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ubx: Implement new GNSS system selection
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@jbeyerstedt
jbeyerstedt committed Jan 7, 2021
1 parent 37f4a72 commit 0091365
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149 changes: 149 additions & 0 deletions src/ubx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,7 @@ GPSDriverUBX::configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsM
{
_configured = false;
_output_mode = output_mode;
_gnssSystems = gnssSystems;

ubx_payload_tx_cfg_prt_t cfg_prt[2];

Expand Down Expand Up @@ -380,6 +381,80 @@ int GPSDriverUBX::configureDevicePreV27()
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))) {
GPS_ERR("UBX CFG-GNSS message send failed");
return -1;
}

if (waitForAck(UBX_MSG_CFG_GNSS, UBX_CONFIG_TIMEOUT, true) < 0) {
GPS_ERR("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 */

Expand Down Expand Up @@ -472,6 +547,80 @@ int GPSDriverUBX::configureDevice()

waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, false);

// 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))) {
GPS_ERR("UBX CFG-GNSS message send failed");
return -1;
}

if (waitForAck(UBX_MSG_CFG_GNSS, UBX_CONFIG_TIMEOUT, true) < 0) {
GPS_ERR("UBX CFG-GNSS message ACK failed");
return -1;
}
}

// Configure message rates
// Send a new CFG-VALSET message to make sure it does not get too large
cfg_valset_msg_size = initCfgValset();
Expand Down
50 changes: 50 additions & 0 deletions src/ubx.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,7 @@
#define UBX_ID_CFG_RST 0x04
#define UBX_ID_CFG_SBAS 0x16
#define UBX_ID_CFG_TMODE3 0x71 // deprecated in protocol version >= 27 -> use CFG_VALSET
#define UBX_ID_CFG_GNSS 0x3E
#define UBX_ID_CFG_VALSET 0x8A
#define UBX_ID_CFG_VALGET 0x8B
#define UBX_ID_CFG_VALDEL 0x8C
Expand Down Expand Up @@ -151,6 +152,7 @@
#define UBX_MSG_CFG_RST ((UBX_CLASS_CFG) | UBX_ID_CFG_RST << 8)
#define UBX_MSG_CFG_SBAS ((UBX_CLASS_CFG) | UBX_ID_CFG_SBAS << 8)
#define UBX_MSG_CFG_TMODE3 ((UBX_CLASS_CFG) | UBX_ID_CFG_TMODE3 << 8)
#define UBX_MSG_CFG_GNSS ((UBX_CLASS_CFG) | UBX_ID_CFG_GNSS << 8)
#define UBX_MSG_CFG_VALGET ((UBX_CLASS_CFG) | UBX_ID_CFG_VALGET << 8)
#define UBX_MSG_CFG_VALSET ((UBX_CLASS_CFG) | UBX_ID_CFG_VALSET << 8)
#define UBX_MSG_CFG_VALDEL ((UBX_CLASS_CFG) | UBX_ID_CFG_VALDEL << 8)
Expand Down Expand Up @@ -226,6 +228,34 @@
#define UBX_TX_CFG_RST_MODE_HARDWARE 0
#define UBX_TX_CFG_RST_MODE_SOFTWARE 1

/* TX CFG-GNSS message contents
*/
#define UBX_TX_CFG_GNSS_GNSSID_GPS 0 /**< gnssId of GPS */
#define UBX_TX_CFG_GNSS_GNSSID_SBAS 1 /**< gnssId of SBAS */
#define UBX_TX_CFG_GNSS_GNSSID_GALILEO 2 /**< gnssId of Galileo */
#define UBX_TX_CFG_GNSS_GNSSID_BEIDOU 3 /**< gnssId of BeiDou */
#define UBX_TX_CFG_GNSS_GNSSID_IMES 4 /**< gnssId of IMES */
#define UBX_TX_CFG_GNSS_GNSSID_QZSS 5 /**< gnssId of QZSS */
#define UBX_TX_CFG_GNSS_GNSSID_GLONASS 6 /**< gnssId of GLONASS */
#define UBX_TX_CFG_GNSS_FLAGS_ENABLE 0x00000001 /**< Enable this GNSS system */
#define UBX_TX_CFG_GNSS_FLAGS_GPS_L1CA 0x00010000 /**< GPS: Use L1C/A Signal */
#define UBX_TX_CFG_GNSS_FLAGS_GPS_L2C 0x00100000 /**< GPS: Use L2C Signal */
#define UBX_TX_CFG_GNSS_FLAGS_GPS_L5 0x00200000 /**< GPS: Use L5 Signal */
#define UBX_TX_CFG_GNSS_FLAGS_SBAS_L1CA 0x00010000 /**< SBAS: Use L1C/A Signal */
#define UBX_TX_CFG_GNSS_FLAGS_GALILEO_E1 0x00010000 /**< Galileo: Use E1 Signal */
#define UBX_TX_CFG_GNSS_FLAGS_GALILEO_E5A 0x00100000 /**< Galileo: Use E5a Signal */
#define UBX_TX_CFG_GNSS_FLAGS_GALILEO_E5B 0x00200000 /**< Galileo: Use E5b Signal */
#define UBX_TX_CFG_GNSS_FLAGS_BEIDOU_B1I 0x00010000 /**< BeiDou: Use B1I Signal */
#define UBX_TX_CFG_GNSS_FLAGS_BEIDOU_B2I 0x00100000 /**< BeiDou: Use B2I Signal */
#define UBX_TX_CFG_GNSS_FLAGS_BEIDOU_B2A 0x00800000 /**< BeiDou: Use B2A Signal */
#define UBX_TX_CFG_GNSS_FLAGS_IMES_L1 0x00010000 /**< IMES: Use L1 Signal */
#define UBX_TX_CFG_GNSS_FLAGS_QZSS_L1CA 0x00010000 /**< QZSS: Use L1C/A Signal */
#define UBX_TX_CFG_GNSS_FLAGS_QZSS_L1S 0x00040000 /**< QZSS: Use L1S Signal */
#define UBX_TX_CFG_GNSS_FLAGS_QZSS_L2C 0x00100000 /**< QZSS: Use L2C Signal */
#define UBX_TX_CFG_GNSS_FLAGS_QZSS_L5 0x00200000 /**< QZSS: Use L5 Signal */
#define UBX_TX_CFG_GNSS_FLAGS_GLONASS_L1 0x00010000 /**< GLONASS: Use L1 Signal */
#define UBX_TX_CFG_GNSS_FLAGS_GLONASS_L2 0x00100000 /**< GLONASS: Use L2 Signal */

/* Key ID's for CFG-VAL{GET,SET,DEL} */
#define UBX_CFG_KEY_CFG_UART1_BAUDRATE 0x40520001
#define UBX_CFG_KEY_CFG_UART1_STOPBITS 0x20520002
Expand Down Expand Up @@ -718,6 +748,23 @@ typedef struct {
uint8_t reserved3[8];
} ubx_payload_tx_cfg_tmode3_t;

typedef struct {
uint8_t msgVer; /**< Message version (expected 0x00) */
uint8_t numTrkChHw; /**< Number of tracking channels available (read only) */
uint8_t numTrkChUse; /**< Number of tracking channels to use (0xFF for numTrkChHw) */
uint8_t numConfigBlocks; /**< Count of repeated blocks */

struct ubx_payload_tx_cgf_gnss_block_t {
uint8_t gnssId; /**< GNSS ID */
uint8_t resTrkCh; /**< Number of reseved (minimum) tracking channels */
uint8_t maxTrkCh; /**< Maximum number or tracking channels */
uint8_t reserved1;
uint32_t flags; /**< Bitfield flags (see UBX_TX_CFG_GNSS_FLAGS_*) */
};

ubx_payload_tx_cgf_gnss_block_t block[7]; /**< GPS, SBAS, Galileo, BeiDou, IMES 0-8, QZSS, GLONASS */
} ubx_payload_tx_cfg_gnss_t;

/* NAV RELPOSNED (protocol version 27+) */
typedef struct {
uint8_t version; /**< message version (expected 0x01) */
Expand Down Expand Up @@ -772,6 +819,7 @@ typedef union {
ubx_payload_tx_cfg_tmode3_t payload_tx_cfg_tmode3;
ubx_payload_tx_cfg_cfg_t payload_tx_cfg_cfg;
ubx_payload_tx_cfg_valset_t payload_tx_cfg_valset;
ubx_payload_tx_cfg_gnss_t payload_tx_cfg_gnss;
ubx_payload_rx_nav_relposned_t payload_rx_nav_relposned;
} ubx_buf_t;

Expand Down Expand Up @@ -1001,6 +1049,8 @@ class GPSDriverUBX : public GPSBaseStationSupport

OutputMode _output_mode{OutputMode::GPS};

GNSSSystemsMask _gnssSystems{};

RTCMParsing *_rtcm_parsing{nullptr};

const UBXMode _mode;
Expand Down

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