1 /* 2 * Copyright 2024 NXP 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 #include <zephyr/kernel.h> 8 #include <zephyr/types.h> 9 #include <zephyr/modem/ubx.h> 10 #include "gnss_u_blox_protocol_defines.h" 11 12 #ifndef ZEPHYR_U_BLOX_PROTOCOL_ 13 #define ZEPHYR_U_BLOX_PROTOCOL_ 14 15 #define UBX_BAUDRATE_COUNT 9 16 17 /* When a configuration frame is sent, the device requires some delay to reflect the changes. */ 18 /* TODO: check what is the precise waiting time for each message. */ 19 #define UBX_CFG_RST_WAIT_MS 6000 20 #define UBX_CFG_GNSS_WAIT_MS 6000 21 #define UBX_CFG_NAV5_WAIT_MS 6000 22 23 extern const uint32_t ubx_baudrate[UBX_BAUDRATE_COUNT]; 24 25 #define UBX_FRM_GET_PAYLOAD_SZ 0 26 #define UBX_CFG_ACK_PAYLOAD_SZ 2 27 #define UBX_CFG_NAK_PAYLOAD_SZ 2 28 #define UBX_CFG_RATE_PAYLOAD_SZ 6 29 #define UBX_CFG_PRT_POLL_PAYLOAD_SZ 1 30 #define UBX_CFG_PRT_POLL_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_POLL_PAYLOAD_SZ) 31 #define UBX_CFG_PRT_SET_PAYLOAD_SZ 20 32 #define UBX_CFG_PRT_SET_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_SET_PAYLOAD_SZ) 33 #define UBX_CFG_RST_PAYLOAD_SZ 4 34 #define UBX_CFG_RST_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_RST_PAYLOAD_SZ) 35 #define UBX_CFG_NAV5_PAYLOAD_SZ 36 36 #define UBX_CFG_NAV5_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_NAV5_PAYLOAD_SZ) 37 #define UBX_CFG_MSG_PAYLOAD_SZ 3 38 #define UBX_CFG_MSG_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_MSG_PAYLOAD_SZ) 39 #define UBX_CFG_GNSS_PAYLOAD_INIT_SZ 4 40 #define UBX_CFG_GNSS_PAYLOAD_CFG_BLK_SZ 8 41 #define UBX_CFG_GNSS_PAYLOAD_SZ(n) \ 42 (UBX_CFG_GNSS_PAYLOAD_INIT_SZ + UBX_CFG_GNSS_PAYLOAD_CFG_BLK_SZ * n) 43 #define UBX_CFG_GNSS_FRM_SZ(n) (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_GNSS_PAYLOAD_SZ(n)) 44 45 46 int ubx_create_and_validate_frame(uint8_t *ubx_frame, uint16_t ubx_frame_size, uint8_t msg_cls, 47 uint8_t msg_id, const void *payload, uint16_t payload_size); 48 49 struct ubx_cfg_ack_payload { 50 uint8_t message_class; 51 uint8_t message_id; 52 }; 53 54 void ubx_cfg_ack_payload_default(struct ubx_cfg_ack_payload *payload); 55 56 #define UBX_CFG_RATE_TIME_REF_UTC 0 /* Align measurements to UTC time. */ 57 #define UBX_CFG_RATE_TIME_REF_GPS 1 /* Align measurements to GPS time. */ 58 #define UBX_CFG_RATE_TIME_REF_GLO 2 /* Align measurements to GLONASS time. */ 59 #define UBX_CFG_RATE_TIME_REF_BDS 3 /* Align measurements to BeiDou time. */ 60 #define UBX_CFG_RATE_TIME_REF_GAL 4 /* Align measurements to Galileo time. */ 61 62 struct ubx_cfg_rate_payload { 63 uint16_t meas_rate_ms; 64 uint16_t nav_rate; 65 uint16_t time_ref; 66 }; 67 68 void ubx_cfg_rate_payload_default(struct ubx_cfg_rate_payload *payload); 69 70 struct ubx_cfg_prt_poll_payload { 71 uint8_t port_id; 72 }; 73 74 void ubx_cfg_prt_poll_payload_default(struct ubx_cfg_prt_poll_payload *payload); 75 76 #define UBX_CFG_PRT_IN_PROTO_UBX BIT(0) 77 #define UBX_CFG_PRT_IN_PROTO_NMEA BIT(1) 78 #define UBX_CFG_PRT_IN_PROTO_RTCM BIT(2) 79 #define UBX_CFG_PRT_IN_PROTO_RTCM3 BIT(5) 80 #define UBX_CFG_PRT_OUT_PROTO_UBX BIT(0) 81 #define UBX_CFG_PRT_OUT_PROTO_NMEA BIT(1) 82 #define UBX_CFG_PRT_OUT_PROTO_RTCM3 BIT(5) 83 84 #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_5 0U 85 #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_6 BIT(6) 86 #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_7 BIT(7) 87 #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_8 (BIT(6) | BIT(7)) 88 89 #define UBX_CFG_PRT_PORT_MODE_PARITY_EVEN 0U 90 #define UBX_CFG_PRT_PORT_MODE_PARITY_ODD BIT(9) 91 #define UBX_CFG_PRT_PORT_MODE_PARITY_NONE BIT(11) 92 93 #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1 0U 94 #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1_HALF BIT(12) 95 #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_2 BIT(13) 96 #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_HALF (BIT(12) | BIT(13)) 97 98 #define UBX_CFG_PRT_RESERVED0 0x00 99 #define UBX_CFG_PRT_TX_READY_PIN_CONF_DEFAULT 0x0000 100 #define UBX_CFG_PRT_TX_READY_PIN_CONF_EN BIT(0) 101 #define UBX_CFG_PRT_TX_READY_PIN_CONF_POL_LOW BIT(1) 102 #define UBX_CFG_PRT_TX_READY_PIN_CONF_POL_HIGH 0U 103 #define UBX_CFG_PRT_RESERVED1 0x00 104 #define UBX_CFG_PRT_FLAGS_DEFAULT 0x0000 105 #define UBX_CFG_PRT_FLAGS_EXTENDED_TX_TIMEOUT BIT(0) 106 107 struct ubx_cfg_prt_set_payload { 108 uint8_t port_id; 109 uint8_t reserved0; 110 uint16_t tx_ready_pin_conf; 111 uint32_t port_mode; 112 uint32_t baudrate; 113 uint16_t in_proto_mask; 114 uint16_t out_proto_mask; 115 uint16_t flags; 116 uint8_t reserved1; 117 }; 118 119 void ubx_cfg_prt_set_payload_default(struct ubx_cfg_prt_set_payload *payload); 120 121 #define UBX_CFG_RST_NAV_BBR_MASK_HOT_START 0x0000 122 #define UBX_CFG_RST_NAV_BBR_MASK_WARM_START 0x0001 123 #define UBX_CFG_RST_NAV_BBR_MASK_COLD_START 0xFFFF 124 125 #define UBX_CFG_RST_RESET_MODE_HARD_RESET 0x00 126 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_SOFT_RESET 0x01 127 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_SOFT_RESET_GNSS_ONLY 0x02 128 #define UBX_CFG_RST_RESET_MODE_HARD_RESET_AFTER_SHUTDOWN 0x04 129 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_GNSS_STOP 0x08 130 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_GNSS_START 0x09 131 132 #define UBX_CFG_RST_RESERVED0 0x00 133 134 struct ubx_cfg_rst_payload { 135 uint16_t nav_bbr_mask; 136 uint8_t reset_mode; 137 uint8_t reserved0; 138 }; 139 140 void ubx_cfg_rst_payload_default(struct ubx_cfg_rst_payload *payload); 141 142 #define UBX_CFG_NAV5_MASK_ALL 0x05FF 143 #define UBX_CFG_NAV5_FIX_MODE_DEFAULT UBX_FIX_AUTO_FIX 144 #define UBX_CFG_NAV5_FIXED_ALT_DEFAULT 0 145 #define UBX_CFG_NAV5_FIXED_ALT_VAR_DEFAULT 1U 146 #define UBX_CFG_NAV5_MIN_ELEV_DEFAULT 5 147 #define UBX_CFG_NAV5_DR_LIMIT_DEFAULT 3U 148 #define UBX_CFG_NAV5_P_DOP_DEFAULT 100U 149 #define UBX_CFG_NAV5_T_DOP_DEFAULT 100U 150 #define UBX_CFG_NAV5_P_ACC_DEFAULT 100U 151 #define UBX_CFG_NAV5_T_ACC_DEFAULT 350U 152 #define UBX_CFG_NAV5_STATIC_HOLD_THRESHOLD_DEFAULT 0U 153 #define UBX_CFG_NAV5_DGNSS_TIMEOUT_DEFAULT 60U 154 #define UBX_CFG_NAV5_CNO_THRESHOLD_NUM_SVS_DEFAULT 0U 155 #define UBX_CFG_NAV5_CNO_THRESHOLD_DEFAULT 0U 156 #define UBX_CFG_NAV5_RESERVED0 0U 157 #define UBX_CFG_NAV5_STATIC_HOLD_DIST_THRESHOLD 0U 158 #define UBX_CFG_NAV5_UTC_STANDARD_DEFAULT UBX_UTC_AUTOUTC 159 160 struct ubx_cfg_nav5_payload { 161 uint16_t mask; 162 uint8_t dyn_model; 163 164 uint8_t fix_mode; 165 166 int32_t fixed_alt; 167 uint32_t fixed_alt_var; 168 169 int8_t min_elev; 170 uint8_t dr_limit; 171 172 uint16_t p_dop; 173 uint16_t t_dop; 174 uint16_t p_acc; 175 uint16_t t_acc; 176 177 uint8_t static_hold_threshold; 178 uint8_t dgnss_timeout; 179 uint8_t cno_threshold_num_svs; 180 uint8_t cno_threshold; 181 182 uint16_t reserved0; 183 184 uint16_t static_hold_dist_threshold; 185 uint8_t utc_standard; 186 }; 187 188 void ubx_cfg_nav5_payload_default(struct ubx_cfg_nav5_payload *payload); 189 190 #define UBX_CFG_GNSS_MSG_VER 0x00 191 #define UBX_CFG_GNSS_NUM_TRK_CH_HW_DEFAULT 0x31 192 #define UBX_CFG_GNSS_NUM_TRK_CH_USE_DEFAULT 0x31 193 194 #define UBX_CFG_GNSS_RESERVED0 0x00 195 #define UBX_CFG_GNSS_FLAG_ENABLE BIT(0) 196 #define UBX_CFG_GNSS_FLAG_DISABLE 0U 197 #define UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT 16 198 /* When gnss_id is 0 (GPS) */ 199 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 200 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L2C (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 201 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L5 (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 202 /* When gnss_id is 1 (SBAS) */ 203 #define UBX_CFG_GNSS_FLAG_SGN_CNF_SBAS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 204 /* When gnss_id is 2 (Galileo) */ 205 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 206 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E5A (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 207 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E5B (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 208 /* When gnss_id is 3 (BeiDou) */ 209 #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B1I (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 210 #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B2I (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 211 #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B2A (0x80 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 212 /* When gnss_id is 4 (IMES) */ 213 #define UBX_CFG_GNSS_FLAG_SGN_CNF_IMES_L1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 214 /* When gnss_id is 5 (QZSS) */ 215 #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 216 #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L1S (0x04 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 217 #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L2C (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 218 #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L5 (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 219 /* When gnss_id is 6 (GLONASS) */ 220 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GLONASS_L1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 221 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GLONASS_L2 (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT) 222 223 struct ubx_cfg_gnss_payload_config_block { 224 uint8_t gnss_id; 225 uint8_t num_res_trk_ch; 226 uint8_t max_num_trk_ch; 227 uint8_t reserved0; 228 uint32_t flags; 229 }; 230 231 struct ubx_cfg_gnss_payload { 232 uint8_t msg_ver; 233 uint8_t num_trk_ch_hw; 234 uint8_t num_trk_ch_use; 235 uint8_t num_config_blocks; 236 struct ubx_cfg_gnss_payload_config_block config_blocks[]; 237 }; 238 239 void ubx_cfg_gnss_payload_default(struct ubx_cfg_gnss_payload *payload); 240 241 #define UBX_CFG_MSG_RATE_DEFAULT 1 242 243 struct ubx_cfg_msg_payload { 244 uint8_t message_class; 245 uint8_t message_id; 246 uint8_t rate; 247 }; 248 249 void ubx_cfg_msg_payload_default(struct ubx_cfg_msg_payload *payload); 250 251 #endif /* ZEPHYR_U_BLOX_PROTOCOL_ */ 252
