400 lines
12 KiB
C++
400 lines
12 KiB
C++
#include <NeoGPS_cfg.h>
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#include <ublox/ubxGPS.h>
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//======================================================================
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// Program: ublox.ino
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//
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// Prerequisites:
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// 1) You have a ublox GPS device
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// 2) PUBX.ino works with your device
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// 3) You have installed the ubxGPS.* and ubxmsg.* files.
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// 4) At least one UBX message has been enabled in ubxGPS.h.
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// 5) Implicit Merging is disabled in NMEAGPS_cfg.h.
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//
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// Description: This program parses UBX binary protocal messages from
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// ublox devices. It shows how to acquire the information necessary
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// to use the GPS Time-Of-Week in many UBX messages. As an offset
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// from midnight Sunday morning (GPS time), you also need the current
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// UTC time (this is *not* GPS time) and the current number of GPS
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// leap seconds.
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//
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// Serial is for debug output to the Serial Monitor window.
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//
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// License:
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// Copyright (C) 2014-2017, SlashDevin
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//
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// This file is part of NeoGPS
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//
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// NeoGPS is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// NeoGPS is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with NeoGPS. If not, see <http://www.gnu.org/licenses/>.
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//
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//======================================================================
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#include <GPSport.h>
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#include <Streamers.h>
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//------------------------------------------------------------
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// Check that the config files are set up properly
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#ifndef NMEAGPS_DERIVED_TYPES
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#error You must "#define NMEAGPS_DERIVED_TYPES" in NMEAGPS_cfg.h!
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#endif
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#if !defined(UBLOX_PARSE_STATUS) & !defined(UBLOX_PARSE_TIMEGPS) & \
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!defined(UBLOX_PARSE_TIMEUTC) & !defined(UBLOX_PARSE_POSLLH) & \
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!defined(UBLOX_PARSE_DOP) & !defined(UBLOX_PARSE_PVT) & \
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!defined(UBLOX_PARSE_VELNED) & !defined(UBLOX_PARSE_SVINFO) & \
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!defined(UBLOX_PARSE_HNR_PVT)
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#error No UBX binary messages enabled: no fix data available.
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#endif
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#ifndef NMEAGPS_RECOGNIZE_ALL
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// Resetting the messages with ublox::configNMEA requires that
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// all message types are recognized (i.e., the enum has all
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// values).
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#error You must "#define NMEAGPS_RECOGNIZE_ALL" in NMEAGPS_cfg.h!
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#endif
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//-----------------------------------------------------------------
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// Derive a class to add the state machine for starting up:
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// 1) The status must change to something other than NONE.
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// 2) The GPS leap seconds must be received
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// 3) The UTC time must be received
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// 4) All configured messages are "requested"
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// (i.e., "enabled" in the ublox device)
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// Then, all configured messages are parsed and explicitly merged.
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class MyGPS : public ubloxGPS
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{
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public:
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enum
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{
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GETTING_STATUS,
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GETTING_LEAP_SECONDS,
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GETTING_UTC,
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RUNNING
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}
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state NEOGPS_BF(8);
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MyGPS( Stream *device ) : ubloxGPS( device )
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{
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state = GETTING_STATUS;
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}
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//--------------------------
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void get_status()
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{
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static bool acquiring = false;
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if (fix().status == gps_fix::STATUS_NONE) {
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static uint32_t dotPrint;
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bool requestNavStatus = false;
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if (!acquiring) {
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acquiring = true;
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dotPrint = millis();
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DEBUG_PORT.print( F("Acquiring...") );
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requestNavStatus = true;
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} else if (millis() - dotPrint > 1000UL) {
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dotPrint = millis();
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DEBUG_PORT << '.';
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static uint8_t requestPeriod;
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if ((++requestPeriod & 0x07) == 0)
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requestNavStatus = true;
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}
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if (requestNavStatus)
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// Turn on the UBX status message
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enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_STATUS );
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} else {
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if (acquiring)
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DEBUG_PORT << '\n';
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DEBUG_PORT << F("Acquired status: ") << (uint8_t) fix().status << '\n';
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#if defined(GPS_FIX_TIME) & defined(GPS_FIX_DATE) & \
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defined(UBLOX_PARSE_TIMEGPS)
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if (!enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_TIMEGPS ))
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DEBUG_PORT.println( F("enable TIMEGPS failed!") );
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state = GETTING_LEAP_SECONDS;
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#else
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start_running();
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state = RUNNING;
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#endif
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}
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} // get_status
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//--------------------------
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void get_leap_seconds()
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{
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#if defined(GPS_FIX_TIME) & defined(GPS_FIX_DATE) & \
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defined(UBLOX_PARSE_TIMEGPS)
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if (GPSTime::leap_seconds != 0) {
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DEBUG_PORT << F("Acquired leap seconds: ") << GPSTime::leap_seconds << '\n';
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if (!disable_msg( ublox::UBX_NAV, ublox::UBX_NAV_TIMEGPS ))
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DEBUG_PORT.println( F("disable TIMEGPS failed!") );
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#if defined(UBLOX_PARSE_TIMEUTC)
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if (!enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_TIMEUTC ))
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DEBUG_PORT.println( F("enable TIMEUTC failed!") );
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state = GETTING_UTC;
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#else
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start_running();
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#endif
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}
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#endif
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} // get_leap_seconds
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//--------------------------
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void get_utc()
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{
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#if defined(GPS_FIX_TIME) & defined(GPS_FIX_DATE) & \
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defined(UBLOX_PARSE_TIMEUTC)
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lock();
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bool safe = is_safe();
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NeoGPS::clock_t sow = GPSTime::start_of_week();
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NeoGPS::time_t utc = fix().dateTime;
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unlock();
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if (safe && (sow != 0)) {
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DEBUG_PORT << F("Acquired UTC: ") << utc << '\n';
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DEBUG_PORT << F("Acquired Start-of-Week: ") << sow << '\n';
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start_running();
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}
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#endif
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} // get_utc
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//--------------------------
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void start_running()
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{
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bool enabled_msg_with_time = false;
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#if defined(UBLOX_PARSE_POSLLH)
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if (!enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_POSLLH ))
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DEBUG_PORT.println( F("enable POSLLH failed!") );
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enabled_msg_with_time = true;
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#endif
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#if defined(UBLOX_PARSE_PVT)
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if (!enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_PVT ))
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DEBUG_PORT.println( F("enable PVT failed!") );
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enabled_msg_with_time = true;
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#endif
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#if defined(UBLOX_PARSE_VELNED)
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if (!enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_VELNED ))
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DEBUG_PORT.println( F("enable VELNED failed!") );
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enabled_msg_with_time = true;
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#endif
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#if defined(UBLOX_PARSE_DOP)
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if (!enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_DOP ))
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DEBUG_PORT.println( F("enable DOP failed!") );
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else
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DEBUG_PORT.println( F("enabled DOP.") );
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enabled_msg_with_time = true;
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#endif
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#if defined(UBLOX_PARSE_SVINFO)
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if (!enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_SVINFO ))
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DEBUG_PORT.println( F("enable SVINFO failed!") );
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enabled_msg_with_time = true;
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#endif
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#if defined(UBLOX_PARSE_TIMEUTC)
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#if defined(GPS_FIX_TIME) & defined(GPS_FIX_DATE)
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if (enabled_msg_with_time &&
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!disable_msg( ublox::UBX_NAV, ublox::UBX_NAV_TIMEUTC ))
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DEBUG_PORT.println( F("disable TIMEUTC failed!") );
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#elif defined(GPS_FIX_TIME) | defined(GPS_FIX_DATE)
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// If both aren't defined, we can't convert TOW to UTC,
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// so ask for the separate UTC message.
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if (!enable_msg( ublox::UBX_NAV, ublox::UBX_NAV_TIMEUTC ))
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DEBUG_PORT.println( F("enable TIMEUTC failed!") );
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#endif
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#endif
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state = RUNNING;
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trace_header( DEBUG_PORT );
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} // start_running
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//--------------------------
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bool running()
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{
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switch (state) {
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case GETTING_STATUS : get_status (); break;
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case GETTING_LEAP_SECONDS: get_leap_seconds(); break;
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case GETTING_UTC : get_utc (); break;
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}
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return (state == RUNNING);
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} // running
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} NEOGPS_PACKED;
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// Construct the GPS object and hook it to the appropriate serial device
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static MyGPS gps( &gpsPort );
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#ifdef NMEAGPS_INTERRUPT_PROCESSING
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static void GPSisr( uint8_t c )
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{
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gps.handle( c );
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}
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#endif
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//--------------------------
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static void configNMEA( uint8_t rate )
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{
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for (uint8_t i=NMEAGPS::NMEA_FIRST_MSG; i<=NMEAGPS::NMEA_LAST_MSG; i++) {
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ublox::configNMEA( gps, (NMEAGPS::nmea_msg_t) i, rate );
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}
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}
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//--------------------------
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static void disableUBX()
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{
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gps.disable_msg( ublox::UBX_NAV, ublox::UBX_NAV_TIMEGPS );
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gps.disable_msg( ublox::UBX_NAV, ublox::UBX_NAV_TIMEUTC );
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gps.disable_msg( ublox::UBX_NAV, ublox::UBX_NAV_VELNED );
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gps.disable_msg( ublox::UBX_NAV, ublox::UBX_NAV_POSLLH );
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gps.disable_msg( ublox::UBX_NAV, ublox::UBX_NAV_DOP );
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}
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//--------------------------
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void setup()
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{
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// Start the normal trace output
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DEBUG_PORT.begin(9600);
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while (!DEBUG_PORT)
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;
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DEBUG_PORT.print( F("ublox binary protocol example started.\n") );
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DEBUG_PORT << F("fix object size = ") << sizeof(gps.fix()) << '\n';
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DEBUG_PORT << F("ubloxGPS object size = ") << sizeof(ubloxGPS) << '\n';
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DEBUG_PORT << F("MyGPS object size = ") << sizeof(gps) << '\n';
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DEBUG_PORT.println( F("Looking for GPS device on " GPS_PORT_NAME) );
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DEBUG_PORT.flush();
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// Start the UART for the GPS device
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#ifdef NMEAGPS_INTERRUPT_PROCESSING
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gpsPort.attachInterrupt( GPSisr );
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#endif
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gpsPort.begin(9600);
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// Turn off the preconfigured NMEA standard messages
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configNMEA( 0 );
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// Turn off things that may be left on by a previous build
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disableUBX();
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#if 0
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// Test a Neo M8 message -- should be rejected by Neo-6 and Neo7
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ublox::cfg_nmea_v1_t test;
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test.always_output_pos = false; // invalid or failed
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test.output_invalid_pos = false;
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test.output_invalid_time= false;
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test.output_invalid_date= false;
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test.use_GPS_only = false;
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test.output_heading = false; // even if frozen
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test.__not_used__ = false;
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test.nmea_version = ublox::cfg_nmea_v1_t::NMEA_V_4_0;
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test.num_sats_per_talker_id = ublox::cfg_nmea_v1_t::SV_PER_TALKERID_UNLIMITED;
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test.compatibility_mode = false;
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test.considering_mode = true;
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test.max_line_length_82 = false;
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test.__not_used_1__ = 0;
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test.filter_gps = false;
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test.filter_sbas = false;
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test.__not_used_2__= 0;
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test.filter_qzss = false;
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test.filter_glonass= false;
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test.filter_beidou = false;
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test.__not_used_3__= 0;
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test.proprietary_sat_numbering = false;
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test.main_talker_id = ublox::cfg_nmea_v1_t::MAIN_TALKER_ID_GP;
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test.gsv_uses_main_talker_id = true;
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test.beidou_talker_id[0] = 'G';
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test.beidou_talker_id[1] = 'P';
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DEBUG_PORT << F("CFG_NMEA result = ") << gps.send( test );
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#endif
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while (!gps.running())
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if (gps.available( gpsPort ))
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gps.read();
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}
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//--------------------------
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void loop()
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{
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if (gps.available( gpsPort ))
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trace_all( DEBUG_PORT, gps, gps.read() );
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// If the user types something, reset the message configuration
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// back to a normal set of NMEA messages. This makes it
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// convenient to switch to another example program that
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// expects a typical set of messages. This also saves
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// putting those config messages in every other example.
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if (DEBUG_PORT.available()) {
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do { DEBUG_PORT.read(); } while (DEBUG_PORT.available());
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DEBUG_PORT.println( F("Stopping...") );
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configNMEA( 1 );
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disableUBX();
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gpsPort.flush();
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gpsPort.end();
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DEBUG_PORT.println( F("STOPPED.") );
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for (;;);
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}
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}
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