1003 lines
31 KiB
Python
1003 lines
31 KiB
Python
#!/usr/bin/env python3
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'''
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UBlox binary protocol handling
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Copyright Andrew Tridgell, October 2012
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Released under GNU GPL version 3 or later
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WARNING: This code has originally intended for
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ublox version 7, it has been adapted to work
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for ublox version 8, not all functions may work.
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'''
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import struct
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import os
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import time
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# protocol constants
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PREAMBLE1 = 0xb5
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PREAMBLE2 = 0x62
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# message classes
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CLASS_NAV = 0x01
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CLASS_RXM = 0x02
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CLASS_INF = 0x04
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CLASS_ACK = 0x05
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CLASS_CFG = 0x06
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CLASS_MON = 0x0A
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CLASS_AID = 0x0B
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CLASS_TIM = 0x0D
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CLASS_ESF = 0x10
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# ACK messages
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MSG_ACK_NACK = 0x00
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MSG_ACK_ACK = 0x01
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# NAV messages
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MSG_NAV_POSECEF = 0x1
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MSG_NAV_POSLLH = 0x2
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MSG_NAV_STATUS = 0x3
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MSG_NAV_DOP = 0x4
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MSG_NAV_SOL = 0x6
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MSG_NAV_PVT = 0x7
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MSG_NAV_POSUTM = 0x8
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MSG_NAV_VELNED = 0x12
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MSG_NAV_VELECEF = 0x11
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MSG_NAV_TIMEGPS = 0x20
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MSG_NAV_TIMEUTC = 0x21
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MSG_NAV_CLOCK = 0x22
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MSG_NAV_SVINFO = 0x30
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MSG_NAV_AOPSTATUS = 0x60
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MSG_NAV_DGPS = 0x31
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MSG_NAV_DOP = 0x04
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MSG_NAV_EKFSTATUS = 0x40
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MSG_NAV_SBAS = 0x32
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MSG_NAV_SOL = 0x06
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# RXM messages
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MSG_RXM_RAW = 0x15
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MSG_RXM_SFRB = 0x11
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MSG_RXM_SFRBX = 0x13
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MSG_RXM_SVSI = 0x20
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MSG_RXM_EPH = 0x31
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MSG_RXM_ALM = 0x30
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MSG_RXM_PMREQ = 0x41
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# AID messages
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MSG_AID_ALM = 0x30
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MSG_AID_EPH = 0x31
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MSG_AID_ALPSRV = 0x32
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MSG_AID_AOP = 0x33
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MSG_AID_DATA = 0x10
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MSG_AID_ALP = 0x50
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MSG_AID_DATA = 0x10
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MSG_AID_HUI = 0x02
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MSG_AID_INI = 0x01
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MSG_AID_REQ = 0x00
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# CFG messages
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MSG_CFG_PRT = 0x00
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MSG_CFG_ANT = 0x13
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MSG_CFG_DAT = 0x06
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MSG_CFG_EKF = 0x12
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MSG_CFG_ESFGWT = 0x29
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MSG_CFG_CFG = 0x09
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MSG_CFG_USB = 0x1b
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MSG_CFG_RATE = 0x08
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MSG_CFG_SET_RATE = 0x01
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MSG_CFG_NAV5 = 0x24
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MSG_CFG_FXN = 0x0E
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MSG_CFG_INF = 0x02
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MSG_CFG_ITFM = 0x39
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MSG_CFG_MSG = 0x01
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MSG_CFG_NAVX5 = 0x23
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MSG_CFG_NMEA = 0x17
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MSG_CFG_NVS = 0x22
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MSG_CFG_PM2 = 0x3B
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MSG_CFG_PM = 0x32
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MSG_CFG_RINV = 0x34
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MSG_CFG_RST = 0x04
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MSG_CFG_RXM = 0x11
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MSG_CFG_SBAS = 0x16
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MSG_CFG_TMODE2 = 0x3D
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MSG_CFG_TMODE = 0x1D
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MSG_CFG_TPS = 0x31
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MSG_CFG_TP = 0x07
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MSG_CFG_GNSS = 0x3E
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MSG_CFG_ODO = 0x1E
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# ESF messages
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MSG_ESF_MEAS = 0x02
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MSG_ESF_STATUS = 0x10
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# INF messages
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MSG_INF_DEBUG = 0x04
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MSG_INF_ERROR = 0x00
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MSG_INF_NOTICE = 0x02
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MSG_INF_TEST = 0x03
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MSG_INF_WARNING = 0x01
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# MON messages
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MSG_MON_SCHD = 0x01
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MSG_MON_HW = 0x09
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MSG_MON_HW2 = 0x0B
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MSG_MON_IO = 0x02
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MSG_MON_MSGPP = 0x06
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MSG_MON_RXBUF = 0x07
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MSG_MON_RXR = 0x21
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MSG_MON_TXBUF = 0x08
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MSG_MON_VER = 0x04
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# TIM messages
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MSG_TIM_TP = 0x01
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MSG_TIM_TM2 = 0x03
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MSG_TIM_SVIN = 0x04
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MSG_TIM_VRFY = 0x06
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# port IDs
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PORT_DDC = 0
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PORT_SERIAL1 = 1
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PORT_SERIAL2 = 2
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PORT_USB = 3
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PORT_SPI = 4
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# dynamic models
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DYNAMIC_MODEL_PORTABLE = 0
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DYNAMIC_MODEL_STATIONARY = 2
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DYNAMIC_MODEL_PEDESTRIAN = 3
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DYNAMIC_MODEL_AUTOMOTIVE = 4
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DYNAMIC_MODEL_SEA = 5
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DYNAMIC_MODEL_AIRBORNE1G = 6
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DYNAMIC_MODEL_AIRBORNE2G = 7
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DYNAMIC_MODEL_AIRBORNE4G = 8
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#reset items
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RESET_HOT = 0
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RESET_WARM = 1
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RESET_COLD = 0xFFFF
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RESET_HW = 0
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RESET_SW = 1
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RESET_SW_GPS = 2
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RESET_HW_GRACEFUL = 4
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RESET_GPS_STOP = 8
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RESET_GPS_START = 9
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class UBloxError(Exception):
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'''Ublox error class'''
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def __init__(self, msg):
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Exception.__init__(self, msg)
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self.message = msg
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class UBloxAttrDict(dict):
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'''allow dictionary members as attributes'''
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def __init__(self):
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dict.__init__(self)
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def __getattr__(self, name):
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try:
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return self.__getitem__(name)
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except KeyError:
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raise AttributeError(name)
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def __setattr__(self, name, value):
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if name in self.__dict__:
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# allow set on normal attributes
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dict.__setattr__(self, name, value)
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else:
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self.__setitem__(name, value)
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def ArrayParse(field):
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'''parse an array descriptor'''
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arridx = field.find('[')
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if arridx == -1:
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return (field, -1)
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alen = int(field[arridx + 1:-1])
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fieldname = field[:arridx]
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return (fieldname, alen)
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class UBloxDescriptor:
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'''class used to describe the layout of a UBlox message'''
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def __init__(self,
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name,
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msg_format,
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fields=None,
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count_field=None,
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format2=None,
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fields2=None):
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if fields is None:
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fields = []
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self.name = name
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self.msg_format = msg_format
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self.fields = fields
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self.count_field = count_field
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self.format2 = format2
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self.fields2 = fields2
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def unpack(self, msg):
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'''unpack a UBloxMessage, creating the .fields and ._recs attributes in msg'''
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msg._fields = {}
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# unpack main message blocks. A comm
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formats = self.msg_format.split(',')
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buf = msg._buf[6:-2]
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count = 0
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msg._recs = []
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fields = self.fields[:]
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for fmt in formats:
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size1 = struct.calcsize(fmt)
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if size1 > len(buf):
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raise UBloxError("%s INVALID_SIZE1=%u" % (self.name, len(buf)))
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f1 = list(struct.unpack(fmt, buf[:size1]))
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i = 0
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while i < len(f1):
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field = fields.pop(0)
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(fieldname, alen) = ArrayParse(field)
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if alen == -1:
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msg._fields[fieldname] = f1[i]
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if self.count_field == fieldname:
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count = int(f1[i])
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i += 1
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else:
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msg._fields[fieldname] = [0] * alen
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for a in range(alen):
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msg._fields[fieldname][a] = f1[i]
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i += 1
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buf = buf[size1:]
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if len(buf) == 0:
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break
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if self.count_field == '_remaining':
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count = len(buf) // struct.calcsize(self.format2)
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if count == 0:
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msg._unpacked = True
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if len(buf) != 0:
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raise UBloxError("EXTRA_BYTES=%u" % len(buf))
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return
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size2 = struct.calcsize(self.format2)
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for c in range(count):
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r = UBloxAttrDict()
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if size2 > len(buf):
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raise UBloxError("INVALID_SIZE=%u, " % len(buf))
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f2 = list(struct.unpack(self.format2, buf[:size2]))
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for i in range(len(self.fields2)):
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r[self.fields2[i]] = f2[i]
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buf = buf[size2:]
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msg._recs.append(r)
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if len(buf) != 0:
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raise UBloxError("EXTRA_BYTES=%u" % len(buf))
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msg._unpacked = True
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def pack(self, msg, msg_class=None, msg_id=None):
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'''pack a UBloxMessage from the .fields and ._recs attributes in msg'''
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f1 = []
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if msg_class is None:
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msg_class = msg.msg_class()
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if msg_id is None:
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msg_id = msg.msg_id()
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msg._buf = ''
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fields = self.fields[:]
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for f in fields:
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(fieldname, alen) = ArrayParse(f)
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if fieldname not in msg._fields:
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break
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if alen == -1:
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f1.append(msg._fields[fieldname])
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else:
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for a in range(alen):
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f1.append(msg._fields[fieldname][a])
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try:
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# try full length message
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fmt = self.msg_format.replace(',', '')
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msg._buf = struct.pack(fmt, *tuple(f1))
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except Exception:
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# try without optional part
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fmt = self.msg_format.split(',')[0]
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msg._buf = struct.pack(fmt, *tuple(f1))
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length = len(msg._buf)
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if msg._recs:
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length += len(msg._recs) * struct.calcsize(self.format2)
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header = struct.pack('<BBBBH', PREAMBLE1, PREAMBLE2, msg_class, msg_id, length)
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msg._buf = header + msg._buf
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for r in msg._recs:
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f2 = []
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for f in self.fields2:
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f2.append(r[f])
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msg._buf += struct.pack(self.format2, *tuple(f2))
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msg._buf += struct.pack('<BB', *msg.checksum(data=msg._buf[2:]))
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def format(self, msg):
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'''return a formatted string for a message'''
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if not msg._unpacked:
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self.unpack(msg)
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ret = self.name + ': '
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for f in self.fields:
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(fieldname, alen) = ArrayParse(f)
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if fieldname not in msg._fields:
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continue
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v = msg._fields[fieldname]
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if isinstance(v, list):
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ret += '%s=[' % fieldname
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for a in range(alen):
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ret += '%s, ' % v[a]
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ret = ret[:-2] + '], '
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elif isinstance(v, str):
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ret += '%s="%s", ' % (f, v.rstrip(' \0'))
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else:
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ret += '%s=%s, ' % (f, v)
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for r in msg._recs:
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ret += '[ '
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for f in self.fields2:
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v = r[f]
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ret += '%s=%s, ' % (f, v)
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ret = ret[:-2] + ' ], '
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return ret[:-2]
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# list of supported message types.
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msg_types = {
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(CLASS_ACK, MSG_ACK_ACK):
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UBloxDescriptor('ACK_ACK', '<BB', ['clsID', 'msgID']),
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(CLASS_ACK, MSG_ACK_NACK):
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UBloxDescriptor('ACK_NACK', '<BB', ['clsID', 'msgID']),
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(CLASS_CFG, MSG_CFG_USB):
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UBloxDescriptor('CFG_USB', '<HHHHHH32s32s32s', [
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'vendorID', 'productID', 'reserved1', 'reserved2', 'powerConsumption', 'flags',
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'vendorString', 'productString', 'serialNumber'
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]),
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(CLASS_CFG, MSG_CFG_PRT):
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UBloxDescriptor('CFG_PRT', '<BBHIIHHHH', [
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'portID', 'reserved0', 'txReady', 'mode', 'baudRate', 'inProtoMask', 'outProtoMask',
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'reserved4', 'reserved5'
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]),
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(CLASS_CFG, MSG_CFG_CFG):
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UBloxDescriptor('CFG_CFG', '<III,B',
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['clearMask', 'saveMask', 'loadMask', 'deviceMask']),
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(CLASS_CFG, MSG_CFG_RXM):
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UBloxDescriptor('CFG_RXM', '<BB',
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['reserved1', 'lpMode']),
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(CLASS_CFG, MSG_CFG_RST):
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UBloxDescriptor('CFG_RST', '<HBB', ['navBbrMask ', 'resetMode', 'reserved1']),
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(CLASS_CFG, MSG_CFG_SBAS):
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UBloxDescriptor('CFG_SBAS', '<BBBBI',
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['mode', 'usage', 'maxSBAS', 'scanmode2', 'scanmode1']),
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(CLASS_CFG, MSG_CFG_GNSS):
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UBloxDescriptor('CFG_GNSS', '<BBBB',
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['msgVer', 'numTrkChHw', 'numTrkChUse',
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'numConfigBlocks'], 'numConfigBlocks', '<BBBBI',
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['gnssId', 'resTrkCh', 'maxTrkCh', 'reserved1', 'flags']),
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(CLASS_CFG, MSG_CFG_RATE):
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UBloxDescriptor('CFG_RATE', '<HHH', ['measRate', 'navRate', 'timeRef']),
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(CLASS_CFG, MSG_CFG_MSG):
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UBloxDescriptor('CFG_MSG', '<BB6B', ['msgClass', 'msgId', 'rates[6]']),
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(CLASS_NAV, MSG_NAV_POSLLH):
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UBloxDescriptor('NAV_POSLLH', '<IiiiiII',
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['iTOW', 'Longitude', 'Latitude', 'height', 'hMSL', 'hAcc', 'vAcc']),
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(CLASS_NAV, MSG_NAV_VELNED):
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UBloxDescriptor('NAV_VELNED', '<IiiiIIiII', [
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'iTOW', 'velN', 'velE', 'velD', 'speed', 'gSpeed', 'heading', 'sAcc', 'cAcc'
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]),
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(CLASS_NAV, MSG_NAV_DOP):
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UBloxDescriptor('NAV_DOP', '<IHHHHHHH',
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['iTOW', 'gDOP', 'pDOP', 'tDOP', 'vDOP', 'hDOP', 'nDOP', 'eDOP']),
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(CLASS_NAV, MSG_NAV_STATUS):
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UBloxDescriptor('NAV_STATUS', '<IBBBBII',
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['iTOW', 'gpsFix', 'flags', 'fixStat', 'flags2', 'ttff', 'msss']),
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(CLASS_NAV, MSG_NAV_SOL):
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UBloxDescriptor('NAV_SOL', '<IihBBiiiIiiiIHBBI', [
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'iTOW', 'fTOW', 'week', 'gpsFix', 'flags', 'ecefX', 'ecefY', 'ecefZ', 'pAcc',
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'ecefVX', 'ecefVY', 'ecefVZ', 'sAcc', 'pDOP', 'reserved1', 'numSV', 'reserved2'
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]),
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(CLASS_NAV, MSG_NAV_PVT):
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UBloxDescriptor('NAV_PVT', '<IHBBBBBBIiBBBBiiiiIIiiiiiIIH6BihH', [
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'iTOW', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid', 'tAcc', 'nano',
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'fixType', 'flags', 'flags2', 'numSV', 'lon', 'lat', 'height', 'hMSL', 'hAcc', 'vAcc',
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'velN', 'velE', 'velD', 'gSpeed', 'headMot', 'sAcc', 'headAcc', 'pDOP',
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'reserverd1[6]', 'headVeh', 'magDec', 'magAcc'
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]),
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(CLASS_NAV, MSG_NAV_POSUTM):
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UBloxDescriptor('NAV_POSUTM', '<Iiiibb',
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['iTOW', 'East', 'North', 'Alt', 'Zone', 'Hem']),
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(CLASS_NAV, MSG_NAV_SBAS):
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UBloxDescriptor('NAV_SBAS', '<IBBbBBBBB', [
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'iTOW', 'geo', 'mode', 'sys', 'service', 'cnt', 'reserved01', 'reserved02',
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'reserved03'
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], 'cnt', 'BBBBBBhHh', [
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'svid', 'flags', 'udre', 'svSys', 'svService', 'reserved1', 'prc', 'reserved2', 'ic'
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]),
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(CLASS_NAV, MSG_NAV_POSECEF):
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UBloxDescriptor('NAV_POSECEF', '<IiiiI', ['iTOW', 'ecefX', 'ecefY', 'ecefZ', 'pAcc']),
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(CLASS_NAV, MSG_NAV_VELECEF):
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UBloxDescriptor('NAV_VELECEF', '<IiiiI', ['iTOW', 'ecefVX', 'ecefVY', 'ecefVZ',
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'sAcc']),
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(CLASS_NAV, MSG_NAV_TIMEGPS):
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UBloxDescriptor('NAV_TIMEGPS', '<IihbBI',
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['iTOW', 'fTOW', 'week', 'leapS', 'valid', 'tAcc']),
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(CLASS_NAV, MSG_NAV_TIMEUTC):
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UBloxDescriptor('NAV_TIMEUTC', '<IIiHBBBBBB', [
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'iTOW', 'tAcc', 'nano', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid'
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]),
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(CLASS_NAV, MSG_NAV_CLOCK):
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UBloxDescriptor('NAV_CLOCK', '<IiiII', ['iTOW', 'clkB', 'clkD', 'tAcc', 'fAcc']),
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(CLASS_NAV, MSG_NAV_DGPS):
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UBloxDescriptor('NAV_DGPS', '<IihhBBH',
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['iTOW', 'age', 'baseId', 'baseHealth', 'numCh', 'status', 'reserved1'],
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'numCh', '<BBHff', ['svid', 'flags', 'ageC', 'prc', 'prrc']),
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(CLASS_NAV, MSG_NAV_SVINFO):
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UBloxDescriptor('NAV_SVINFO', '<IBBH', ['iTOW', 'numCh', 'globalFlags',
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'reserved2'], 'numCh', '<BBBBBbhi',
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['chn', 'svid', 'flags', 'quality', 'cno', 'elev', 'azim', 'prRes']),
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(CLASS_RXM, MSG_RXM_SVSI):
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UBloxDescriptor('RXM_SVSI', '<IhBB', ['iTOW', 'week', 'numVis', 'numSV'], 'numSV',
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'<BBhbB', ['svid', 'svFlag', 'azim', 'elev', 'age']),
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(CLASS_RXM, MSG_RXM_EPH):
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UBloxDescriptor('RXM_EPH', '<II , 8I 8I 8I',
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['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
|
|
(CLASS_AID, MSG_AID_EPH):
|
|
UBloxDescriptor('AID_EPH', '<II , 8I 8I 8I',
|
|
['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
|
|
(CLASS_AID, MSG_AID_HUI):
|
|
UBloxDescriptor('AID_HUI', '<Iddi 6h 8f I',
|
|
['health', 'utcA0', 'utcA1', 'utcTOW', 'utcWNT', 'utcLS', 'utcWNF',
|
|
'utcDN', 'utcLSF', 'utcSpare', 'klobA0', 'klobA1', 'klobA2', 'klobA3',
|
|
'klobB0', 'klobB1', 'klobB2', 'klobB3', 'flags']),
|
|
(CLASS_AID, MSG_AID_AOP):
|
|
UBloxDescriptor('AID_AOP', '<B47B , 48B 48B 48B',
|
|
['svid', 'data[47]', 'optional0[48]', 'optional1[48]',
|
|
'optional1[48]']),
|
|
(CLASS_RXM, MSG_RXM_RAW):
|
|
UBloxDescriptor('RXM_RAW', '<dHbBB3B', [
|
|
'rcvTow', 'week', 'leapS', 'numMeas', 'recStat', 'reserved1[3]'
|
|
], 'numMeas', '<ddfBBBBHBBBBBB', [
|
|
'prMes', 'cpMes', 'doMes', 'gnssId', 'svId', 'sigId', 'freqId', 'locktime', 'cno',
|
|
'prStdev', 'cpStdev', 'doStdev', 'trkStat', 'reserved3'
|
|
]),
|
|
(CLASS_RXM, MSG_RXM_SFRB):
|
|
UBloxDescriptor('RXM_SFRB', '<BB10I', ['chn', 'svid', 'dwrd[10]']),
|
|
(CLASS_RXM, MSG_RXM_SFRBX):
|
|
UBloxDescriptor('RXM_SFRBX', '<8B', ['gnssId', 'svid', 'reserved1', 'freqId', 'numWords',
|
|
'reserved2', 'version', 'reserved3'], 'numWords', 'I', ['dwrd']),
|
|
(CLASS_AID, MSG_AID_ALM):
|
|
UBloxDescriptor('AID_ALM', '<II', '_remaining', 'I', ['dwrd']),
|
|
(CLASS_RXM, MSG_RXM_ALM):
|
|
UBloxDescriptor('RXM_ALM', '<II , 8I', ['svid', 'week', 'dwrd[8]']),
|
|
(CLASS_CFG, MSG_CFG_ANT):
|
|
UBloxDescriptor('CFG_ANT', '<HH', ['flags', 'pins']),
|
|
(CLASS_CFG, MSG_CFG_ODO):
|
|
UBloxDescriptor('CFG_ODO', '<B3BBB6BBB2BBB2B', [
|
|
'version', 'reserved1[3]', 'flags', 'odoCfg', 'reserverd2[6]', 'cogMaxSpeed',
|
|
'cogMaxPosAcc', 'reserved3[2]', 'velLpGain', 'cogLpGain', 'reserved[2]'
|
|
]),
|
|
(CLASS_CFG, MSG_CFG_NAV5):
|
|
UBloxDescriptor('CFG_NAV5', '<HBBiIbBHHHHBBIII', [
|
|
'mask', 'dynModel', 'fixMode', 'fixedAlt', 'fixedAltVar', 'minElev', 'drLimit',
|
|
'pDop', 'tDop', 'pAcc', 'tAcc', 'staticHoldThresh', 'dgpsTimeOut', 'reserved2',
|
|
'reserved3', 'reserved4'
|
|
]),
|
|
(CLASS_CFG, MSG_CFG_NAVX5):
|
|
UBloxDescriptor('CFG_NAVX5', '<HHIBBBBBBBBBBHIBBBBBBHII', [
|
|
'version', 'mask1', 'reserved0', 'reserved1', 'reserved2', 'minSVs', 'maxSVs',
|
|
'minCNO', 'reserved5', 'iniFix3D', 'reserved6', 'reserved7', 'reserved8',
|
|
'wknRollover', 'reserved9', 'reserved10', 'reserved11', 'usePPP', 'useAOP',
|
|
'reserved12', 'reserved13', 'aopOrbMaxErr', 'reserved3', 'reserved4'
|
|
]),
|
|
(CLASS_MON, MSG_MON_HW):
|
|
UBloxDescriptor('MON_HW', '<IIIIHHBBBBIB17BHIII', [
|
|
'pinSel', 'pinBank', 'pinDir', 'pinVal', 'noisePerMS', 'agcCnt', 'aStatus', 'aPower',
|
|
'flags', 'reserved1', 'usedMask', 'VP[17]', 'jamInd', 'reserved3', 'pinInq', 'pullH',
|
|
'pullL'
|
|
]),
|
|
(CLASS_MON, MSG_MON_HW2):
|
|
UBloxDescriptor('MON_HW2', '<bBbBB3BI8BI4B', [
|
|
'ofsI', 'magI', 'ofsQ', 'magQ', 'cfgSource', 'reserved1[3]', 'lowLevCfg',
|
|
'reserved2[8]', 'postStatus', 'reserved3[4]'
|
|
]),
|
|
(CLASS_MON, MSG_MON_SCHD):
|
|
UBloxDescriptor('MON_SCHD', '<IIIIHHHBB', [
|
|
'tskRun', 'tskSchd', 'tskOvrr', 'tskReg', 'stack', 'stackSize', 'CPUIdle', 'flySly',
|
|
'ptlSly'
|
|
]),
|
|
(CLASS_MON, MSG_MON_VER):
|
|
UBloxDescriptor('MON_VER', '<30s10s,30s', ['swVersion', 'hwVersion', 'romVersion'],
|
|
'_remaining', '30s', ['extension']),
|
|
(CLASS_TIM, MSG_TIM_TP):
|
|
UBloxDescriptor('TIM_TP', '<IIiHBB',
|
|
['towMS', 'towSubMS', 'qErr', 'week', 'flags', 'reserved1']),
|
|
(CLASS_TIM, MSG_TIM_TM2):
|
|
UBloxDescriptor('TIM_TM2', '<BBHHHIIIII', [
|
|
'ch', 'flags', 'count', 'wnR', 'wnF', 'towMsR', 'towSubMsR', 'towMsF', 'towSubMsF',
|
|
'accEst'
|
|
]),
|
|
(CLASS_TIM, MSG_TIM_SVIN):
|
|
UBloxDescriptor('TIM_SVIN', '<IiiiIIBBH', [
|
|
'dur', 'meanX', 'meanY', 'meanZ', 'meanV', 'obs', 'valid', 'active', 'reserved1'
|
|
]),
|
|
(CLASS_INF, MSG_INF_ERROR):
|
|
UBloxDescriptor('INF_ERR', '<18s', ['str']),
|
|
(CLASS_INF, MSG_INF_DEBUG):
|
|
UBloxDescriptor('INF_DEBUG', '<18s', ['str'])
|
|
}
|
|
|
|
|
|
class UBloxMessage:
|
|
'''UBlox message class - holds a UBX binary message'''
|
|
|
|
def __init__(self):
|
|
self._buf = b""
|
|
self._fields = {}
|
|
self._recs = []
|
|
self._unpacked = False
|
|
self.debug_level = 1
|
|
|
|
def __str__(self):
|
|
'''format a message as a string'''
|
|
if not self.valid():
|
|
return 'UBloxMessage(INVALID)'
|
|
type = self.msg_type()
|
|
if type in msg_types:
|
|
return msg_types[type].format(self)
|
|
return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
|
|
|
|
def as_dict(self):
|
|
'''format a message as a string'''
|
|
if not self.valid():
|
|
return 'UBloxMessage(INVALID)'
|
|
type = self.msg_type()
|
|
if type in msg_types:
|
|
return msg_types[type].format(self)
|
|
return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
|
|
|
|
def __getattr__(self, name):
|
|
'''allow access to message fields'''
|
|
try:
|
|
return self._fields[name]
|
|
except KeyError:
|
|
if name == 'recs':
|
|
return self._recs
|
|
raise AttributeError(name)
|
|
|
|
def __setattr__(self, name, value):
|
|
'''allow access to message fields'''
|
|
if name.startswith('_'):
|
|
self.__dict__[name] = value
|
|
else:
|
|
self._fields[name] = value
|
|
|
|
def have_field(self, name):
|
|
'''return True if a message contains the given field'''
|
|
return name in self._fields
|
|
|
|
def debug(self, level, msg):
|
|
'''write a debug message'''
|
|
if self.debug_level >= level:
|
|
print(msg)
|
|
|
|
def unpack(self):
|
|
'''unpack a message'''
|
|
if not self.valid():
|
|
raise UBloxError('INVALID MESSAGE')
|
|
type = self.msg_type()
|
|
if type not in msg_types:
|
|
raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
|
|
msg_types[type].unpack(self)
|
|
return self._fields, self._recs
|
|
|
|
def pack(self):
|
|
'''pack a message'''
|
|
if not self.valid():
|
|
raise UBloxError('INVALID MESSAGE')
|
|
type = self.msg_type()
|
|
if type not in msg_types:
|
|
raise UBloxError('Unknown message %s' % str(type))
|
|
msg_types[type].pack(self)
|
|
|
|
def name(self):
|
|
'''return the short string name for a message'''
|
|
if not self.valid():
|
|
raise UBloxError('INVALID MESSAGE')
|
|
type = self.msg_type()
|
|
if type not in msg_types:
|
|
raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
|
|
return msg_types[type].name
|
|
|
|
def msg_class(self):
|
|
'''return the message class'''
|
|
return self._buf[2]
|
|
|
|
def msg_id(self):
|
|
'''return the message id within the class'''
|
|
return self._buf[3]
|
|
|
|
def msg_type(self):
|
|
'''return the message type tuple (class, id)'''
|
|
return (self.msg_class(), self.msg_id())
|
|
|
|
def msg_length(self):
|
|
'''return the payload length'''
|
|
(payload_length, ) = struct.unpack('<H', self._buf[4:6])
|
|
return payload_length
|
|
|
|
def valid_so_far(self):
|
|
'''check if the message is valid so far'''
|
|
if len(self._buf) > 0 and self._buf[0] != PREAMBLE1:
|
|
return False
|
|
if len(self._buf) > 1 and self._buf[1] != PREAMBLE2:
|
|
self.debug(1, "bad pre2")
|
|
return False
|
|
if self.needed_bytes() == 0 and not self.valid():
|
|
if len(self._buf) > 8:
|
|
self.debug(1, "bad checksum len=%u needed=%u" % (len(self._buf),
|
|
self.needed_bytes()))
|
|
else:
|
|
self.debug(1, "bad len len=%u needed=%u" % (len(self._buf), self.needed_bytes()))
|
|
return False
|
|
return True
|
|
|
|
def add(self, bytes):
|
|
'''add some bytes to a message'''
|
|
self._buf += bytes
|
|
while not self.valid_so_far() and len(self._buf) > 0:
|
|
'''handle corrupted streams'''
|
|
self._buf = self._buf[1:]
|
|
if self.needed_bytes() < 0:
|
|
self._buf = ""
|
|
|
|
def checksum(self, data=None):
|
|
'''return a checksum tuple for a message'''
|
|
if data is None:
|
|
data = self._buf[2:-2]
|
|
#cs = 0
|
|
ck_a = 0
|
|
ck_b = 0
|
|
for i in data:
|
|
ck_a = (ck_a + i) & 0xFF
|
|
ck_b = (ck_b + ck_a) & 0xFF
|
|
return (ck_a, ck_b)
|
|
|
|
def valid_checksum(self):
|
|
'''check if the checksum is OK'''
|
|
(ck_a, ck_b) = self.checksum()
|
|
#d = self._buf[2:-2]
|
|
(ck_a2, ck_b2) = struct.unpack('<BB', self._buf[-2:])
|
|
return ck_a == ck_a2 and ck_b == ck_b2
|
|
|
|
def needed_bytes(self):
|
|
'''return number of bytes still needed'''
|
|
if len(self._buf) < 6:
|
|
return 8 - len(self._buf)
|
|
return self.msg_length() + 8 - len(self._buf)
|
|
|
|
def valid(self):
|
|
'''check if a message is valid'''
|
|
return len(self._buf) >= 8 and self.needed_bytes() == 0 and self.valid_checksum()
|
|
|
|
|
|
class UBlox:
|
|
'''main UBlox control class.
|
|
|
|
port can be a file (for reading only) or a serial device
|
|
'''
|
|
|
|
def __init__(self, port, baudrate=115200, timeout=0, panda=False, grey=False):
|
|
|
|
self.serial_device = port
|
|
self.baudrate = baudrate
|
|
self.use_sendrecv = False
|
|
self.read_only = False
|
|
self.debug_level = 0
|
|
|
|
if panda:
|
|
from panda import Panda, PandaSerial
|
|
|
|
self.panda = Panda()
|
|
|
|
# resetting U-Blox module
|
|
self.panda.set_esp_power(0)
|
|
time.sleep(0.1)
|
|
self.panda.set_esp_power(1)
|
|
time.sleep(0.5)
|
|
|
|
# can't set above 9600 now...
|
|
self.baudrate = 9600
|
|
self.dev = PandaSerial(self.panda, 1, self.baudrate)
|
|
|
|
self.baudrate = 460800
|
|
print("upping baud:",self.baudrate)
|
|
self.send_nmea("$PUBX,41,1,0007,0003,%u,0" % self.baudrate)
|
|
time.sleep(0.1)
|
|
|
|
self.dev = PandaSerial(self.panda, 1, self.baudrate)
|
|
elif grey:
|
|
import cereal.messaging as messaging
|
|
|
|
class BoarddSerial():
|
|
def __init__(self):
|
|
self.ubloxRaw = messaging.sub_sock('ubloxRaw')
|
|
self.buf = ""
|
|
|
|
def read(self, n):
|
|
for msg in messaging.drain_sock(self.ubloxRaw, len(self.buf) < n):
|
|
self.buf += msg.ubloxRaw
|
|
ret = self.buf[:n]
|
|
self.buf = self.buf[n:]
|
|
return ret
|
|
|
|
|
|
def write(self, dat):
|
|
pass
|
|
|
|
self.dev = BoarddSerial()
|
|
else:
|
|
if self.serial_device.startswith("tcp:"):
|
|
import socket
|
|
a = self.serial_device.split(':')
|
|
destination_addr = (a[1], int(a[2]))
|
|
self.dev = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
|
self.dev.connect(destination_addr)
|
|
self.dev.setblocking(1)
|
|
self.dev.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
|
|
self.use_sendrecv = True
|
|
elif os.path.isfile(self.serial_device):
|
|
self.read_only = True
|
|
self.dev = open(self.serial_device, mode='rb')
|
|
else:
|
|
import serial
|
|
self.dev = serial.Serial(
|
|
self.serial_device,
|
|
baudrate=self.baudrate,
|
|
dsrdtr=False,
|
|
rtscts=False,
|
|
xonxoff=False,
|
|
timeout=timeout)
|
|
|
|
self.logfile = None
|
|
self.log = None
|
|
self.preferred_dynamic_model = None
|
|
self.preferred_usePPP = None
|
|
self.preferred_dgps_timeout = None
|
|
|
|
def close(self):
|
|
'''close the device'''
|
|
self.dev.close()
|
|
self.dev = None
|
|
|
|
def set_debug(self, debug_level):
|
|
'''set debug level'''
|
|
self.debug_level = debug_level
|
|
|
|
def debug(self, level, msg):
|
|
'''write a debug message'''
|
|
if self.debug_level >= level:
|
|
print(msg)
|
|
|
|
def set_logfile(self, logfile, append=False):
|
|
'''setup logging to a file'''
|
|
if self.log is not None:
|
|
self.log.close()
|
|
self.log = None
|
|
self.logfile = logfile
|
|
if self.logfile is not None:
|
|
if append:
|
|
mode = 'ab'
|
|
else:
|
|
mode = 'wb'
|
|
self.log = open(self.logfile, mode=mode)
|
|
|
|
def set_preferred_dynamic_model(self, model):
|
|
'''set the preferred dynamic model for receiver'''
|
|
self.preferred_dynamic_model = model
|
|
if model is not None:
|
|
self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
|
|
|
|
def set_preferred_dgps_timeout(self, timeout):
|
|
'''set the preferred DGPS timeout for receiver'''
|
|
self.preferred_dgps_timeout = timeout
|
|
if timeout is not None:
|
|
self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
|
|
|
|
def set_preferred_usePPP(self, usePPP):
|
|
'''set the preferred usePPP setting for the receiver'''
|
|
if usePPP is None:
|
|
self.preferred_usePPP = None
|
|
return
|
|
self.preferred_usePPP = int(usePPP)
|
|
self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
|
|
|
|
def nmea_checksum(self, msg):
|
|
d = msg[1:]
|
|
cs = 0
|
|
for i in d:
|
|
cs ^= ord(i)
|
|
return cs
|
|
|
|
def write(self, buf):
|
|
'''write some bytes'''
|
|
if not self.read_only:
|
|
if self.use_sendrecv:
|
|
return self.dev.send(buf)
|
|
if type(buf) == str:
|
|
return self.dev.write(str.encode(buf))
|
|
else:
|
|
return self.dev.write(buf)
|
|
|
|
def read(self, n):
|
|
'''read some bytes'''
|
|
if self.use_sendrecv:
|
|
import socket
|
|
try:
|
|
return self.dev.recv(n)
|
|
except socket.error:
|
|
return ''
|
|
return self.dev.read(n)
|
|
|
|
def send_nmea(self, msg):
|
|
if not self.read_only:
|
|
s = msg + "*%02X" % self.nmea_checksum(msg) + "\r\n"
|
|
self.write(s)
|
|
|
|
def set_binary(self):
|
|
'''put a UBlox into binary mode using a NMEA string'''
|
|
if not self.read_only:
|
|
print("try set binary at %u" % self.baudrate)
|
|
self.send_nmea("$PUBX,41,0,0007,0001,%u,0" % self.baudrate)
|
|
self.send_nmea("$PUBX,41,1,0007,0001,%u,0" % self.baudrate)
|
|
self.send_nmea("$PUBX,41,2,0007,0001,%u,0" % self.baudrate)
|
|
self.send_nmea("$PUBX,41,3,0007,0001,%u,0" % self.baudrate)
|
|
self.send_nmea("$PUBX,41,4,0007,0001,%u,0" % self.baudrate)
|
|
self.send_nmea("$PUBX,41,5,0007,0001,%u,0" % self.baudrate)
|
|
|
|
def disable_nmea(self):
|
|
''' stop sending all types of nmea messages '''
|
|
self.send_nmea("$PUBX,40,GSV,1,1,1,1,1,0")
|
|
self.send_nmea("$PUBX,40,GGA,0,0,0,0,0,0")
|
|
self.send_nmea("$PUBX,40,GSA,0,0,0,0,0,0")
|
|
self.send_nmea("$PUBX,40,VTG,0,0,0,0,0,0")
|
|
self.send_nmea("$PUBX,40,TXT,0,0,0,0,0,0")
|
|
self.send_nmea("$PUBX,40,RMC,0,0,0,0,0,0")
|
|
|
|
def seek_percent(self, pct):
|
|
'''seek to the given percentage of a file'''
|
|
self.dev.seek(0, 2)
|
|
filesize = self.dev.tell()
|
|
self.dev.seek(pct * 0.01 * filesize)
|
|
|
|
def special_handling(self, msg):
|
|
'''handle automatic configuration changes'''
|
|
if msg.name() == 'CFG_NAV5':
|
|
msg.unpack()
|
|
sendit = False
|
|
pollit = False
|
|
if self.preferred_dynamic_model is not None and msg.dynModel != self.preferred_dynamic_model:
|
|
msg.dynModel = self.preferred_dynamic_model
|
|
sendit = True
|
|
pollit = True
|
|
if self.preferred_dgps_timeout is not None and msg.dgpsTimeOut != self.preferred_dgps_timeout:
|
|
msg.dgpsTimeOut = self.preferred_dgps_timeout
|
|
self.debug(2, "Setting dgpsTimeOut=%u" % msg.dgpsTimeOut)
|
|
sendit = True
|
|
# we don't re-poll for this one, as some receivers refuse to set it
|
|
if sendit:
|
|
msg.pack()
|
|
self.send(msg)
|
|
if pollit:
|
|
self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
|
|
if msg.name() == 'CFG_NAVX5' and self.preferred_usePPP is not None:
|
|
msg.unpack()
|
|
if msg.usePPP != self.preferred_usePPP:
|
|
msg.usePPP = self.preferred_usePPP
|
|
msg.mask = 1 << 13
|
|
msg.pack()
|
|
self.send(msg)
|
|
self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
|
|
|
|
def receive_message(self, ignore_eof=False):
|
|
'''blocking receive of one ublox message'''
|
|
msg = UBloxMessage()
|
|
while True:
|
|
n = msg.needed_bytes()
|
|
b = self.read(n)
|
|
if not b:
|
|
if ignore_eof:
|
|
time.sleep(0.01)
|
|
continue
|
|
if len(msg._buf) > 0:
|
|
self.debug(1, "dropping %d bytes" % len(msg._buf))
|
|
return None
|
|
msg.add(b)
|
|
if self.log is not None:
|
|
self.log.write(b)
|
|
self.log.flush()
|
|
if msg.valid():
|
|
self.special_handling(msg)
|
|
return msg
|
|
|
|
def receive_message_noerror(self, ignore_eof=False):
|
|
'''blocking receive of one ublox message, ignoring errors'''
|
|
try:
|
|
return self.receive_message(ignore_eof=ignore_eof)
|
|
except UBloxError as e:
|
|
print(e)
|
|
return None
|
|
except OSError as e:
|
|
# Occasionally we get hit with 'resource temporarily unavailable'
|
|
# messages here on the serial device, catch them too.
|
|
print(e)
|
|
return None
|
|
|
|
def send(self, msg):
|
|
'''send a preformatted ublox message'''
|
|
if not msg.valid():
|
|
self.debug(1, "invalid send")
|
|
return
|
|
if not self.read_only:
|
|
self.write(msg._buf)
|
|
|
|
def send_message(self, msg_class, msg_id, payload):
|
|
'''send a ublox message with class, id and payload'''
|
|
msg = UBloxMessage()
|
|
msg._buf = struct.pack('<BBBBH', 0xb5, 0x62, msg_class, msg_id, len(payload))
|
|
msg._buf += payload
|
|
(ck_a, ck_b) = msg.checksum(msg._buf[2:])
|
|
msg._buf += struct.pack('<BB', ck_a, ck_b)
|
|
self.send(msg)
|
|
|
|
def configure_solution_rate(self, rate_ms=200, nav_rate=1, timeref=0):
|
|
'''configure the solution rate in milliseconds'''
|
|
payload = struct.pack('<HHH', rate_ms, nav_rate, timeref)
|
|
self.send_message(CLASS_CFG, MSG_CFG_RATE, payload)
|
|
|
|
def configure_message_rate(self, msg_class, msg_id, rate):
|
|
'''configure the message rate for a given message'''
|
|
payload = struct.pack('<BBB', msg_class, msg_id, rate)
|
|
self.send_message(CLASS_CFG, MSG_CFG_SET_RATE, payload)
|
|
|
|
def configure_port(self, port=1, inMask=3, outMask=3, mode=2240, baudrate=None):
|
|
'''configure a IO port'''
|
|
if baudrate is None:
|
|
baudrate = self.baudrate
|
|
payload = struct.pack('<BBH8BHHBBBB', port, 0xff, 0, 0, 0, 0, 0, 0, 0, 0, 0, inMask,
|
|
outMask, 0, 0, 0, 0)
|
|
self.send_message(CLASS_CFG, MSG_CFG_PRT, payload)
|
|
|
|
def configure_loadsave(self, clearMask=0, saveMask=0, loadMask=0, deviceMask=0):
|
|
'''configure configuration load/save'''
|
|
payload = struct.pack('<IIIB', clearMask, saveMask, loadMask, deviceMask)
|
|
self.send_message(CLASS_CFG, MSG_CFG_CFG, payload)
|
|
|
|
def configure_poll(self, msg_class, msg_id, payload=b''):
|
|
'''poll a configuration message'''
|
|
self.send_message(msg_class, msg_id, payload)
|
|
|
|
def configure_poll_port(self, portID=None):
|
|
'''poll a port configuration'''
|
|
if portID is None:
|
|
self.configure_poll(CLASS_CFG, MSG_CFG_PRT)
|
|
else:
|
|
self.configure_poll(CLASS_CFG, MSG_CFG_PRT, struct.pack('<B', portID))
|
|
|
|
def configure_min_max_sats(self, min_sats=4, max_sats=32):
|
|
'''Set the minimum/maximum number of satellites for a solution in the NAVX5 message'''
|
|
payload = struct.pack('<HHIBBBBBBBBBBHIBBBBBBHII', 0, 4, 0, 0, 0, min_sats, max_sats,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
|
|
self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload)
|
|
|
|
def module_reset(self, set, mode):
|
|
''' Reset the module for hot/warm/cold start'''
|
|
payload = struct.pack('<HBB', set, mode, 0)
|
|
self.send_message(CLASS_CFG, MSG_CFG_RST, payload)
|