int
UBX::configure(unsigned &baudrate)
{
_waiting_for_ack = true;
/* try different baudrates */
const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200};
for (int baud_i = 0; baud_i < 5; baud_i++) {
baudrate = baudrates_to_try[baud_i];
set_baudrate(_fd, baudrate);
/* Send a CFG-PRT message to set the UBX protocol for in and out
* and leave the baudrate as it is, we just want an ACK-ACK from this
*/
type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
/* Set everything else of the packet to 0, otherwise the module wont accept it */
memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
_clsID_needed = UBX_CLASS_CFG;
_msgID_needed = UBX_MESSAGE_CFG_PRT;
/* Define the package contents, don't change the baudrate */
cfg_prt_packet.clsID = UBX_CLASS_CFG;
cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT;
cfg_prt_packet.length = UBX_CFG_PRT_LENGTH;
cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID;
cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE;
cfg_prt_packet.baudRate = baudrate;
cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
if (receive(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
/* Send a CFG-PRT message again, this time change the baudrate */
cfg_prt_packet.clsID = UBX_CLASS_CFG;
cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT;
cfg_prt_packet.length = UBX_CFG_PRT_LENGTH;
cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID;
cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE;
cfg_prt_packet.baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE;
cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
/* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */
receive(UBX_CONFIG_TIMEOUT);
if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE);
baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE;
}
/* send a CFT-RATE message to define update rate */
type_gps_bin_cfg_rate_packet_t cfg_rate_packet;
memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet));
_clsID_needed = UBX_CLASS_CFG;
_msgID_needed = UBX_MESSAGE_CFG_RATE;
cfg_rate_packet.clsID = UBX_CLASS_CFG;
cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE;
cfg_rate_packet.length = UBX_CFG_RATE_LENGTH;
cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE;
cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE;
cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF;
send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet));
if (receive(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
/* send a NAV5 message to set the options for the internal filter */
type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet;
memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet));
_clsID_needed = UBX_CLASS_CFG;
_msgID_needed = UBX_MESSAGE_CFG_NAV5;
cfg_nav5_packet.clsID = UBX_CLASS_CFG;
cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5;
cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH;
cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK;
cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL;
cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE;
send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
if (receive(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
type_gps_bin_cfg_msg_packet_t cfg_msg_packet;
memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet));
_clsID_needed = UBX_CLASS_CFG;
_msgID_needed = UBX_MESSAGE_CFG_MSG;
cfg_msg_packet.clsID = UBX_CLASS_CFG;
cfg_msg_packet.msgID = UBX_MESSAGE_CFG_MSG;
cfg_msg_packet.length = UBX_CFG_MSG_LENGTH;
/* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */
cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ;
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
if (receive(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
if (receive(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
/* For satelites info 1Hz is enough */
cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ;
send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
if (receive(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
if (receive(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet));
if (receive(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
// cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
// cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
// cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
// cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
_waiting_for_ack = false;
return 0;
}
return -1;
}
int
UBX::configure(unsigned &baudrate)
{
_configured = false;
/* try different baudrates */
const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200};
int baud_i;
for (baud_i = 0; baud_i < 5; baud_i++) {
baudrate = baudrates_to_try[baud_i];
set_baudrate(_fd, baudrate);
/* Send a CFG-PRT message to set the UBX protocol for in and out
* and leave the baudrate as it is, we just want an ACK-ACK from this
*/
type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
/* Set everything else of the packet to 0, otherwise the module wont accept it */
memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
_message_class_needed = UBX_CLASS_CFG;
_message_id_needed = UBX_MESSAGE_CFG_PRT;
/* Define the package contents, don't change the baudrate */
cfg_prt_packet.clsID = UBX_CLASS_CFG;
cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT;
cfg_prt_packet.length = UBX_CFG_PRT_LENGTH;
cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID;
cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE;
cfg_prt_packet.baudRate = baudrate;
cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
send_config_packet(_fd, (uint8_t *)&cfg_prt_packet, sizeof(cfg_prt_packet));
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
/* try next baudrate */
continue;
}
/* Send a CFG-PRT message again, this time change the baudrate */
cfg_prt_packet.clsID = UBX_CLASS_CFG;
cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT;
cfg_prt_packet.length = UBX_CFG_PRT_LENGTH;
cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID;
cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE;
cfg_prt_packet.baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE;
cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
send_config_packet(_fd, (uint8_t *)&cfg_prt_packet, sizeof(cfg_prt_packet));
/* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */
wait_for_ack(UBX_CONFIG_TIMEOUT);
if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE);
baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE;
}
/* at this point we have correct baudrate on both ends */
break;
}
if (baud_i >= 5) {
return 1;
}
/* send a CFG-RATE message to define update rate */
type_gps_bin_cfg_rate_packet_t cfg_rate_packet;
memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet));
_message_class_needed = UBX_CLASS_CFG;
_message_id_needed = UBX_MESSAGE_CFG_RATE;
cfg_rate_packet.clsID = UBX_CLASS_CFG;
cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE;
cfg_rate_packet.length = UBX_CFG_RATE_LENGTH;
cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASINTERVAL;
cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE;
cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF;
send_config_packet(_fd, (uint8_t *)&cfg_rate_packet, sizeof(cfg_rate_packet));
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("CFG FAIL: RATE");
return 1;
}
/* send a NAV5 message to set the options for the internal filter */
type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet;
memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet));
_message_class_needed = UBX_CLASS_CFG;
_message_id_needed = UBX_MESSAGE_CFG_NAV5;
cfg_nav5_packet.clsID = UBX_CLASS_CFG;
cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5;
cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH;
cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK;
cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL;
cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE;
send_config_packet(_fd, (uint8_t *)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("CFG FAIL: NAV5");
return 1;
}
/* configure message rates */
/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: NAV POSLLH");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: NAV TIMEUTC");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: NAV SOL");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: NAV VELNED");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: NAV SVINFO");
return 1;
}
configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("MSG CFG FAIL: MON HW");
return 1;
}
_configured = true;
return 0;
}
