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configure.go
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configure.go
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package gpsrtk
import (
"context"
"fmt"
"io"
"github.com/jacobsa/go-serial/serial"
"github.com/pkg/errors"
"go.viam.com/rdk/resource"
)
const (
ubxSynch1 = 0xB5
ubxSynch2 = 0x62
ubxRtcm1005 = 0x05 // Stationary RTK reference ARP
ubxRtcm1074 = 0x4A // GPS MSM4
ubxRtcm1084 = 0x54 // GLONASS MSM4
ubxRtcm1094 = 0x5E // Galileo MSM4
ubxRtcm1124 = 0x7C // BeiDou MSM4
ubxRtcm1230 = 0xE6 // GLONASS code-phase biases, set to once every 10 seconds
uart2 = 2
usb = 3
ubxRtcmMsb = 0xF5
ubxClassCfg = 0x06
ubxCfgMsg = 0x01
ubxCfgTmode3 = 0x71
maxPayloadSize = 256
ubxCfgCfg = 0x09
ubxNmeaMsb = 0xF0 // All NMEA enable commands have 0xF0 as MSB. Equal to UBX_CLASS_NMEA
ubxNmeaGga = 0x00 // GxGGA (Global positioning system fix data)
ubxNmeaGll = 0x01 // GxGLL (latitude and long, with time of position fix and status)
ubxNmeaGsa = 0x02 // GxGSA (GNSS DOP and Active satellites)
ubxNmeaGsv = 0x03 // GxGSV (GNSS satellites in view)
ubxNmeaRmc = 0x04 // GxRMC (Recommended minimum data)
ubxNmeaVtg = 0x05 // GxVTG (course over ground and Ground speed)
svinModeEnable = 0x01
svinModeDisable = 0x00
)
var rtcmMsgs = map[int]int{
ubxRtcm1005: 1,
ubxRtcm1074: 1,
ubxRtcm1084: 1,
ubxRtcm1094: 1,
ubxRtcm1124: 1,
ubxRtcm1230: 5,
}
var nmeaMsgs = map[int]int{
ubxNmeaGll: 1,
ubxNmeaGsa: 1,
ubxNmeaGsv: 1,
ubxNmeaRmc: 1,
ubxNmeaVtg: 1,
ubxNmeaGga: 1,
}
type configCommand struct {
correctionType string
portName string
baudRate uint
surveyIn string
requiredAcc float64
observationTime int
msgsToEnable map[int]int
msgsToDisable map[int]int
portID int
writePort io.ReadWriteCloser
}
// ConfigureBaseRTKStation configures an RTK chip to act as a base station and send correction data.
func ConfigureBaseRTKStation(conf resource.Config) error {
newConf, err := resource.NativeConfig[*StationConfig](conf)
if err != nil {
return err
}
correctionType := newConf.CorrectionSource
surveyIn := newConf.SurveyIn
requiredAcc := newConf.RequiredAccuracy
observationTime := newConf.RequiredTime
c := &configCommand{
correctionType: correctionType,
requiredAcc: requiredAcc,
observationTime: observationTime,
msgsToEnable: rtcmMsgs, // defaults
msgsToDisable: nmeaMsgs, // defaults
surveyIn: surveyIn,
}
// already configured
if c.surveyIn != timeMode {
return nil
}
switch c.correctionType {
case serialStr:
err := c.serialConfigure(conf)
if err != nil {
return err
}
default:
return errors.Errorf("configuration not supported for %s", correctionType)
}
if err := c.enableAll(ubxRtcmMsb); err != nil {
return err
}
err = c.disableAll(ubxNmeaMsb)
if err != nil {
return err
}
err = c.enableSVIN()
if err != nil {
return err
}
return nil
}
// ConfigureRoverDefault sets up an RTK chip to act as a rover and receive correction data.
func ConfigureRoverDefault(conf resource.Config) error {
newConf, err := resource.NativeConfig[*Config](conf)
if err != nil {
return err
}
correctionType := newConf.CorrectionSource
c := &configCommand{
correctionType: correctionType,
msgsToEnable: nmeaMsgs, // defaults
msgsToDisable: rtcmMsgs, // defaults
}
switch correctionType {
case serialStr:
err := c.serialConfigure(conf)
if err != nil {
return err
}
default:
return errors.Errorf("configuration not supported for %s", correctionType)
}
if err := c.enableAll(ubxNmeaMsb); err != nil {
return err
}
err = c.disableAll(ubxRtcmMsb)
if err != nil {
return err
}
err = c.disableSVIN()
if err != nil {
return err
}
return nil
}
func (c *configCommand) serialConfigure(conf resource.Config) error {
newConf, err := resource.NativeConfig[*Config](conf)
if err != nil {
return err
}
portName := newConf.SerialConfig.SerialCorrectionPath
if portName == "" {
return fmt.Errorf("serialCorrectionSource expected non-empty string for %q", correctionPathName)
}
c.portName = portName
baudRate := newConf.SerialConfig.SerialCorrectionBaudRate
if baudRate == 0 {
baudRate = 9600
}
c.baudRate = uint(baudRate)
c.portID = uart2
options := serial.OpenOptions{
PortName: c.portName,
BaudRate: c.baudRate,
DataBits: 8,
StopBits: 1,
MinimumReadSize: 1,
}
// Open the port
writePort, err := serial.Open(options)
if err != nil {
return err
}
c.writePort = writePort
return nil
}
func (c *configCommand) sendCommand(cls, id, msgLen int, payloadCfg []byte) error {
switch c.correctionType {
case serialStr:
_, err := c.sendCommandSerial(cls, id, msgLen, payloadCfg)
return err
default:
return errors.Errorf("configuration not supported for %s", c.correctionType)
}
}
func (c *configCommand) sendCommandSerial(cls, id, msgLen int, payloadCfg []byte) ([]byte, error) {
checksumA, checksumB := calcChecksum(cls, id, msgLen, payloadCfg)
// build packet to send over serial
byteSize := msgLen + 8 // header+checksum+payload
packet := make([]byte, byteSize)
// header bytes
packet[0] = byte(ubxSynch1)
packet[1] = byte(ubxSynch2)
packet[2] = byte(cls)
packet[3] = byte(id)
packet[4] = byte(msgLen & 0xFF) // LSB
packet[5] = byte(msgLen >> 8) // MSB
ind := 6
for i := 0; i < msgLen; i++ {
packet[ind+i] = payloadCfg[i]
}
packet[len(packet)-1] = byte(checksumB)
packet[len(packet)-2] = byte(checksumA)
_, err := c.writePort.Write(packet)
if err != nil {
return nil, err
}
// then wait to capture a byte
buf := make([]byte, maxPayloadSize)
n, err := c.writePort.Read(buf)
if err != nil {
return nil, err
}
return buf[:n], nil
}
func (c *configCommand) disableAll(msb int) error {
for msg := range c.msgsToDisable {
err := c.disableMessageCommand(msb, msg, c.portID)
if err != nil {
return err
}
}
err := c.saveAllConfigs()
if err != nil {
return err
}
return nil
}
func (c *configCommand) enableAll(msb int) error {
for msg, sendRate := range c.msgsToEnable {
err := c.enableMessageCommand(msb, msg, c.portID, sendRate)
if err != nil {
return err
}
}
err := c.saveAllConfigs()
if err != nil {
return err
}
return nil
}
//nolint:unused
func (c *configCommand) getSurveyMode() error {
cls := ubxClassCfg
id := ubxCfgTmode3
payloadCfg := make([]byte, 40)
return c.sendCommand(cls, id, 0, payloadCfg) // set payloadcfg
}
func (c *configCommand) enableSVIN() error {
err := c.setSurveyMode(svinModeEnable, c.requiredAcc, c.observationTime)
if err != nil {
return err
}
err = c.saveAllConfigs()
if err != nil {
return err
}
return nil
}
func (c *configCommand) disableSVIN() error {
err := c.setSurveyMode(svinModeDisable, 0, 0)
if err != nil {
return err
}
err = c.saveAllConfigs()
if err != nil {
return err
}
return nil
}
func (c *configCommand) setSurveyMode(mode int, requiredAccuracy float64, observationTime int) error {
payloadCfg := make([]byte, 40)
if len(payloadCfg) == 0 {
return errors.New("must specify payload")
}
cls := ubxClassCfg
id := ubxCfgTmode3
msgLen := 40
// payloadCfg should be loaded with poll response. Now modify only the bits we care about
payloadCfg[2] = byte(mode) // Set mode. Survey-In and Disabled are most common. Use ECEF (not LAT/LON/ALT).
// svinMinDur is U4 (uint32_t) in seconds
payloadCfg[24] = byte(observationTime & 0xFF) // svinMinDur in seconds
payloadCfg[25] = byte((observationTime >> 8) & 0xFF)
payloadCfg[26] = byte((observationTime >> 16) & 0xFF)
payloadCfg[27] = byte((observationTime >> 24) & 0xFF)
// svinAccLimit is U4 (uint32_t) in 0.1mm.
svinAccLimit := uint32(requiredAccuracy * 10000.0) // Convert m to 0.1mm
payloadCfg[28] = byte(svinAccLimit & 0xFF) // svinAccLimit in 0.1mm increments
payloadCfg[29] = byte((svinAccLimit >> 8) & 0xFF)
payloadCfg[30] = byte((svinAccLimit >> 16) & 0xFF)
payloadCfg[31] = byte((svinAccLimit >> 24) & 0xFF)
return c.sendCommand(cls, id, msgLen, payloadCfg)
}
//nolint:lll,unused
func (c *configCommand) setStaticPosition(ecefXOrLat, ecefXOrLatHP, ecefYOrLon, ecefYOrLonHP, ecefZOrAlt, ecefZOrAltHP int, latLong bool) error {
cls := ubxClassCfg
id := ubxCfgTmode3
msgLen := 40
payloadCfg := make([]byte, maxPayloadSize)
payloadCfg[2] = byte(2)
if latLong {
payloadCfg[3] = (1 << 0) // Set mode to fixed. Use LAT/LON/ALT.
}
// Set ECEF X or Lat
payloadCfg[4] = byte((ecefXOrLat >> 8 * 0) & 0xFF) // LSB
payloadCfg[5] = byte((ecefXOrLat >> 8 * 1) & 0xFF)
payloadCfg[6] = byte((ecefXOrLat >> 8 * 2) & 0xFF)
payloadCfg[7] = byte((ecefXOrLat >> 8 * 3) & 0xFF) // MSB
// Set ECEF Y or Long
payloadCfg[8] = byte((ecefYOrLon >> 8 * 0) & 0xFF) // LSB
payloadCfg[9] = byte((ecefYOrLon >> 8 * 1) & 0xFF)
payloadCfg[10] = byte((ecefYOrLon >> 8 * 2) & 0xFF)
payloadCfg[11] = byte((ecefYOrLon >> 8 * 3) & 0xFF) // MSB
// Set ECEF Z or Altitude
payloadCfg[12] = byte((ecefZOrAlt >> 8 * 0) & 0xFF) // LSB
payloadCfg[13] = byte((ecefZOrAlt >> 8 * 1) & 0xFF)
payloadCfg[14] = byte((ecefZOrAlt >> 8 * 2) & 0xFF)
payloadCfg[15] = byte((ecefZOrAlt >> 8 * 3) & 0xFF) // MSB
// Set high precision parts
payloadCfg[16] = byte(ecefXOrLatHP)
payloadCfg[17] = byte(ecefYOrLonHP)
payloadCfg[18] = byte(ecefZOrAltHP)
return c.sendCommand(cls, id, msgLen, payloadCfg)
}
func (c *configCommand) disableMessageCommand(msgClass, messageNumber, portID int) error {
err := c.enableMessageCommand(msgClass, messageNumber, portID, 0)
if err != nil {
return err
}
return nil
}
func (c *configCommand) enableMessageCommand(msgClass, messageNumber, portID, sendRate int) error {
// dont use current port settings actually
payloadCfg := make([]byte, maxPayloadSize)
cls := ubxClassCfg
id := ubxCfgMsg
msgLen := 8
payloadCfg[0] = byte(msgClass)
payloadCfg[1] = byte(messageNumber)
payloadCfg[2+portID] = byte(sendRate)
// default to enable usb on with same sendRate
payloadCfg[2+usb] = byte(sendRate)
return c.sendCommand(cls, id, msgLen, payloadCfg)
}
func (c *configCommand) saveAllConfigs() error {
cls := ubxClassCfg
id := ubxCfgCfg
msgLen := 12
payloadCfg := make([]byte, maxPayloadSize)
payloadCfg[4] = 0xFF
payloadCfg[5] = 0xFF
return c.sendCommand(cls, id, msgLen, payloadCfg)
}
// Close closes all open ports used in configuration.
func (c *configCommand) Close(ctx context.Context) error {
// close port reader if serial
if c.writePort != nil {
if err := c.writePort.Close(); err != nil {
return err
}
c.writePort = nil
}
return nil
}
func calcChecksum(cls, id, msgLen int, payload []byte) (checksumA, checksumB int) {
checksumA = 0
checksumB = 0
checksumA += cls
checksumB += checksumA
checksumA += id
checksumB += checksumA
checksumA += (msgLen & 0xFF)
checksumB += checksumA
checksumA += (msgLen >> 8)
checksumB += checksumA
for i := 0; i < msgLen; i++ {
checksumA += int(payload[i])
checksumB += checksumA
}
return checksumA, checksumB
}