| /* |
| * Copyright 2024 NXP |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/types.h> |
| #include <zephyr/modem/ubx.h> |
| #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_ */ |