RP2040 GPS driver #12

michaelshipman · 2023-12-20T18:49:08Z

Need to write a library to interface the RP2040 with the MAX-M10S

michaelshipman · 2023-12-20T18:54:43Z

Going to start with some test hardware, RP2040 feather and a random NEO M8N board I found in the lab

michaelshipman · 2023-12-20T19:17:15Z

Will be using these for note-taking - starting with M8 test hardware

Using I2C compliant DDC interface, default address is 0x42

https://www.u-blox.com/en/product/neo-m8-series?legacy=Current#Documentation-&-resources
https://content.u-blox.com/sites/default/files/NEO-8Q-NEO-M8-FW3_HIM_UBX-15029985.pdf
https://content.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_UBX-13003221.pdf

michaelshipman · 2023-12-20T19:30:30Z

Reading

3 registers can be read from over the DDC interface, registers 253-255

0xFD and 0xFE are the number of bytes that can be read and 0xFF allows the data stream to be read, if no data available then 0xff returned

Will likely want random access reading which lets you specify the register to read each time

RW bit - low for write access, high for read access

Random Read Access

Start condition
7 bit address
RW bit low
8 bit register address
Receiver ACK
Start condition
7 bit address
RW bit high
read 1 to N bytes
NACK and stop condition to stop

michaelshipman · 2023-12-20T19:43:05Z

Writing

Writing just for UBX and NMEA messages for config data and other stuff, the registers aren't writable

Following the start condition from the master, the 7-bit device address and the RW bit (which is a logic low for write access) are clocked onto the bus by the master transmitter. The receiver answers with an acknowledge (logic low) to indicate that it is responsible for the given address. Now, the master can write 2 to N bytes to the receiver, generating a stop condition after the last byte being written. The number of data bytes must be at least 2 to properly distinguish from the write access to set the address counter in random read accesses.

7-bit address
RW bit low
2 to N bytes
Stop condition

michaelshipman · 2023-12-20T19:50:49Z

Dynamic Platform Models

Will need to use one of the airborne models since those are the only ones with permissive max altitude, probably Airborne <2g to start with

michaelshipman · 2023-12-20T19:59:51Z

Let's try a test with the UBX-INF-DEBUG message, should return some debug info

michaelshipman · 2023-12-20T20:10:46Z

UBX Checksum

Calculated over the message from the class to the end of the payload

The checksum algorithm used is the 8-Bit Fletcher Algorithm, which is used in the TCP standard (RFC 1145). This algorithm works as follows:

Buffer[N] contains the data over which the checksum is to be calculated.

The two CK_ values are 8-Bit unsigned integers only! If implementing with larger-sized integer values, make sure to mask both CK_A and CK_B with 0xFF after both operations in the loop.

After the loop, the two U1 values contain the checksum, transmitted after the Message, which conclude the Frame.

CK_A = 0, CK_B = 0
for (i = 0; I < n; i++) {
    CK_A = CK_A + buffer[I];
    CK_B = CK_B + CK_A;
}

michaelshipman · 2023-12-20T21:39:05Z

Ok well I can definitely read something over I2C, it doesn't quite make sense what I'm getting back yet

michaelshipman · 2023-12-21T19:16:29Z

Ok so it looks like this device is sitting at address 0x0F which is a bit weird but not really an issue.

I'm sending some different poll request messages but I keep getting something like 16 29 15 2 6 10 ff if I read without specifying a register and something even weirder if I do specify a register (for instance the registers that indicate the number of bytes available to be read come back as ff)

I also tried the SparkFun Arduino library which couldn't seem to connect to it

Since this is just random garbage I pulled out of the lab it's entirely possible that it's cooked

May try another Arduino library later to see what happens but am going to focus on other things until I have actual BITS hardware

michaelshipman · 2023-12-23T02:32:23Z

Ok so it definitely isn't cooked, it's spitting out plenty of NMEA strings over the UART connection.

Just need to figure out how to configure it properly, sometimes it will stop sending NMEA data if I ask it to and sometimes not, and when it does work it doesn't persist through a power cycle which would be nice.

In other news u-center is very useful for creating NMEA and UBX messages that are known good.

michaelshipman · 2023-12-23T02:55:52Z

Ok so I need to actually read the documentation it seems

First of all, with a 10 second start up delay it seems that disabling NMEA on UART consistently works with the following NMEA message $PUBX,41,1,0001,0001,9600,0*14\r\n which is lovely.

Then I generated the UBX message 0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9A, 0x79 which provided me with a nice ACK UBX message

Lastly, it is worth noting that the payload length field is a 2-byte little endian value, which I had failed to internalize the first time around. thank god for u-center is all I can say, also little endian seems weird

michaelshipman · 2023-12-23T03:10:32Z

Looks like the below has permanently disabled NMEA on UART by saving to the flash, both UBX messages got an ACK

const uint8_t
        message4[28] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00,
                        0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25,
                        0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
                        0x00, 0x00, 0x9A, 0x79};  // UBX message to do the same
                                                  // as the NMEA message below,
                                                  // was here just to see if I
                                                  // could get an ACK, which I
                                                  // did

    const uint8_t save_msg[21] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00,
                                  0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF,
                                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
                                  0x03, 0x1D, 0xAB};  // UBX message to save
                                                      // current config to
                                                      // battery backed RAM and
                                                      // flash

    const char *message2 =
        "$PUBX,41,1,0001,0001,9600,0*14\r\n";  // NMEA message that enables only
                                               // UBX on UART

    printf("Sending config\n");

    uart_write_blocking(uart0, (uint8_t *)message2, 32);
    uart_write_blocking(uart0, message4, 28);
    sleep_ms(100); // next message won't get an ACK unless a delay is here, 100 worked but could probably be shorted
    uart_write_blocking(uart0, save_msg, 21);

michaelshipman · 2023-12-23T03:21:21Z

I2C should now be good to go as well, also changed address to 0x42

const uint8_t ubx_cfg_prt_i2c_ubx_only[28] = {
        0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00,
        0x84, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00,
        0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xA0, 0x96};  // sets I2C to UBX
                                                          // only, also sets I2C
                                                          // address to 0x42

michaelshipman · 2023-12-23T04:04:20Z

ok well the address change definitely didn't work, still at 0x0F

Moreover I don't get a UBX ack over i2c, just a whole lot of crap

20 FF 20 08 20 20 45 20 01 20 FF 20 FF 20 FF 20 FF 20 7F 20 20 82 20 20 E1 20 20 85 20 06 20 16 20 29 20 15 20 02 20 06 20 10 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 10 20 FF 20 20 20 20 20 20 20 20 20 20 0C 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 24 20 80 20 FF 20 20 FF 20 20 FF 20 20 20 20 FF 20 7F 20 FF 20 0F 20 20 C8 20 FF 20 C8 20 FF 20 D7 20 FF 20 0D 0A 20 0F 20 5A 20 06 20 20 20 20 20 20 20 20 20 20 FF 20 33 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 0D 0A 20 FF 20 C8 20 C8 20 D7 20 24 20 FF 20 33 20 20 20 20 20 20 20 20 20 20 5A 20 06 20 FF 20 FF 20 10 20 FF 20 20 FF 20 20 20 20 14 20 08 20 05 20 47 20 01 20 0F 20 20 CF 20 FF 20 F3 20 FF 20 47 20 01 20 02 20 20 EB 20 FF 20 08 20 20 45 20 01 20 FF 20 FF 20 FF 20 FF 20 7F 20 20 82 20 20 E1 20 20 85 20 06 20 16 20 29 20 15 20 02 20 06 20 10 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 10 20 FF 20 20 20 20 20 20 20 20 20 20 0C 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 24 20 80 20 FF 20 20 FF 20 20 FF 20 20 20 20 FF 20 7F 20 FF 20 0F 20 20 C8 20 FF 20 C8 20 FF 20 D7 20 FF 20 0D 0A 20 0F 20 5A 20 06 20 20 20 20 20 20 20 20 20 20 FF 20 33 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 0D 0A 20 FF 20 C8 20 C8 20 D7 20 24 20 FF 20 33 20 20 20 20 20 20 20 20 20 20 5A 20 06 20 FF 20 FF 20 10 20 FF 20 20 FF 20 20 20 20 14 20 08 20 05 20 47 20 01 20 0F 20 20 CF 20 FF 20 F3 20 FF 20 47 20 01 20 02 20 20 EB 20 FF 20 08 20 20 45 20 01 20 FF 20 FF 20 FF 20 FF 20 7F 20 20 82 20 20 E1 20 20 85 20 06 20 16 20 29 20 15 20 02 20 06 20 10 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 10 20 FF 20 20 20 20 20 20 20 20 20 20 0C 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 24 20 80 20 FF 20 20 FF 20 20 FF 20 20 20 20 FF 20 7F 20 FF 20 0F 20 20 C8 20 FF 20 C8 20 FF 20 D7 20 FF 20 0D 0A 20 0F 20 5A 20 06 20 20 20 20 20 20 20 20 20 20 FF 20 33 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 0D 0A 20 FF 20 C8 20 C8 20 D7 20 24 20 FF 20 33 20 20 20 20 20 20 20 20 20 20 5A 20 06 20 FF 20 FF 20 10 20 FF 20 20 FF 20 20 20 20 14 20 08 20 05 20 47 20 01 20 0F 20 20 CF 20 FF 20 F3 20 FF 20 47 20 01 20 02 20 20 EB 20 FF 20 08 20 20 45 20 01 20 FF 20 FF 20 FF 20 FF 20 7F 20 20 82 20 20 E1 20 20 85 20 06 20 16 20 29 20 15 20 02 20 06 20 10 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 10 20 FF 20 20 20 20 20 20 20 20 20 20 0C 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 24 20 80 20 FF 20 20 FF 20 20 FF 20 20 20 20 FF 20 7F 20 FF 20 0F 20 20 C8 20 FF 20 C8 20 FF 20 D7 20 FF 20 0D 0A 20 0F 20 5A 20 06 20 20 20 20 20 20 20 20 20 20 FF 20 33 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 0D 0A 20 FF 20 C8 20 C8 20 D7 20 24 20 FF 20 33 20 20 20 20 20 20 20 20 20 20 5A 20 06 20 FF 20 FF 20 10 20 FF 20 20 FF 20 20 20 20 14 20 08 20 05 20 47 20 01 20 0F 20 20 CF 20 FF 20 F3 20 FF 20 47 20 01 20 02 20 20 EB 20 FF 20 08 20 20 45 20 01 20 FF 20 FF 20 FF 20 FF 20 7F 20 20 82 20 20 E1 20 20 85 20 06 20 16 20 29 20 15 20 02 20 06 20 10 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 10 20 FF 20 20 20 20 20 20 20 20 20 20 0C 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 20 24 20 80 20 FF 20 20 FF 20 20 FF 20 20 20 20 FF 20 7F 20 FF 20 0F 20 20 C8 20 FF 20 C8 20 FF 20 D7 20 FF 20 0D 0A 20 0F 20 5A 20 06 20 20 20 20 20 20 20 20 20 20 FF 20 33 20 20 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 0D 0A 20 FF 20 C8 20 C8 20 D7 20 24 20 FF 20 33 20 20 20 20 20 20 20 20 20 20 5A 20 06 20 FF 20 FF 20 10 20 FF 20 20 FF 20 20 20 20 14 20 08 20 05 20 47 20 01 20 0F 20 20 CF 20 FF 20 F3 20 FF 20 47 20 01 20 02 20 20 EB 20 FF 20 08 20 20 45 20 01 20 FF 20 FF 20 FF 20 FF 20 7F 20 20 82 20 20 E1 20 20 85 20 06 20 16 20 29 20 15 20 02 20 06 20 10 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 FF 20 10 20 FF 20 20 20 20 20 20 20 20 20 20

there's definitely something being repeated but I have no idea what it is, it's not a UBX or NMEA message

UART seems to be working pretty well though so once again Jon was right

michaelshipman · 2024-01-27T22:49:27Z

Ok so I'm fairly certain that the GPS module that I was testing with over break had borked I2C (it was a random one I found in the lab)

Now working with the GPS on the BITSv5 boar the I2C comms are behaving as I would expect them to (proper 0xFF read)

Looks like it has been automatically configured to report some NMEA messages every second or so, will need to disable those and then figure out what UBX messages I want and write parsers for them.

michaelshipman · 2024-02-09T19:55:37Z

Maybe I don't have to do all the parsing myself

https://github.com/u-blox/ubxlib

https://github.com/jacketizer/libnmea

That should make this whole thing a lot faster

michaelshipman self-assigned this Dec 20, 2023

michaelshipman added the enhancement New feature or request label Dec 20, 2023

michaelshipman added this to the BITSv5.1 milestone Jan 31, 2024

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RP2040 GPS driver #12

RP2040 GPS driver #12

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RP2040 GPS driver #12

RP2040 GPS driver #12

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Reading

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Writing

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Dynamic Platform Models

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UBX Checksum

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