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/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "91x_lib.h"
#include "uart1.h"
#include "ubx.h"
#include "led.h"
#include "timer1.h"
// ------------------------------------------------------------------------------------------------
// defines
#define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist!
#define DAYS_PER_YEAR 365
#define DAYS_PER_LEAPYEAR 366
#define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years
#define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years
#define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years
#define SECONDS_PER_MINUTE 60
#define MINUTES_PER_HOUR 60
#define HOURS_PER_DAY 24
#define DAYS_PER_WEEK 7
#define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR)
#define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY)
#define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK)
// days per month in normal and leap years
const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 };
const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 };
#define LEAP_SECONDS_FROM_1980 13
// message sync bytes
#define UBX_SYNC1_CHAR 0xB5
#define UBX_SYNC2_CHAR 0x62
// protocoll identifier
#define UBX_CLASS_NAV 0x01
// message id
#define UBX_ID_POSLLH 0x02
#define UBX_ID_SOL 0x06
#define UBX_ID_VELNED 0x12
// ------------------------------------------------------------------------------------------------
// typedefs
// ubx parser state
typedef enum
{
UBXSTATE_IDLE,
UBXSTATE_SYNC1,
UBXSTATE_SYNC2,
UBXSTATE_CLASS,
UBXSTATE_LEN1,
UBXSTATE_LEN2,
UBXSTATE_DATA,
UBXSTATE_CKA,
UBXSTATE_CKB
} ubxState_t;
typedef struct
{
u32 itow; // ms GPS Millisecond Time of Week
s32 frac; // ns remainder of rounded ms above
s16 week; // GPS week
u8 GPSfix; // GPSfix Type, range 0..6
u8 Flags; // Navigation Status Flags
s32 ECEF_X; // cm ECEF X coordinate
s32 ECEF_Y; // cm ECEF Y coordinate
s32 ECEF_Z; // cm ECEF Z coordinate
u32 PAcc; // cm 3D Position Accuracy Estimate
s32 ECEFVX; // cm/s ECEF X velocity
s32 ECEFVY; // cm/s ECEF Y velocity
s32 ECEFVZ; // cm/s ECEF Z velocity
u32 SAcc; // cm/s Speed Accuracy Estimate
u16 PDOP; // 0.01 Position DOP
u8 res1; // reserved
u8 numSV; // Number of SVs used in navigation solution
u32 res2; // reserved
u8 Status; // invalid/newdata/processed
} __attribute__((packed)) ubx_nav_sol_t;
typedef struct
{
u32 itow; // ms GPS Millisecond Time of Week
s32 VEL_N; // cm/s NED north velocity
s32 VEL_E; // cm/s NED east velocity
s32 VEL_D; // cm/s NED down velocity
u32 Speed; // cm/s Speed (3-D)
u32 GSpeed; // cm/s Ground Speed (2-D)
s32 Heading; // 1e-05 deg Heading 2-D
u32 SAcc; // cm/s Speed Accuracy Estimate
u32 CAcc; // deg Course / Heading Accuracy Estimate
u8 Status; // invalid/newdata/processed
} __attribute__((packed)) ubx_nav_velned_t;
typedef struct
{
u32 itow; // ms GPS Millisecond Time of Week
s32 LON; // 1e-07 deg Longitude
s32 LAT; // 1e-07 deg Latitude
s32 HEIGHT; // mm Height above Ellipsoid
s32 HMSL; // mm Height above mean sea level
u32 Hacc; // mm Horizontal Accuracy Estimate
u32 Vacc; // mm Vertical Accuracy Estimate
u8 Status; // invalid/newdata/processed
} __attribute__((packed)) ubx_nav_posllh_t;
//------------------------------------------------------------------------------------
// global variables
// local buffers for the incomming ubx messages
volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID};
volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID};
volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID};
// shared buffer
gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID};
DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID};
#define UBX_TIMEOUT 500 // 500 ms
u32 UBX_Timeout = 0;
//------------------------------------------------------------------------------------
// functions
u8 IsLeapYear(u16 year)
{
if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1;
else return 0;
}
/********************************************************/
/* Calculates the UTC Time from the GPS week and tow */
/********************************************************/
void SetGPSTime(DateTime_t * pTimeStruct)
{
u32 Days, Seconds, Week;
u16 YearPart;
u32 * MonthDayTab = 0;
u8 i;
// if GPS data show valid time data
if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) )
{
Seconds = UbxSol.itow / 1000L;
Week = (u32)UbxSol.week;
// correct leap seconds since 1980
if(Seconds < LEAP_SECONDS_FROM_1980)
{
Week--;
Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds;
}
else Seconds -= LEAP_SECONDS_FROM_1980;
Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980;
Days += (Week * DAYS_PER_WEEK);
Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week
pTimeStruct->Year = 1;
YearPart = (u16)(Days / DAYS_PER_400YEARS);
pTimeStruct->Year += YearPart * 400;
Days = Days % DAYS_PER_400YEARS;
YearPart = (u16)(Days / DAYS_PER_100YEARS);
pTimeStruct->Year += YearPart * 100;
Days = Days % DAYS_PER_100YEARS;
YearPart = (u16)(Days / DAYS_PER_4YEARS);
pTimeStruct->Year += YearPart * 4;
Days = Days % DAYS_PER_4YEARS;
if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR);
else YearPart = 3;
pTimeStruct->Year += YearPart;
// calculate remaining days of year
Days -= (u32)(YearPart * DAYS_PER_YEAR);
Days += 1;
// check if current year is a leap year
if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap;
else MonthDayTab = (u32*)Normal;
// seperate month and day from days of year
for ( i = 0; i < 12; i++ )
{
if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) )
{
pTimeStruct->Month = i+1;
pTimeStruct->Day = Days - MonthDayTab[i];
i = 12;
}
}
Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day
pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR);
Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour
pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE);
Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute
pTimeStruct->Sec = (u8)(Seconds);
pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L);
pTimeStruct->Valid = 1;
}
else
{
pTimeStruct->Valid = 0;
}
}
/********************************************************/
/* Initialize UBX Parser */
/********************************************************/
void UBX_Init(void)
{
// mark msg buffers invalid
UbxSol.Status = INVALID;
UbxPosLlh.Status = INVALID;
UbxVelNed.Status = INVALID;
GPSData.Status = INVALID;
UBX_Timeout = SetDelay(2 * UBX_Timeout);
}
/********************************************************/
/* Upate GPS data stcructure */
/********************************************************/
void Update_GPSData (void)
{
static u32 Msg_Count_Timeout = 0;
static u8 Msg_Count = 0;
// the timeout is used to detect the delay between two message sets
// and is used for synchronisation so that always a set is collected
// that belongs together
// _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________
// | 8ms | 8ms | 184 ms | | |
// msg_count: 0 1 2 0 1 2
if(CheckDelay(Msg_Count_Timeout)) Msg_Count = 0;
else Msg_Count++;
Msg_Count_Timeout = SetDelay(100); // reset ubx msg timeout
// if a new set of ubx messages was collected
if((Msg_Count >= 2))
{ // if set is complete
if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA))
{
UBX_Timeout = SetDelay(UBX_TIMEOUT);
DebugOut.Analog[9]++;
// update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms
if(GPSData.Status != NEWDATA) // if last data were processed
{ // wait for new data at all neccesary ubx messages
GPSData.Status = INVALID;
// NAV SOL
GPSData.Flags = UbxSol.Flags;
GPSData.NumOfSats = UbxSol.numSV;
GPSData.SatFix = UbxSol.GPSfix;
GPSData.Position_Accuracy = UbxSol.PAcc;
GPSData.Speed_Accuracy = UbxSol.SAcc;
SetGPSTime(&SystemTime); // update system time
// NAV POSLLH
GPSData.Position.Status = INVALID;
GPSData.Position.Longitude = UbxPosLlh.LON;
GPSData.Position.Latitude = UbxPosLlh.LAT;
GPSData.Position.Altitude = UbxPosLlh.HMSL;
GPSData.Position.Status = NEWDATA;
// NAV VELNED
GPSData.Speed_East = UbxVelNed.VEL_E;
GPSData.Speed_North = UbxVelNed.VEL_N;
GPSData.Speed_Top = -UbxVelNed.VEL_D;
GPSData.Speed_Ground = UbxVelNed.GSpeed;
GPSData.Heading = UbxVelNed.Heading;
GPSData.Status = NEWDATA; // new data available
} // EOF if(GPSData.Status != NEWDATA)
} // EOF all ubx messages received
// set state to collect new data
UbxSol.Status = PROCESSED; // ready for new data
UbxPosLlh.Status = PROCESSED; // ready for new data
UbxVelNed.Status = PROCESSED; // ready for new data
}
}
/********************************************************/
/* UBX Parser */
/********************************************************/
void UBX_Parser(u8 c)
{
static ubxState_t ubxState = UBXSTATE_IDLE;
static u16 msglen;
static u8 cka, ckb;
static u8 *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered
//state machine
switch (ubxState) // ubx message parser
{
case UBXSTATE_IDLE: // check 1st sync byte
if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1;
else ubxState = UBXSTATE_IDLE; // out of synchronization
break;
case UBXSTATE_SYNC1: // check 2nd sync byte
if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2;
else ubxState = UBXSTATE_IDLE; // out of synchronization
break;
case UBXSTATE_SYNC2: // check msg class to be NAV
if (c == UBX_CLASS_NAV) ubxState = UBXSTATE_CLASS;
else ubxState = UBXSTATE_IDLE; // unsupported message class
break;
case UBXSTATE_CLASS: // check message identifier
switch(c)
{
case UBX_ID_POSLLH: // geodetic position
ubxP = (u8 *)&UbxPosLlh; // data start pointer
ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer
ubxSp = (u8 *)&UbxPosLlh.Status; // status pointer
break;
case UBX_ID_SOL: // navigation solution
ubxP = (u8 *)&UbxSol; // data start pointer
ubxEp = (u8 *)(&UbxSol + 1); // data end pointer
ubxSp = (u8 *)&UbxSol.Status; // status pointer
break;
case UBX_ID_VELNED: // velocity vector in tangent plane
ubxP = (u8 *)&UbxVelNed; // data start pointer
ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer
ubxSp = (u8 *)&UbxVelNed.Status; // status pointer
break;
default: // unsupported identifier
ubxState = UBXSTATE_IDLE;
break;
}
if (ubxState != UBXSTATE_IDLE)
{
ubxState = UBXSTATE_LEN1;
cka = UBX_CLASS_NAV + c;
ckb = UBX_CLASS_NAV + cka;
}
break;
case UBXSTATE_LEN1: // 1st message length byte
msglen = (u16)c; // lowbyte first
cka += c;
ckb += cka;
ubxState = UBXSTATE_LEN2;
break;
case UBXSTATE_LEN2: // 2nd message length byte
msglen += ((u16)c)<<8; // high byte last
cka += c;
ckb += cka;
// if the old data are not processed so far then break parsing now
// to avoid writing new data in ISR during reading by another function
if ( *ubxSp == NEWDATA )
{
ubxState = UBXSTATE_IDLE;
Update_GPSData(); //update GPS info respectively
}
else // data invalid or allready processd
{
*ubxSp = INVALID; // mark invalid during buffer filling
ubxState = UBXSTATE_DATA;
}
break;
case UBXSTATE_DATA: // collecting data
if (ubxP < ubxEp)
{
*ubxP++ = c; // copy curent data byte if any space is left
cka += c;
ckb += cka;
if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read
}
else // rx buffer overrun
{
ubxState = UBXSTATE_IDLE;
}
break;
case UBXSTATE_CKA:
if (c == cka) ubxState = UBXSTATE_CKB;
else
{
*ubxSp = INVALID;
ubxState = UBXSTATE_IDLE;
}
break;
case UBXSTATE_CKB:
if (c == ckb)
{
*ubxSp = NEWDATA; // new data are valid
Update_GPSData(); //update GPS info respectively
}
else
{ // if checksum not match then set data invalid
*ubxSp = INVALID;
}
ubxState = UBXSTATE_IDLE; // ready to parse new data
break;
default: // unknown ubx state
ubxState = UBXSTATE_IDLE;
break;
}
}