ADD: GNSS Driver for U-BLOX M10 & Support for UBX Messages #68350

mayankmahajan-nxp · 2024-01-31T13:29:42Z

MODEM_UBX: Adds Support for UBX Messages in Modem Subsystem.

GNSS API Supported: get_supported_systems, set_fix_rate, get_fix_rate,
set_enabled_systems, get_enabled_systems, set_navigation_mode,
get_navigation_mode.

Boards Tested: MIMXRT1062_FMURT6, VMU_RT1170.

Note: Partial support for U-BLOX Messages is provided as of now.

Signed-off-by: Sumit Batra sumit.batra@nxp.com
Signed-off-by: Mayank Mahajan mayankmahajan.x@nxp.com

bjarki-andreasen

I have quite a few requests, I have limited the review to the u_blox_protocol related files for now to make it easier to attend to and/or discuss the comments :)

drivers/gnss/CMakeLists.txt

drivers/gnss/Kconfig

drivers/gnss/Kconfig.u_blox_m10

drivers/gnss/u_blox_protocol/u_blox_protocol.c

mayankmahajan-nxp · 2024-02-06T11:45:39Z

I have quite a few requests, I have limited the review to the u_blox_protocol related files for now to make it easier to attend to and/or discuss the comments :)

Hi @bjarki-trackunit, thank you for the review. I have addressed the comments. Kindly have a look at your convenience.

bjarki-andreasen

Looking good, a few more requests, and a question:

Are the definitions in gnss_u_blox_protocol.h and .c generic, as in, match other ublox gnss than the m10?

drivers/gnss/gnss_u_blox_m10.c

include/zephyr/modem/ubx.h

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.h

mayankmahajan-nxp · 2024-02-07T17:21:27Z

Looking good, a few more requests, and a question:

Are the definitions in gnss_u_blox_protocol.h and .c generic, as in, match other ublox gnss than the m10?

Yes, they are generic to ublox gnss devices. For example, ublox Neo M8 (if implemented) would use them as well, without any change.

Also, modem_ubx.c needs some macros in gnss_ublox_protocol.h, which is why I plan to transfer it to the include directory of gnss in the next commit.

mayankmahajan-nxp · 2024-02-20T09:28:29Z

Hi @bjarki-trackunit, thank you for the review. I have addressed the comments. Kindly have a look at your convenience.

bjarki-andreasen

Its getting there, but I'm not convinced on the responsibilities of ubx.h and gnss_u_blox_protocol.h, more on that in the comments :)

drivers/gnss/gnss_u_blox_protocol.c

drivers/gnss/gnss_u_blox_m10.c

include/zephyr/modem/ubx.h

mayankmahajan-nxp · 2024-03-01T08:55:45Z

Hi @bjarki-trackunit, thank you for the review. I have addressed the comments. Kindly have a look at your convenience.

mayankmahajan-nxp · 2024-03-06T11:32:07Z

Hi @bjarki-trackunit, I have addressed this comment - #68350 (comment). Kindly review at your convenience. Thank you.

bjarki-andreasen

The code is looking really good, these (hopefully) last requests are quite minor, Nice work!

bjarki-andreasen · 2024-03-07T06:54:24Z

subsys/modem/modem_ubx.c

+	}
+
+	ubx->pipe = pipe;
+	(void) modem_pipe_attach(ubx->pipe, modem_ubx_pipe_callback, ubx);


No need to denote (void) on functions which already return void :) usually it is only done to signal that the function does indeed return something, but it is intentionally ignored, like

(void)k_sem_take(&sem, K_FOREVER);

This is done quite a few places in the PR

bjarki-andreasen · 2024-03-07T07:01:20Z

include/zephyr/modem/ubx.h

+#define UBX_PAYLOAD_SZ_MAX			256
+#define UBX_FRM_SZ_MAX				UBX_FRM_SZ(UBX_PAYLOAD_SZ_MAX)
+
+struct ubx_frame_t {


this struct should be named struct ubx_frame, _t denotes that it is a typedef, like typedef ...

bjarki-andreasen · 2024-03-07T07:03:48Z

include/zephyr/modem/ubx.h

+	struct ubx_frame_t *request;
+	struct ubx_frame_t *response;
+	struct ubx_frame_t *match;


I would simply add a const pointer to the script here

const struct modem_ubx_script *script;

instead of copying the pointers from the script. The script and the buffers have the same lifetime so it is safe to do so :)

bjarki-andreasen · 2024-03-07T07:05:57Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.c

+int ubx_create_frame(uint8_t *ubx_frame, uint16_t ubx_frame_size, uint8_t message_class,
+		     uint8_t message_id, const void *data, uint16_t payload_size)
+{
+	if (ubx_validate_frame(ubx_frame_size, message_class, message_id, payload_size)) {
+		return -1;
+	}
+
+	struct ubx_frame_t *frame = (struct ubx_frame_t *) ubx_frame;
+
+	frame->preamble_sync_char_1 = UBX_PREAMBLE_SYNC_CHAR_1;
+	frame->preamble_sync_char_2 = UBX_PREAMBLE_SYNC_CHAR_2;
+	frame->message_class = message_class;
+	frame->message_id = message_id;
+	frame->payload_size_low = payload_size;
+	frame->payload_size_high = payload_size >> 8;
+
+	memcpy(frame->payload_and_checksum, (uint8_t *) data, payload_size);
+
+	uint16_t ubx_frame_len = payload_size + UBX_FRM_SZ_WITHOUT_PAYLOAD;
+
+	uint8_t ckA = 0, ckB = 0;
+
+	for (unsigned int i = UBX_FRM_CHECKSUM_START_IDX;
+	     i < (UBX_FRM_CHECKSUM_STOP_IDX(ubx_frame_len)); i++) {
+		ckA += ubx_frame[i];
+		ckB += ckA;
+	}
+
+	frame->payload_and_checksum[payload_size] = ckA;
+	frame->payload_and_checksum[payload_size + 1] = ckB;
+
+	return ubx_frame_len;
+}


This function belongs in modem_ubx.c, there is nothing in it specific to any payload, its just constructing a "generic" ubx frame :)

Hi @bjarki-trackunit, I have moved this to modem_ubx.c, but please note that payload size couldn't be validated in modem_ubx.c because details regarding gnss ublox messages is concern of gnss_u_blox_protocol.c. Hence, I have created a function in ubx_create_and_validate_frame in gnss_u_blox_protocol.c that validates the payload size then calls modem_ubx_create_frame in modem_ubx.c to create the frame. Please check if this is correct.

bjarki-andreasen · 2024-03-07T07:09:03Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.c

+	frame->payload_size_low = payload_size;
+	frame->payload_size_high = payload_size >> 8;
+
+	memcpy(frame->payload_and_checksum, (uint8_t *) data, payload_size);


This typecast is not required, memcpy already takes a const void *, so this is typecasting const void * -> uint8_t * -> const void *, which is probably why the compiler didn't freak out that you are casting const data to non-const data, which is not allowed :)

bjarki-andreasen · 2024-03-07T07:12:15Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.c

+}
+
+int ubx_create_frame(uint8_t *ubx_frame, uint16_t ubx_frame_size, uint8_t message_class,
+		     uint8_t message_id, const void *data, uint16_t payload_size)


The data member should probalby be renamed payload to match payload_size

bjarki-andreasen · 2024-03-07T07:15:08Z

subsys/modem/modem_ubx.c

+
+	if (modem_ubx_match_frame_full(received, ubx->match) == true) {
+		k_sem_give(&ubx->script_stopped_sem);
+		ret = 0; /* Frame matched successfully. Terminate the script. */


Please move the comment above and before what it describes occurs :)

/* Frame matched successfully. Terminate the script. */ k_sem_give(&ubx->script_stopped_sem); ret = 0;

This is easier to follow, prescription then action

bjarki-andreasen · 2024-03-07T07:15:50Z

subsys/modem/modem_ubx.c

+		ret = 0; /* Frame matched successfully. Terminate the script. */
+	} else if (modem_ubx_match_frame_type(received, ubx->request) == true) {
+		memcpy(ubx->response, ubx->work_buf, ubx->work_buf_len);
+		ret = -1; /* Response receveid successfully. Script not ended. */


Same as above

bjarki-andreasen · 2024-03-07T07:25:53Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.c

+	460800,
+};
+
+static int ubx_validate_frame(uint16_t ubx_frame_size, uint8_t message_class, uint8_t message_id,


The implementation of this function is quite hard to read with switches inside switches, and mixing returns and breaks a bit. I would suggest refactoring it so there is only one switch "level"/"indent" in each scope, like this:

static inline int ubx_validate_ack_frame(uint16_t ubx_frame_size, uint8_t message_class, uint8_t message_id, uint16_t payload_size) { switch (message_id) { case UBX_ACK_ACK: payload_size_expected = UBX_CFG_ACK_PAYLOAD_SZ; break; case UBX_ACK_NAK: payload_size_expected = UBX_CFG_NAK_PAYLOAD_SZ; break; default: break; } return -1; } switch (message_class) { case UBX_CLASS_ACK: return ubx_validate_ack_frame(...); case UBX_CLASS_CFG: return ubx_validate_cfg_frame(...); default: return -1; }

The above code is only an example of course, but splitting it into static inline helpers helps keep the indentations low and code more readable :)

bjarki-andreasen · 2024-03-07T07:27:49Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.c

+		case UBX_CFG_MSG:
+			payload_size_expected = UBX_CFG_MSG_PAYLOAD_SZ;
+			break;
+		default: return -1;


This is personal preference, but switches especially should keep consistent indentation

default: return -1;

it's in the coding style https://www.kernel.org/doc/html/v4.10/process/coding-style.html#indentation

Don’t put multiple statements on a single line unless you have something to hide

fabiobaltieri · 2024-03-07T10:21:10Z

drivers/gnss/Kconfig.u_blox_m10

+	select GNSS_U_BLOX_PROTOCOL
+	select UART_USE_RUNTIME_CONFIGURE
+	help
+		Enable U-BLOX M10 GNSS modem driver.


nit: indentation is off

fabiobaltieri · 2024-03-07T10:23:19Z

drivers/gnss/gnss_u_blox_m10.c

+		.message_id = msg_id,
+	};
+
+	(void) ubx_m10_modem_ubx_script_fill(dev);


Suggested change

(void) ubx_m10_modem_ubx_script_fill(dev);

(void)ubx_m10_modem_ubx_script_fill(dev);

same for the rest of the file

fabiobaltieri · 2024-03-07T10:23:53Z

drivers/gnss/gnss_u_blox_m10.c

+	data->script.request = (struct ubx_frame_t *) data->request_buf;
+	data->script.response = (struct ubx_frame_t *) data->response_buf;
+	data->script.match = (struct ubx_frame_t *) data->match_buf;


Suggested change

data->script.request = (struct ubx_frame_t *) data->request_buf;

data->script.response = (struct ubx_frame_t *) data->response_buf;

data->script.match = (struct ubx_frame_t *) data->match_buf;

data->script.request = (struct ubx_frame_t *)data->request_buf;

data->script.response = (struct ubx_frame_t *)data->response_buf;

data->script.match = (struct ubx_frame_t *)data->match_buf;

fabiobaltieri · 2024-03-07T10:26:37Z

drivers/gnss/gnss_u_blox_m10.c

+		payload->config_blocks[index].flags = enable |
+			UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L1C_A;


is this correct? boolean | value? guess it's fine it just looks odd to me, maybe add a define for the enable/disable bit and use an intermediate variable or something, just for clarity

Hi @fabiobaltieri, i have addressed this comment in the latest push. Kindly check if the resolution is correct.

fabiobaltieri · 2024-03-07T10:28:28Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol_defines.h

+};
+
+enum ubx_utc_standard {
+	UBX_UTC_AutoUTC = 0,


Suggested change

UBX_UTC_AutoUTC = 0,

UBX_UTC_AUTOUTC = 0,

fabiobaltieri · 2024-03-07T10:30:16Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.c

+		case UBX_CFG_MSG:
+			payload_size_expected = UBX_CFG_MSG_PAYLOAD_SZ;
+			break;
+		default: return -1;


it's in the coding style https://www.kernel.org/doc/html/v4.10/process/coding-style.html#indentation

Don’t put multiple statements on a single line unless you have something to hide

fabiobaltieri · 2024-03-07T10:30:52Z

subsys/modem/modem_ubx.c

+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(modem_ubx, CONFIG_MODEM_MODULES_LOG_LEVEL);
+
+#define MODEM_UBX_STATE_ATTACHED_BIT		(0)


Suggested change

#define MODEM_UBX_STATE_ATTACHED_BIT (0)

#define MODEM_UBX_STATE_ATTACHED_BIT 0

mayankmahajan-nxp · 2024-03-21T11:40:13Z

Hi @bjarki-trackunit and @fabiobaltieri, thank you for the review. I have addressed the latest comments. Kindly have a look at your convenience.

drivers/gnss/CMakeLists.txt

fabiobaltieri · 2024-03-21T11:41:12Z

drivers/gnss/gnss_u_blox_m10.c

+/* The datasheet of the device doesn't specify boot time. But 1 sec helped significantly. */
+#define UBX_M10_BOOT_TIME_MS		1000
+
+enum MODEM_MODULE {


Suggested change

enum MODEM_MODULE {

enum modem_module {

if you really want an enum here, though to me it looks like you could just replace this with a boolean and everything would be come a tiny bit simpler, do you forsee this getting more values in the future? The whole ubx_m10_modem_module_switch just looks really really weird right now

@fabiobaltieri We don't foresee more modem modules being used in this driver. We could utilize a boolean macro, but i thought enum improves readability. I would prefer an enum here, but if you want i will change this as you said.

Ok, I think it should be changed, I mean this would maybe make sense if you wanted to do stuff like ubx_m10_modem_module_switch(MODEM_MODULE_CHAT, MODEM_MODULE_CHAT);, it's just odd to have an enum for what is effectively a boolean and having having switch with default statement and error path for what should just be a if. @bjarki-trackunit?

Yes @fabiobaltieri, I understand your point now. Passing two arguments to ubx_m10_modem_module_switch isn't required. Would the following work?

/** * @brief Changes modem module (chat or ubx) attached to the uart pipe. * @param dev Dev instance * @param change_from_to 0 for changing from "chat" to "ubx", 1 for changing from "ubx" to "chat" * @returns 0 if successful * @returns negative errno code if failure */ static int ubx_m10_modem_module_change(const struct device *dev, bool change_from_to) { struct ubx_m10_data *data = dev->data; int ret; if (change_from_to == 0) { modem_chat_release(&data->chat); ret = modem_ubx_attach(&data->ubx, data->uart_pipe); } else { /* change_from_to == 1 */ modem_ubx_release(&data->ubx); ret = modem_chat_attach(&data->chat, data->uart_pipe); } if (ret < 0) { (void)modem_pipe_close(data->uart_pipe); } return ret; }

Ps. I would prefer an enum here (or a couple of macros). Because without these, while calling ubx_m10_modem_module_change, we have to pass a literal. For now I have pushed the changes as per your comments.

enum modem_module_change { MODEM_MODULE_CHAT_TO_UBX = 0, MODEM_MODULE_UBX_TO_CHAT = 1, };

you could just call release followed by attach. not sure a helper function is required for this :) I would create two helpers named switch_to_chat and switch_to_ubx, instead of passing arguments to a single function :)

subsys/modem/Kconfig

mayankmahajan-nxp · 2024-03-23T04:43:55Z

Hi @fabiobaltieri, thank you for the review. I have addressed the comments.

fabiobaltieri

Heya, just a comment on definitions, sorry I think I asked you to drop the parenthesis to the literal ones before, I meant to ask that only for definitions with a single literal, the others should have them otherwise weird things can happen depending on how they are used.

fabiobaltieri · 2024-03-25T09:12:40Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.h

+#define UBX_CFG_NAK_PAYLOAD_SZ			2
+#define UBX_CFG_RATE_PAYLOAD_SZ			6
+#define UBX_CFG_PRT_POLL_PAYLOAD_SZ		1
+#define UBX_CFG_PRT_POLL_FRM_SZ			UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_POLL_PAYLOAD_SZ


this and the other defines with operations should be parenthesized, just to be sure there's no hidden operation priority errors

fabiobaltieri · 2024-03-25T09:13:20Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.h

+#define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1		0U
+#define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1_HALF		BIT(12)
+#define UBX_CFG_PRT_PORT_MODE_STOP_BITS_2		BIT(13)
+#define UBX_CFG_PRT_PORT_MODE_STOP_BITS_HALF		BIT(12) | BIT(13)


same for this one, just the ones with multiple operands

fabiobaltieri · 2024-03-25T09:13:32Z

drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.h

+#define UBX_CFG_GNSS_FLAG_DISABLE		0U
+#define UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT		16
+/* When gnss_id is 0 (GPS) */
+#define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L1C_A	0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT


MODEM_UBX: Adds Support for UBX Messages in Modem Subsystem. GNSS API Supported: get_supported_systems, set_fix_rate, get_fix_rate, set_enabled_systems, get_enabled_systems, set_navigation_mode, get_navigation_mode. Boards Tested: MIMXRT1062_FMURT6, VMU_RT1170. Note: Partial support for U-BLOX Messages is provided as of now. Signed-off-by: Sumit Batra <sumit.batra@nxp.com> Signed-off-by: Mayank Mahajan <mayankmahajan.x@nxp.com>

mayankmahajan-nxp · 2024-03-25T10:25:59Z

Heya, just a comment on definitions, sorry I think I asked you to drop the parenthesis to the literal ones before, I meant to ask that only for definitions with a single literal, the others should have them otherwise weird things can happen depending on how they are used.

Hi @fabiobaltieri, appreciate the review. I have addressed the comments. Kindly check at your convenience.

bjarki-andreasen

Nice work!

JordanYates · 2024-07-13T12:34:50Z

I know I'm a few months late here, but I'm curious how this works given that the Ublox protocol used on the M10 chipsets no longer support the old dedicated CFG-* messages?

The following struct for example no longer exists in the M10 interface description:

zephyr/drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.h

Lines 62 to 66 in 2e01266

    
           struct ubx_cfg_rate_payload { 
        
           	uint16_t meas_rate_ms; 
        
           	uint16_t nav_rate; 
        
           	uint16_t time_ref; 
        
           };

mayankmahajan-nxp · 2024-07-13T12:42:33Z

Hi @JordanYates, thank you for the comment. I will look into this and get back to you soon.

zephyrbot added area: Devicetree Binding PR modifies or adds a Device Tree binding area: GNSS area: Samples Samples area: Modem labels Jan 31, 2024

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fabiobaltieri merged commit 3d81167 into zephyrproject-rtos:main Mar 26, 2024
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JordanYates mentioned this pull request Jul 29, 2024

gnss: rename u-blox M10 driver to M8 #76401

Merged

	(void) ubx_m10_modem_ubx_script_fill(dev);
	(void)ubx_m10_modem_ubx_script_fill(dev);

		payload->config_blocks[index].flags = enable \|
		UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L1C_A;

	#define MODEM_UBX_STATE_ATTACHED_BIT (0)
	#define MODEM_UBX_STATE_ATTACHED_BIT 0

ADD: GNSS Driver for U-BLOX M10 & Support for UBX Messages #68350

ADD: GNSS Driver for U-BLOX M10 & Support for UBX Messages #68350

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bjarki-andreasen Mar 26, 2024 •

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JordanYates commented Jul 13, 2024 •

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