software/arduino/libraries/gps_ublox/gps_lea6t.h

   1 // -*- coding: utf-8 -*-
   2 // LICENSE
   3 //
   4 // This file is part of ruwai.
   5 //
   6 // If you use ruwai in any program or publication, please inform and
   7 // acknowledge its author Stefan Mertl (stefan@mertl-research.at).
   8 //
   9 // pSysmon is free software: you can redistribute it and/or modify
  10 // it under the terms of the GNU General Public License as published by
  11 // the Free Software Foundation, either version 3 of the License, or
  12 // (at your option) any later version.
  13 //
  14 // This program is distributed in the hope that it will be useful,
  15 // but WITHOUT ANY WARRANTY; without even the implied warranty of
  16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  17 // GNU General Public License for more details.
  18 //
  19 // You should have received a copy of the GNU General Public License
  20 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
  21
  22 #ifndef gpslea6t_h
  23 #define gpslea6t_h
  24
  25 #include <Arduino.h>
  26 #include <ubx_protocol.h>
  27 #include <ruwai.h>
  28 #include <rw_serial.h>
  29
  30 // Used to pack the structures to remove eventual byte overhead.
  31 #ifndef PACKED
  32     #define PACKED __attribute__((packed))
  33 #endif
  34
  35 // The mapping of the GPS pins to the Arduino pins.
  36 #define GPS_ENABLE_USB 34
  37 #define GPS_TP_INTERRUPT 1
  38
  39 //! The supported GPSfix types.
  40 typedef enum gpsfix_e {
  41     FIX_NO = 0,
  42     FIX_DEAD_RECKONING_ONLY = 1,
  43     FIX_2D = 2,
  44     FIX_3D = 3,
  45     FIX_GPS_AND_DEAD_RECKONING = 4,
  46     FIX_TIME_ONLY = 5
  47 } gpsfix_t;
  48
  49 typedef enum read_state_e {
  50     WAITING_FOR_SYNC1 = 0,
  51     SYNC1_FOUND,
  52     SYNC2_FOUND,
  53     CLASS_READ,
  54     MSGID_READ,
  55     LENGTH_BYTE1_READ,
  56     LENGTH_BYTE2_READ,
  57     PAYLOAD_READ,
  58     CKA_OK
  59 } read_state_t;
  60
  61
  62 typedef enum target_e {
  63     T_DDC = 0,
  64     T_UART1,
  65     T_UART2,
  66     T_USB,
  67     T_SPI,
  68     T_RESERVED
  69 } target_t;
  70
  71
  72
  73 //! The UBX message receive buffer.
  74 typedef union PACKED ubx_msg_buffer_u {
  75     ubx_cfg_tp5_t cfg_tp5;
  76     ubx_cfg_prt_uart_t cfg_prt_uart;
  77     ubx_ack_ack_t ack_ack;
  78     ubx_nav_status_t nav_status;
  79     ubx_nav_timeutc_t nav_timeutc;
  80     ubx_nav_posllh_t nav_posllh;
  81     ubx_tim_tp_t tim_tp;
  82     uint8_t bytes[];
  83 } ubx_msg_buffer_t;
  84
  85 //! The uBlox GPS class.
  86 /*!
  87  * Detailed description.
  88  */
  89 class GpsLea6T {
  90     private:
  91         /*! The step of the message read flow. */
  92         read_state_t read_step;
  93
  94         /* The message class of the read flow. */
  95         uint8_t read_msg_class;
  96
  97         /* The message id of the read flow. */
  98         uint8_t read_msg_id;
  99
 100         /* The payload length of the message in the read flow. */
 101         uint16_t read_payload_length;
 102
 103         /* The checksum of the read flow. */
 104         uint8_t read_cka;
 105         uint8_t read_ckb;
 106
 107         /* The counter of the payload in the read flow. */
 108         uint16_t read_payload_counter;
 109
 110         /* The state of received ACK messages. */
 111         volatile bool msg_ack_changed;
 112
 113         /* The buffer of the received message in the read flow. */
 114         ubx_msg_buffer_t read_buffer;
 115
 116         /*! The type of the GPSfix. */
 117         gpsfix_t gps_fix;
 118
 119         /*! The timepulse configuration. */
 120         ubx_cfg_tp5_t timepulse_cfg;
 121
 122         /*! The timepulse1 configuration. */
 123         ubx_cfg_tp5_t timepulse1_cfg;
 124
 125         /*! The timepulse2 configuration. */
 126         ubx_cfg_tp5_t timepulse2_cfg;
 127
 128         /*! The navigation status configuration. */
 129         ubx_nav_status_t navigation_status;
 130
 131         /*! The cfg message acknowledge information. */
 132         ubx_ack_ack_t msg_ack;
 133
 134
 135
 136         /*! The validity of the GPSfix. */
 137         bool gps_fix_ok;
 138
 139         /*! The Arduino Serial Stream object used for communication. */
 140         RuwaiSerial &serial_port;
 141
 142         /*! Send a ublox message. */
 143         void send_ublox_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t length);
 144
 145         /*! Parse a ublox UBX message. */
 146         bool parse_ubx();
 147
 148         /*! Handle an unexpected UBX message. */
 149         void handle_unexpected_msg();
 150
 151         /*! Send the timepulse2 configuration to the GPS module. */
 152         bool send_cfg_tp5(uint8_t tp_idx);
 153
 154         /*! Wait for the acknowledgement message for a sent config message. */
 155         bool wait_for_cfg_ack(uint8_t msg_class, uint8_t msg_id);
 156
 157         /*! Test the serial connection with a given baud rate. */
 158         bool test_baud_rate(uint32_t baud_rate);
 159
 160         /*! Poll the baud rate and wait for an answer for a given baud rate. */
 161         bool poll_baud_rate_blocking(uint32_t baud_rate);
 162
 163     public:
 164         /*! The constructor. */
 165         GpsLea6T(RuwaiSerial &serial);
 166
 167
 168         /* The state of the polled GPS status fields. */
 169         /*! The flag to track changes of the NAV settings. */
 170         volatile bool nav_status_changed;
 171         volatile bool nav_timeutc_changed;
 172         volatile bool nav_position_changed;
 173
 174         /*! The flag to track changes of the CFG settings. */
 175         volatile bool cfg_timepulse1_changed;
 176         volatile bool cfg_timepulse2_changed;
 177         volatile bool cfg_prt_uart_changed;
 178
 179         /*! The flags used to track the timestamp state. */
 180         volatile bool timestamp_init;
 181         volatile bool timestamp_empty;
 182         volatile bool timestamp_buf_empty;
 183         volatile bool timestamp_race_error;
 184
 185         /*! The UTC time information. */
 186         ubx_nav_timeutc_t timeutc;
 187
 188         /*! The navigation geodetic position solution. */
 189         ubx_nav_posllh_t nav_position;
 190
 191         /*! The time of the next timepulse. */
 192         ubx_tim_tp_t next_timepulse;
 193         ubx_tim_tp_t next_timepulse_buf;
 194
 195         ubx_cfg_prt_uart_t cfg_prt_uart;
 196
 197         /*! Initialize the state. */
 198         void init_state(void);
 199
 200         /*! Start the serial port. */
 201         bool start_serial(uint32_t baud_rate);
 202
 203         void stop_serial(void);
 204
 205         /*! Set the timepulse1 PPS. */
 206         bool set_timepulse1_pps();
 207
 208         /*! Set the timepulse2 frequency. */
 209         bool set_timepulse2_frequency(uint32_t freq, uint32_t freq_lock);
 210
 211         /*! Disable the timepulse2 frequency. */
 212         bool disable_timepulse2_frequency(void);
 213
 214         /* Get the timepulse2 frequency. */
 215         uint32_t get_timepulse2_frequency();
 216
 217         /*! Get the timepulse2 locked frequency. */
 218         uint32_t get_timepulse2_frequency_locked();
 219
 220         /*! The the serial port baud rate. */
 221         void set_uart1_baudrate(uint32_t baudrate);
 222
 223         /*! The the usb port baud rate. */
 224         void set_usb_baudrate(uint32_t baudrate);
 225
 226         /*! Get the GPS fix type. */
 227         gpsfix_t get_gps_fix();
 228
 229         /*! Get the GPS fix_ok flag. */
 230         bool get_gps_fix_ok();
 231
 232
 233         /*! Poll the configuration settings of the UART port. */
 234         void poll_cfg_prt_uart();
 235
 236         /*! Poll a message configuration. */
 237         void poll_cfg_msg(uint8_t msg_class, uint8_t msg_id);
 238
 239         /*! Send the message rate configuration to the current target. */
 240         bool send_cfg_msg(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
 241         bool send_cfg_msg(uint8_t msg_class, uint8_t msg_id, uint8_t rate, uint8_t* targets, uint8_t n_targets);
 242
 243         /*! Poll the timepulse configuration. */
 244         void poll_cfg_tp5(uint8_t timepulse_id);
 245
 246         /*! Poll the navigation status information. */
 247         void poll_nav_status();
 248
 249         /*! Poll the geodetic position solution. */
 250         void poll_nav_posllh();
 251
 252         /*! Test for a working baud rate. */
 253         uint32_t detect_baud_rate(uint32_t baud_1, uint32_t baud_2);
 254
 255
 256         /*! Disable the default messages on the current target port. */
 257         uint8_t disable_default_messages();
 258
 259         /*! Enable a message on the current target port. */
 260         bool enable_message(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
 261         bool enable_message(uint8_t msg_class, uint8_t msg_id, uint8_t rate, uint8_t target);
 262         bool enable_message(uint8_t msg_class, uint8_t msg_id, uint8_t rate, uint8_t* targets, uint8_t n_targets);
 263
 264         /*! Read data from the serial port. */
 265         bool read();
 266 };
 267
 268 #endif