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update EGNOS PRN mask to latest EGSA definition, fix SBAS for non-Galileo usage. #6431

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merged 5 commits into from
Dec 18, 2020
Merged

update EGNOS PRN mask to latest EGSA definition, fix SBAS for non-Galileo usage. #6431

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8255f04
update EGNOS PRN mask to latest EGSA definition
stronnag Dec 17, 2020
8711f7d
start decoupling / resolving SBAS & Galileo
stronnag Dec 17, 2020
3dae921
Update GNSS / SBAS handling
stronnag Dec 18, 2020
b61ba81
don't touch Galileo on M8N v2 firmware
stronnag Dec 18, 2020
14af39f
[GPS] Refactor configureGNSS() to allocate blocks as needed
digitalentity Dec 18, 2020
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121 changes: 96 additions & 25 deletions src/main/io/gps_ublox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <ctype.h>
#include <string.h>
#include <math.h>
#include <stdarg.h>

#include "platform.h"
#include "build/build_config.h"
Expand Down Expand Up @@ -67,8 +68,18 @@
#define UBX_VALID_GPS_DATE_TIME(valid) (UBX_VALID_GPS_DATE(valid) && UBX_VALID_GPS_TIME(valid))

// SBAS_AUTO, SBAS_EGNOS, SBAS_WAAS, SBAS_MSAS, SBAS_GAGAN, SBAS_NONE
// note PRNs last upadted 2020-12-18

#define SBASMASK1_BASE 120
#define SBASMASK1_BITS(prn) (1 << (prn-SBASMASK1_BASE))

static const uint32_t ubloxScanMode1[] = {
0x00000000, 0x00000851, 0x0004E004, 0x00020200, 0x00000180, 0x00000000,
0x00000000, // AUTO
(SBASMASK1_BITS(123) | SBASMASK1_BITS(126) | SBASMASK1_BITS(136)), // SBAS
(SBASMASK1_BITS(131) | SBASMASK1_BITS(133) | SBASMASK1_BITS(138)), // WAAS
(SBASMASK1_BITS(129) | SBASMASK1_BITS(137)), // MAAS
(SBASMASK1_BITS(127) | SBASMASK1_BITS(128)), // GAGAN
0x00000000, // NONE
};

static const char * baudInitDataNMEA[GPS_BAUDRATE_COUNT] = {
Expand Down Expand Up @@ -101,11 +112,35 @@ typedef struct {
uint16_t time;
} ubx_rate;

typedef struct {
uint8_t gnssId;
uint8_t resTrkCh;
uint8_t maxTrkCh;
uint8_t reserved1;
// flags
uint8_t enabled;
uint8_t undefined0;
uint8_t sigCfgMask;
uint8_t undefined1;
} ubx_gnss_element_t;

typedef struct {
uint8_t msgVer;
uint8_t numTrkChHw;
uint8_t numTrkChUse;
uint8_t numConfigBlocks;
ubx_gnss_element_t config[0];
} ubx_gnss_msg_t;

#define MAX_GNSS 7
#define MAX_GNSS_SIZE_BYTES (sizeof(ubx_gnss_msg_t) + sizeof(ubx_gnss_element_t)*MAX_GNSS)

typedef union {
uint8_t bytes[60]; // sizeof Galileo config
uint8_t bytes[MAX_GNSS_SIZE_BYTES]; // placeholder
ubx_sbas sbas;
ubx_msg msg;
ubx_rate rate;
ubx_gnss_msg_t gnss;
} ubx_payload;

// UBX support
Expand Down Expand Up @@ -409,25 +444,63 @@ static const uint8_t default_payload[] = {
0x00, 0xC8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
};

// Note the organisation of the bytes reflects the structure of the payload
// 4 bytes then 8*number of elements (7)
static const uint8_t galileo_payload[] = {
0x00, 0x00, 0x20, 0x07, // GNSS / min / max / enable
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS / 8 / 16 / Y
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS / 1 / 3 / Y
0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01, // Galileo / 4 / 8 / Y
0x03, 0x08, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01, // BeiDou / 8 / 16 / N
0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01, // IMES / 0 / 8 / N
0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01, // QZSS / 0 / 3 / N
0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS / 8 / 14 / Y
};
#define GNSSID_SBAS 1
#define GNSSID_GALILEO 2

static int configureGNSS_SBAS(ubx_gnss_element_t * gnss_block)
{
gnss_block->gnssId = GNSSID_SBAS;
gnss_block->maxTrkCh = 3;
gnss_block->sigCfgMask = 1;
if (gpsState.gpsConfig->sbasMode == SBAS_NONE) {
gnss_block->enabled = 0;
gnss_block->resTrkCh = 0;
} else {
gnss_block->enabled = 1;
gnss_block->resTrkCh = 1;
}

return 1;
}

static int configureGNSS_GALILEO(ubx_gnss_element_t * gnss_block)
{
if (!capGalileo) {
return 0;
}

gnss_block->gnssId = GNSSID_GALILEO;
gnss_block->maxTrkCh = 8;
gnss_block->sigCfgMask = 1;
if (gpsState.gpsConfig->ubloxUseGalileo) {
gnss_block->enabled = 1;
gnss_block->resTrkCh = 4;
} else {
gnss_block->enabled = 0;
gnss_block->resTrkCh = 0;
}

static void configureGalileo(void)
return 1;
}

static void configureGNSS(void)
{
int blocksUsed = 0;

send_buffer.message.header.msg_class = CLASS_CFG;
send_buffer.message.header.msg_id = MSG_CFG_GNSS;
send_buffer.message.header.length = sizeof(galileo_payload);
memcpy(send_buffer.message.payload.bytes, galileo_payload, sizeof(galileo_payload));
send_buffer.message.payload.gnss.msgVer = 0;
send_buffer.message.payload.gnss.numTrkChHw = 0; // read only, so unset
send_buffer.message.payload.gnss.numTrkChUse = 32;

/* SBAS, always generated */
blocksUsed += configureGNSS_SBAS(&send_buffer.message.payload.gnss.config[blocksUsed]);

/* Galileo */
blocksUsed += configureGNSS_GALILEO(&send_buffer.message.payload.gnss.config[blocksUsed]);

send_buffer.message.payload.gnss.numConfigBlocks = blocksUsed;
send_buffer.message.header.length = (sizeof(ubx_gnss_msg_t) + sizeof(ubx_gnss_element_t)* blocksUsed);
sendConfigMessageUBLOX();
}

Expand Down Expand Up @@ -741,7 +814,7 @@ STATIC_PROTOTHREAD(gpsConfigure)
// Configure UBX binary messages
gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);

// u-Blox 9
// u-Blox 9
// M9N does not support some of the UBX 6/7/8 messages, so we have to configure it using special sequence
if (gpsState.hwVersion >= 190000) {
configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 0);
Expand Down Expand Up @@ -840,13 +913,11 @@ STATIC_PROTOTHREAD(gpsConfigure)
configureSBAS();
ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);

// Enable GALILEO
if (gpsState.gpsConfig->ubloxUseGalileo && capGalileo) {
// If GALILEO is not supported by the hardware we'll get a NAK,
// however GPS would otherwise be perfectly initialized, so we are just waiting for any response
gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);
configureGalileo();
ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
// Configure GNSS for M8N and later
if (gpsState.hwVersion >= 80000) {
gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);
configureGNSS();
ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
}

ptEnd(0);
Expand Down