ubx: disabled GPS protocols at I2C if communication is going over UART1

PX4 · May 7, 2021 · f3c4c97 · f3c4c97
1 parent f82313f
commit f3c4c97
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Showing 2 changed files with 27 additions and 0 deletions.
diff --git a/src/ubx.cpp b/src/ubx.cpp
@@ -636,6 +636,25 @@ int GPSDriverUBX::configureDevice(const GNSSSystemsMask &gnssSystems)
 		return -1;
 	}
 
+	if (_interface == Interface::UART) {
+		// Disable GPS protocols at I2C
+		cfg_valset_msg_size = initCfgValset();
+		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2CINPROT_UBX, 0, cfg_valset_msg_size);
+		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2CINPROT_NMEA, 0, cfg_valset_msg_size);
+		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2CINPROT_RTCM3X, 0, cfg_valset_msg_size);
+		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2COUTPROT_UBX, 0, cfg_valset_msg_size);
+		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2COUTPROT_NMEA, 0, cfg_valset_msg_size);
+		cfgValset<uint8_t>(UBX_CFG_KEY_CFG_I2COUTPROT_RTCM3X, 0, cfg_valset_msg_size);
+
+		if (!sendMessage(UBX_MSG_CFG_VALSET, (uint8_t *)&_buf, cfg_valset_msg_size)) {
+			return -1;
+		}
+
+		if (waitForAck(UBX_MSG_CFG_VALSET, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return -1;
+		}
+	}
+
 	int uart2_baudrate = 230400;
 
 	if (_mode == UBXMode::RoverWithMovingBase) {

diff --git a/src/ubx.h b/src/ubx.h
@@ -255,6 +255,14 @@
 #define UBX_TX_CFG_GNSS_FLAGS_GLONASS_L2        0x00100000  /**< GLONASS: Use L2 Signal */
 
 /* Key ID's for CFG-VAL{GET,SET,DEL} */
+#define UBX_CFG_KEY_CFG_I2C_ENABLED             0x10510003
+#define UBX_CFG_KEY_CFG_I2CINPROT_UBX           0x10710001
+#define UBX_CFG_KEY_CFG_I2CINPROT_NMEA          0x10710002
+#define UBX_CFG_KEY_CFG_I2CINPROT_RTCM3X        0x10710004
+#define UBX_CFG_KEY_CFG_I2COUTPROT_UBX          0x10720001
+#define UBX_CFG_KEY_CFG_I2COUTPROT_NMEA         0x10720002
+#define UBX_CFG_KEY_CFG_I2COUTPROT_RTCM3X       0x10720004
+
 #define UBX_CFG_KEY_CFG_UART1_BAUDRATE          0x40520001
 #define UBX_CFG_KEY_CFG_UART1_STOPBITS          0x20520002
 #define UBX_CFG_KEY_CFG_UART1_DATABITS          0x20520003