d72852a6e2
There currently is no practical use to have TactilityHeadless as a subproject. I'm merging it with the Tactility project.
481 lines
19 KiB
C++
481 lines
19 KiB
C++
#include "Tactility/hal/gps/Ublox.h"
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#include "Tactility/hal/gps/UbloxMessages.h"
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#include "Tactility/hal/uart/Uart.h"
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#include <cstring>
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#define TAG "ublox"
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namespace tt::hal::gps::ublox {
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bool initUblox6(uart::Uart& uart);
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bool initUblox789(uart::Uart& uart, GpsModel model);
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bool initUblox10(uart::Uart& uart);
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#define SEND_UBX_PACKET(UART, BUFFER, TYPE, ID, DATA, ERRMSG, TIMEOUT) \
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do { \
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auto msglen = makePacket(TYPE, ID, DATA, sizeof(DATA), BUFFER); \
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UART.writeBytes(BUFFER, sizeof(BUFFER)); \
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if (getAck(UART, TYPE, ID, TIMEOUT) != GpsResponse::Ok) { \
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TT_LOG_I(TAG, "Sending packet failed: %s", #ERRMSG); \
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} \
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} while (0)
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void checksum(uint8_t* message, size_t length) {
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uint8_t CK_A = 0, CK_B = 0;
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// Calculate the checksum, starting from the CLASS field (which is message[2])
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for (size_t i = 2; i < length - 2; i++) {
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CK_A = (CK_A + message[i]) & 0xFF;
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CK_B = (CK_B + CK_A) & 0xFF;
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}
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// Place the calculated checksum values in the message
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message[length - 2] = CK_A;
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message[length - 1] = CK_B;
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}
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uint8_t makePacket(uint8_t classId, uint8_t messageId, const uint8_t* payload, uint8_t payloadSize, uint8_t* bufferOut) {
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// Construct the UBX packet
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bufferOut[0] = 0xB5U; // header
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bufferOut[1] = 0x62U; // header
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bufferOut[2] = classId; // class
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bufferOut[3] = messageId; // id
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bufferOut[4] = payloadSize; // length
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bufferOut[5] = 0x00U;
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bufferOut[6 + payloadSize] = 0x00U; // CK_A
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bufferOut[7 + payloadSize] = 0x00U; // CK_B
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for (int i = 0; i < payloadSize; i++) {
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bufferOut[6 + i] = payload[i];
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}
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checksum(bufferOut, (payloadSize + 8U));
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return (payloadSize + 8U);
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}
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GpsResponse getAck(uart::Uart& uart, uint8_t class_id, uint8_t msg_id, uint32_t waitMillis) {
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uint8_t b;
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uint8_t ack = 0;
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const uint8_t ackP[2] = {class_id, msg_id};
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uint8_t buf[10] = {0xB5, 0x62, 0x05, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00};
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uint32_t startTime = kernel::getMillis();
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const char frame_errors[] = "More than 100 frame errors";
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int sCounter = 0;
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#ifdef GPS_DEBUG
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std::string debugmsg = "";
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#endif
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for (int j = 2; j < 6; j++) {
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buf[8] += buf[j];
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buf[9] += buf[8];
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}
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for (int j = 0; j < 2; j++) {
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buf[6 + j] = ackP[j];
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buf[8] += buf[6 + j];
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buf[9] += buf[8];
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}
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while (kernel::getTicks() - startTime < waitMillis) {
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if (ack > 9) {
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#ifdef GPS_DEBUG
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TT_LOG_I(TAG, "Got ACK for class %02X message %02X in %lums", class_id, msg_id, kernel::getMillis() - startTime);
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#endif
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return GpsResponse::Ok; // ACK received
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}
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if (uart.available()) {
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uart.readByte(&b);
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if (b == frame_errors[sCounter]) {
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sCounter++;
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if (sCounter == 26) {
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#ifdef GPS_DEBUG
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TT_LOG_I(TAG, "%s", debugmsg.c_str());
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#endif
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return GpsResponse::FrameErrors;
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}
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} else {
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sCounter = 0;
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}
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#ifdef GPS_DEBUG
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debugmsg += std::format("%02X", b);
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#endif
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if (b == buf[ack]) {
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ack++;
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} else {
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if (ack == 3 && b == 0x00) { // UBX-ACK-NAK message
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#ifdef GPS_DEBUG
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TT_LOG_I(TAG, "%s", debugmsg.c_str());
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#endif
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TT_LOG_W(TAG, "Got NAK for class %02X message %02X", class_id, msg_id);
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return GpsResponse::NotAck; // NAK received
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}
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ack = 0; // Reset the acknowledgement counter
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}
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}
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}
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#ifdef GPS_DEBUG
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TT_LOG_I(TAG, "%s", debugmsg.c_str());
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TT_LOG_W(TAG, "No response for class %02X message %02X", class_id, msg_id);
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#endif
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return GpsResponse::None; // No response received within timeout
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}
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static int getAck(uart::Uart& uart, uint8_t* buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedId, TickType_t timeout) {
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uint16_t ubxFrameCounter = 0;
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uint32_t startTime = kernel::getTicks();
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uint16_t needRead = 0;
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while (kernel::getTicks() - startTime < timeout) {
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while (uart.available()) {
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uint8_t c;
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uart.readByte(&c);
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switch (ubxFrameCounter) {
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case 0:
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if (c == 0xB5) {
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ubxFrameCounter++;
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}
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break;
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case 1:
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if (c == 0x62) {
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ubxFrameCounter++;
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} else {
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ubxFrameCounter = 0;
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}
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break;
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case 2:
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if (c == requestedClass) {
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ubxFrameCounter++;
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} else {
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ubxFrameCounter = 0;
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}
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break;
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case 3:
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if (c == requestedId) {
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ubxFrameCounter++;
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} else {
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ubxFrameCounter = 0;
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}
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break;
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case 4:
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needRead = c;
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ubxFrameCounter++;
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break;
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case 5: {
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// Payload length msb
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needRead |= (c << 8);
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ubxFrameCounter++;
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// Check for buffer overflow
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if (needRead >= size) {
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ubxFrameCounter = 0;
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break;
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}
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auto read_bytes = uart.readBytes(buffer, needRead, 250 / portTICK_PERIOD_MS);
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if (read_bytes != needRead) {
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ubxFrameCounter = 0;
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} else {
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// return payload length
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#ifdef GPS_DEBUG
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TT_LOG_I(TAG, "Got ACK for class %02X message %02X in %lums", requestedClass, requestedId, kernel::getMillis() - startTime);
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#endif
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return needRead;
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}
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break;
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}
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default:
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break;
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}
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}
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}
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return 0;
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}
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#define DETECTED_MESSAGE "%s detected, using %s Module"
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static struct uBloxGnssModelInfo {
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char swVersion[30];
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char hwVersion[10];
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uint8_t extensionNo;
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char extension[10][30];
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uint8_t protocol_version;
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} ublox_info;
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GpsModel probe(uart::Uart& uart) {
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TT_LOG_I(TAG, "Probing for U-blox");
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uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
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checksum(cfg_rate, sizeof(cfg_rate));
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uart.flushInput();
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uart.writeBytes(cfg_rate, sizeof(cfg_rate));
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// Check that the returned response class and message ID are correct
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GpsResponse response = getAck(uart, 0x06, 0x08, 750);
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if (response == GpsResponse::None) {
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TT_LOG_W(TAG, "No GNSS Module (baudrate %lu)", uart.getBaudRate());
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return GpsModel::Unknown;
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} else if (response == GpsResponse::FrameErrors) {
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TT_LOG_W(TAG, "UBlox Frame Errors (baudrate %lu)", uart.getBaudRate());
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}
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uint8_t buffer[256];
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memset(buffer, 0, sizeof(buffer));
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uint8_t _message_MONVER[8] = {
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0xB5, 0x62, // Sync message for UBX protocol
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0x0A, 0x04, // Message class and ID (UBX-MON-VER)
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0x00, 0x00, // Length of payload (we're asking for an answer, so no payload)
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0x00, 0x00 // Checksum
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};
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// Get Ublox gnss module hardware and software info
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checksum(_message_MONVER, sizeof(_message_MONVER));
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uart.flushInput();
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uart.writeBytes(_message_MONVER, sizeof(_message_MONVER));
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uint16_t ack_response_len = getAck(uart, buffer, sizeof(buffer), 0x0A, 0x04, 1200);
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if (ack_response_len) {
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uint16_t position = 0;
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for (char& i: ublox_info.swVersion) {
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i = buffer[position];
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position++;
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}
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for (char& i: ublox_info.hwVersion) {
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i = buffer[position];
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position++;
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}
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while (ack_response_len >= position + 30) {
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for (int i = 0; i < 30; i++) {
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ublox_info.extension[ublox_info.extensionNo][i] = buffer[position];
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position++;
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}
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ublox_info.extensionNo++;
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if (ublox_info.extensionNo > 9)
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break;
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}
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TT_LOG_I(TAG, "Module Info : ");
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TT_LOG_I(TAG, "Soft version: %s", ublox_info.swVersion);
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TT_LOG_I(TAG, "Hard version: %s", ublox_info.hwVersion);
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TT_LOG_I(TAG, "Extensions:%d", ublox_info.extensionNo);
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for (int i = 0; i < ublox_info.extensionNo; i++) {
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TT_LOG_I(TAG, " %s", ublox_info.extension[i]);
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}
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memset(buffer, 0, sizeof(buffer));
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// tips: extensionNo field is 0 on some 6M GNSS modules
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for (int i = 0; i < ublox_info.extensionNo; ++i) {
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if (!strncmp(ublox_info.extension[i], "MOD=", 4)) {
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strncpy((char*)buffer, &(ublox_info.extension[i][4]), sizeof(buffer));
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} else if (!strncmp(ublox_info.extension[i], "PROTVER", 7)) {
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char* ptr = nullptr;
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memset(buffer, 0, sizeof(buffer));
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strncpy((char*)buffer, &(ublox_info.extension[i][8]), sizeof(buffer));
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TT_LOG_I(TAG, "Protocol Version:%s", (char*)buffer);
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if (strlen((char*)buffer)) {
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ublox_info.protocol_version = strtoul((char*)buffer, &ptr, 10);
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TT_LOG_I(TAG, "ProtVer=%d", ublox_info.protocol_version);
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} else {
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ublox_info.protocol_version = 0;
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}
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}
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}
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if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) {
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TT_LOG_I(TAG, DETECTED_MESSAGE, "U-blox 6", "6");
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return GpsModel::UBLOX6;
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} else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
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TT_LOG_I(TAG, DETECTED_MESSAGE, "U-blox 7", "7");
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return GpsModel::UBLOX7;
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} else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
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TT_LOG_I(TAG, DETECTED_MESSAGE, "U-blox 8", "8");
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return GpsModel::UBLOX8;
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} else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
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TT_LOG_I(TAG, DETECTED_MESSAGE, "U-blox 9", "9");
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return GpsModel::UBLOX9;
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} else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
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TT_LOG_I(TAG, DETECTED_MESSAGE, "U-blox 10", "10");
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return GpsModel::UBLOX10;
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}
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}
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return GpsModel::Unknown;
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}
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bool init(uart::Uart& uart, GpsModel model) {
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TT_LOG_I(TAG, "U-blox init");
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switch (model) {
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case GpsModel::UBLOX6:
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return initUblox6(uart);
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case GpsModel::UBLOX7:
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case GpsModel::UBLOX8:
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case GpsModel::UBLOX9:
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return initUblox789(uart, model);
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case GpsModel::UBLOX10:
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return initUblox10(uart);
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default:
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TT_LOG_E(TAG, "Unknown or unsupported U-blox model");
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return false;
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}
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}
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bool initUblox10(uart::Uart& uart) {
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uint8_t buffer[256];
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kernel::delayMillis(1000);
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "disable NMEA messages in M10 RAM", 300);
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kernel::delayMillis(750);
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "disable NMEA messages in M10 BBR", 300);
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kernel::delayMillis(750);
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM, "disable Info messages for M10 GPS RAM", 300);
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kernel::delayMillis(750);
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR, "disable Info messages for M10 GPS BBR", 300);
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kernel::delayMillis(750);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersave for M10 GPS RAM", 300);
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kernel::delayMillis(750);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersave for M10 GPS BBR", 300);
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kernel::delayMillis(750);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable jam detection M10 GPS RAM", 300);
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kernel::delayMillis(750);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable jam detection M10 GPS BBR", 300);
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kernel::delayMillis(750);
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// Here is where the init commands should go to do further M10 initialization.
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_RAM, "disable SBAS M10 GPS RAM", 300);
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kernel::delayMillis(750); // will cause a receiver restart so wait a bit
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300);
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kernel::delayMillis(750); // will cause a receiver restart so wait a bit
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// Done with initialization
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// Enable wanted NMEA messages in BBR layer so they will survive a periodic sleep
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300);
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kernel::delayMillis(750);
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// Enable wanted NMEA messages in RAM layer
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "enable messages for M10 GPS RAM", 500);
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kernel::delayMillis(750);
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// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
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// BBR will survive a restart, and power off for a while, but modules with small backup
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// batteries or super caps will not retain the config for a long power off time.
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auto packet_size = makePacket(0x06, 0x09, _message_SAVE_10, sizeof(_message_SAVE_10), buffer);
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uart.writeBytes(buffer, packet_size);
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if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
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TT_LOG_W(TAG, "Unable to save GNSS module config");
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} else {
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TT_LOG_I(TAG, "GNSS module configuration saved!");
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}
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return true;
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}
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bool initUblox789(uart::Uart& uart, GpsModel model) {
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uint8_t buffer[256];
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if (model == GpsModel::UBLOX7) {
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TT_LOG_D(TAG, "Set GPS+SBAS");
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auto msglen = makePacket(0x06, 0x3e, _message_GNSS_7, sizeof(_message_GNSS_7), buffer);
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uart.writeBytes(buffer, msglen);
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} else { // 8,9
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auto msglen = makePacket(0x06, 0x3e, _message_GNSS_8, sizeof(_message_GNSS_8), buffer);
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uart.writeBytes(buffer, msglen);
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}
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if (getAck(uart, 0x06, 0x3e, 800) == GpsResponse::NotAck) {
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// It's not critical if the module doesn't acknowledge this configuration.
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TT_LOG_D(TAG, "reconfigure GNSS - defaults maintained. Is this module GPS-only?");
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} else {
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if (model == GpsModel::UBLOX7) {
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TT_LOG_I(TAG, "GPS+SBAS configured");
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} else { // 8,9
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TT_LOG_I(TAG, "GPS+SBAS+GLONASS+Galileo configured");
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}
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// Documentation say, we need wait at least 0.5s after reconfiguration of GNSS module, before sending next
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// commands for the M8 it tends to be more. 1 sec should be enough
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kernel::delayMillis(1000);
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}
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
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if (model == GpsModel::UBLOX8) { // 8
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_8, "enable interference resistance", 500);
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5_8, "configure NAVX5_8 settings", 500);
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} else { // 6,7,9
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
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}
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// Turn off unwanted NMEA messages, set update rate
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
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if (ublox_info.protocol_version >= 18) {
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x86, _message_PMS, "enable powersave for GPS", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
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// For M8 we want to enable NMEA version 4.10 so we can see the additional satellites.
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if (model == GpsModel::UBLOX8) {
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uart.flushInput();
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x17, _message_NMEA, "enable NMEA 4.10", 500);
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}
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} else {
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x11, _message_CFG_RXM_PSM, "enable powersave mode for GPS", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
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}
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auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
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uart.writeBytes(buffer, packet_size);
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if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
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TT_LOG_W(TAG, "Unable to save GNSS module config");
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} else {
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TT_LOG_I(TAG, "GNSS module configuration saved!");
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}
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return true;
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}
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bool initUblox6(uart::Uart& uart) {
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uint8_t buffer[256];
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uart.flushInput();
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|
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
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// Turn off unwanted NMEA messages, set update rate
|
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
|
|
|
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uart.flushInput();
|
|
|
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SEND_UBX_PACKET(uart, buffer, 0x06, 0x11, _message_CFG_RXM_ECO, "enable powersave ECO mode for Neo-6", 500);
|
|
SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
|
|
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_AID, "disable UBX-AID", 500);
|
|
|
|
auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
|
|
uart.writeBytes(buffer, packet_size);
|
|
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
|
|
TT_LOG_W(TAG, "Unable to save GNSS module config");
|
|
} else {
|
|
TT_LOG_I(TAG, "GNSS module config saved!");
|
|
}
|
|
return true;
|
|
}
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|
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} // namespace tt::hal::gps::ublox
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