Remove UBX parser

sparkfun · Sep 19, 2024 · 735ccd7 · 735ccd7
1 parent a3e5a24
commit 735ccd7
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Showing 8 changed files with 6 additions and 209 deletions.
diff --git a/Firmware/RTK_mosaic-T_Firmware/GpsMessageParser.h b/Firmware/RTK_mosaic-T_Firmware/GpsMessageParser.h
@@ -24,7 +24,6 @@ enum
     SENTENCE_TYPE_NMEA,
     SENTENCE_TYPE_RTCM,
     SENTENCE_TYPE_SBF,
-    SENTENCE_TYPE_UBX,
     // Add new sentence types above this line
 };
 
@@ -53,13 +52,11 @@ typedef struct _PARSE_STATE
     uint16_t bytesRemaining;             // Bytes remaining in RTCM CRC calculation
     uint16_t length;                     // Message length including line termination
     uint16_t maxLength;                  // Maximum message length including line termination
-    uint16_t message;                    // RTCM message number. UBX Class & ID. SBF ID
+    uint16_t message;                    // RTCM message number. SBF ID
     uint16_t nmeaLength;                 // Length of the NMEA message without line termination
     uint8_t buffer[PARSE_BUFFER_LENGTH]; // Buffer containing the message
     uint8_t nmeaMessageName[16];         // Message name
     uint8_t nmeaMessageNameLength;       // Length of the message name
-    uint8_t ck_a;                        // U-blox checksum byte 1
-    uint8_t ck_b;                        // U-blox checksum byte 2
     uint16_t sbfCrcExpected;             // Expected SBF CRC - from the block header
     uint16_t sbfCrcComputed;             // SBF CRC - calculated from the ID to the end of the block
 } PARSE_STATE;
@@ -80,18 +77,11 @@ typedef struct _PARSE_STATE
 #define RTCM_PREAMBLE
 #endif  // PARSE_RTCM_MESSAGES
 
-#ifdef  PARSE_UBLOX_MESSAGES
-#define UBLOX_PREAMBLE      ubloxPreamble,
-#else
-#define UBLOX_PREAMBLE
-#endif  // PARSE_UBLOX_MESSAGES
-
 #define GPS_PARSE_TABLE                 \
 PARSE_ROUTINE const gpsParseTable[] =   \
 {                                       \
     NMEA_SBF_PREAMBLE                   \
     RTCM_PREAMBLE                       \
-    UBLOX_PREAMBLE                      \
 };                                      \
                                         \
 const int gpsParseTableEntries = sizeof(gpsParseTable) / sizeof(gpsParseTable[0]);
@@ -142,23 +132,10 @@ uint8_t rtcmReadMessage2(PARSE_STATE *parse, uint8_t data);
 uint8_t rtcmReadData(PARSE_STATE *parse, uint8_t data);
 uint8_t rtcmReadCrc(PARSE_STATE *parse, uint8_t data);
 
-// u-blox parse routines
-uint8_t ubloxPreamble(PARSE_STATE *parse, uint8_t data);
-uint8_t ubloxSync2(PARSE_STATE *parse, uint8_t data);
-uint8_t ubloxClass(PARSE_STATE *parse, uint8_t data);
-uint8_t ubloxId(PARSE_STATE *parse, uint8_t data);
-uint8_t ubloxLength1(PARSE_STATE *parse, uint8_t data);
-uint8_t ubloxLength2(PARSE_STATE *parse, uint8_t data);
-uint8_t ubloxPayload(PARSE_STATE *parse, uint8_t data);
-uint8_t ubloxCkA(PARSE_STATE *parse, uint8_t data);
-uint8_t ubloxCkB(PARSE_STATE *parse, uint8_t data);
-
 // External print routines
 void printNmeaChecksumError(PARSE_STATE *parse);
 void printRtcmChecksumError(PARSE_STATE *parse);
 void printRtcmMaxLength(PARSE_STATE *parse);
-void printUbloxChecksumError(PARSE_STATE *parse);
-void printUbloxInvalidData(PARSE_STATE *parse);
 void printSbfChecksumError(PARSE_STATE *parse);
 void printSbfInvalidData(PARSE_STATE *parse);
 

diff --git a/Firmware/RTK_mosaic-T_Firmware/NVM.ino b/Firmware/RTK_mosaic-T_Firmware/NVM.ino
@@ -251,7 +251,7 @@ bool parseLine(char *str, Settings *settings)
         // If user sets sizeOfSettings to -1 in config file, RTK Surveyor will factory reset
         if (d == -1)
         {
-            // Erase file system, erase settings file, reset u-blox module, display message on OLED
+            // Erase file system, erase settings file, reset GNSS module, display message on OLED
             factoryReset(true); // We already have the SD semaphore
         }
 

diff --git a/Firmware/RTK_mosaic-T_Firmware/Parse_UBLOX.ino b/Firmware/RTK_mosaic-T_Firmware/Parse_UBLOX.ino
diff --git a/Firmware/RTK_mosaic-T_Firmware/RTK_mosaic-T_Firmware.ino b/Firmware/RTK_mosaic-T_Firmware/RTK_mosaic-T_Firmware.ino
@@ -120,7 +120,6 @@ IPAddress gnssIP = IPAddress((uint32_t)0);
 // Define the parsers that get included
 #define PARSE_NMEA_MESSAGES
 #define PARSE_RTCM_MESSAGES
-#define PARSE_UBLOX_MESSAGES
 #define PARSE_SBF_MESSAGES
 
 // Build the GPS_PARSE_TABLE macro
@@ -230,7 +229,6 @@ unsigned long startTime = 0;           // Used for checking longest running func
 TaskHandle_t idleTaskHandle[MAX_CPU_CORES];
 uint32_t max_idle_count = MAX_IDLE_TIME_COUNT;
 
-uint16_t failedParserMessages_UBX = 0;
 uint16_t failedParserMessages_RTCM = 0;
 uint16_t failedParserMessages_NMEA = 0;
 uint16_t failedParserMessages_SBF = 0;

diff --git a/Firmware/RTK_mosaic-T_Firmware/Tasks.ino b/Firmware/RTK_mosaic-T_Firmware/Tasks.ino
@@ -140,7 +140,7 @@ void gnssReadTask(void *e)
 }
 
 // Process a complete message incoming from parser
-// If we get a complete NMEA/UBX/RTCM message, pass it on to the consumers
+// If we get a complete NMEA/RTCM message, pass it on to the consumers
 void processUart1Message(PARSE_STATE *parse, uint8_t type)
 {
     int32_t bytesToCopy;
@@ -166,12 +166,6 @@ void processUart1Message(PARSE_STATE *parse, uint8_t type)
         case SENTENCE_TYPE_SBF:
             systemPrintf("%s SBF %d, %2d bytes\r\n", parse->parserName, parse->message & 0x1FFF, parse->length);
             break;
-
-        case SENTENCE_TYPE_UBX:
-            systemPrintf("%s UBX %d.%d, %2d bytes\r\n", parse->parserName, parse->message >> 8, parse->message & 0xff,
-                         parse->length);
-            break;
-
         }
     }
 

diff --git a/Firmware/RTK_mosaic-T_Firmware/menuMain.ino b/Firmware/RTK_mosaic-T_Firmware/menuMain.ino
@@ -50,8 +50,8 @@ void menuMain()
         systemPrintf("%d %02d:%02d:%02d.%03lld\r\n", uptimeDays, uptimeHours, uptimeMinutes, uptimeSeconds,
                      uptimeMilliseconds);
 
-        systemPrintf("Rejected by parser: %d NMEA / %d RTCM / %d UBX / %d SBF\r\n", failedParserMessages_NMEA,
-                     failedParserMessages_RTCM, failedParserMessages_UBX, failedParserMessages_SBF);
+        systemPrintf("Rejected by parser: %d NMEA / %d RTCM / %d SBF\r\n", failedParserMessages_NMEA,
+                     failedParserMessages_RTCM, failedParserMessages_SBF);
 
         systemPrintln("Menu: Main");
 

diff --git a/Firmware/RTK_mosaic-T_Firmware/menuSystem.ino b/Firmware/RTK_mosaic-T_Firmware/menuSystem.ino
@@ -478,7 +478,7 @@ void menuOperation()
         {
             systemPrint("Enter the PI I term: ");
             double i = getDouble();
-            if (i <= 0.0 || i >= 10.0) // Arbitrary limits
+            if (i < 0.0 || i >= 10.0) // Arbitrary limits
                 systemPrintln("Error: term is out of range");
             else
             {

diff --git a/Firmware/RTK_mosaic-T_Firmware/support.ino b/Firmware/RTK_mosaic-T_Firmware/support.ino
@@ -630,23 +630,6 @@ void printRtcmMaxLength(PARSE_STATE *parse)
     systemPrintf("RTCM parser error maxLength: %d bytes\r\n", parse->maxLength);
 }
 
-// Print the u-blox checksum error
-void printUbloxChecksumError(PARSE_STATE *parse)
-{
-    printTimeStamp();
-    systemPrintf("    %s u-blox %d.%d, %2d bytes, bad checksum, expecting 0x%02X%02X, computed: 0x%02X%02X\r\n",
-                 parse->parserName, parse->message >> 8, parse->message & 0xff, parse->length,
-                 parse->buffer[parse->nmeaLength - 2], parse->buffer[parse->nmeaLength - 1], parse->ck_a,
-                 parse->ck_b);
-}
-
-// Print the u-blox invalid data error
-void printUbloxInvalidData(PARSE_STATE *parse)
-{
-    dumpBuffer(parse->buffer, parse->length - 1);
-    systemPrintf("    %s Invalid UBX data, %d bytes\r\n", parse->parserName, parse->length - 1);
-}
-
 // Print the SBF checksum error
 void printSbfChecksumError(PARSE_STATE *parse)
 {