u-blox / gnss

This class provides an API to communicate with a u-blox GNSS chip. The files here were originally part of the C027_Support library (https://developer.mbed.org/teams/ublox/code/C027_Support/ at revision 138:dafbbf31bf76) but have been separated out, primarily for use on the u-blox C030 board where the cellular interace portion of the C027_Support library will instead be provided through the new mbed Cellular API.

Dependents:   example-ublox-at-cellular-interface-ext example-low-power-sleep example-C030-out-of-box-demo example-C030-out-of-box-demo ... more

Files at this revision

API Documentation at this revision

Revision 8:720841961804, committed 2018-05-16

Comitter:
fahim.alavi@u-blox.com
Date:
Wed May 16 10:58:16 2018 +0500
Parent:
6:56eda66d585b
Child:
9:cff83b9f5093
Commit message:
Decoder methods added for UBX-NAV-PVT, UBX-LOG-BATCH, UBX-ACK-ACK/NAK & UBX-NAV-ODO

Changed in this revision

gnss.cpp Show annotated file Show diff for this revision Revisions of this file
gnss.h Show annotated file Show diff for this revision Revisions of this file 
--- a/gnss.cpp	Wed Jun 14 20:44:42 2017 +0100
+++ b/gnss.cpp	Wed May 16 10:58:16 2018 +0500
@@ -275,6 +275,267 @@
     }
     return false;
 }
+
+int GnssParser::enable_ubx() {
+
+	unsigned char ubx_cfg_prt[]={0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25, 0x00, 0x00, 0x03, 0x00, 0x03, 0x00, 0x00, 0x00,0x00, 0x00};
+	int conf = RETRY;
+	int length = 0;
+
+	while(conf)
+	{
+		length = sendUbx(0x06, 0x00, ubx_cfg_prt, sizeof(ubx_cfg_prt));
+		if(length >= (int)(sizeof(ubx_cfg_prt) + UBX_FRAME_SIZE))
+		{
+			wait(5);
+			break;
+		}
+		else
+		{
+			conf = conf - 1;
+		}
+	}
+
+	unsigned char enable_ubx_nav_pvt[]={0x01, 0x07, 0x02};
+	conf = RETRY;
+	while(conf)
+	{
+
+		length = sendUbx(0x06, 0x01, enable_ubx_nav_pvt, sizeof(enable_ubx_nav_pvt));
+		if(length >= (int)(sizeof(enable_ubx_nav_pvt) + UBX_FRAME_SIZE))
+		{
+			wait(5);
+			break;
+		}
+		else
+		{
+			conf = conf - 1;
+		}
+	}
+	if(conf == 0)
+	{
+		return 1;
+	}
+
+	unsigned char ubx_cfg_cfg[] = { 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF,
+									0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03};
+	conf = RETRY;
+	while(conf)
+	{
+		length = sendUbx(0x06, 0x09, ubx_cfg_cfg, sizeof(ubx_cfg_cfg));
+		if(length >= (int)(sizeof(ubx_cfg_cfg) + UBX_FRAME_SIZE))
+		{
+			wait(5);
+			break;
+		}
+		else
+		{
+			conf = conf - 1;
+		}
+	}
+	if(conf == 0)
+	{
+		return 1;
+	}
+
+	return 0;
+}
+
+eUBX_MESSAGE GnssParser::get_ubx_message(char *buff) {
+	eUBX_MESSAGE return_value = UNKNOWN_UBX;
+
+	if(buff[SYNC_CHAR_INDEX_1] == 0xB5 && buff[SYNC_CHAR_INDEX_2] == 0x62) {
+
+		switch (buff[MSG_CLASS_INDEX]) {
+
+		case NAV: {
+			switch (buff[MSG_ID_INDEX]) {
+
+			case 0x07: {
+				return_value = UBX_NAV_PVT;
+			}
+			break;
+			case 0x09: {
+				return_value = UBX_NAV_ODO;
+			}
+			break;
+			default:
+			{
+				return_value = UNKNOWN_UBX;
+			}
+			break;
+			}
+		}
+		break;
+		case ACK: {
+			switch (buff[MSG_ID_INDEX]) {
+			case 0x00: {
+				return_value = UBX_ACK_NAK;
+			}
+			break;
+			case 0x01: {
+				return_value = UBX_ACK_ACK;
+			}
+			break;
+			default:
+			{
+				return_value = UNKNOWN_UBX;
+			}
+			break;
+			}
+		}
+		break;
+		case LOG: {
+			switch (buff[MSG_ID_INDEX]) {
+			case 0x11: {
+				return_value = UBX_LOG_BATCH;
+			}
+			break;
+			default:
+			{
+				return_value = UNKNOWN_UBX;
+			}
+			break;
+			}
+		}
+		break;
+		default:
+		{
+			return_value = UNKNOWN_UBX;
+		}
+		break;
+		}
+	}
+	return return_value;
+}
+
+tUBX_CFG_ACK GnssParser::decode_ubx_cfg_ack_nak_msg(char *buf) {
+	tUBX_CFG_ACK return_decoded_msg;
+	uint8_t index = UBX_PAYLOAD_INDEX;
+
+	return_decoded_msg.msg_class = buf[index++];
+	return_decoded_msg.msg_id = buf[index];
+
+	return return_decoded_msg;
+}
+
+tUBX_NAV_ODO GnssParser::decode_ubx_nav_odo_msg(char *buf) {
+	tUBX_NAV_ODO return_decoded_msg;
+	uint8_t index = UBX_PAYLOAD_INDEX;
+
+	return_decoded_msg.version = buf[index++];
+	index +=3; // 3 bytes are reserved
+
+	return_decoded_msg.itow = buf[index++];
+	return_decoded_msg.itow |= (buf[index++] << 8);
+	return_decoded_msg.itow |= (buf[index++] << 16);
+	return_decoded_msg.itow |= (buf[index++] << 24);
+
+	return_decoded_msg.distance = buf[index++];
+	return_decoded_msg.distance |= (buf[index++] << 8);
+	return_decoded_msg.distance |= (buf[index++] << 16);
+	return_decoded_msg.distance |= (buf[index++] << 24);
+
+	return_decoded_msg.totalDistance = buf[index++];
+	return_decoded_msg.totalDistance |= (buf[index++] << 8);
+	return_decoded_msg.totalDistance |= (buf[index++] << 16);
+	return_decoded_msg.totalDistance |= (buf[index++] << 24);
+
+	return_decoded_msg.distanceSTD = buf[index++];
+	return_decoded_msg.distanceSTD |= (buf[index++] << 8);
+	return_decoded_msg.distanceSTD |= (buf[index++] << 16);
+	return_decoded_msg.distanceSTD |= (buf[index++] << 24);
+
+	return return_decoded_msg;
+}
+
+tUBX_NAV_PVT GnssParser::decode_ubx_nav_pvt_msg(char *buf) {
+	tUBX_NAV_PVT return_decoded_msg;
+	uint8_t index = UBX_PAYLOAD_INDEX;
+
+	return_decoded_msg.itow = buf[index++];
+	return_decoded_msg.itow |= (buf[index++] << 8);
+	return_decoded_msg.itow |= (buf[index++] << 16);
+	return_decoded_msg.itow |= (buf[index++] << 24);
+
+	return_decoded_msg.year = buf[index++];
+	return_decoded_msg.year |= (buf[index++] << 8);
+
+	return_decoded_msg.month = buf[index++];
+
+	return_decoded_msg.day = buf[index++];
+
+	// Go to lon
+	index = UBX_PAYLOAD_INDEX + 24;
+
+	return_decoded_msg.lon = buf[index++];
+	return_decoded_msg.lon |= (buf[index++] << 8);
+	return_decoded_msg.lon |= (buf[index++] << 16);
+	return_decoded_msg.lon |= (buf[index++] << 24);
+
+	return_decoded_msg.lat = buf[index++];
+	return_decoded_msg.lat |= (buf[index++] << 8);
+	return_decoded_msg.lat |= (buf[index++] << 16);
+	return_decoded_msg.lat |= (buf[index++] << 24);
+
+	return_decoded_msg.height = buf[index++];
+	return_decoded_msg.height |= (buf[index++] << 8);
+	return_decoded_msg.height |= (buf[index++] << 16);
+	return_decoded_msg.height |= (buf[index++] << 24);
+
+	return return_decoded_msg;
+}
+
+tUBX_LOG_BATCH GnssParser::decode_ubx_log_batch_msg(char *buf) {
+	tUBX_LOG_BATCH return_decoded_msg;
+	uint8_t index = UBX_PAYLOAD_INDEX;
+
+	// move index itow
+	index = UBX_PAYLOAD_INDEX + 4;
+
+	return_decoded_msg.itow = buf[index++];
+	return_decoded_msg.itow |= (buf[index++] << 8);
+	return_decoded_msg.itow |= (buf[index++] << 16);
+	return_decoded_msg.itow |= (buf[index++] << 24);
+
+	// move index lon
+	index = UBX_PAYLOAD_INDEX + 24;
+
+	return_decoded_msg.lon = buf[index++];
+	return_decoded_msg.lon |= (buf[index++] << 8);
+	return_decoded_msg.lon |= (buf[index++] << 16);
+	return_decoded_msg.lon |= (buf[index++] << 24);
+
+	return_decoded_msg.lat = buf[index++];
+	return_decoded_msg.lat |= (buf[index++] << 8);
+	return_decoded_msg.lat |= (buf[index++] << 16);
+	return_decoded_msg.lat |= (buf[index++] << 24);
+
+	return_decoded_msg.height = buf[index++];
+	return_decoded_msg.height |= (buf[index++] << 8);
+	return_decoded_msg.height |= (buf[index++] << 16);
+	return_decoded_msg.height |= (buf[index++] << 24);
+
+	// move index to distance
+	index = UBX_PAYLOAD_INDEX + 84;
+
+	return_decoded_msg.distance = buf[index++];
+	return_decoded_msg.distance |= (buf[index++] << 8);
+	return_decoded_msg.distance |= (buf[index++] << 16);
+	return_decoded_msg.distance |= (buf[index++] << 24);
+
+	return_decoded_msg.totalDistance = buf[index++];
+	return_decoded_msg.totalDistance |= (buf[index++] << 8);
+	return_decoded_msg.totalDistance |= (buf[index++] << 16);
+	return_decoded_msg.totalDistance |= (buf[index++] << 24);
+
+	return_decoded_msg.distanceSTD = buf[index++];
+	return_decoded_msg.distanceSTD |= (buf[index++] << 8);
+	return_decoded_msg.distanceSTD |= (buf[index++] << 16);
+	return_decoded_msg.distanceSTD |= (buf[index++] << 24);
+
+	return return_decoded_msg;
+}
                 
 const char GnssParser::_toHex[] = { '0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F' };
 
@@ -315,6 +576,8 @@
     }
     timer.stop();
     
+    enable_ubx();
+
     return (size != _pipeRx.size());
 }
 

--- a/gnss.h	Wed Jun 14 20:44:42 2017 +0100
+++ b/gnss.h	Wed May 16 10:58:16 2018 +0500
@@ -39,6 +39,56 @@
 # define GNSSBAUD GPSBAUD
 #endif
 
+#define UBX_FRAME_SIZE 8
+#define RETRY 5
+#define SYNC_CHAR_INDEX_1 0
+#define SYNC_CHAR_INDEX_2 1
+#define MSG_CLASS_INDEX 2
+#define MSG_ID_INDEX 3
+#define UBX_LENGTH_INDEX 4
+#define UBX_PAYLOAD_INDEX 6
+
+enum eUBX_MSG_CLASS {NAV = 0x01, ACK = 0x05, LOG = 0x21};
+
+enum eUBX_MESSAGE  {UBX_LOG_BATCH, UBX_ACK_ACK, UBX_ACK_NAK, UBX_NAV_ODO, UBX_NAV_PVT, UNKNOWN_UBX};
+
+typedef struct UBX_CFG_ACK {
+	uint8_t msg_class;
+	uint8_t msg_id;
+
+}tUBX_CFG_ACK;
+
+typedef struct UBX_NAV_ODO {
+	uint8_t version;
+	uint8_t reserved[3];
+	uint32_t itow;
+	uint32_t distance;
+	uint32_t totalDistance;
+	uint32_t distanceSTD;
+}tUBX_NAV_ODO;
+
+typedef struct UBX_NAV_PVT {
+	uint32_t itow;
+	uint16_t year;
+	uint8_t month;
+	uint8_t day;
+	int32_t lon; // scaling 1e-7
+	int32_t lat; // scaling 1e-7
+	int32_t height;
+
+}tUBX_NAV_PVT;
+
+typedef struct UBX_LOG_BATCH {
+	uint32_t itow;
+	int32_t lon; // scaling 1e-7
+	int32_t lat; // scaling 1e-7
+	int32_t height;
+	uint32_t distance;
+	uint32_t totalDistance;
+	uint32_t distanceSTD;
+
+}tUBX_LOG_BATCH;
+
 /** Basic GNSS parser class.
 */
 class GnssParser
@@ -153,7 +203,43 @@
      * @return true if successful, false otherwise.
      */
     static bool getNmeaAngle(int ix, char* buf, int len, double& val);
+
+    /** Enable UBX messages.
+	 * @param none
+	 * @return 0 if successful, false otherwise.
+	 */
+    int enable_ubx();
     
+    /** GET Message type of receiver UBX message
+     * @param buff the UXB message
+     * @return eUBX_MESSAGE
+     */
+    eUBX_MESSAGE get_ubx_message(char *);
+
+    /** Method to parse contents of UBX CFG-ACK/NAK and return messageid amd class for which ACK is received
+     * @param buff the UXB message
+     * @return tUBX_CFG_ACK
+     */
+    tUBX_CFG_ACK decode_ubx_cfg_ack_nak_msg(char *);
+
+    /** Method to parse contents of UBX_NAV_ODO and return decoded msg
+     * @param buff the UXB message
+     * @return tUBX_NAV_ODO
+     */
+    tUBX_NAV_ODO decode_ubx_nav_odo_msg(char *);
+
+    /** Method to parse contents of UBX_NAV_PVT and return decoded msg
+	 * @param buff the UXB message
+	 * @return tUBX_NAV_PVT
+	 */
+    tUBX_NAV_PVT decode_ubx_nav_pvt_msg(char *);
+
+    /** Method to parse contents of UBX_LOG_BATCH and return decoded msg
+	 * @param buff the UXB message
+	 * @return tUBX_LOG_BATCH
+	 */
+    tUBX_LOG_BATCH decode_ubx_log_batch_msg(char *);
+
 protected:
     /** Power on the GNSS module.
     */