█ 【无人机学习之Mission Planner】RTK/GPS Inject 学习

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█ 系列文章目录

提示：这里是收集了无人机的相关文章

• 【无人机学习】无人机基础知识
• 【无人机学习】Mission Planner（pc端）和QGroundControl（android端）
• 【无人机学习之DroidPlanner】FlightActivity的启动过程
• 【无人机学习之DroidPlanner】msg_heartbeat心跳处理(含MAVLink协议)
• 【无人机学习之DroidPlanner】msg_sys_status系统状态
• 【无人机学习之QGroundControl】android端App初解1
• 【无人机学习之QGroundControl】android端App初解2-APMPowerComponent（含QML的介绍）
• 【无人机学习之QGroundControl】android端App初解3-ParameterEditorController
• 【无人机学习之Mission Planner】RTK/GPS Inject 学习

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█ 文章目录

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█ 读前说明

• 本文通过学习别人写demo,学习一些课件,参考一些博客,学习相关知识，如有涉及侵权请告知
• 本文可能只简单罗列了一些相关的代码实现过程，复制了一些大神的高论，如内容有误请自行辨别
• 涉及到的逻辑以及说明可能只做了简单的介绍，主要当做笔记，了解过程而已，如有不同看法，欢迎下方评论
• 本文源码：https://github.com/ArduPilot/MissionPlanner

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█ RTK/GPS Inject

• 寻找u-blox GNSS Receiver 连接方式

• >>>>外接USB时，显示 u-blox GNSS Receiver ，有时候会出现无法识别，可以重启设备
  

• 读取到的usb设备信息

[mName=/dev/bus/usb/001/021,mVendorId=5446,mProductId=425,mClass=2,mSubclass=0,mProtocol=0,mManufacturerName=u-blox AG - www.u-blox.com,mProductName=u-blox GNSS receiver,mVersion=1.16,mSerialNumber=null,mConfigurations=[
UsbConfiguration[mId=1,mName=null,mAttributes=192,mMaxPower=0,mInterfaces=[
UsbInterface[mId=0,mAlternateSetting=0,mName=null,mClass=2,mSubclass=2,mProtocol=1,mEndpoints=[
UsbEndpoint[mAddress=131,mAttributes=3,mMaxPacketSize=64,mInterval=255]]
UsbInterface[mId=1,mAlternateSetting=0,mName=null,mClass=10,mSubclass=0,mProtocol=255,mEndpoints=[
UsbEndpoint[mAddress=1,mAttributes=2,mMaxPacketSize=64,mInterval=0]
UsbEndpoint[mAddress=130,mAttributes=2,mMaxPacketSize=64,mInterval=0]]]]

• 5446是什么

USB设备的厂商ID。产品名为 u-blox GNSS receiver。

• ubloxusb.inf

此文件在Drivers\ubloxusb.inf

;------------------------------------------------------------------------------
;  String Definitions
;------------------------------------------------------------------------------

[Strings]
PROVNAME="u-blox AG"
MFGNAME="u-blox AG" // 生产厂家/制造商 名称
INSTDISK="Installation Disc"
DESCRIPTIONU8="u-blox GNSS Receiver"
DESCRIPTIONU7="u-blox 7 GPS/GNSS Receiver"
DESCRIPTIONU6="u-blox 6 GPS Receiver"
DESCRIPTIONU5="u-blox 5 GPS and GALILEO Receiver"
DESCRIPTIONA4="u-blox ANTARIS 4 GPS Receiver"

█ u-blox GNSS Receiver 是什么？

• Vendor ID 和 Product ID

USB设备的VID(Vendor ID)是指厂商ID、供应商ID。每一个USB设备都具有VID，通过VID可以获取到该USB设备对应的USB设备厂商。
USB设备的PID(Product ID)是指产品ID、产品识别码。
USB设备的VID、PID可能是主控芯片的生产商信息，也有可能是USB设备生产商信息。
当USB设备连接主机时，如果固件中有设备生产商的VID和PID，会将该VID和PID报告给主机，而忽略主控芯片生产商的VID和PID。
很多USB设备生产商(山寨厂居多)为了方便，并不会向USB执行论坛申请自己的VID，而是依然沿用主控生产商的VID或随便向产品写入VID和PID；

    <!-- 0x1546 / 0x01a7: ublox 7020-->
    <usb-device vendor-id="5446" product-id="423" />

    <!-- 0x1546 / 0x01a6: ublox NEO-6P -->
    <usb-device vendor-id="5446" product-id="422" />

    <!-- 0x1546 / 0x01a9: u-blox GNSS receiver -->
    <usb-device vendor-id="5446" product-id="425" />
    
    <!-- 0x0403 / 0x6015: FTDI FT231X -->
    <usb-device vendor-id="1027" product-id="24597" />

    <!-- 0x2341 / Arduino -->
    <usb-device vendor-id="9025" />

    <!-- 0x16C0 / 0x0483: Teensyduino  -->
    <usb-device vendor-id="5824" product-id="1155" />

    <!-- 0x10C4 / 0xEA60: CP210x UART Bridge -->
    <usb-device vendor-id="4292" product-id="60000" />
    
    <!-- 0x067B / 0x2303: Prolific PL2303 -->
    <usb-device vendor-id="1659" product-id="8963" />

• 查询方式

查询方式	网站	说明
USB-IF	usb厂商列表 PDF	USB-IF是一家非营利性公司，USB的官网，通过官网查询最为准确，官网每个季度都会进行更新。
Linux USB Project	List of USB ID’s	这个查询比较方便
Device Hunt	通过Vendor ID和Device ID查询	一个PCI和USB设备数据库，用于帮助任何寻找PCIdatabase.com替代 PCI 或 USB 设备的人。

• u-blox 查询结果

u-blox芯片是瑞士优北罗股份有限公司（u-blox AG） (SIX:UBXN)所研发的芯片。u-blox公司除芯片产品之外，自主研发的解决方案能准确进行人员、车辆和机器的定位。
u-blox C099-F9P应用套件主要用于u-blox ZED-F9P多频RTK解决方案的评估与测试，ZED-F9P是一款多星座、多频段GNSS接收机，可同时接收来自多达四种GNSS卫星导航系统（GPS、GLONASS、Galileo、北斗）的信号，能在数秒内提供厘米级定位精度，适用于大众应用市场。
C-RTK 9Ps是由CUAV推出的一款四星多频RTK定位系统（Real Time Kinematics） ，您可以使用2个C-RTK 9Ps模块（一个做飞机端、一个做基站端）组成完整的多星多频RTK定位系统。

>>>>大概推测下，C-RTK 9Ps 使用了 u-blox 9 (即 u-blox GNSS receiver)，在使用u-center 配置C-RTK9P时，选择u-blox Generation 9 和 ucenter_config_f9p_gvins.txl 配置，所以称之为 u-blox 9 也没错， 因此读取到 mVendorId=5446,mProductId=425，但是他们没去论坛申请PID,因此查询不到

1546  U-Blox AG
	01a4  Antaris 4
	01a5  [u-blox 5]
	01a6  [u-blox 6]
	01a7  [u-blox 7]
	01a8  [u-blox 8]
	1102  LISA-U2

█ MissionPlanner 中的代码

• UI：ConfigurationView.ConfigSerialInjectGPS.xam

此文件在ExtLibs\uno\UnoUI\UnoUI.Shared\test\MissionPlanner.GCSViews.ConfigurationView.ConfigSerialInjectGPS.xaml

<UserControl xmlns:controls="using:Microsoft.Toolkit.Uwp.UI.Controls"
    x:Class="MissionPlanner.GCSViews.ConfigurationView.ConfigSerialInjectGPS">
    <!-- 右上 链路状态 和 定位类型-->
    <Grid>
        <!-- 右上1 链路状态 link status  -->
        <Grid Name="groupBox3">
            <TextBlock Name="label3">Input data rate</TextBlock>
            <TextBlock Name="lbl_status1">300 bps</TextBlock>
            <TextBlock Name="label4">Output data rate</TextBlock>
            <TextBlock Name="label6">Messages Seen</TextBlock>
            <TextBlock Name="lbl_status2">2  bps sent</TextBlock>
            <TextBlock Name="labelmsgseen">rtcm0000</TextBlock>
        </Grid>
        <!-- 右上2 RTCM 四大卫星导航与定位系统:美国GPS、俄罗斯GLONASS、北斗(BDS)、欧盟GALILEO -->
        <Grid Name="groupBox2">
            <TextBlock Name="labelGall"></TextBlock>
            <TextBlock Name="label16">Galileo</TextBlock>
            <TextBlock Name="label14BDS"></TextBlock>
            <TextBlock Name="label15">Beidou</TextBlock>
            <TextBlock Name="labelglonass"></TextBlock>
            <TextBlock Name="labelgps"></TextBlock>
            <TextBlock Name="labelbase"></TextBlock>
            <TextBlock Name="label13">Glonass</TextBlock>
            <TextBlock Name="label12">Gps</TextBlock>
            <TextBlock Name="label5">RTCM Base</TextBlock>
            <TextBlock Name="label11">Base</TextBlock>
            <TextBlock Name="lbl_status3">-00.000000000 000.000000000 0000.000000000</TextBlock>
        </Grid>
        <!-- 左上 -->
        <ComboBox Name="CMB_serialport"></ComboBox>
        <Button Name="BUT_connect">Connect</Button>
        <ComboBox Name="CMB_baudrate"></ComboBox>
        <CheckBox Name="chk_rtcmmsg">Inject MSG Type</CheckBox>
        <CheckBox Name="chk_ubloxautoconfig">M8P/F9P autoconfig</CheckBox>
        <!-- 底部  M8P/F9P -->
        <!-- SplitContainer 类 表示一个由可移动条组成的控件，该可移动条将容器的显示区域分成两个大小可调的面板。 -->
        <!-- splitContainer控件本身就分为panel1和panel2两部分 -->
        <Grid Name="splitContainer1">
            <Grid>
                <!-- this.groupBoxm8p.Controls.Add(this.groupBox1); -->
                <!-- this.groupBoxm8p.Controls.Add(this.panel2); -->
                <!-- this.splitContainer1.Panel1.Controls.Add(this.groupBoxm8p); -->
                <Grid Name="groupBoxm8p">
                    <!-- groupBox1 即 ubxsvin 标签-->
                    <Grid Name="groupBox1">
                        <TextBlock Name="lbl_svin">Postion is valid/invalid</TextBlock>
                        <TextBlock Name="label7">Lat/X / In Progress / Complete</TextBlock>
                        <TextBlock Name="label8">Lng/Y / Duration </TextBlock>
                        <TextBlock Name="label9">Alt/Z / Observations</TextBlock>
                        <TextBlock Name="label10">Current Acc: </TextBlock>
                    </Grid>

                    <Grid Name="panel2"">
                        <CheckBox Name="chk_movingbase">Moving Base</CheckBox>
                        <Button Name="but_restartsvin">Restart</Button>
                        <CheckBox Name="chk_m8p_130p">M8P fw 130+/F9P</CheckBox>
                        <Button Name="but_save_basepos">Save Current Position</Button>
                        <controls:DataGrid Name="dg_basepos"></controls:DataGrid>
                        <TextBlock Name="label2">Time(s)</TextBlock>
                        <TextBox Name="txt_surveyinAcc" Text="2.00"></TextBox>
                        <TextBlock Name="label1">SurveyIn Acc(m)</TextBlock>
                        <TextBox Name="txt_surveyinDur" Text="60"></TextBox>
                    </Grid>
                </Grid>
            </Grid>
            <!-- this.splitContainer1.Panel2.Controls.Add(this.panel1); -->
            <Grid>
                <Grid Name="panel1"></Grid>
            </Grid>
        </Grid>
    </Grid>
</UserControl>

• ConfigSerialInjectGPS.Designer.cs 组件初始化

此文件在GCSViews\ConfigurationView\ConfigSerialInjectGPS.Designer.cs

namespace MissionPlanner.GCSViews.ConfigurationView
{
    partial class ConfigSerialInjectGPS
    {
        /// <summary>
        /// Required method for Designer support - do not modify
        /// the contents of this method with the code editor.
        /// </summary>
        private void InitializeComponent()
        {
            this.components = new System.ComponentModel.Container();
            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ConfigSerialInjectGPS));
            // 左上
            this.CMB_serialport = new System.Windows.Forms.ComboBox();
            this.CMB_baudrate = new System.Windows.Forms.ComboBox();
            this.chk_rtcmmsg = new System.Windows.Forms.CheckBox();
            this.chk_ubloxautoconfig = new System.Windows.Forms.CheckBox();
            this.BUT_connect = new MissionPlanner.Controls.MyButton();
             this.chk_sendgga = new System.Windows.Forms.CheckBox();
            // 底部  M8P/F9P
            this.groupBoxm8p = new System.Windows.Forms.GroupBox();
            this.groupBox1 = new System.Windows.Forms.GroupBox();
            this.lbl_svin = new System.Windows.Forms.Label();
            this.label10 = new System.Windows.Forms.Label();
            this.label7 = new System.Windows.Forms.Label();
            this.label9 = new System.Windows.Forms.Label();
            this.label8 = new System.Windows.Forms.Label();
            
            this.panel2 = new System.Windows.Forms.Panel();
            this.but_restartsvin = new MissionPlanner.Controls.MyButton();
            this.chk_m8p_130p = new System.Windows.Forms.CheckBox();
            this.but_save_basepos = new MissionPlanner.Controls.MyButton();
            this.dg_basepos = new MissionPlanner.Controls.MyDataGridView();
            
            this.Lat = new System.Windows.Forms.DataGridViewTextBoxColumn();
            this.Long = new System.Windows.Forms.DataGridViewTextBoxColumn();
            this.Alt = new System.Windows.Forms.DataGridViewTextBoxColumn();
            this.BaseName1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
            this.Use = new System.Windows.Forms.DataGridViewButtonColumn();
            this.Delete = new System.Windows.Forms.DataGridViewButtonColumn();
            
            this.label2 = new System.Windows.Forms.Label();
            this.txt_surveyinAcc = new System.Windows.Forms.TextBox();
            this.label1 = new System.Windows.Forms.Label();
            this.txt_surveyinDur = new System.Windows.Forms.TextBox();
            this.panel1 = new System.Windows.Forms.Panel();
            
            this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
           
			// 右上 链路状态 link status  RTCM 四大卫星导航与定位系统
            this.lbl_status2 = new System.Windows.Forms.Label();
            this.lbl_status3 = new System.Windows.Forms.Label();
            this.label3 = new System.Windows.Forms.Label();
            this.label4 = new System.Windows.Forms.Label();
            。。。。。。
            
            this.myGMAP1 = new MissionPlanner.Controls.myGMAP();
            
            // 
            // CMB_serialport
            // 
            resources.ApplyResources(this.CMB_serialport, "CMB_serialport");
            this.CMB_serialport.Name = "CMB_serialport";
            this.CMB_serialport.SelectedIndexChanged += new System.EventHandler(this.CMB_serialport_SelectedIndexChanged);
            // 
            // CMB_baudrate
            // 
            this.CMB_baudrate.Items.AddRange(new object[] {
            resources.GetString("CMB_baudrate.Items"),
            resources.GetString("CMB_baudrate.Items1"),
            resources.GetString("CMB_baudrate.Items2"),
            resources.GetString("CMB_baudrate.Items3"),
            resources.GetString("CMB_baudrate.Items4"),
            resources.GetString("CMB_baudrate.Items5"),
            resources.GetString("CMB_baudrate.Items6"),
            resources.GetString("CMB_baudrate.Items7"),
            resources.GetString("CMB_baudrate.Items8"),
            resources.GetString("CMB_baudrate.Items9"),
            resources.GetString("CMB_baudrate.Items10"),
            resources.GetString("CMB_baudrate.Items11"),
            resources.GetString("CMB_baudrate.Items12")});
            resources.ApplyResources(this.CMB_baudrate, "CMB_baudrate");
            this.CMB_baudrate.Name = "CMB_baudrate";
            // 
            // lbl_status1
            // 
            resources.ApplyResources(this.lbl_status1, "lbl_status1");
            this.lbl_status1.Name = "lbl_status1";
            // 
            // chk_ubloxautoconfig
            // 
            resources.ApplyResources(this.chk_ubloxautoconfig, "chk_ubloxautoconfig");
            this.chk_ubloxautoconfig.Name = "chk_ubloxautoconfig";
            this.toolTip1.SetToolTip(this.chk_ubloxautoconfig, resources.GetString("chk_ubloxautoconfig.ToolTip"));
            this.chk_ubloxautoconfig.UseVisualStyleBackColor = true;
            this.chk_ubloxautoconfig.CheckedChanged += new System.EventHandler(this.chk_m8pautoconfig_CheckedChanged);
            // 
            // panel2
            // 
            resources.ApplyResources(this.panel2, "panel2");
            this.panel2.Controls.Add(this.but_restartsvin);
            this.panel2.Controls.Add(this.chk_m8p_130p);
            this.panel2.Controls.Add(this.but_save_basepos);
            this.panel2.Controls.Add(this.dg_basepos);
            this.panel2.Controls.Add(this.label2);
            this.panel2.Controls.Add(this.txt_surveyinAcc);
            this.panel2.Controls.Add(this.label1);
            this.panel2.Controls.Add(this.txt_surveyinDur);
            this.panel2.Name = "panel2";
            // 
            // but_restartsvin
            // 
            resources.ApplyResources(this.but_restartsvin, "but_restartsvin");
            this.but_restartsvin.Name = "but_restartsvin";
            this.but_restartsvin.Click += new System.EventHandler(this.but_restartsvin_Click);
            // 
            // chk_m8p_130p
            // 
            resources.ApplyResources(this.chk_m8p_130p, "chk_m8p_130p");
            this.chk_m8p_130p.Name = "chk_m8p_130p";
            this.chk_m8p_130p.CheckedChanged += new System.EventHandler(this.chk_m8p_130p_CheckedChanged);
			。。。。。。
            this.but_save_basepos.Click += new System.EventHandler(this.but_save_basepos_Click);
            this.txt_surveyinAcc.TextChanged += new System.EventHandler(this.txt_surveyinAcc_TextChanged);
            this.txt_surveyinDur.TextChanged += new System.EventHandler(this.txt_surveyinDur_TextChanged);
            this.BUT_connect.Click += new System.EventHandler(this.BUT_connect_Click);
            。。。。。。
            // 
            // ConfigSerialInjectGPS
            // 
            this.Controls.Add(this.chk_rtcmmsg);
            this.Controls.Add(this.CMB_baudrate);
            this.Controls.Add(this.BUT_connect);
            this.Controls.Add(this.CMB_serialport);
            this.Name = "ConfigSerialInjectGPS";
            resources.ApplyResources(this, "$this");
            。。。。。。
            this.ResumeLayout(false);
            this.PerformLayout();

        }
    }
}

• ConfigSerialInjectGPS.resx 翻译

此文件在GCSViews\ConfigurationView\ConfigSerialInjectGPS.resx

  <data name="&gt;&gt;$this.Name" xml:space="preserve">
    <value>ConfigSerialInjectGPS</value>
  </data>
  <data name="groupBox3.Text" xml:space="preserve">
    <value>Link Status</value>
  </data>
  <data name="groupBox2.Text" xml:space="preserve">
    <value>RTCM</value>
  </data>
  <data name="chk_ubloxautoconfig.Text" xml:space="preserve">
    <value>UBlox M8P/F9P autoconfig</value>
  </data>
   <data name="groupBoxm8p.Text" xml:space="preserve">
    <value>UBlox M8P/F9P</value>
  </data>
 
  <data name="groupBoxm8p.Text" xml:space="preserve">
    <value>UBlox M8P/F9P</value>
  </data> <data name="CMB_baudrate.Items" xml:space="preserve">
    <value>2400</value>
  </data>

  <data name="CMB_baudrate.Items1" xml:space="preserve">
    <value>4800</value>
  </data>
  <data name="CMB_baudrate.Items2" xml:space="preserve">
    <value>9600</value>
  </data>
  <data name="CMB_baudrate.Items3" xml:space="preserve">
    <value>14400</value>
  </data>
  <data name="CMB_baudrate.Items4" xml:space="preserve">
    <value>19200</value>
  </data>
  <data name="CMB_baudrate.Items5" xml:space="preserve">
    <value>28800</value>
  </data>
  <data name="CMB_baudrate.Items6" xml:space="preserve">
    <value>38400</value>
  </data>
  <data name="CMB_baudrate.Items7" xml:space="preserve">
    <value>57600</value>
  </data>
  <data name="CMB_baudrate.Items8" xml:space="preserve">
    <value>115200</value>
  </data>
  <data name="CMB_baudrate.Items9" xml:space="preserve">
    <value>230400</value>
  </data>
  <data name="CMB_baudrate.Items10" xml:space="preserve">
    <value>460800</value>
  </data>
  <data name="CMB_baudrate.Items11" xml:space="preserve">
    <value>500000</value>
  </data>
  <data name="CMB_baudrate.Items12" xml:space="preserve">
    <value>1000000</value>
  </data>

  <data name="lbl_svin.ToolTip" xml:space="preserve">
    <value>Survey in information
Valid: is the survey in valid
InProgress: are we currently surveying in our position
Duration: the number of seconds we have surveyed in
Obs: number of obsivation used in our survey in
Acc: current accuracy of our survey in point
</value>
  </data>

• ConfigSerialInjectGPS.cs 主要功能类

此文件在GCSViews\ConfigurationView\ConfigSerialInjectGPS.cs"

点击连接	public void BUT_connect_Click(object sender, EventArgs e)	若已连接，则直接关闭连接，关闭文件流
开始连接	public void DoConnect()	根据选项，创建对应的 ICommsSerial
初始化	comPort.Write(‘’\r\r\r’‘}, 0, 3); comPort.Write(’‘S8\r’‘}, 0, 3); comPort.Write(’‘O\r’'}, 0, 2);	this is for a CAN adapter
创建文件流	new BinaryWriter( new BufferedStream( File.Open()))	文件流将串口接收的数据保存下来
Setup UBLOX	ubx_m8p.SetupM8P(comPort, chk_m8p_130p) ubx_m8p.SetupBasePos(comPort, basepos, 0, 0, true); CMB_baudrate.Text = “460800”;	inject init strings - m8p
创建线程	new System.Threading.ThreadStart(mainloop)	发送和接收数据
接收Can1062	can.MessageReceived	如果我们收到can消息，则将rtcm数据输入rtcm解析器(这边测试应该是没执行到)
接收Can1062	can.MessageReceived	如果我们收到can消息，则将rtcm数据输入rtcm解析器(这边测试应该是没执行到)
转发到飞控	sendData(buffer, (ushort)read);	上传飞控

    public partial class ConfigSerialInjectGPS : UserControl, IActivate, IDeactivate  {
        internal static ICommsSerial comPort;// serialport
        private static Utilities.rtcm3 rtcm3 = new Utilities.rtcm3();// rtcm detection
        private static Utilities.sbp sbp = new Utilities.sbp();// sbp detection
        private static Utilities.Ubx ubx_m8p = new Utilities.Ubx();// ubx detection
        static nmea nmea = new nmea();
        static DroneCAN.DroneCAN can = new DroneCAN.DroneCAN();
        private static System.Threading.Thread t12;// background thread 
        private static bool threadrun = false;
        private static ConcurrentDictionary<string,int> msgseen = new ConcurrentDictionary<string, int>();// track rtcm msg's seen,保存 如 Ubx0671=2 Ubx0107=43 的键值对，方便显示
        private static int bytes = 0;// track bytes seen
        private static int bps = 0;// 每秒接收的字节数
        private static int bpsusefull = 0;// 每秒发送的字节数
        private static bool rtcm_msg = true;// chk_rtcmmsg.Checked (Inject MSG Type)
        private static ConfigSerialInjectGPS Instance;
        static private BinaryWriter basedata;// 文件写入流,连接一次创建一个，文件路径为：Android\data\com.michaeloborne.MissionPlanner\files\Mission Planner\logs\2023-01-10 14-30-38.gpsbase
        private static string status_line3;// RTCM Base 值，如 "24.9 118.6 17.8 - 14:32:30"

        static ConfigSerialInjectGPS()  {
            try  {
                comPort = new SerialPort();
            }  catch  {
                comPort = new TcpSerial();
            }
        }
        
        public ConfigSerialInjectGPS() {
            InitializeComponent();
            Instance = this;
            status_line3 = null;
            CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
            CMB_serialport.Items.Add("UDP Host");
            CMB_serialport.Items.Add("UDP Client");
            CMB_serialport.Items.Add("TCP Client");
            CMB_serialport.Items.Add("NTRIP");
            if (threadrun)  {  BUT_connect.Text = Strings.Stop; }
            splitContainer1.Panel1Collapsed = true;
            // restore last port and baud - its the simple things that make life better
            。。。。。。
            // restore current static state
            chk_rtcmmsg.Checked = rtcm_msg;// true
            rtcm3.ObsMessage += Rtcm3_ObsMessage;

            MissionPlanner.Utilities.Tracking.AddPage(this.GetType().ToString(), this.Text);
        }

        private void Rtcm3_ObsMessage(object sender, EventArgs e)     {
            if (MainV2.instance.IsDisposed)
                threadrun = false;

            MainV2.instance.BeginInvoke((MethodInvoker)delegate {
               List<rtcm3.ob> obs = sender as List<rtcm3.ob>;
               if (obs.Count == 0) return;

               panel1.SuspendLayout();
                // get system controls
                Func<char, List<VerticalProgressBar2>> ctls = delegate (char sys) {
                   return panel1.Controls.OfType<VerticalProgressBar2>()
                       .Where(ctl => { return ctl.Label.StartsWith(sys + ""); }).ToList();
               };
                // we need more ctls for this system
                while (ctls.Invoke(obs[0].sys).Count() < obs.Count)
                   panel1.Controls.Add(new VerticalProgressBar2()  {
                       Height = panel1.Height - 30,
                       Label = obs[0].sys + ""
                   });

               ctls.Invoke(obs[0].sys).ForEach((vp) => vp.Value = 0);
               int width = panel1.Width / panel1.Controls.OfType<VerticalProgressBar2>().Count();
               var tmp = ctls('G'); var tmp2 = ctls('R');var tmp3 = ctls('B');var tmp4 = ctls('E'); var tmp5 = ctls('Q');
               var start = 0;

               if (obs[0].sys == 'G') start = 0;
               if (obs[0].sys == 'R') start = tmp.Count;
               if (obs[0].sys == 'B') start = tmp.Count + tmp2.Count;
               if (obs[0].sys == 'E') start = tmp.Count + tmp2.Count + tmp3.Count;
               if (obs[0].sys == 'Q') start = tmp.Count + tmp2.Count + tmp3.Count + tmp4.Count;

               // if G 0, if R = G.count (2 system support)
               var a = start;

               var sysctls = ctls.Invoke(obs[0].sys);
               var cnt = 0;
               foreach (var ob in obs) {
                   var vpb = sysctls[cnt];
                   vpb.Value = (int)ob.snr;
                    //vpb.Text = ob.snr.ToString();
                    vpb.Label = ob.sys + ob.prn.ToString();
                   vpb.Location = new Point(width * (a + cnt), 0);
                   vpb.DrawLabel = true;
                   vpb.Width = width;
                   vpb.Height = panel1.Height - 30;
                   vpb.Minimum = 25; vpb.Maximum = 55; vpb.minline = 40; vpb.maxline = 99;
                   cnt++;
               }
               ThemeManager.ApplyThemeTo(panel1);
               panel1.ResumeLayout();
           });
        }
		// 连接按钮
        public void BUT_connect_Click(object sender, EventArgs e) {
            threadrun = false;
            if (comPort.IsOpen) {// 停止
                threadrun = false;
                comPort.Close();
                BUT_connect.Text = Strings.Connect;
                chk_sendgga.Enabled = true;
                try {
                    basedata.Close();
                    basedata = null;
                }  catch  { }
            } else {// 连接
                DoConnect();
            }
        }

        public void DoConnect()  {
            status_line3 = null;
            try {
                if (!comPort.IsOpen) {
                    switch (CMB_serialport.Text) {
                        case "NTRIP":
                            comPort = new CommsNTRIP();
                            CMB_baudrate.SelectedIndex = 0;
                            if (chk_sendgga.Checked) {
                                ((CommsNTRIP) comPort).lat = MainV2.comPort.MAV.cs.PlannedHomeLocation.Lat;
                                ((CommsNTRIP) comPort).lng = MainV2.comPort.MAV.cs.PlannedHomeLocation.Lng;
                                ((CommsNTRIP) comPort).alt = MainV2.comPort.MAV.cs.PlannedHomeLocation.Alt;
                            }
                            chk_sendgga.Enabled = false;
                            chk_ubloxautoconfig.Checked = false;
                            break;
                        case "TCP Client":
                            comPort = new TcpSerial();
                            CMB_baudrate.SelectedIndex = 0;
                            break;
                        case "UDP Host":
                            comPort = new UdpSerial();
                            CMB_baudrate.SelectedIndex = 0;
                            break;
                        case "UDP Client":
                            comPort = new UdpSerialConnect();
                            CMB_baudrate.SelectedIndex = 0;
                            break;
                        default:
                            comPort = new SerialPort();//  如：usb设备 u-blox GNSS Receiver
                            comPort.PortName = CMB_serialport.Text;
                            break;
                    }
                    Settings.Instance["SerialInjectGPS_port"] = CMB_serialport.Text;
                    Settings.Instance["SerialInjectGPS_baud"] = CMB_baudrate.Text;
                }
                // ArgumentException
                comPort.BaudRate = int.Parse(CMB_baudrate.Text);
                comPort.ReadBufferSize = 1024 * 64;
                if (!comPort.IsOpen)
                   comPort.Open();
                if (comPort is SerialPort) {
                    // this is for a CAN adapter
                    comPort.Write(new byte[] {(byte) '\r', (byte) '\r', (byte) '\r'}, 0, 3);
                    Thread.Sleep(50);
                    comPort.Write(new byte[] {(byte) 'S', (byte) '8', (byte) '\r'}, 0, 3);
                    Thread.Sleep(50);
                    comPort.Write(new byte[] {(byte) 'O', (byte) '\r'}, 0, 2);
                }
                // Exception 
                basedata = new BinaryWriter(new BufferedStream(
                File.Open(// 文件路径为：Android\data\com.michaeloborne.MissionPlanner\files\Mission Planner\logs\2023-01-10 14-30-38.gpsbase
                    Settings.Instance.LogDir + Path.DirectorySeparatorChar +
                    DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".gpsbase", FileMode.CreateNew,
                    FileAccess.ReadWrite, FileShare.None)));
            } catch (ArgumentException ex) {
                log.Error(ex);
                // try pipe method
                comPort = new CommsSerialPipe();
                comPort.PortName = CMB_serialport.Text;
                comPort.BaudRate = int.Parse(CMB_baudrate.Text);
				try {
                     comPort.Open();
                 } catch {
                     comPort.Close();
                     throw;
                 }
            }  catch (Exception ex2) {
                CustomMessageBox.Show("Error creating file to save base data into " + ex2.ToString());
            }  catch (Exception ex) {
                CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??\n" + ex.ToString());
            } catch  {
                CustomMessageBox.Show(Strings.InvalidPortName);
                return;
            }
            // inject init strings - m8p
            if (chk_ubloxautoconfig.Checked) {
                this.LogInfo("Setup UBLOX");
                try {
                    ubx_m8p.SetupM8P(comPort, chk_m8p_130p.Checked);
                } catch (Exception ex) {
                    log.Error(ex);
                    CustomMessageBox.Show("Error configuring\n" + ex.ToString());
                    return;
                }
                if (basepos != PointLatLngAlt.Zero) {
                    ubx_m8p.SetupBasePos(comPort, basepos, 0, 0, true);
                    ubx_m8p.SetupBasePos(comPort, basepos, 0, 0, false);
                }
                CMB_baudrate.Text = "460800";
                this.LogInfo("Setup UBLOX done");
            }

            t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop)) {IsBackground = true, Name = "injectgps"};
            t12.Start();
            BUT_connect.Text = Strings.Stop;
            msgseen.Clear();
            bytes = 0;
            invalidateRTCMStatus();
            panel1.Controls.Clear();
        }

        private static void mainloop() {
            threadrun = true;
            bool isrtcm = false;
            bool issbp = false;
            bool iscan = false;
            // feed the rtcm data into the rtcm parser if we get a can message
            can.MessageReceived += (frame, msg, id) => {
                string msgname = "Can" + frame.MsgTypeID;// 没执行到
                msgseen[msgname] = (int) msgseen[msgname] + 1;
				// public const int UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_DT_ID = 1062;
                if (frame.MsgTypeID == (ushort)DroneCAN.DroneCAN.uavcan_equipment_gnss_RTCMStream.UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_DT_ID)  {
                    var rtcm = (DroneCAN.DroneCAN.uavcan_equipment_gnss_RTCMStream) msg;
                    。。。。。。
                }
            };
            while (threadrun) {
                try {
                	{
                	 // reconnect logic - 10 seconds with no data, or comport is closed  10s超时重连
                	}
                    byte[] buffer = new byte[110]; // limit to 110 byte packets
                    if (rtcm_msg)// limit to 180 byte packet if using new packet
                        buffer = new byte[180];

                    while (comPort.BytesToRead > 0) {
                        int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
                        bytes += read;
                        bps += read;// 每秒接收的字节数
                        if (basedata != null)// 保存到文件中
                          basedata.Write(buffer, 0, read);
                        // if this is raw data transport of unknown packet types
                        if (!(isrtcm || issbp || iscan))// 其实issbp isrtcm 也要上传给飞控
                            sendData(buffer, (ushort)read);// 上传给飞控
                        // check for valid rtcm/sbp/ubx packets
                        for (int a = 0; a < read; a++)  {
                            int seenmsg = -1;
                            // rtcm and not can
                            if (!iscan && (seenmsg = rtcm3.Read(buffer[a])) > 0)  {
                                isrtcm = true;
                                sendData(rtcm3.packet, (ushort)rtcm3.length);// 上传给飞控
                                bpsusefull += rtcm3.length;
                                string msgname = "Rtcm" + seenmsg;
                                if (!msgseen.ContainsKey(msgname))
                                    msgseen[msgname] = 0;
                                msgseen[msgname] = (int)msgseen[msgname] + 1;
                                ExtractBasePos(seenmsg);
                                seenRTCM(seenmsg);
                            }
                            // sbp : string msgname = "Sbp" + seenmsg.ToString("X4");
                            if ((seenmsg = sbp.read(buffer[a])) > 0)  { sendData(sbp.packet, (ushort)sbp.length); 。。。。。。}
                            // ubx
                            if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0) {
                                ProcessUBXMessage();
                                string msgname = "Ubx" + seenmsg.ToString("X4");
                                if (!msgseen.ContainsKey(msgname))
                                    msgseen[msgname] = 0;
                                msgseen[msgname] = (int)msgseen[msgname] + 1;
                            }
                            // nmea : string msgname = "NMEA";
                            if ((seenmsg = nmea.Read(buffer[a])) > 0)  { 。。。。。。 }
                            // can_rtcm : string msgname = "CAN";
                            if ((seenmsg = can.ReadSLCAN(buffer[a])) > 0) { 。。。。。。 }
                            rtcm3.resetParser();
                            sbp.resetParser();
                            ubx_m8p.resetParser();
                            nmea.resetParser();
                        }
                    }
                    System.Threading.Thread.Sleep(10);
                } catch (Exception ex) {
                    log.Error(ex);
                }
            }
        }

        private static void seenRTCM(int seenmsg)  {
            if (Instance.IsDisposed || !Instance.IsHandleCreated)
                return;

            Instance.BeginInvoke((Action)delegate () {
               switch (seenmsg) {
                   case 1001:
                   case 1002:
                   case 1003:
                   case 1004:
                   case 1071:
                   case 1072:
                   case 1073:
                   case 1074:
                   case 1075:
                   case 1076:
                   case 1077:
                       Instance.labelgps.BackColor = Color.Green;
                       ExpireType.Set(Instance.labelgps, 5);
                       break;
                   case 1005:
                   case 1006:
                   case 4072: // ublox moving base
                        Instance.labelbase.BackColor = Color.Green;
                       ExpireType.Set(Instance.labelbase, 20);
                       break;
                   case 1009:
                   case 1010:
                   case 1011:
                   case 1012:
                   case 1081:
                   case 1082:
                   case 1083:
                   case 1084:
                   case 1085:
                   case 1086:
                   case 1087:
                       Instance.labelglonass.BackColor = Color.Green;
                       ExpireType.Set(Instance.labelglonass, 5);
                       break;
                   case 1094:
                   case 1095:
                   case 1096:
                   case 1097:
                       Instance.labelGall.BackColor = Color.Green;
                       ExpireType.Set(Instance.labelGall, 5);
                       break;
                   case 1121:
                   case 1122:
                   case 1123:
                   case 1124:
                   case 1125:
                   case 1126:
                   case 1127:
                       Instance.label14BDS.BackColor = Color.Green;
                       ExpireType.Set(Instance.label14BDS, 5);
                       break;
                   default:
                       break;
               }
           } );
        }

        private static void ProcessUBXMessage() {
            try  { // survey in
                if (ubx_m8p.@class == 0x1 && ubx_m8p.subclass == 0x3b)  {
                    var svin = ubx_m8p.packet.ByteArrayToStructure<Utilities.Ubx.ubx_nav_svin>(6);
                    ubxsvin = svin;
                    updateSVINLabel((svin.valid == 1), (svin.active == 1), svin.dur, svin.obs, svin.meanAcc / 10000.0);
                    var pos = svin.getECEF();
                    double[] baseposllh = new double[3];
                    Utilities.rtcm3.ecef2pos(pos, ref baseposllh);
                } else if (ubx_m8p.@class == 0x1 && ubx_m8p.subclass == 0x7)  {
                    var pvt = ubx_m8p.packet.ByteArrayToStructure<Utilities.Ubx.ubx_nav_pvt>(6);
                    if (pvt.fix_type >= 0x3 && (pvt.flags & 1) > 0) {
                        MainV2.comPort.MAV.cs.MovingBase = new Utilities.PointLatLngAlt(pvt.lat / 1e7, pvt.lon / 1e7, pvt.height / 1000.0);
                    }
                    ubxpvt = pvt;
                }  else if (ubx_m8p.@class == 0x5 && ubx_m8p.subclass == 0x1) {
                    log.InfoFormat("ubx ack {0} {1}", ubx_m8p.packet[6], ubx_m8p.packet[7]);
                } else if (ubx_m8p.@class == 0x5 && ubx_m8p.subclass == 0x0) {
                    log.InfoFormat("ubx Nack {0} {1}", ubx_m8p.packet[6], ubx_m8p.packet[7]);
                } else if (ubx_m8p.@class == 0xa && ubx_m8p.subclass == 0x4)  {
                    var ver = ubx_m8p.packet.ByteArrayToStructure<Utilities.Ubx.ubx_mon_ver>(6);//, ubx_m8p.length - 8);
                    Console.WriteLine("ubx mon-ver {0} {1}", ASCIIEncoding.ASCII.GetString(ver.hwVersion),
                        ASCIIEncoding.ASCII.GetString(ver.swVersion));
                    for (int a = 40 + 6; a < ubx_m8p.length - 2; a += 30)  {
                        var extension = ASCIIEncoding.ASCII.GetString(ubx_m8p.buffer, a, 30);
                        Console.WriteLine("ubx mon-ver {0}", extension);
                    }
                }  else if (ubx_m8p.@class == 0xa && ubx_m8p.subclass == 0x9)  {
                    var hw = ubx_m8p.packet.ByteArrayToStructure<Utilities.Ubx.ubx_mon_hw>(6);
                    Console.WriteLine("ubx mon-hw noise {0} agc% {1} jam% {2} jamstate {3}", hw.noisePerMS, (hw.agcCnt / 8191.0) * 100.0, (hw.jamInd / 256.0) * 100, hw.flags & 0xc);
                } else if (ubx_m8p.@class == 0x1 && ubx_m8p.subclass == 0x12) {
                    var velned = ubx_m8p.packet.ByteArrayToStructure<Utilities.Ubx.ubx_nav_velned>(6);

                    var time = (velned.iTOW - ubxvelned.iTOW) / 1000.0;

                    ubxvelned = velned;
                }   else if (ubx_m8p.@class == 0xf5)  {
                    // rtcm
                }  else if (ubx_m8p.@class == 0x02) {
                    // rxm-raw
                } else if (ubx_m8p.@class == 0x06 && ubx_m8p.subclass == 0x71)  {
                    // TMODE3
                    var tmode = ubx_m8p.packet.ByteArrayToStructure<Utilities.Ubx.ubx_cfg_tmode3>(6);
                    ubxmode = tmode;
                    log.InfoFormat("ubx TMODE3 {0} {1}", (Ubx.ubx_cfg_tmode3.modeflags)tmode.flags, "");
                }  else {
                    ubx_m8p.turnon_off(comPort, ubx_m8p.@class, ubx_m8p.subclass, 0);
                }

                if (pollTMODE < DateTime.Now)  {
                    ubx_m8p.poll_msg(comPort, 0x06, 0x71);
                    pollTMODE = DateTime.Now.AddSeconds(30);

                    ubx_m8p.poll_msg(comPort, 0x0a, 0x4);
                }
            } catch (Exception ex) {
                log.Error(ex);
            }
        }

        static DateTime pollTMODE = DateTime.MinValue;
        static Ubx.ubx_cfg_tmode3 ubxmode;
        static Ubx.ubx_nav_svin ubxsvin;
        internal static Ubx.ubx_nav_velned ubxvelned;
        internal static Ubx.ubx_nav_pvt ubxpvt;

        private static void updateSVINLabel(bool valid, bool active, uint dur, uint obs, double acc) {
        	// 更新 Survey In 数据
            Instance.lbl_svin.Text = valid ? "Postion is valid" : "Position is invalid";
            Instance.label7.Text = "Lat/X: " + posllh[0] * MathHelper.rad2deg;
            Instance.label8.Text = "Lng/Y: " + posllh[1] * MathHelper.rad2deg;
            Instance.label9.Text = "Alt/Z: " + posllh[2];
            Instance.label10.Text = "Current Acc: " + acc;
            。。。。。。
        }

        private static void ExtractBasePos(int seen) {
            try {
                if (seen == 1005) {
                    var basepos = new Utilities.rtcm3.type1005();
                    basepos.Read(rtcm3.packet);
                    var pos = basepos.ecefposition;
                    double[] baseposllh = new double[3];
                    Utilities.rtcm3.ecef2pos(pos, ref baseposllh);
                    MainV2.comPort.MAV.cs.MovingBase = new Utilities.PointLatLngAlt(baseposllh[0] * Utilities.rtcm3.R2D,
                        baseposllh[1] * Utilities.rtcm3.R2D, baseposllh[2]);

                    status_line3 =
                        (String.Format("{0} {1} {2} - {3}", baseposllh[0] * Utilities.rtcm3.R2D,
                            baseposllh[1] * Utilities.rtcm3.R2D, baseposllh[2], DateTime.Now.ToString("HH:mm:ss")));

                    if (!Instance.IsDisposed && Instance.but_save_basepos.Enabled == false)
                        Instance.but_save_basepos.Enabled = true;
                } else if (seen == 1006)  {
                    var basepos = new Utilities.rtcm3.type1006();
                    basepos.Read(rtcm3.packet);

                    var pos = basepos.ecefposition;

                    double[] baseposllh = new double[3];

                    Utilities.rtcm3.ecef2pos(pos, ref baseposllh);

                    MainV2.comPort.MAV.cs.MovingBase = new Utilities.PointLatLngAlt(baseposllh[0] * Utilities.rtcm3.R2D, baseposllh[1] * Utilities.rtcm3.R2D,
                        baseposllh[2]);

                    **status_line3** =
                       (String.Format("{0} {1} {2} - {3}", baseposllh[0] * Utilities.rtcm3.R2D,
                           baseposllh[1] * Utilities.rtcm3.R2D, baseposllh[2], DateTime.Now.ToString("HH:mm:ss")));

                    if (!Instance.IsDisposed && Instance.but_save_basepos.Enabled == false)
                        Instance.but_save_basepos.Enabled = true;
                }
            } catch (Exception ex)  {
                log.Error(ex);
            }
        }

        private static void sendData(byte[] data, ushort length) {
            foreach (var port in MainV2.Comports)  {
                bool CanJustSendOnce = GetCanJustSendOnce(port.MAVlist);
                foreach (var MAV in port.MAVlist) {
                    port.InjectGpsData(MAV.sysid, MAV.compid, data, length, rtcm_msg);
                    if (CanJustSendOnce) { break; }
                }
            }
        }

        private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e) {
            if (!CMB_serialport.Text.ToLower().Contains("com"))
                CMB_baudrate.Enabled = false;
            else
                CMB_baudrate.Enabled = true;
        }
		// 定时更新链路状态和地图显示
        private void timer1_Tick(object sender, EventArgs e) {
		   // sb = "Ubx0671=2 Ubx0107=43 Rtcm1230=9 Rtcm1084=42 Ubx0215=37 Rtcm1124=43 Ubx0500=2 Ubx0213=339 CAN=15 Ubx013B=44 Ubx0A04=3 Ubx0501=42 Ubx0112=44 Rtcm1005=7 Rtcm1094=42 Rtcm1074=42 Ubx0A09=23 NMEA=14"
		   // status_line3 = "24.9 118.6 17.8 - 14:32:30"
           updateLabel(String.Format("{0,10} bps", bps),// lbl_status1 输入速率
                String.Format("{0,10} bps sent", bpsusefull),// lbl_status2 输出速率
                status_line3,// lbl_status3 RTCM Base
                sb.ToString());// labelmsgseen Messages Seen
           。。。。。。
           myGMAP1.Overlays[0].Markers.Add(new GMarkerGoogle(MainV2.comPort.MAV.cs.MovingBase, GMarkerGoogleType.yellow_dot));
           myGMAP1.ZoomAndCenterMarkers("base");
           。。。。。。
        }

        private void chk_rtcmmsg_CheckedChanged(object sender, EventArgs e) {
            rtcm_msg = chk_rtcmmsg.Checked;
        }
		// Restart
        private void but_restartsvin_Click(object sender, EventArgs e) {
            basepos = PointLatLngAlt.Zero;
            invalidateRTCMStatus();
            updateSVINLabel(false,false,0,0,0);
            msgseen.Clear();

            if (comPort.IsOpen) {
                try {
                    ubx_m8p.SetupBasePos(comPort, basepos, 0, 0, true);
                    ubx_m8p.SetupM8P(comPort, chk_m8p_130p.Checked);
                    ubx_m8p.SetupBasePos(comPort, basepos, int.Parse(txt_surveyinDur.Text, CultureInfo.InvariantCulture),
                    double.Parse(txt_surveyinAcc.Text, CultureInfo.InvariantCulture), false);
                } catch (Exception ex) {
                    log.Error(ex);
                    CustomMessageBox.Show("Error configuring\n" + ex.ToString());
                    return;
                }
            }
        }
    }

• DroneCAN.DroneCAN.uavcan_equipment_gnss_RTCMStream

此文件在ExtLibs\DroneCAN\out\include\uavcan.equipment.gnss.RTCMStream.cs

namespace DroneCAN
{
    public partial class DroneCAN 
    {
        public partial class uavcan_equipment_gnss_RTCMStream: IDroneCANSerialize 
        {
            public const int UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_MAX_PACK_SIZE = 130;
            public const ulong UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_DT_SIG = 0x1F56030ECB171501;
            public const int UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_DT_ID = 1062;

            public const double UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_PROTOCOL_ID_UNKNOWN = 0; // saturated uint8
            public const double UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_PROTOCOL_ID_RTCM2 = 2; // saturated uint8
            public const double UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_PROTOCOL_ID_RTCM3 = 3; // saturated uint8
	        。。。。。。
        }
    }
}

█ 关于Utilities

• ubx_m8p.cs （public class Ubx : ICorrections，其实就是对串口发送数据的二次封装）

此文件在ExtLibs\Utilities\ubx_m8p.cs

  public class Ubx : ICorrections {
        int step = 0;
        public byte[] buffer = new byte[1024 * 8];
        int payloadlen = 0;
        int msglencount = 0;

        public byte @class {  get { return buffer[2]; } }

        public byte subclass {  get { return buffer[3]; } }

        public int length {
            get  { return 2 + 2 + 2 + 2 + payloadlen; // header2, class,subclass,length2,data,crc2 }
        }

        public byte[] packet {
            get { return buffer; }
        }

        public bool resetParser() {
            step = 0;
            return true;
        }
        
        public int Read(byte data) { 。。。。。。 }
        public static byte[] generate(byte cl, byte subclass, byte[] payload) { 。。。。。。 }
		// u-blox
        public void SetupM8P(ICommsSerial port, bool m8p_130plus = false, bool movingbase = false) {
            port.BaseStream.Flush();
            var bauds = new[] {port.BaudRate, 9600, 38400, 57600, 115200, 230400, 460800};
            foreach (var baud in bauds)  {// change the baudrate
                port.BaudRate = baud;
                System.Threading.Thread.Sleep(50);
                // U = bit  01010101  - often used for autobaud
                port.Write("UU");
                // port config - 460800 - uart1
                var packet = generate(0x6, 0x00, new byte[] {
                    0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0x08,
                    0x07, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00
                });
                port.Write(packet, 0, packet.Length);
                port.BaseStream.Flush();
                System.Threading.Thread.Sleep(100);
            }
            { // port config - usb
                var packet = generate(0x6, 0x00, new byte[]  {
                    0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
                    0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00
                });
                port.Write(packet, 0, packet.Length);
                System.Threading.Thread.Sleep(300);
                port.BaseStream.Flush();
                port.BaudRate = 460800;
            }
            { // set rate to 1hz
                var packet = generate(0x6, 0x8, new byte[] {0xE8, 0x03, 0x01, 0x00, 0x01, 0x00});
                port.Write(packet, 0, packet.Length);
                System.Threading.Thread.Sleep(200);
                { // set navmode to stationary
                    packet = generate(0x6, 0x24,
                        new byte[] { 0xFF, 0xFF, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x0F, 0x00, 0xFA, 0x00,
                            0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x23, 0x10, 0x27, 0x00, 0x00, 0x00,  0x00,
                            0x00, 0x00, 0x00, 0x00 });
                    port.Write(packet, 0, packet.Length);
                    System.Threading.Thread.Sleep(200);
                }
            }
            // turn off all nmea
            for (int a = 0; a <= 0xf; a++) {
                if (a == 0xb || a == 0xc || a == 0xe)
                    continue;
                turnon_off(port, 0xf0, (byte) a, 0);
            }
            poll_msg(port, 0xa, 0x4);// mon-ver
            turnon_off(port, 0x01, 0x3b, 1);// surveyin msg - for feedback
            turnon_off(port, 0x01, 0x07, 1);// pvt msg - for feedback
            turnon_off(port, 0xf5, 0x05, 5);// 1005 - 5s

            byte rate1 = 1;
            byte rate2 = 0;
            if (m8p_130plus) {
                rate1 = 0;
                rate2 = 1;
            }
            turnon_off(port, 0xf5, 0x4a, rate2);// 1074 - 1s
            turnon_off(port, 0xf5, 0x4d, rate1);// 1077 - 1s
            turnon_off(port, 0xf5, 0x54, rate2);// 1084 - 1s
            turnon_off(port, 0xf5, 0x57, rate1);// 1087 - 1s
            turnon_off(port, 0xf5, 0x5e, rate2);// 1094 - 1s
            turnon_off(port, 0xf5, 0x61, rate1); // 1097 - 1s
            turnon_off(port, 0xf5, 0x7c, rate2);// 1124 - 1s
            turnon_off(port, 0xf5, 0x7f, rate1);// 1127 - 1s
            turnon_off(port, 0xf5, 0xFE, 0);// 4072
            turnon_off(port, 0xf5, 0xE6, 5);// 1230 - 5s
            turnon_off(port, 0x01, 0x12, 1);// NAV-VELNED - 1s
            turnon_off(port, 0x02, 0x15, 1);// rxm-raw/rawx - 1s
            turnon_off(port, 0x02, 0x10, 1);
            turnon_off(port, 0x02, 0x13, 2);// rxm-sfrb/sfrb - 2s
            turnon_off(port, 0x02, 0x11, 2);
            turnon_off(port, 0x0a, 0x09, 2);// mon-hw - 2s
            System.Threading.Thread.Sleep(100);
        }
        
        public void turnon_off(ICommsSerial port, byte clas, byte subclass, byte every_xsamples) {
            byte[] datastruct1 = {clas, subclass, 0, every_xsamples, 0, every_xsamples, 0, 0};
            var packet = generate(0x6, 0x1, datastruct1);
            port.Write(packet, 0, packet.Length);
            System.Threading.Thread.Sleep(10);
        }
    }

• rtcm3.cs

此文件在ExtLibs\Utilities\rtcm3.cs

    public class rtcm3 : ICorrections
    {
        private const byte RTCM3PREAMB = 0xD3;
        private const double PRUNIT_GPS = 299792.458; /* rtcm ver.3 unit of gps pseudorange (m) */
        private const double PRUNIT_GLO = 599584.916; /* rtcm 3 unit of glo pseudorange (m) */
        private const double CLIGHT = 299792458.0; /* speed of light (m/s) */
        private const double SC2RAD = 3.1415926535898; /* semi-circle to radian (IS-GPS) */
        private const double FREQ1 = 1.57542E9; /* L1/E1  frequency (Hz) */
        private const double FREQ2 = 1.22760E9; /* L2     frequency (Hz) */
        private const double RANGE_MS = CLIGHT*0.001; /* range in 1 ms */
        private const double P2_5 = 0.03125; /* 2^-5 */
        private const double P2_6 = 0.015625; /* 2^-6 */
        private const double P2_10 = 0.0009765625; /* 2^-10 */
        。。。。。。
        private const double P2_55 = 2.775557561562891E-17; /* 2^-55 */
        private const double RE_WGS84 = 6378137.0; /* earth semimajor axis (WGS84) (m) */
        private const double FE_WGS84 = (1.0/298.257223563); /* earth flattening (WGS84) */
        private const double PI = Math.PI; /* pi */
        public const double D2R = (PI/180.0); /* deg to rad */
        public const double R2D = (180.0/PI); /* rad to deg */
        。。。。。。
        public bool resetParser() {
            step = 0;
            return true;
        }
        。。。。。。
        public class ob {
            public double cp;
            public double cp2;
            public double pr;
            public double pr2;
            public byte prn;
            public rawrtcm raw = new rawrtcm();
            public byte snr;
            public double tow;
            public int week;
            public char sys;

            public class rawrtcm {
                public byte amb;
                public byte cnr1;
                public byte cnr2;
                public byte code1;
                public byte code2;
                public byte lock1;
                public byte lock2;
                public int ppr1;
                public int ppr2;
                public uint pr1;
                public int pr21;
                public byte prn;
                public byte fcn;
            }
        }
   }

• sbp.cs

此文件在ExtLibs\Utilities\sbp.cs

    public class sbp : ICorrections {
        int state = 0;
        piksimsg msg = new piksimsg();
        int lengthcount = 0;
        Crc16Ccitt crc;
        ushort crcpacket = 0;

        public class piksimsg {
            public byte preamble; // 0x55
            public UInt16 msg_type;
            public UInt16 sender;
            public byte length; // payload length
            [MarshalAs(UnmanagedType.ByValArray)]
            public byte[] payload;
            public UInt16 crc; // - preamble

            public byte[] buffer = new byte[4096];
        }

        public bool resetParser()  {
            state = 0;
            return true;
        }

        public int read(byte data)  { 。。。。。。 }

        public enum InitialCrcValue { Zeros, NonZero1 = 0xffff, NonZero2 = 0x1D0F }

        public class Crc16Ccitt {
            const ushort poly = 4129;
            static ushort[] table;
            ushort initialValue = 0;
			。。。。。。
        }

        public s32 length  {
            get { return msg.length + 8; }
        }

        public u8[] packet  {
            get { return msg.buffer; }
        }
    }

█ 关于串口

• 串口

外部使用	CommsSerialPort.cs中的 SerialPort	: ICommsSerial
实际调用	CommsSerialPort.cs中的 WinSerialPort	: System.IO.Ports.SerialPort, ICommsSerial
父类	系统类 System.IO.Ports.SerialPort.cs中的 SerialPort	: System.ComponentModel.Component
接口	ICommsSerial.cs中的 ICommsSerial	: IDisposable

• 封装类　SerialPort
  此文件在ExtLibs\Comms\CommsSerialPort.cs

    public class SerialPort : ICommsSerial {// 实际为 WinSerialPort
        public static Func<SerialPort, string, int, ICommsSerial> DefaultType { get; set; } = (self, portname, baudrate) => { return new WinSerialPort(); };

        public ICommsSerial _baseport;
        public Stream BaseStream => _baseport.BaseStream;
        private static readonly object locker = new object();
        private static readonly Dictionary<string, string> comportnamecache = new Dictionary<string, string>();
        private static string portnamenice = "";
 public static Func<List<string>> GetCustomPorts;
 
        public SerialPort() {
            _baseport = DefaultType.Invoke(this, null, 0);
        }

        public SerialPort(string portname, int baudrate) {
            _baseport = DefaultType.Invoke(this, portname, baudrate);
            PortName = portname;
            BaudRate = baudrate;
        }

        public SerialPort(string portname) {
            _baseport = DefaultType.Invoke(this, portname, 0);
            PortName = portname;
        }
        
        public void Close() {  _baseport.Close(); }
        public void Open() {  _baseport.Open(); }
        public int Read(byte[] buffer, int offset, int count) {  return _baseport.Read(buffer, offset, count);}
        。。。。。。 // 以下方法都直接用 _baseport 实现


        public new static string[] GetPortNames() {
            // prevent hammering
            lock (locker) {
                var allPorts = new List<string>();
                if (Directory.Exists("/dev/")) {
                    // cleanup now
                    GC.Collect();
                    // mono is failing in here on linux "too many open files"
                    try {
                        if (Directory.Exists("/dev/serial/by-id/"))
                            allPorts.AddRange(Directory.GetFiles("/dev/serial/by-id/", "*"));
                        allPorts.AddRange(Directory.GetFiles("/dev/", "ttyACM*"));
                        allPorts.AddRange(Directory.GetFiles("/dev/", "ttyUSB*"));
                        allPorts.AddRange(Directory.GetFiles("/dev/", "rfcomm*"));
                        allPorts.AddRange(Directory.GetFiles("/dev/", "*usb*"));
                        allPorts.AddRange(Directory.GetFiles("/dev/", "tty.*"));
                        allPorts.AddRange(Directory.GetFiles("/dev/", "cu.*"));
                    } catch {}
                }
                string[] ports = null;
                try {
                    ports = System.IO.Ports.SerialPort.GetPortNames();
                    // any exceptions will still result in a list
                    ports = ports.Select(p => p?.TrimEnd()).ToArray();
                    ports = ports.Select(FixBlueToothPortNameBug).ToArray();
                    if (ports != null)
                      allPorts.AddRange(ports);
                    if (GetCustomPorts != null)
                      allPorts.AddRange(GetCustomPorts.Invoke());
                } catch {}
                return allPorts.Distinct().ToArray();
            }
        }

        public static string GetNiceName(string port)  {
            // make sure we are exclusive
            lock (locker) {
                portnamenice = "";

                if (port == "AUTO" || port == "UDP" || port == "UDPCl" || port == "TCP" || port == "WS")
                    return "";

                if (comportnamecache.ContainsKey(port))  {
                    log.Info("done GetNiceName cache " + port + " " + comportnamecache[port]);
                    return comportnamecache[port];
                }

                try {
                    log.Info("start GetNiceName " + port);
                    CallWithTimeout(GetName, 1000, port);
                }  catch {  }

                log.Info("done GetNiceName " + port + " = " + portnamenice);

                comportnamecache[port] = portnamenice;

                return (string) portnamenice.Clone();
            }
        }
    }

• 实现类　WinSerialPort
  此文件在ExtLibs\Comms\CommsSerialPort.cs

    public class WinSerialPort : System.IO.Ports.SerialPort, ICommsSerial {
        public WinSerialPort() { }
        
        public new bool DtrEnable {
            get => base.DtrEnable;
            set {
                log.Info(base.PortName + " DtrEnable " + value);
                if (base.DtrEnable == value) return;
                base.DtrEnable = value;
            }
        }

        public new bool RtsEnable {
            get => base.RtsEnable;
            set {
                log.Info(PortName + " RtsEnable " + value);
                if (base.RtsEnable == value) return;
                base.RtsEnable = value;
            }
        }

        public new void Open() {
            // 500ms write timeout - win32 api default
            base.WriteTimeout = 500;
            if (base.IsOpen)
                return;

            if (PortName.StartsWith("/"))
                if (!File.Exists(PortName))
                    throw new Exception("No such device");

            try  {
                base.Open();
            } catch {
                try { Close(); } catch { }
                throw;
            }
        }

        public new void Close() { base.Close();  }

        public void toggleDTR() {
            var open = base.IsOpen;
            Console.WriteLine("toggleDTR " + IsOpen);
            try {
                if (!open)
                    Open();
            } catch { }
            base.DtrEnable = false;
            base.RtsEnable = false;
            Thread.Sleep(50);
            base.DtrEnable = true;
            base.RtsEnable = true;
            Thread.Sleep(50);
            try {
                if (!open)
                    Close();
            } catch { }
            Console.WriteLine("toggleDTR done " + IsOpen);
        }
    }

• 父类　System.IO.Ports.SerialPort(系统类)
  此文件在SerialPort 类 (System.IO.Ports) | Microsoft Learn

public class SerialPort : System.ComponentModel.Component

方法	说明
BaseStream	获取 Stream 对象的基础 SerialPort 对象。
BaudRate	获取或设置串行波特率。
BreakState	获取或设置中断信号状态。
BytesToRead	获取接收缓冲区中数据的字节数。
BytesToWrite	获取发送缓冲区中数据的字节数。
CanRaiseEvents	获取一个指示组件是否可以引发事件的值。(继承自 Component)
CDHolding	获取端口的载波检测行的状态。
Container	获取包含 IContainer 的 Component。(继承自 Component)
CtsHolding	获取“可以发送”行的状态。
DataBits	获取或设置每个字节的标准数据位长度。
DesignMode	获取一个值，用以指示 Component 当前是否处于设计模式。(继承自 Component)
DiscardNull	获取或设置一个值，该值指示 null 字节在端口和接收缓冲区之间传输时是否被忽略。
DsrHolding	获取数据设置就绪 (DSR) 信号的状态。
DtrEnable	获取或设置一个值，该值在串行通信过程中启用数据终端就绪 (DTR) 信号。
Encoding	获取或设置传输前后文本转换的字节编码。
Events	获取附加到此 Component 的事件处理程序的列表。(继承自 Component)
Handshake	使用 Handshake 中的值获取或设置串行端口数据传输的握手协议。
IsOpen	获取一个值，该值指示 SerialPort 对象的打开或关闭状态。
NewLine	获取或设置用于解释 ReadLine() 和 WriteLine(String) 方法调用结束的值。
Parity	获取或设置奇偶校验检查协议。
ParityReplace	获取或设置一个字节，该字节在发生奇偶校验错误时替换数据流中的无效字节。
PortName	获取或设置通信端口，包括但不限于所有可用的 COM 端口。
ReadBufferSize	获取或设置 SerialPort 输入缓冲区的大小。
ReadTimeout	获取或设置读取操作未完成时发生超时之前的毫秒数。
ReceivedBytesThreshold	获取或设置 DataReceived 事件发生前内部输入缓冲区中的字节数。
RtsEnable	获取或设置一个值，该值指示在串行通信中是否启用请求发送 (RTS) 信号。
Site	获取或设置 Component 的 ISite。(继承自 Component)
StopBits	获取或设置每个字节的标准停止位数。
WriteBufferSize	获取或设置串行端口输出缓冲区的大小。
WriteTimeout	获取或设置写入操作未完成时发生超时之前的毫秒数。

• 接口 ICommsSerial
  此文件在ExtLibs\Interfaces\ICommsSerial.cs

public interface ICommsSerial : IDisposable
    {
        // Properties
        Stream BaseStream { get; }

        int BaudRate { get; set; }

        //bool BreakState { get; set; }
        int BytesToRead { get; }

        int BytesToWrite { get; }

        //bool CDHolding { get; }
        //bool CtsHolding { get; }
        int DataBits { get; set; }

        //bool DiscardNull { get; set; }
        //bool DsrHolding { get; }
        bool DtrEnable { get; set; }

        //Encoding Encoding { get; set; }
        //Handshake Handshake { get; set; }
        bool IsOpen { get; }

        //string NewLine { get; set; }
        //Parity Parity { get; set; }
        //byte ParityReplace { get; set; }
        string PortName { get; set; }

        int ReadBufferSize { get; set; }
        int ReadTimeout { get; set; }

        bool RtsEnable { get; set; }

        //StopBits StopBits { get; set; }
        int WriteBufferSize { get; set; }

        int WriteTimeout { get; set; }

        // from serialport class
        // Methods
        void Close();

        void DiscardInBuffer();

        //void DiscardOutBuffer();
        void Open();

        int Read(byte[] buffer, int offset, int count);

        //int Read(char[] buffer, int offset, int count);
        int ReadByte();

        int ReadChar();

        string ReadExisting();

        string ReadLine();

        //string ReadTo(string value);
        void Write(string text);

        void Write(byte[] buffer, int offset, int count);

        //void Write(char[] buffer, int offset, int count);
        void WriteLine(string text);

        void toggleDTR();
    }

• 其他 MonoSerialPort(应该没用，参考，Device.RuntimePlatform == Device.macOS时使用，原以为是 SerialPort 初类)
  此文件在ExtLibs\Comms\System.IO.Ports\SerialPort.cs

	public class MonoSerialPort : Component {
		// 默认配置 9600 一个停止位 无奇偶校验
		public const int InfiniteTimeout = -1;// 读写超时值
		const int DefaultReadBufferSize = 4096;// 缓存
		const int DefaultWriteBufferSize = 2048;// 缓存
		const int DefaultBaudRate = 9600;// 波特率
		const int DefaultDataBits = 8;// 数据位数
		const Parity DefaultParity = Parity.None;// 奇偶校验
		const StopBits DefaultStopBits = StopBits.One;// 停止位个数

		bool is_open;// 是否打开端口
		int baud_rate;
		Parity parity;
		StopBits stop_bits;
		Handshake handshake;
		int data_bits;
		bool break_state = false;// 当前BREAK状态
		bool dtr_enable = false;// 启用硬件(DSR/DTR)流量控制
		bool rts_enable = false;// 启用硬件(RTS/CTS)流量控制
		ISerialStream stream;
		Encoding encoding = Encoding.ASCII;// Unicode字符串必须编码(例如: “hello”.encode(“utf - 8”)
		string new_line = Environment.NewLine;
		string port_name;// 设备名称
		int read_timeout = InfiniteTimeout;
		int write_timeout = InfiniteTimeout;
		int readBufferSize = DefaultReadBufferSize;// 输入缓冲区
		int writeBufferSize = DefaultWriteBufferSize;// 输出缓冲区
		object error_received = new object ();
		object data_received = new object ();
		object pin_changed = new object ();

		public MonoSerialPort () : 
			this (GetDefaultPortName (), DefaultBaudRate, DefaultParity, DefaultDataBits, DefaultStopBits){ }

		public MonoSerialPort (IContainer container) : this () {}

		public MonoSerialPort (string portName) :
			this (portName, DefaultBaudRate, DefaultParity, DefaultDataBits, DefaultStopBits){}

		public MonoSerialPort (string portName, int baudRate) :
			this (portName, baudRate, DefaultParity, DefaultDataBits, DefaultStopBits){}

		public MonoSerialPort (string portName, int baudRate, Parity parity, int dataBits, StopBits stopBits) {
			port_name = portName;
			baud_rate = baudRate;
			data_bits = dataBits;
			stop_bits = stopBits;
			this.parity = parity;
		}
		// 以下都是 set  get 方法
		static string GetDefaultPortName () {
			string[] ports = GetPortNames();
			if (ports.Length > 0) {
				return ports[0];
			} else {
				int p = (int)Environment.OSVersion.Platform;
				if (p == 4 || p == 128 || p == 6)
					return "ttyS0"; // Default for Unix
				else
					return "COM1"; // Default for Windows
			}
		}

		public int BaudRate {
			get {return baud_rate;}
			set {baud_rate = value;}
		}
		。。。。。。

		// methods
		public void Close (){ Dispose (true);}

		protected override void Dispose (bool disposing) {
			if (!is_open)
				return;
			
			is_open = false;
			// Do not close the base stream when the finalizer is run; the managed code can still hold a reference to it.
			if (disposing)
				stream.Close ();
			stream = null;
		}

		static bool IsWindows {
			get {
				PlatformID id =  Environment.OSVersion.Platform;
				return id == PlatformID.Win32Windows || id == PlatformID.Win32NT; // WinCE not supported
			}
		}

		public void Open ()	{
			if (is_open)
				throw new InvalidOperationException ("Port is already open");
			
			if (IsWindows) // Use windows kernel32 backend
				stream = new WinSerialStream (port_name, baud_rate, data_bits, parity, stop_bits, dtr_enable,
					rts_enable, handshake, read_timeout, write_timeout, readBufferSize, writeBufferSize);
			else // Use standard unix backend
				stream = new SerialPortStream (port_name, baud_rate, data_bits, parity, stop_bits, dtr_enable,
					rts_enable, handshake, read_timeout, write_timeout, readBufferSize, writeBufferSize);
			
			is_open = true;
		}
		
        // 以下都是 Read  方法
		public int Read (byte[] buffer, int offset, int count){
            try {
                return stream.Read(buffer, offset, count);
            } catch (IOException)  {
                is_open = false;
                throw;
            }
        }
		。。。。。。
	    // 以下都是 Write 方法
		public void Write (string text) {
			byte [] buffer = encoding.GetBytes (text);
			Write (buffer, 0, buffer.Length);
		}

		public void Write (byte [] buffer, int offset, int count) {
			stream.Write (buffer, offset, count);
		}
		。。。。。。
	}

---

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