gps

Ublox gnss driver

This driver is dedicated for parsing data from ublox L1 NEO-M8 and L1/L2 ZED-F9P.

It should support the following messages:

• UBX-NAV-PVT
• UBX-NAV2-COV (UBX-NAV-COV)
• UBX-NAV-RELPOSNED (for Moving Baseline)

It also should provide a possibility to configure the device to required settings.

The driver should be stateful (keep previous parsed buffer state) and tolerate to errors.

Configure the gnss receiver example:

#include "gps/ublox_commands.h"

// You should provide you own implementation of the following functions
// Below you can see an example
static int8_t uartTransmit(const uint8_t buffer[], size_t size) {
    return -1 * HAL_UART_Transmit(&huart1, buffer, size, 500);
}
static void ubxDelay(uint32_t delay_ms) {
    osDelay(delay_ms);
}
static void ubxChangeBaudrate(uint32_t baudrate) {
    huart1.Init.BaudRate = rate;
    HAL_UART_Init(&huart1);
}

int8_t application_init() {

    if (ubloxInit(&ubxTransmit, &ubxDelay, &ubxChangeBaudrate) < 0) {
        return -1;
    }

    if (ubloxConfigure() < 0) {
        return -1;
    }
}

Receiving package example:

#include "gps/ublox.h"

static UbxNavPvt_t ubx_nav_pvt;
static UbxNavStatus_t ubx_nav_status;
static UbxNavCov_t ubx_nav_cov;
...

void application_init() {
    ...
}

void application_parse_serial_buffer(const uint8_t serial_buffer[], size_t serial_buffer_size) {
    auto ubx_package_type = ubloxParse(serial_buffer, serial_buffer_size);

    if (ubx_package_type == UBX_NAV_PVT) {
        ubloxGetNavPvt(ubx_nav_pvt);
    } else if (ubx_package_type == UBX_NAV_STATUS) {
        ubloxGetNavStatus(ubx_nav_status);
    } else if (ubx_package_type == UBX_NAV_COV) {
        ubloxGetNavCov(ubx_nav_cov);
    } else {
        ...
    }
}

Tests

tests/sensors/gnss_ublox/test_ublox.cpp