Update #2
So I was messing with this for 2 days and i managed to:
Fix the checksum calculations, now it's based on the received message payload.
This fixes the compatibility issues between NEO-M8 and NEO-M7-6 GPS series.
Changes:
Identify the packet Class in receive message
Identify the packet Message ID in receive message
Identify the packet 16Bit Message payloadSize
uBlox now supports:
UBX-NAV-POSLLH (0x01 0x02) Geodetic Position Solution, Msg Length[28]
UBX-NAV-PVT (0x01 0x07) Navigation Position Velocity Time Solution, Msg Length U-Blox7=[84], U-Blox8=[92]
Work in progress
# high level commands, for the user #
No need to use U‑center to change GPS Port Configuration
CFG-PRT (0x06 0x00) Get/Set Port Configuration for UART
SetGPSbaud460800(); //Set UBLOX GPS Port Configuration to 460800Baud
SetGPSbaud9600(); //Set UBLOX GPS Port Configuration to 9600Baud
UBLOX.cpp
Code:
/*
UBLOX.cpp
Brian R Taylor
brian.taylor@bolderflight.com
2016-11-03
Copyright (c) 2016 Bolder Flight Systems
Permission is hereby granted, free of charge, to any person obtaining a copy of this software
and associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute,
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or
substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
v1.0.1
Chris O.
2018-02-26 Changes:
Identify the packet Class in receive message
Identify the packet Message ID in receive message
Identify the packet 16Bit Message payloadSize
Fixed the checksum calculations, now it's based on*the*received message payload.
This fixes the compatibility issues between NEO-M8 and NEO-M7-6 GPS series.
Addition:
UBX-NAV-POSLLH (0x01 0x02) Geodetic Position Solution
high level commands, for the user
CFG-PRT (0x06 0x00) Get/Set Port Configuration for UART
SetGPSbaud460800(); //Set UBLOX GPS Port Configuration to 460800Baud
SetGPSbaud9600(); //Set UBLOX GPS Port Configuration to 9600Baud
*/
// Teensy 3.0 || Teensy 3.1/3.2 || Teensy 3.5 || Teensy 3.6 || Teensy LC
#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || \
defined(__MK66FX1M0__) || defined(__MKL26Z64__)
#include "Arduino.h"
#include "UBLOX.h"
/* default constructor */
UBLOX::UBLOX() {}
/* uBlox object, input the serial bus */
UBLOX::UBLOX(uint8_t bus) {
_bus = bus; // serial bus
}
void UBLOX::configure(uint8_t bus) {
_bus = bus; // serial bus
}
/* starts the serial communication */
void UBLOX::begin(int baud) {
// initialize parsing state
_fpos = 0;
// select the serial port
#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MKL26Z64__) // Teensy 3.0 || Teensy 3.1/3.2 || Teensy LC
if (_bus == 3) {
_port = &Serial3;
}
else if (_bus == 2) {
_port = &Serial2;
}
else {
_port = &Serial1;
}
#endif
#if defined(__MK64FX512__) || defined(__MK66FX1M0__) // Teensy 3.5 || Teensy 3.6
if (_bus == 6) {
_port = &Serial6;
}
else if (_bus == 5) {
_port = &Serial5;
}
else if (_bus == 4) {
_port = &Serial4;
}
else if (_bus == 3) {
_port = &Serial3;
}
else if (_bus == 2) {
_port = &Serial2;
}
else {
_port = &Serial1;
}
#endif
// begin the serial port for uBlox
_port->begin(baud);
}
/* write the uBlox data */
/******************************************/
/** high level commands, for the user */
/******************************************/
void UBLOX::SetGPSbaud460800()
{
_port->write(SET460800B_CFG_PRT, sizeof(SET460800B_CFG_PRT));
}
void UBLOX::SetGPSbaud9600()
{
_port->write(SET9600B_CFG_PRT, sizeof(SET9600B_CFG_PRT));
}
/* read the uBlox data */
bool UBLOX::read(gpsData *gpsData_ptr) {
const double mm2m = 1.0e-3;
const double en7 = 1.0e-7;
const double en5 = 1.0e-5;
const double en2 = 1.0e-2;
union {
unsigned long val;
uint8_t b[4];
} iTOW;
union {
unsigned short val;
uint8_t b[2];
} utcYear;
union {
unsigned long val;
uint8_t b[4];
} tAcc;
union {
long val;
uint8_t b[4];
} utcNano;
union {
long val; // I4
uint8_t b[4];
} lon;
union {
long val;
uint8_t b[4];
} lat;
union {
long val;
uint8_t b[4];
} height;
union {
long val;
uint8_t b[4];
} hMSL;
union {
unsigned long val;
uint8_t b[4];
} hAcc;
union {
unsigned long val;
uint8_t b[4];
} vAcc;
union {
long val;
uint8_t b[4];
} velN;
union {
long val;
uint8_t b[4];
} velE;
union {
long val;
uint8_t b[4];
} velD;
union {
long val;
uint8_t b[4];
} gSpeed;
union {
long val;
uint8_t b[4];
} heading;
union {
unsigned long val;
uint8_t b[4];
} sAcc;
union {
unsigned long val;
uint8_t b[4];
} headingAcc;
union {
unsigned short val;
uint8_t b[2];
} pDOP;
union {
unsigned long val;
uint8_t b[4];
} headVeh;
union {
I2 val;
uint8_t b[2];
} magDec;
union {
U2 val;
uint8_t b[2];
} magAcc;
// parse the uBlox packet
if (parse()) {
// UBX-NAV-POSLLH (0x01 0x02) Geodetic Position Solution
if (_UBX_NAV_POSLLH_ID == true) {
iTOW.b[0] = _gpsPayload[4]; // GPS time of week of the navigation epoch.
iTOW.b[1] = _gpsPayload[5];
iTOW.b[2] = _gpsPayload[6];
iTOW.b[3] = _gpsPayload[7];
gpsData_ptr->iTOW = iTOW.val;
lon.b[0] = _gpsPayload[8]; // Longitude
lon.b[1] = _gpsPayload[9];
lon.b[2] = _gpsPayload[10];
lon.b[3] = _gpsPayload[11];
gpsData_ptr->lon = lon.val * en7;
lat.b[0] = _gpsPayload[12]; // Latitude
lat.b[1] = _gpsPayload[13];
lat.b[2] = _gpsPayload[14];
lat.b[3] = _gpsPayload[15];
gpsData_ptr->lat = lat.val * en7;
height.b[0] = _gpsPayload[16]; // Height above ellipsoid
height.b[1] = _gpsPayload[17];
height.b[2] = _gpsPayload[18];
height.b[3] = _gpsPayload[19];
gpsData_ptr->height = height.val * mm2m;
hMSL.b[0] = _gpsPayload[20]; // Height above mean sea level
hMSL.b[1] = _gpsPayload[21];
hMSL.b[2] = _gpsPayload[22];
hMSL.b[3] = _gpsPayload[23];
gpsData_ptr->hMSL = hMSL.val * mm2m;
hAcc.b[0] = _gpsPayload[24]; // Horizontal accuracy estimate
hAcc.b[1] = _gpsPayload[25];
hAcc.b[2] = _gpsPayload[26];
hAcc.b[3] = _gpsPayload[27];
gpsData_ptr->hAcc = hAcc.val * mm2m;
_UBX_NAV_POSLLH_ID = false;
}
// UBX-NAV-PVT (0x01 0x07) Navigation Position Velocity Time Solution
if (_UBX_NAV_PVT_ID == true) {
iTOW.b[0] = _gpsPayload[4];
iTOW.b[1] = _gpsPayload[5];
iTOW.b[2] = _gpsPayload[6];
iTOW.b[3] = _gpsPayload[7];
gpsData_ptr->iTOW = iTOW.val;
utcYear.b[0] = _gpsPayload[8];
utcYear.b[1] = _gpsPayload[9];
gpsData_ptr->utcYear = utcYear.val;
gpsData_ptr->utcMonth = _gpsPayload[10];
gpsData_ptr->utcDay = _gpsPayload[11];
gpsData_ptr->utcHour = _gpsPayload[12];
gpsData_ptr->utcMin = _gpsPayload[13];
gpsData_ptr->utcSec = _gpsPayload[14];
gpsData_ptr->valid = _gpsPayload[15];
tAcc.b[0] = _gpsPayload[16];
tAcc.b[1] = _gpsPayload[17];
tAcc.b[2] = _gpsPayload[18];
tAcc.b[3] = _gpsPayload[19];
gpsData_ptr->tAcc = tAcc.val;
utcNano.b[0] = _gpsPayload[20];
utcNano.b[1] = _gpsPayload[21];
utcNano.b[2] = _gpsPayload[22];
utcNano.b[3] = _gpsPayload[23];
gpsData_ptr->utcNano = utcNano.val;
gpsData_ptr->fixType = _gpsPayload[24];
gpsData_ptr->flags = _gpsPayload[25];
gpsData_ptr->flags2 = _gpsPayload[26];
gpsData_ptr->numSV = _gpsPayload[27];
lon.b[0] = _gpsPayload[28];
lon.b[1] = _gpsPayload[29];
lon.b[2] = _gpsPayload[30];
lon.b[3] = _gpsPayload[31];
gpsData_ptr->lon = lon.val * en7;
lat.b[0] = _gpsPayload[32];
lat.b[1] = _gpsPayload[33];
lat.b[2] = _gpsPayload[34];
lat.b[3] = _gpsPayload[35];
gpsData_ptr->lat = lat.val * en7;
height.b[0] = _gpsPayload[36];
height.b[1] = _gpsPayload[37];
height.b[2] = _gpsPayload[38];
height.b[3] = _gpsPayload[39];
gpsData_ptr->height = height.val * mm2m;
hMSL.b[0] = _gpsPayload[40];
hMSL.b[1] = _gpsPayload[41];
hMSL.b[2] = _gpsPayload[42];
hMSL.b[3] = _gpsPayload[43];
gpsData_ptr->hMSL = hMSL.val * mm2m;
hAcc.b[0] = _gpsPayload[44];
hAcc.b[1] = _gpsPayload[45];
hAcc.b[2] = _gpsPayload[46];
hAcc.b[3] = _gpsPayload[47];
gpsData_ptr->hAcc = hAcc.val * mm2m;
vAcc.b[0] = _gpsPayload[48];
vAcc.b[1] = _gpsPayload[49];
vAcc.b[2] = _gpsPayload[50];
vAcc.b[3] = _gpsPayload[51];
gpsData_ptr->vAcc = vAcc.val * mm2m;
velN.b[0] = _gpsPayload[52];
velN.b[1] = _gpsPayload[53];
velN.b[2] = _gpsPayload[54];
velN.b[3] = _gpsPayload[55];
gpsData_ptr->velN = velN.val * mm2m;
velE.b[0] = _gpsPayload[56];
velE.b[1] = _gpsPayload[57];
velE.b[2] = _gpsPayload[58];
velE.b[3] = _gpsPayload[59];
gpsData_ptr->velE = velE.val * mm2m;
velD.b[0] = _gpsPayload[60];
velD.b[1] = _gpsPayload[61];
velD.b[2] = _gpsPayload[62];
velD.b[3] = _gpsPayload[63];
gpsData_ptr->velD = velD.val * mm2m;
gSpeed.b[0] = _gpsPayload[64];
gSpeed.b[1] = _gpsPayload[65];
gSpeed.b[2] = _gpsPayload[66];
gSpeed.b[3] = _gpsPayload[67];
gpsData_ptr->gSpeed = gSpeed.val * mm2m;
heading.b[0] = _gpsPayload[68];
heading.b[1] = _gpsPayload[69];
heading.b[2] = _gpsPayload[70];
heading.b[3] = _gpsPayload[71];
gpsData_ptr->heading = heading.val * en5;
sAcc.b[0] = _gpsPayload[72];
sAcc.b[1] = _gpsPayload[73];
sAcc.b[2] = _gpsPayload[74];
sAcc.b[3] = _gpsPayload[75];
gpsData_ptr->sAcc = sAcc.val * mm2m;
headingAcc.b[0] = _gpsPayload[76];
headingAcc.b[1] = _gpsPayload[77];
headingAcc.b[2] = _gpsPayload[78];
headingAcc.b[3] = _gpsPayload[79];
gpsData_ptr->headingAcc = headingAcc.val * en5;
pDOP.b[0] = _gpsPayload[80];
pDOP.b[1] = _gpsPayload[81];
gpsData_ptr->pDOP = pDOP.val * 0.01L;
headVeh.b[0] = _gpsPayload[88];
headVeh.b[1] = _gpsPayload[89];
headVeh.b[2] = _gpsPayload[90];
headVeh.b[3] = _gpsPayload[91];
gpsData_ptr->headVeh = headVeh.val * en5;
// Edit - 2018 2 25 magDec, magAcc
magDec.b[0] = _gpsPayload[92];
magDec.b[0] = _gpsPayload[93];
gpsData_ptr->magDec = magDec.val * en2;
magAcc.b[0] = _gpsPayload[94];
magAcc.b[0] = _gpsPayload[95];
gpsData_ptr->magDec = magAcc.val * en2;
_UBX_NAV_PVT_ID = false;
}
// return true on receiving a full packet
return true;
}
else {
// return false if a full packet is not received
return false;
}
}
/* parse the uBlox data */
bool UBLOX::parse() {
// uBlox UBX header definition
uint8_t const UBX_HEADER[] = { 0xB5, 0x62 };
// uBlox Message (Class, ID) # Description #
// UBX-NAV-PVT (0x01 0x07) Navigation Position Velocity Time Solution
// UBX-NAV-POSLLH (0x01 0x02) Geodetic Position Solution
// checksum calculation
static unsigned char checksum[2];
// read a byte from the serial port
while ( _port->available() ) {
uint8_t c = _port->read();
// identify the packet header
if ( _fpos < 2 ) {
if ( c == UBX_HEADER[_fpos] ) {
// Serial.print("UBX_HEADER :"), Serial.println(c, HEX); // USB debug print
_fpos++;
}
else {
_fpos = 0;
}
}
// Identify the packet Class
else if (_fpos == 2) {
switch (c) { // ### Name Class Description ###
case 0x01: // NAV 0x01 Navigation Results: Position, Speed, Time, Acc, Heading, DOP, SVs used
_CurrentClass = c; // Save for Message ID.
((unsigned char*)_gpsPayload)[_fpos - 2] = c; // grab the payload, need for checksum
// Serial.print("UBX_NAV_CLASS:0x0"), Serial.println(_CurrentClass, HEX); // USB debug print
_fpos++;
break;
case 0x02: // RXM 0x02 Receiver Manager Messages: Satellite Status, RTC Status
_CurrentClass = c;
Serial.print("UBX_RXM_CLASS:0x0"), Serial.print(c, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x04: // INF 0x04 Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
_CurrentClass = c;
Serial.print("UBX_INF_CLASS:0x0"), Serial.print(c, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x05: // ACK 0x05 Ack/Nack Messages: as replies to CFG Input Messages
//Serial.print("UBX_ACK_CLASS:0x0"), Serial.print(c, HEX), Serial.println(); // USB debug print
_CurrentClass = c;
((unsigned char*)_gpsPayload)[_fpos - 2] = c; // grab the payload, need for checksum
_fpos++;
break;
case 0x06: // CFG 0x06 Configuration Input Messages: Set Dynamic Model, Set DOP Mask, Set Baud Rate, etc.
Serial.print("UBX_CFG_CLASS:0x0"), Serial.print(c, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_CurrentClass = c;
_fpos = 0;
break;
case 0x0A: // MON 0x0A Monitoring Messages: Comunication Status, CPU Load, Stack Usage, Task Status
Serial.print("UBX_MON_CLASS:0x0"), Serial.print(c, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_CurrentClass = c;
_fpos = 0;
break;
case 0x0B: // AID 0x0B AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
Serial.print("UBX_AID_CLASS:0x0"), Serial.print(c, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_CurrentClass = c;
_fpos = 0;
break;
case 0x0D: // TIM 0x0D Timing Messages: Time Pulse Output, Timemark Results
Serial.print("UBX_TIM_CLASS:0x0"), Serial.print(c, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_CurrentClass = c;
_fpos = 0;
break;
case 0x21: // LOG 0x21 Logging Messages: Log creation, deletion, info and retrieval
Serial.print("UBX_LOG_CLASS:0x"), Serial.print(c, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_CurrentClass = c;
_fpos = 0;
break;
default:
// 0x03 and 0x0E to 0x20 Not Supported
_CurrentClass = c;
_fpos = 0;
Serial.print("Unknown packet Class:");
if (c > 16) {
Serial.println("0x");
} else {
Serial.println("0x0");
}
Serial.println(c, HEX), Serial.println(); // USB debug print
break;
}
}
// Identify the packet Message ID
else if (_fpos == 3 ) {
switch (_CurrentClass) {
case 0x01: // NAV 0x01
NAV_IDs(c); // Go grab the uBlox NAV - ID
break;
case 0x02: // RXM 0x02
_fpos = 0;
break;
case 0x04: // INF 0x04
_fpos = 0;
break;
case 0x05: // ACK 0x05
ACK_IDs(c); // Go grab the uBlox ACK - ID
break;
case 0x06: // CFG 0x06
_fpos = 0;
break;
case 0x0A: // MON 0x0A
_fpos = 0;
break;
case 0x0B: // AID 0x0B
_fpos = 0;
break;
case 0x0D: // TIM 0x0D
_fpos = 0;
break;
case 0x21: // LOG 0x21
_fpos = 0;
break;
default:
// 0x03 and 0x0E to 0x20 Not Supported
_fpos = 0;
Serial.println("Unknown packet ID:"), Serial.println(c, HEX), Serial.println(); // USB debug print
break;
}
_CurrentClass = 0x00;
}
// Identify the packet 16Bit Message payloadSize
// It does not include 16Bit-Sync header, 8Bit-Class, 8Bit-ID, 16Bit-Length Field, and 16Bit-CRC fields
else if (_fpos == 4 ) {
((unsigned char*)_gpsPayload)[_fpos - 2] = c; // least significant byte (LSB)
_fpos++;
}
else if (_fpos == 5 ) {
((unsigned char*)_gpsPayload)[_fpos - 2] = c; // most significant byte (MSB)
_MSGpayloadSize = (_gpsPayload[3] << 8) | _gpsPayload[2]; // Combining two uint8_t as uint16_t
// Serial.print("_MSGpayloadSize DEC:"), Serial.println(_MSGpayloadSize, DEC); // USB debug print
_MSGpayloadSize = _MSGpayloadSize + 4; // Fix for (CRC), Add 8Bit-Class, 8Bit-ID, 16Bit-Length Field
_fpos++;
}
else {
// grab the payload
if ( (_fpos - 2) < _MSGpayloadSize )
((unsigned char*)_gpsPayload)[_fpos - 2] = c;
_fpos++;
// The checksum is calculated over the packet, starting and including the
// CLASS field, ID and payload, up until, but excluding, the Checksum Field
// (CRC) Compute checksum
if ( (_fpos - 2) == _MSGpayloadSize ) {
calcChecksum(checksum, _gpsPayload, _MSGpayloadSize);
}
else if ( (_fpos - 2) == (_MSGpayloadSize + 1) ) {
if ( c != checksum[0] )
_fpos = 0;
}
else if ( (_fpos - 2) == (_MSGpayloadSize + 2) ) {
_fpos = 0;
if ( c == checksum[1] ) {
return true;
}
}
else if ( _fpos > (_MSGpayloadSize + 4) ) {
_fpos = 0;
}
}
}
return false;
}
/* uBlox checksum */
void UBLOX::calcChecksum(unsigned char* CK, unsigned char* payload, uint8_t length) {
CK[0] = 0;
CK[1] = 0;
for (uint8_t i = 0; i < length; i++) {
CK[0] += payload[i]; // CK[0] = CK[0] + payload[i];
CK[1] += CK[0];
}
}
/* uBlox ACK - IDs */
void UBLOX::ACK_IDs(uint8_t SERc) {
switch (SERc) { // ### Name ACK-Class & IDs Description, Msg Length ###
case 0x00: // UBX-ACK-NAK (0x05 0x00) Message Not-Acknowledged, len[2]
Serial.print("UBX_ACK_NAK ID:"), Serial.print(SERc, HEX), Serial.println(" Message Not-Acknowledged"), Serial.println(); // USB debug print
//_UBX_ACK_NAK_ID = true; //TODO
((unsigned char*)_gpsPayload)[_fpos - 2] = SERc; // grab the payload, need for checksum
_fpos++;
break;
case 0x01: // UBX-ACK-ACK (0x05 0x01) Message Acknowledged, len[2]
Serial.print("UBX_ACK_ACK ID:"), Serial.print(SERc, HEX), Serial.println(" Message Acknowledged"), Serial.println(); // USB debug print
//_UBX_ACK_ACK_ID = true; //TODO
((unsigned char*)_gpsPayload)[_fpos - 2] = SERc; // grab the payload, need for checksum
_fpos++;
break;
default:
// Not Supported
_fpos = 0;
Serial.println("Unknown packet Class ACK ID:"), Serial.println(SERc, HEX), Serial.println(); // USB debug print
break;
}
}
/* uBlox NAV - IDs */
void UBLOX::NAV_IDs(uint8_t SERIALc) {
switch (SERIALc) { // ### Name NAV-Class & IDs Description, Msg Length ###
case 0x01: // NAV-POSECEF 0x01 0x01 Position Solution in ECEF, U-Blox7 = len[20]
Serial.print("UBX_NAV_POSECEF ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x02: // NAV-POSLLH 0x01 0x02 Geodetic Position Solution, U-Blox7 = len[28]
// Serial.print("UBX_NAV_POSLLH ID:"), Serial.println(SERIALc, HEX);; // USB print
_UBX_NAV_POSLLH_ID = true;
((unsigned char*)_gpsPayload)[_fpos - 2] = SERIALc; // grab the payload, need for checksum
_fpos++;
break;
case 0x03: // NAV-STATUS 0x01 0x03 Receiver Navigation Status, U-Blox7 = len[16]
Serial.print("UBX_NAV_STATUS ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x04: // NAV-DOP 0x01 0x04 Dilution of precision, U-Blox7 = len[18]
Serial.print("UBX_NAV_DOP ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x06: // NAV-SOL 0x01 0x06 Navigation Solution Information, U-Blox7 = len[52]
Serial.print("UBX_NAV_SOL ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x07: // NAV-PVT 0x01 0x07 Navigation Position Velocity Time Solution, U-Blox7=len[84], U-Blox8=len[92]
// Serial.print("UBX_NAV_PVT ID:"), Serial.println(SERIALc, HEX);; // USB debug print
_UBX_NAV_PVT_ID = true;
((unsigned char*)_gpsPayload)[_fpos - 2] = SERIALc; // grab the payload, need for checksum
_fpos++;
break;
case 0x11: // NAV-VELECEF 0x01 0x11 Velocity Solution in ECEF, U-Blox7 = len[20]
Serial.print("UBX_NAV_VELECEF ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x12: // NAV-VELNED 0x01 0x12 Velocity Solution in NED, U-Blox7 = len[36]
Serial.print("UBX_NAV_VELNED ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x20: // NAV-TIMEGPS 0x01 0x20 16 Periodic/Polled GPS Time Solution, U-Blox7 = len[16]
Serial.print("UBX_NAV_TIMEGPS ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x21: // NAV-TIMEUTC 0x01 0x21 UTC Time Solution, U-Blox7 = len[20]
Serial.print("UBX_NAV_TIMEUTC ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x22: // NAV-CLOCK 0x01 0x22 Clock Solution, U-Blox7 = len[20]
Serial.print("UBX_NAV_CLOCK ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x30: // NAV-SVINFO U-Blox7 = len[8 + 12*numCh]
Serial.print("UBX_NAV_SVINFO ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x31: // NAV-DGPS 0x01 0x31 DGPS Data Used for NAV, U-Blox7 = len[16 + 12*numCh]
Serial.print("UBX_NAV_DGPS ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x32: // NAV-SBAS 0x01 0x32 12 + 12*cnt Periodic/Polled SBAS Status Data
Serial.print("UBX_NAV_SBAS ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
case 0x60: // NAV-AOPSTATUS 0x01 0x60 AssistNow Autonomous Status, U-Blox7 = len[20]
Serial.print("UBX_NAV_AOPSTATUS ID:"), Serial.print(SERIALc, HEX), Serial.println(" Not implemented"), Serial.println(); // USB debug print
_fpos = 0;
break;
default:
// Not Supported
_fpos = 0;
Serial.println("Unknown packet Class NAV ID:"), Serial.println(SERIALc, HEX), Serial.println(); // USB debug print
break;
}
}
#endif
UBLOX.h
Code:
/*
UBLOX.h
Brian R Taylor
brian.taylor@bolderflight.com
2016-11-03
Copyright (c) 2016 Bolder Flight Systems
Permission is hereby granted, free of charge, to any person obtaining a copy of this software
and associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute,
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or
substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
v1.0.1
Chris O.
2018-02-26 Changes:
Identify the packet Class in receive message
Identify the packet Message ID in receive message
Identify the packet 16Bit Message payloadSize
Fixed the checksum calculations, now it's based on*the*received message payload.
This fixes the compatibility issues between NEO-M8 and NEO-M7-6 GPS series.
Addition:
UBX-NAV-POSLLH (0x01 0x02) Geodetic Position Solution
high level commands, for the user
CFG-PRT (0x06 0x00) Get/Set Port Configuration for UART
SetGPSbaud460800(); //Set UBLOX GPS Port Configuration to 460800Baud
SetGPSbaud9600(); //Set UBLOX GPS Port Configuration to 9600Baud
*/
// NOTE: U-blox8, U-blox6 and 7
// UBX-NAV-PVT (0x01 0x07) offset by 4 bytes, U-blox8 msg lenght 92 bytes, U-blox6 and 7 msg lenght 84 bytes
// ### UBX Protocol ###
// Class NAV 0x01, ID 0x02, Message Naming
// UBX-NAV-POSLLH (0x01 0x02) Geodetic Position Solution
// iTOW; ///< [ms], GPS time of the navigation epoch
// lon; ///< [deg], Longitude
// lat; ///< [deg], Latitude
// height; ///< [m], Height above ellipsoid
// hMSL; ///< [m], Height above mean sea level
// hAcc; ///< [m], Horizontal accuracy estimate
// Class NAV 0x01, ID 0x07
// UBX-NAV-PVT (0x01 0x07) Navigation Position Velocity Time Solution
// iTOW; ///< [ms], GPS time of the navigation epoch
// utcYear; ///< [year], Year (UTC)
// utcMonth; ///< [month], Month, range 1..12 (UTC)
// utcDay; ///< [day], Day of month, range 1..31 (UTC)
// utcHour; ///< [hour], Hour of day, range 0..23 (UTC)
// utcMin; ///< [min], Minute of hour, range 0..59 (UTC)
// utcSec; ///< [s], Seconds of minute, range 0..60 (UTC)
// valid; ///< [ND], Validity flags
// tAcc; ///< [ns], Time accuracy estimate (UTC)
// utcNano; ///< [ns], Fraction of second, range -1e9 .. 1e9 (UTC)
// fixType; ///< [ND], GNSSfix Type: 0: no fix, 1: dead reckoning only, 2: 2D-fix, 3: 3D-fix, 4: GNSS + dead reckoning combined, 5: time only fix
// flags; ///< [ND], Fix status flags
// flags2; ///< [ND], Additional flags
// numSV; ///< [ND], Number of satellites used in Nav Solution
// lon; ///< [deg], Longitude
// lat; ///< [deg], Latitude
// height; ///< [m], Height above ellipsoid
// hMSL; ///< [m], Height above mean sea level
// hAcc; ///< [m], Horizontal accuracy estimate
// vAcc; ///< [m], Vertical accuracy estimate
// velN; ///< [m/s], NED north velocity
// velE; ///< [m/s], NED east velocity
// velD; ///< [m/s], NED down velocity
// gSpeed; ///< [m/s], Ground Speed (2-D)
// heading; ///< [deg], Heading of motion (2-D)
// sAcc; ///< [m/s], Speed accuracy estimate
// headingAcc; ///< [deg], Heading accuracy estimate (both motion and vehicle)
// pDOP; ///< [ND], Position DOP
// headVeh; ///< [deg], Heading of vehicle (2-D) #### NOTE: u-blox8 only ####
// --- Edit - 2018-2-25 magDec, magAcc --- TODO TEST
// magDec; ///< [deg], Magnetic declination #### NOTE: u-blox8 only ####
// magAcc; ///< [deg], Magnetic declination accuracy #### NOTE: u-blox8 only ####
// Variable Type Definitions, For future UBX Protocol implementation (the data sheets are using these weird variable types)
#define U1 unsigned char // Unsigned Char 1 0..255 1
#define RU1_3 unsigned char // Unsigned Char 1, binary floating point with 3 bit exponent, eeeb bbbb, (Value & 0x1F) << (Value>> 5), 0..(31*2^7)non-continuous, ~ 2^(Value >> 5)
#define I1 signed Char // Signed Char 1, 2's complement -128..127 1
#define X1 uint8_t // Bitfield 1, n/a n/a
#define U2 unsigned short // Unsigned Short 2, 0..65535 1
#define I2 signed short // Signed Short 2, 2's complement -32768..32767 1
#define X2 uint16_t // Bitfield 2, n/a n/a
#define U4 unsigned long // Unsigned Long 4, 0..4 '294'967'295 1
#define I4 double // Signed Long 4, 2's complement -2'147'483'648 .. 2'147'483'647, 1
#define X4 uint32_t // Bitfield 4, n/a n/a
#define R4 int32_t // IEEE 754 Single Precision 4, -1*2^+127 .. 2^+127, ~ Value * 2^-24
#define R8 int64_t // IEEE 754 Double Precision 8, -1*2^+1023 .. 2^+1023, ~ Value * 2^-53
#define CH char // ASCII / ISO 8859.1 Encoding, 1
#ifndef UBLOX_h
#define UBLOX_h
#include "Arduino.h"
struct gpsData {
unsigned long iTOW; // U4 /< [ms], GPS time of the navigation epoch
unsigned short utcYear; // U2 /< [year], Year (UTC)
unsigned char utcMonth; // U1 /< [month], Month, range 1..12 (UTC)
unsigned char utcDay; // U1 /< [day], Day of month, range 1..31 (UTC)
unsigned char utcHour; // U1 /< [hour], Hour of day, range 0..23 (UTC)
unsigned char utcMin; // U1 /< [min], Minute of hour, range 0..59 (UTC)
unsigned char utcSec; // U1 /< [s], Seconds of minute, range 0..60 (UTC)
unsigned char valid; // X1 /< [ND], Validity flags
unsigned long tAcc; // U4 /< [ns], Time accuracy estimate (UTC)
long utcNano; // I4 /< [ns], Fraction of second, range -1e9 .. 1e9 (UTC)
unsigned char fixType; // U1 /< [ND], GNSSfix Type: 0: no fix, 1: dead reckoning only, 2: 2D-fix, 3: 3D-fix, 4: GNSS + dead reckoning combined, 5: time only fix
unsigned char flags; // X1 /< [ND], Fix status flags
unsigned char flags2; // X1 /< [ND], Additional flags
unsigned char numSV; // U1 /< [ND], Number of satellites used in Nav Solution
double lon; // I4 /< [deg], Longitude
double lat; // I4 /< [deg], Latitude
double height; // I4 /< [m], Height above ellipsoid
double hMSL; // I4 /< [m], Height above mean sea level
double hAcc; // U4 /< [m], Horizontal accuracy estimate
double vAcc; // U4 /< [m], Vertical accuracy estimate
double velN; // I4 /< [m/s], NED north velocity
double velE; // I4 /< [m/s], NED east velocity
double velD; // I4 /< [m/s], NED down velocity
double gSpeed; // I4 /< [m/s], Ground Speed (2-D)
double heading; // I4 /< [deg], Heading of motion (2-D)
double sAcc; // U4 /< [m/s], Speed accuracy estimate
double headingAcc; // U4 /< [deg], Heading accuracy estimate (both motion and vehicle)
double pDOP; // U2 /< [ND], Position DOP
double headVeh; // I4 /< [deg], Heading of vehicle (2-D) #### NOTE: u-blox8 only ####
// Edit - 2018-2-25 magDec, magAcc
I2 magDec; // I2/< [deg], Magnetic declination #### NOTE: u-blox8 only ####
U2 magAcc; // U2/< [deg], Magnetic declination accuracy #### NOTE: u-blox8 only ####
};
class UBLOX {
public:
UBLOX();
UBLOX(uint8_t bus);
void configure(uint8_t bus);
void begin(int baud);
bool read(gpsData *gpsData_ptr);
/******************************************/
/** high level commands, for the user */
/******************************************/
void SetGPSbaud460800(); //Set UBLOX GPS Port Configuration to 460800Baud
void SetGPSbaud9600(); //Set UBLOX GPS Port Configuration to 9600Baud
private:
uint8_t _bus;
uint8_t _fpos;
uint8_t _CurrentClass;
bool _UBX_NAV_PVT_ID = false;
bool _UBX_NAV_POSLLH_ID = false;
uint16_t _MSGpayloadSize; // Message payloadSize
// CFG-PRT (0x06 0x00) Get/Set Port Configuration for UART
uint8_t const SET9600B_CFG_PRT[28] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00, 0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0xB5};
uint8_t const SET460800B_CFG_PRT[28] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0x08, 0x07, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0xBC};
static const uint8_t _payloadSize = 96;
uint8_t _gpsPayload[_payloadSize];
HardwareSerial* _port;
bool parse();
void calcChecksum(unsigned char* CK, unsigned char* payload, uint8_t length);
void ACK_IDs(uint8_t SERc);
void NAV_IDs(uint8_t SERIALc);
};
#endif
Reply With Quote
Originally Posted by Don Kelly
Let me know and I will make a list (there is a max of 4 I think that I am always looking at changing).