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Fix Galileo toggling (#13384)

Browse source 
* Fix Galileo toggling

* try something else

* cleanup

* Fix per review from ledvinap

* Prevent buffer overflow on invalid numConfigBlocks
This commit is contained in:
Mark Haslinghuis 2024-02-27 15:58:39 +01:00 • committed by GitHub
parent 79d031b8b6
commit 37d27ad3e3
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GPG key ID: B5690EEEBB952194
1 changed files with 25 additions and 28 deletions
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53
src/main/io/gps.c
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@ -173,6 +173,14 @@ typedef enum {
#define UBLOX_GNSS_ENABLE 0x1
#define UBLOX_GNSS_DEFAULT_SIGCFGMASK 0x10000
#define UBLOX_GNSS_GPS 0x00
#define UBLOX_GNSS_SBAS 0x01
#define UBLOX_GNSS_GALILEO 0x02
#define UBLOX_GNSS_BEIDOU 0x03
#define UBLOX_GNSS_IMES 0x04
#define UBLOX_GNSS_QZSS 0x05
#define UBLOX_GNSS_GLONASS 0x06
typedef struct ubxHeader_s {
uint8_t preamble1;
uint8_t preamble2;
@ -2283,38 +2291,27 @@ static bool UBLOX_parse_gps(void)
break;
case CLSMSG(CLASS_CFG, MSG_CFG_GNSS):
{
bool isSBASenabled = false;
bool isM8NwithDefaultConfig = false;
if ((ubxRcvMsgPayload.ubxCfgGnss.numConfigBlocks >= 2) &&
(ubxRcvMsgPayload.ubxCfgGnss.configblocks[1].gnssId == 1) && //SBAS
(ubxRcvMsgPayload.ubxCfgGnss.configblocks[1].flags & UBLOX_GNSS_ENABLE)) { //enabled
isSBASenabled = true;
}
if ((ubxRcvMsgPayload.ubxCfgGnss.numTrkChHw == 32) && //M8N
(ubxRcvMsgPayload.ubxCfgGnss.numTrkChUse == 32) &&
(ubxRcvMsgPayload.ubxCfgGnss.numConfigBlocks == 7) &&
(ubxRcvMsgPayload.ubxCfgGnss.configblocks[2].gnssId == 2) && //Galileo
(ubxRcvMsgPayload.ubxCfgGnss.configblocks[2].resTrkCh == 4) && //min channels
(ubxRcvMsgPayload.ubxCfgGnss.configblocks[2].maxTrkCh == 8) && //max channels
!(ubxRcvMsgPayload.ubxCfgGnss.configblocks[2].flags & UBLOX_GNSS_ENABLE)) { //disabled
isM8NwithDefaultConfig = true;
}
const uint16_t messageSize = 4 + (ubxRcvMsgPayload.ubxCfgGnss.numConfigBlocks * sizeof(ubxConfigblock_t));
ubxMessage_t tx_buffer;
memcpy(&tx_buffer.payload, &ubxRcvMsgPayload, messageSize);
if (isSBASenabled && (gpsConfig()->sbasMode == SBAS_NONE)) {
tx_buffer.payload.cfg_gnss.configblocks[1].flags &= ~UBLOX_GNSS_ENABLE; //Disable SBAS
}
// prevent buffer overflow on invalid numConfigBlocks
const int size = MIN(messageSize, sizeof(tx_buffer.payload));
memcpy(&tx_buffer.payload, &ubxRcvMsgPayload, size);
if (isM8NwithDefaultConfig && gpsConfig()->gps_ublox_use_galileo) {
tx_buffer.payload.cfg_gnss.configblocks[2].flags |= UBLOX_GNSS_ENABLE; //Enable Galileo
for (int i = 0; i < ubxRcvMsgPayload.ubxCfgGnss.numConfigBlocks; i++) {
if (ubxRcvMsgPayload.ubxCfgGnss.configblocks[i].gnssId == UBLOX_GNSS_SBAS) {
if (gpsConfig()->sbasMode == SBAS_NONE) {
tx_buffer.payload.cfg_gnss.configblocks[i].flags &= ~UBLOX_GNSS_ENABLE; // Disable SBAS
}
}
if (ubxRcvMsgPayload.ubxCfgGnss.configblocks[i].gnssId == UBLOX_GNSS_GALILEO) {
if (gpsConfig()->gps_ublox_use_galileo) {
tx_buffer.payload.cfg_gnss.configblocks[i].flags |= UBLOX_GNSS_ENABLE; // Enable Galileo
} else {
tx_buffer.payload.cfg_gnss.configblocks[i].flags &= ~UBLOX_GNSS_ENABLE; // Disable Galileo
}
}
}
ubloxSendConfigMessage(&tx_buffer, MSG_CFG_GNSS, messageSize, false);