS_INFO(__VA_ARGS__);*/} /* decoding progress in parse_char() */

Definition at line 74 of file ubx.cpp.

Referenced by GPSDriverUBX::parseChar().

◆ UBX_TRACE_RXMSG

#define UBX_TRACE_RXMSG (   ...)    {/*GPS_INFO(__VA_ARGS__);*/} /* Rx msgs in payload_rx_done() */

Definition at line 75 of file ubx.cpp.

Referenced by GPSDriverUBX::payloadRxDone().

◆ UBX_TRACE_SVINFO

#define UBX_TRACE_SVINFO (   ...)    {/*GPS_INFO(__VA_ARGS__);*/} /* NAV-SVINFO processing (debug use only, will cause rx buffer overflows) */

Definition at line 76 of file ubx.cpp.

Referenced by GPSDriverUBX::payloadRxAddNavSat(), and GPSDriverUBX::payloadRxAddNavSvinfo().

◆ UBX_WARN

#define UBX_WARN (   ...)    {GPS_WARN(__VA_ARGS__);}

Definition at line 79 of file ubx.cpp.

Referenced by GPSDriverUBX::cfgValset(), GPSDriverUBX::configureMessageRate(), GPSDriverUBX::payloadRxAddMonVer(), GPSDriverUBX::payloadRxDone(), GPSDriverUBX::payloadRxInit(), GPSDriverUBX::receive(), and GPSDriverUBX::restartSurveyInPreV27().