/* * Copyright 2024 NXP * * SPDX-License-Identifier: Apache-2.0 */ #include #include #include #include "gnss_u_blox_protocol_defines.h" #ifndef ZEPHYR_U_BLOX_PROTOCOL_ #define ZEPHYR_U_BLOX_PROTOCOL_ #define UBX_BAUDRATE_COUNT 9 /* When a configuration frame is sent, the device requires some delay to reflect the changes. */ /* TODO: check what is the precise waiting time for each message. */ #define UBX_CFG_RST_WAIT_MS 6000 #define UBX_CFG_GNSS_WAIT_MS 6000 #define UBX_CFG_NAV5_WAIT_MS 6000 extern const uint32_t ubx_baudrate[UBX_BAUDRATE_COUNT]; #define UBX_FRM_GET_PAYLOAD_SZ 0 #define UBX_CFG_ACK_PAYLOAD_SZ 2 #define UBX_CFG_NAK_PAYLOAD_SZ 2 #define UBX_CFG_RATE_PAYLOAD_SZ 6 #define UBX_CFG_PRT_POLL_PAYLOAD_SZ 1 #define UBX_CFG_PRT_POLL_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_POLL_PAYLOAD_SZ) #define UBX_CFG_PRT_SET_PAYLOAD_SZ 20 #define UBX_CFG_PRT_SET_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_SET_PAYLOAD_SZ) #define UBX_CFG_RST_PAYLOAD_SZ 4 #define UBX_CFG_RST_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_RST_PAYLOAD_SZ) #define UBX_CFG_NAV5_PAYLOAD_SZ 36 #define UBX_CFG_NAV5_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_NAV5_PAYLOAD_SZ) #define UBX_CFG_MSG_PAYLOAD_SZ 3 #define UBX_CFG_MSG_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_MSG_PAYLOAD_SZ) #define UBX_CFG_GNSS_PAYLOAD_INIT_SZ 4 #define UBX_CFG_GNSS_PAYLOAD_CFG_BLK_SZ 8 #define UBX_CFG_GNSS_PAYLOAD_SZ(n) \ (UBX_CFG_GNSS_PAYLOAD_INIT_SZ + UBX_CFG_GNSS_PAYLOAD_CFG_BLK_SZ * n) #define UBX_CFG_GNSS_FRM_SZ(n) (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_GNSS_PAYLOAD_SZ(n)) int ubx_create_and_validate_frame(uint8_t *ubx_frame, uint16_t ubx_frame_size, uint8_t msg_cls, uint8_t msg_id, const void *payload, uint16_t payload_size); struct ubx_cfg_ack_payload { uint8_t message_class; uint8_t message_id; }; void ubx_cfg_ack_payload_default(struct ubx_cfg_ack_payload *payload); #define UBX_CFG_RATE_TIME_REF_UTC 0 /* Align measurements to UTC time. */ #define UBX_CFG_RATE_TIME_REF_GPS 1 /* Align measurements to GPS time. */ #define UBX_CFG_RATE_TIME_REF_GLO 2 /* Align measurements to GLONASS time. */ #define UBX_CFG_RATE_TIME_REF_BDS 3 /* Align measurements to BeiDou time. */ #define UBX_CFG_RATE_TIME_REF_GAL 4 /* Align measurements to Galileo time. */ struct ubx_cfg_rate_payload { uint16_t meas_rate_ms; uint16_t nav_rate; uint16_t time_ref; }; void ubx_cfg_rate_payload_default(struct ubx_cfg_rate_payload *payload); struct ubx_cfg_prt_poll_payload { uint8_t port_id; }; void ubx_cfg_prt_poll_payload_default(struct ubx_cfg_prt_poll_payload *payload); #define UBX_CFG_PRT_IN_PROTO_UBX BIT(0) #define UBX_CFG_PRT_IN_PROTO_NMEA BIT(1) #define UBX_CFG_PRT_IN_PROTO_RTCM BIT(2) #define UBX_CFG_PRT_IN_PROTO_RTCM3 BIT(5) #define UBX_CFG_PRT_OUT_PROTO_UBX BIT(0) #define UBX_CFG_PRT_OUT_PROTO_NMEA BIT(1) #define UBX_CFG_PRT_OUT_PROTO_RTCM3 BIT(5) #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_5 0U #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_6 BIT(6) #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_7 BIT(7) #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_8 (BIT(6) | BIT(7)) #define UBX_CFG_PRT_PORT_MODE_PARITY_EVEN 0U #define UBX_CFG_PRT_PORT_MODE_PARITY_ODD BIT(9) #define UBX_CFG_PRT_PORT_MODE_PARITY_NONE BIT(11) #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1 0U #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1_HALF BIT(12) #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_2 BIT(13) #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_HALF (BIT(12) | BIT(13)) #define UBX_CFG_PRT_RESERVED0 0x00 #define UBX_CFG_PRT_TX_READY_PIN_CONF_DEFAULT 0x0000 #define UBX_CFG_PRT_TX_READY_PIN_CONF_EN BIT(0) #define UBX_CFG_PRT_TX_READY_PIN_CONF_POL_LOW BIT(1) #define UBX_CFG_PRT_TX_READY_PIN_CONF_POL_HIGH 0U #define UBX_CFG_PRT_RESERVED1 0x00 #define UBX_CFG_PRT_FLAGS_DEFAULT 0x0000 #define UBX_CFG_PRT_FLAGS_EXTENDED_TX_TIMEOUT BIT(0) struct ubx_cfg_prt_set_payload { uint8_t port_id; uint8_t reserved0; uint16_t tx_ready_pin_conf; uint32_t port_mode; uint32_t baudrate; uint16_t in_proto_mask; uint16_t out_proto_mask; uint16_t flags; uint8_t reserved1; }; void ubx_cfg_prt_set_payload_default(struct ubx_cfg_prt_set_payload *payload); #define UBX_CFG_RST_NAV_BBR_MASK_HOT_START 0x0000 #define UBX_CFG_RST_NAV_BBR_MASK_WARM_START 0x0001 #define UBX_CFG_RST_NAV_BBR_MASK_COLD_START 0xFFFF #define UBX_CFG_RST_RESET_MODE_HARD_RESET 0x00 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_SOFT_RESET 0x01 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_SOFT_RESET_GNSS_ONLY 0x02 #define UBX_CFG_RST_RESET_MODE_HARD_RESET_AFTER_SHUTDOWN 0x04 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_GNSS_STOP 0x08 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_GNSS_START 0x09 #define UBX_CFG_RST_RESERVED0 0x00 struct ubx_cfg_rst_payload { uint16_t nav_bbr_mask; uint8_t reset_mode; uint8_t reserved0; }; void ubx_cfg_rst_payload_default(struct ubx_cfg_rst_payload *payload); #define UBX_CFG_NAV5_MASK_ALL 0x05FF #define UBX_CFG_NAV5_FIX_MODE_DEFAULT UBX_FIX_AUTO_FIX #define UBX_CFG_NAV5_FIXED_ALT_DEFAULT 0 #define UBX_CFG_NAV5_FIXED_ALT_VAR_DEFAULT 1U #define UBX_CFG_NAV5_MIN_ELEV_DEFAULT 5 #define UBX_CFG_NAV5_DR_LIMIT_DEFAULT 3U #define UBX_CFG_NAV5_P_DOP_DEFAULT 100U #define UBX_CFG_NAV5_T_DOP_DEFAULT 100U #define UBX_CFG_NAV5_P_ACC_DEFAULT 100U #define UBX_CFG_NAV5_T_ACC_DEFAULT 350U #define UBX_CFG_NAV5_STATIC_HOLD_THRESHOLD_DEFAULT 0U #define UBX_CFG_NAV5_DGNSS_TIMEOUT_DEFAULT 60U #define UBX_CFG_NAV5_CNO_THRESHOLD_NUM_SVS_DEFAULT 0U #define UBX_CFG_NAV5_CNO_THRESHOLD_DEFAULT 0U #define UBX_CFG_NAV5_RESERVED0 0U #define UBX_CFG_NAV5_STATIC_HOLD_DIST_THRESHOLD 0U #define UBX_CFG_NAV5_UTC_STANDARD_DEFAULT UBX_UTC_AUTOUTC struct ubx_cfg_nav5_payload { uint16_t mask; uint8_t dyn_model; uint8_t fix_mode; int32_t fixed_alt; uint32_t fixed_alt_var; int8_t min_elev; uint8_t dr_limit; uint16_t p_dop; uint16_t t_dop; uint16_t p_acc; uint16_t t_acc; uint8_t static_hold_threshold; uint8_t dgnss_timeout; uint8_t cno_threshold_num_svs; uint8_t cno_threshold; uint16_t reserved0; uint16_t static_hold_dist_threshold; uint8_t utc_standard; }; void ubx_cfg_nav5_payload_default(struct ubx_cfg_nav5_payload *payload); #define UBX_CFG_GNSS_MSG_VER 0x00 #define UBX_CFG_GNSS_NUM_TRK_CH_HW_DEFAULT 0x31 #define UBX_CFG_GNSS_NUM_TRK_CH_USE_DEFAULT 0x31 #define UBX_CFG_GNSS_RESERVED0 0x00 #define UBX_CFG_GNSS_FLAG_ENABLE BIT(0) #define UBX_CFG_GNSS_FLAG_DISABLE 0U #define UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT 16 /* When gnss_id is 0 (GPS) */ #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L2C (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L5 (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) /* When gnss_id is 1 (SBAS) */ #define UBX_CFG_GNSS_FLAG_SGN_CNF_SBAS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) /* When gnss_id is 2 (Galileo) */ #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E5A (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E5B (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) /* When gnss_id is 3 (BeiDou) */ #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B1I (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B2I (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B2A (0x80 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) /* When gnss_id is 4 (IMES) */ #define UBX_CFG_GNSS_FLAG_SGN_CNF_IMES_L1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) /* When gnss_id is 5 (QZSS) */ #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L1S (0x04 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L2C (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L5 (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) /* When gnss_id is 6 (GLONASS) */ #define UBX_CFG_GNSS_FLAG_SGN_CNF_GLONASS_L1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) #define UBX_CFG_GNSS_FLAG_SGN_CNF_GLONASS_L2 (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) struct ubx_cfg_gnss_payload_config_block { uint8_t gnss_id; uint8_t num_res_trk_ch; uint8_t max_num_trk_ch; uint8_t reserved0; uint32_t flags; }; struct ubx_cfg_gnss_payload { uint8_t msg_ver; uint8_t num_trk_ch_hw; uint8_t num_trk_ch_use; uint8_t num_config_blocks; struct ubx_cfg_gnss_payload_config_block config_blocks[]; }; void ubx_cfg_gnss_payload_default(struct ubx_cfg_gnss_payload *payload); #define UBX_CFG_MSG_RATE_DEFAULT 1 struct ubx_cfg_msg_payload { uint8_t message_class; uint8_t message_id; uint8_t rate; }; void ubx_cfg_msg_payload_default(struct ubx_cfg_msg_payload *payload); #endif /* ZEPHYR_U_BLOX_PROTOCOL_ */