[ublox] Hw-Sw version info and Config Info on startup

paparazzi · Oct 8, 2018 · d66e47b · d66e47b
1 parent 00f5745
commit d66e47b
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Showing 4 changed files with 46 additions and 12 deletions.
diff --git a/conf/ubx.xml b/conf/ubx.xml
@@ -286,6 +286,20 @@
       <field name="res3" format="U1"/>
     </message>
 
+    <message name="GNSS" ID="0x3E" length="12">
+      <field name="version" format="U1"/>
+      <field name="numTrkChHw" format="U1"/>
+      <field name="numTrkChUse" format="U1"/>
+      <field name="numConfigBlocks" format="U1"/>
+      <block length="8">
+        <field name="gnssId" format="U1"/>
+        <field name="resTrckCh" format="U1"/>
+        <field name="maxTrckCh" format="U1"/>
+        <field name="reserved" format="U1"/>
+        <field name="flags" format="U4"/>
+     </block>
+    </message>
+
     <message name="DGNSS" ID="0x70" length="4">
       <field name="dgnssMode" format="U1"/>
       <field name="RES1" format="U2"/>
@@ -388,6 +402,20 @@ supported.
       </block>
     </message>
 
+    <message name="GET_GNSS" ID="0x28" length="0">
+    </message>
+
+    <message name="GNSS" ID="0x28" length="8">
+      <field name="version" format="U1"/>
+      <field name="supported" format="U1"/>
+      <field name="defaultGnss" format="U1"/>
+      <field name="enabled" format="U1"/>
+      <field name="simultaneous" format="U1"/>
+      <field name="reserved1" format="U1"/>
+      <field name="reserved2" format="U1"/>
+      <field name="reserved3" format="U1"/>
+    </message>
+
   </msg_class>
 
 </ubx>
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
@@ -188,6 +188,8 @@ void gps_ubx_ucenter_event(void)
 
         DEBUG_PRINT("ublox sw_ver: %u.%u\n", gps_ubx_ucenter.sw_ver_h, gps_ubx_ucenter.sw_ver_l);
         DEBUG_PRINT("ublox hw_ver: %u.%u\n", gps_ubx_ucenter.hw_ver_h, gps_ubx_ucenter.hw_ver_l);
+      } else if (gps_ubx.msg_id == UBX_MON_GNSS_ID) {
+        gps_ubx_ucenter.gnss_in_use = UBX_MON_GNSS_enabled(gps_ubx.msg_buf);
       }
       break;
     case UBX_CFG_ID:
@@ -461,7 +463,7 @@ static inline void gps_ubx_ucenter_config_port(void)
 #define GPS_SBAS_CORRECTIONS   0x02
 #define GPS_SBAS_INTEGRITY     0x04
 
-#define GPS_SBAS_MAX_SBAS    1 // Default ublox setting uses 3 SBAS channels(?)
+#define GPS_SBAS_MAX_SBAS    3 // Default ublox setting uses 3 SBAS channels(?)
 
 #define GPS_SBAS_AUTOSCAN    0x00
 
@@ -513,16 +515,6 @@ static bool gps_ubx_ucenter_configure(uint8_t nr)
       // Version info is important for proper configuration as different firmwares have different settings
       break;
     case 6:
-      // Send some debugging info: detected baudrate, software version etc...
-      gps_ubx_ucenter.replies[0] = (gps_ubx_ucenter.baud_init / 1000);
-      gps_ubx_ucenter.replies[1] = (gps_ubx_ucenter.baud_init - 1000 * gps_ubx_ucenter.replies[0]) / 100;
-      gps_ubx_ucenter.replies[2] = gps_ubx_ucenter.sw_ver_h;
-      gps_ubx_ucenter.replies[3] = gps_ubx_ucenter.sw_ver_l;
-      gps_ubx_ucenter.replies[4] = gps_ubx_ucenter.hw_ver_h;
-      gps_ubx_ucenter.replies[5] = gps_ubx_ucenter.hw_ver_l;
-#if DEBUG_GPS_UBX_UCENTER
-      DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice, 6, gps_ubx_ucenter.replies);
-#endif
       // Configure CFG-NAV(5) message
       gps_ubx_ucenter_config_nav();
       break;
@@ -599,13 +591,25 @@ static bool gps_ubx_ucenter_configure(uint8_t nr)
       UbxSend_CFG_CFG(gps_ubx_ucenter.dev, 0x00000000, 0xffffffff, 0x00000000);
       break;
     case 22:
+      UbxSend_MON_GET_GNSS(gps_ubx_ucenter.dev);
+      break;
+    case 23:
+      break;
+    case 24:
 #if DEBUG_GPS_UBX_UCENTER
       // Debug Downlink the result of all configuration steps: see messages
       // To view, enable DEBUG message in your telemetry configuration .xml
       DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice, GPS_UBX_UCENTER_CONFIG_STEPS, gps_ubx_ucenter.replies);
       for (int i = 0; i < GPS_UBX_UCENTER_CONFIG_STEPS; i++) {
         DEBUG_PRINT("%u\n", gps_ubx_ucenter.replies[i]);
       }
+#endif
+#ifdef DOWNLINK_TRANSPORT
+      {
+        uint8_t sbas = GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY;
+        uint8_t gnss = gps_ubx_ucenter.gnss_in_use ;
+        DOWNLINK_SEND_UBLOX_INFO(DefaultChannel, DefaultDevice, &gps_ubx_ucenter.baud_run, &gps_ubx_ucenter.sw_ver_h, &gps_ubx_ucenter.sw_ver_l, &gps_ubx_ucenter.hw_ver_h, &gps_ubx_ucenter.hw_ver_l, &sbas, &gnss);
+      }
 #endif
       return false;
     default:

diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.h b/sw/airborne/modules/gps/gps_ubx_ucenter.h
@@ -49,6 +49,8 @@ struct gps_ubx_ucenter_struct {
   uint16_t hw_ver_h;
   uint16_t hw_ver_l;
 
+  uint8_t gnss_in_use;
+
   /// Port identifier number
   uint8_t port_id;
 

diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink