ublox.h

/*
    Copyright 2017 Benjamin Vedder	benjamin@vedder.se

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef UBLOX_H
#define UBLOX_H

#include <QObject>
#include <QSerialPort>
#include <QTimer>
#include <cstdint>
#include "nmeaserver.h"
#include "rtcm3_simple.h"
#include "datatypes.h"

class Ublox : public QObject
{
    Q_OBJECT
public:
    explicit Ublox(QObject *parent = 0);
    bool connectSerial(QString port, int baudrate = 115200);
    void disconnectSerial();
    bool isSerialConnected();

    void ubxPoll(uint8_t msg_class, uint8_t id);
    bool ubxCfgPrtUart(ubx_cfg_prt_uart *cfg);
    bool ubxCfgTmode3(ubx_cfg_tmode3 *cfg);
    bool ubxCfgMsg(uint8_t msg_class, uint8_t id, uint8_t rate);
    bool ubxCfgRate(uint16_t meas_rate_ms, uint16_t nav_rate_ms, uint16_t time_ref);
    bool ubxCfgNav5(ubx_cfg_nav5 *cfg);
    bool ubloxCfgTp5(ubx_cfg_tp5 *cfg);

signals:
    void rxGga(int fields, NmeaServer::nmea_gga_info_t gga);
    void rxRelPosNed(ubx_nav_relposned pos);
    void rxSvin(ubx_nav_svin svin);
    void rxAck(uint8_t cls_id, uint8_t msg_id);
    void rxNak(uint8_t cls_id, uint8_t msg_id);
    void rxRawx(ubx_rxm_rawx rawx);
    void ubxRx(const QByteArray &data);

public slots:

private slots:
    void serialDataAvailable();
    void serialPortError(QSerialPort::SerialPortError error);

private:
    typedef struct {
        uint8_t line[256];
        uint8_t ubx[2048];
        int line_pos;
        int ubx_pos;
        uint8_t ubx_class;
        uint8_t ubx_id;
        uint8_t ubx_ck_a;
        uint8_t ubx_ck_b;
        int ubx_len;
    } decoder_state;

    QSerialPort *mSerialPort;
    decoder_state mDecoderState;
    rtcm3_state mRtcmState;
    bool mWaitingAck;

    void ubx_send(QByteArray data);
    bool ubx_encode_send(uint8_t msg_class, uint8_t id, uint8_t *msg, int len, int timeoutMs = -1);
    QByteArray ubx_encode(uint8_t msg_class, uint8_t id, const QByteArray &data);

    void ubx_decode(uint8_t msg_class, uint8_t id, uint8_t *msg, int len);
    void ubx_decode_relposned(uint8_t *msg, int len);
    void ubx_decode_svin(uint8_t *msg, int len);
    void ubx_decode_ack(uint8_t *msg, int len);
    void ubx_decode_nak(uint8_t *msg, int len);
    void ubx_decode_rawx(uint8_t *msg, int len);
};

// Message classes
#define UBX_CLASS_NAV					0x01
#define UBX_CLASS_RXM					0x02
#define UBX_CLASS_INF					0x04
#define UBX_CLASS_ACK					0x05
#define UBX_CLASS_CFG					0x06
#define UBX_CLASS_UPD					0x06
#define UBX_CLASS_MON					0x09
#define UBX_CLASS_AID					0x0B
#define UBX_CLASS_TIM					0x0D
#define UBX_CLASS_ESF					0x10
#define UBX_CLASS_MGA					0x13
#define UBX_CLASS_LOG					0x21
#define UBX_CLASS_SEC					0x27
#define UBX_CLASS_HNR					0x28
#define UBX_CLASS_NMEA					0xF0
#define UBX_CLASS_RTCM3					0xF5

// Navigation (NAV) messages
#define UBX_NAV_RELPOSNED				0x3C
#define UBX_NAV_SVIN					0x3B

// Receiver Manager (RXM) messages
#define UBX_RXM_RAWX					0x15
#define UBX_RXM_SFRBX					0x13

// Ack messages
#define UBX_ACK_ACK						0x01
#define UBX_ACK_NAK						0x00

// Configuration messages
#define UBX_CFG_PRT						0x00
#define UBX_CFG_MSG						0x01
#define UBX_CFG_RATE					0x08
#define UBX_CFG_NAV5					0x24
#define UBX_CFG_TP5						0x31
#define UBX_CFG_TMODE3					0x71

// RTCM3 messages
#define UBX_RTCM3_1005					0x05
#define UBX_RTCM3_1077					0x4D
#define UBX_RTCM3_1087					0x57
#define UBX_RTCM3_1127					0x7F

// NMEA messages
#define UBX_NMEA_GGA                    0x00

#endif // UBLOX_H