You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
301 lines
11 KiB
301 lines
11 KiB
#!/usr/bin/env python3
|
|
# type: ignore
|
|
# pylint: skip-file
|
|
|
|
import os
|
|
import serial
|
|
from selfdrive.locationd.test import ublox
|
|
import time
|
|
import datetime
|
|
import struct
|
|
import sys
|
|
from cereal import log
|
|
from common import realtime
|
|
import cereal.messaging as messaging
|
|
from selfdrive.locationd.test.ephemeris import EphemerisData, GET_FIELD_U
|
|
|
|
panda = os.getenv("PANDA") is not None # panda directly connected
|
|
grey = not (os.getenv("EVAL") is not None) # panda through boardd
|
|
debug = os.getenv("DEBUG") is not None # debug prints
|
|
print_dB = os.getenv("PRINT_DB") is not None # print antenna dB
|
|
|
|
timeout = 1
|
|
dyn_model = 4 # auto model
|
|
baudrate = 460800
|
|
ports = ["/dev/ttyACM0", "/dev/ttyACM1"]
|
|
rate = 100 # send new data every 100ms
|
|
|
|
# which SV IDs we have seen and when we got iono
|
|
svid_seen = {}
|
|
svid_ephemeris = {}
|
|
iono_seen = 0
|
|
|
|
def configure_ublox(dev):
|
|
# configure ports and solution parameters and rate
|
|
# TODO: configure constellations and channels to allow for 10Hz and high precision
|
|
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
|
|
|
|
if panda:
|
|
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
|
|
else:
|
|
payload = struct.pack('<BBHIIHHHBB', 1, 0, 0, 2240, baudrate, 0, 0, 0, 0, 0)
|
|
dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload) # disable 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_SERIAL2)
|
|
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)
|
|
#payload = struct.pack('<HHIBBBBBBBBBBH6BBB2BH4B3BB', 0, 8192, 0, 0, 0,
|
|
# 0, 0, 0, 0, 0, 0,
|
|
# 0, 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_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)
|
|
|
|
# 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)
|
|
|
|
|
|
def int_to_bool_list(num):
|
|
# for parsing bool bytes
|
|
return [bool(num & (1 << n)) for n in range(8)]
|
|
|
|
|
|
def gen_ephemeris(ephem_data):
|
|
ephem = {'ephemeris':
|
|
{'svId': ephem_data.svId,
|
|
|
|
'toc': ephem_data.toc,
|
|
'gpsWeek': ephem_data.gpsWeek,
|
|
|
|
'af0': ephem_data.af0,
|
|
'af1': ephem_data.af1,
|
|
'af2': ephem_data.af2,
|
|
|
|
'iode': ephem_data.iode,
|
|
'crs': ephem_data.crs,
|
|
'deltaN': ephem_data.deltaN,
|
|
'm0': ephem_data.M0,
|
|
|
|
'cuc': ephem_data.cuc,
|
|
'ecc': ephem_data.ecc,
|
|
'cus': ephem_data.cus,
|
|
'a': ephem_data.A,
|
|
|
|
'toe': ephem_data.toe,
|
|
'cic': ephem_data.cic,
|
|
'omega0': ephem_data.omega0,
|
|
'cis': ephem_data.cis,
|
|
|
|
'i0': ephem_data.i0,
|
|
'crc': ephem_data.crc,
|
|
'omega': ephem_data.omega,
|
|
'omegaDot': ephem_data.omega_dot,
|
|
|
|
'iDot': ephem_data.idot,
|
|
|
|
'tgd': ephem_data.Tgd,
|
|
|
|
'ionoCoeffsValid': ephem_data.ionoCoeffsValid,
|
|
'ionoAlpha': ephem_data.ionoAlpha,
|
|
'ionoBeta': ephem_data.ionoBeta}}
|
|
return log.Event.new_message(ubloxGnss=ephem)
|
|
|
|
|
|
def gen_solution(msg):
|
|
msg_data = msg.unpack()[0] # Solutions do not have any data in repeated blocks
|
|
timestamp = int(((datetime.datetime(msg_data['year'],
|
|
msg_data['month'],
|
|
msg_data['day'],
|
|
msg_data['hour'],
|
|
msg_data['min'],
|
|
msg_data['sec']) -
|
|
datetime.datetime(1970, 1, 1)).total_seconds())*1e+03 +
|
|
msg_data['nano']*1e-06)
|
|
gps_fix = {'bearingDeg': msg_data['headMot']*1e-05, # heading of motion in degrees
|
|
'altitude': msg_data['height']*1e-03, # altitude above ellipsoid
|
|
'latitude': msg_data['lat']*1e-07, # latitude in degrees
|
|
'longitude': msg_data['lon']*1e-07, # longitude in degrees
|
|
'speed': msg_data['gSpeed']*1e-03, # ground speed in meters
|
|
'accuracy': msg_data['hAcc']*1e-03, # horizontal accuracy (1 sigma?)
|
|
'timestamp': timestamp, # UTC time in ms since start of UTC stime
|
|
'vNED': [msg_data['velN']*1e-03,
|
|
msg_data['velE']*1e-03,
|
|
msg_data['velD']*1e-03], # velocity in NED frame in m/s
|
|
'speedAccuracy': msg_data['sAcc']*1e-03, # speed accuracy in m/s
|
|
'verticalAccuracy': msg_data['vAcc']*1e-03, # vertical accuracy in meters
|
|
'bearingAccuracyDeg': msg_data['headAcc']*1e-05, # heading accuracy in degrees
|
|
'source': 'ublox',
|
|
'flags': msg_data['flags'],
|
|
}
|
|
return log.Event.new_message(gpsLocationExternal=gps_fix)
|
|
|
|
def gen_nav_data(msg, nav_frame_buffer):
|
|
# TODO this stuff needs to be parsed and published.
|
|
# refer to https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29.pdf
|
|
# section 9.1
|
|
msg_meta_data, measurements = msg.unpack()
|
|
|
|
# parse GPS ephem
|
|
gnssId = msg_meta_data['gnssId']
|
|
if gnssId == 0:
|
|
svId = msg_meta_data['svid']
|
|
subframeId = GET_FIELD_U(measurements[1]['dwrd'], 3, 8)
|
|
words = []
|
|
for m in measurements:
|
|
words.append(m['dwrd'])
|
|
|
|
# parse from
|
|
if subframeId == 1:
|
|
nav_frame_buffer[gnssId][svId] = {}
|
|
nav_frame_buffer[gnssId][svId][subframeId] = words
|
|
elif subframeId-1 in nav_frame_buffer[gnssId][svId]:
|
|
nav_frame_buffer[gnssId][svId][subframeId] = words
|
|
if len(nav_frame_buffer[gnssId][svId]) == 5:
|
|
ephem_data = EphemerisData(svId, nav_frame_buffer[gnssId][svId])
|
|
return gen_ephemeris(ephem_data)
|
|
|
|
|
|
def gen_raw(msg):
|
|
# meta data is in first part of tuple
|
|
# list of measurements is in second part
|
|
msg_meta_data, measurements = msg.unpack()
|
|
measurements_parsed = []
|
|
for m in measurements:
|
|
trackingStatus_bools = int_to_bool_list(m['trkStat'])
|
|
trackingStatus = {'pseudorangeValid': trackingStatus_bools[0],
|
|
'carrierPhaseValid': trackingStatus_bools[1],
|
|
'halfCycleValid': trackingStatus_bools[2],
|
|
'halfCycleSubtracted': trackingStatus_bools[3]}
|
|
measurements_parsed.append({
|
|
'svId': m['svId'],
|
|
'sigId': m['sigId'],
|
|
'pseudorange': m['prMes'],
|
|
'carrierCycles': m['cpMes'],
|
|
'doppler': m['doMes'],
|
|
'gnssId': m['gnssId'],
|
|
'glonassFrequencyIndex': m['freqId'],
|
|
'locktime': m['locktime'],
|
|
'cno': m['cno'],
|
|
'pseudorangeStdev': 0.01*(2**(m['prStdev'] & 15)), # weird scaling, might be wrong
|
|
'carrierPhaseStdev': 0.004*(m['cpStdev'] & 15),
|
|
'dopplerStdev': 0.002*(2**(m['doStdev'] & 15)), # weird scaling, might be wrong
|
|
'trackingStatus': trackingStatus})
|
|
if print_dB:
|
|
cnos = {}
|
|
for meas in measurements_parsed:
|
|
cnos[meas['svId']] = meas['cno']
|
|
print('Carrier to noise ratio for each sat: \n', cnos, '\n')
|
|
receiverStatus_bools = int_to_bool_list(msg_meta_data['recStat'])
|
|
receiverStatus = {'leapSecValid': receiverStatus_bools[0],
|
|
'clkReset': receiverStatus_bools[2]}
|
|
raw_meas = {'measurementReport': {'rcvTow': msg_meta_data['rcvTow'],
|
|
'gpsWeek': msg_meta_data['week'],
|
|
'leapSeconds': msg_meta_data['leapS'],
|
|
'receiverStatus': receiverStatus,
|
|
'numMeas': msg_meta_data['numMeas'],
|
|
'measurements': measurements_parsed}}
|
|
return log.Event.new_message(ubloxGnss=raw_meas)
|
|
|
|
def gen_hw_status(msg):
|
|
msg_data = msg.unpack()[0]
|
|
ublox_hw_status = {'hwStatus': {
|
|
'noisePerMS': msg_data['noisePerMS'],
|
|
'agcCnt': msg_data['agcCnt'],
|
|
'aStatus': msg_data['aStatus'],
|
|
'aPower': msg_data['aPower'],
|
|
'jamInd': msg_data['jamInd']
|
|
}}
|
|
return log.Event.new_message(ubloxGnss=ublox_hw_status)
|
|
|
|
def init_reader():
|
|
port_counter = 0
|
|
while True:
|
|
try:
|
|
dev = ublox.UBlox(ports[port_counter], baudrate=baudrate, timeout=timeout, panda=panda, grey=grey)
|
|
configure_ublox(dev)
|
|
return dev
|
|
except serial.serialutil.SerialException as e:
|
|
print(e)
|
|
port_counter = (port_counter + 1) % len(ports)
|
|
time.sleep(2)
|
|
|
|
def handle_msg(dev, msg, nav_frame_buffer):
|
|
try:
|
|
if debug:
|
|
print(str(msg))
|
|
sys.stdout.flush()
|
|
if msg.name() == 'NAV_PVT':
|
|
sol = gen_solution(msg)
|
|
sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
|
|
gpsLocationExternal.send(sol.to_bytes())
|
|
elif msg.name() == 'RXM_RAW':
|
|
raw = gen_raw(msg)
|
|
raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
|
|
ubloxGnss.send(raw.to_bytes())
|
|
elif msg.name() == 'RXM_SFRBX':
|
|
nav = gen_nav_data(msg, nav_frame_buffer)
|
|
if nav is not None:
|
|
nav.logMonoTime = int(realtime.sec_since_boot() * 1e9)
|
|
ubloxGnss.send(nav.to_bytes())
|
|
elif msg.name() == 'MON_HW':
|
|
hw = gen_hw_status(msg)
|
|
hw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
|
|
ubloxGnss.send(hw.to_bytes())
|
|
else:
|
|
print("UNKNOWN MESSAGE:", msg.name())
|
|
except ublox.UBloxError as e:
|
|
print(e)
|
|
|
|
#if dev is not None and dev.dev is not None:
|
|
# dev.close()
|
|
|
|
def main():
|
|
global gpsLocationExternal, ubloxGnss
|
|
nav_frame_buffer = {}
|
|
nav_frame_buffer[0] = {}
|
|
for i in range(1, 33):
|
|
nav_frame_buffer[0][i] = {}
|
|
|
|
gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')
|
|
ubloxGnss = messaging.pub_sock('ubloxGnss')
|
|
|
|
dev = init_reader()
|
|
while True:
|
|
try:
|
|
msg = dev.receive_message()
|
|
except serial.serialutil.SerialException as e:
|
|
print(e)
|
|
dev.close()
|
|
dev = init_reader()
|
|
if msg is not None:
|
|
handle_msg(dev, msg, nav_frame_buffer)
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|