Adeeb Shihadeh
3 days ago
parent
70c0592e84
commit
2c04a27a2a
2 changed files with 0 additions and 102 deletions
@ -1,13 +0,0 @@ |
|||||||
diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp
|
|
||||||
index 5b17bc327..b5c6aa610 100644
|
|
||||||
--- a/system/ubloxd/generated/glonass.cpp
|
|
||||||
+++ b/system/ubloxd/generated/glonass.cpp
|
|
||||||
@@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass
|
|
||||||
void glonass_t::_read() {
|
|
||||||
m_idle_chip = m__io->read_bits_int_be(1);
|
|
||||||
m_string_number = m__io->read_bits_int_be(4);
|
|
||||||
- m__io->align_to_byte();
|
|
||||||
+ //m__io->align_to_byte();
|
|
||||||
switch (string_number()) {
|
|
||||||
case 4: {
|
|
||||||
m_data = new string_4_t(m__io, this, m__root);
|
|
||||||
@ -1,89 +0,0 @@ |
|||||||
#!/usr/bin/env python3 |
|
||||||
# type: ignore |
|
||||||
|
|
||||||
from openpilot.selfdrive.locationd.test import ublox |
|
||||||
import struct |
|
||||||
|
|
||||||
baudrate = 460800 |
|
||||||
rate = 100 # send new data every 100ms |
|
||||||
|
|
||||||
|
|
||||||
def configure_ublox(dev): |
|
||||||
# configure ports and solution parameters and rate |
|
||||||
dev.configure_port(port=ublox.PORT_USB, inMask=1, outMask=1) # enable only UBX on USB |
|
||||||
dev.configure_port(port=0, inMask=0, outMask=0) # disable DDC |
|
||||||
|
|
||||||
payload = struct.pack('<BBHIIHHHBB', 1, 0, 0, 2240, baudrate, 1, 1, 0, 0, 0) |
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload) # enable UART |
|
||||||
|
|
||||||
dev.configure_port(port=4, inMask=0, outMask=0) # disable SPI |
|
||||||
dev.configure_poll_port() |
|
||||||
dev.configure_poll_port(ublox.PORT_SERIAL1) |
|
||||||
dev.configure_poll_port(ublox.PORT_USB) |
|
||||||
dev.configure_solution_rate(rate_ms=rate) |
|
||||||
|
|
||||||
# Configure solution |
|
||||||
payload = struct.pack('<HBBIIBB4H6BH6B', 5, 4, 3, 0, 0, |
|
||||||
0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0) |
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAV5, payload) |
|
||||||
payload = struct.pack('<B3BBB6BBB2BBB2B', 0, 0, 0, 0, 1, |
|
||||||
3, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0) |
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ODO, payload) |
|
||||||
#bits_ITMF_config1 = '10101101011000101010110111111111' |
|
||||||
#bits_ITMF_config2 = '00000000000000000110001100011110' |
|
||||||
ITMF_config1 = 2908925439 |
|
||||||
ITMF_config2 = 25374 |
|
||||||
payload = struct.pack('<II', ITMF_config1, ITMF_config2) |
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ITMF, payload) |
|
||||||
payload = struct.pack('<HHIBBBBBBBBBBH6BBB2BH4B3BB', 0, (1 << 10), 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, 0, |
|
||||||
0, 1, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0) |
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5, payload) |
|
||||||
|
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAV5) |
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5) |
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ODO) |
|
||||||
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ITMF) |
|
||||||
|
|
||||||
# Configure RAW, PVT and HW messages to be sent every solution cycle |
|
||||||
dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_PVT, 1) |
|
||||||
dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_RAW, 1) |
|
||||||
dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1) |
|
||||||
dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1) |
|
||||||
dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1) |
|
||||||
dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1) |
|
||||||
|
|
||||||
# Query the backup restore status |
|
||||||
print("backup restore polling message (implement custom response handler!):") |
|
||||||
dev.configure_poll(0x09, 0x14) |
|
||||||
|
|
||||||
print("if successful, send this to clear the flash:") |
|
||||||
dev.send_message(0x09, 0x14, b"\x01\x00\x00\x00") |
|
||||||
|
|
||||||
print("send on stop:") |
|
||||||
|
|
||||||
# Save on shutdown |
|
||||||
# Controlled GNSS stop and hot start |
|
||||||
payload = struct.pack('<HBB', 0x0000, 0x08, 0x00) |
|
||||||
dev.send_message(ublox.CLASS_CFG, ublox.MSG_CFG_RST, payload) |
|
||||||
|
|
||||||
# UBX-UPD-SOS backup |
|
||||||
dev.send_message(0x09, 0x14, b"\x00\x00\x00\x00") |
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__": |
|
||||||
class Device: |
|
||||||
def write(self, s): |
|
||||||
d = '"{}"s'.format(''.join(f'\\x{b:02X}' for b in s)) |
|
||||||
print(f" if (!send_with_ack({d})) continue;") |
|
||||||
|
|
||||||
dev = ublox.UBlox(Device(), baudrate=baudrate) |
|
||||||
configure_ublox(dev) |
|
||||||
Loading…
Reference in new issue