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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 51 | osiair | 1 | //------------------------------------------------------------------------------ |
| 2 | // _ _ |
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| 3 | // | | | | |
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| 4 | // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
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| 5 | // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
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| 6 | // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
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| 7 | // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
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| 8 | // __/ | |
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| 9 | // |___/ Engineering |
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| 10 | // |
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| 11 | // Filename: gps_ubx.c |
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| 12 | // Description: |
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| 13 | // |
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| 14 | // Author: Martin Steppuhn |
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| 15 | // History: 08.06.2007 Initial version |
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| 16 | // |
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| 17 | //------------------------------------------------------------------------------ |
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| 18 | |||
| 19 | /**** Includes ****************************************************************/ |
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| 20 | |||
| 21 | #include "std_c.h" |
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| 22 | #include "gps_ubx.h" |
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| 23 | |||
| 24 | /**** Preprocessing directives (#define) **************************************/ |
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| 25 | |||
| 26 | /**** Type definitions (typedef) **********************************************/ |
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| 27 | |||
| 28 | /**** Global constants ********************************************************/ |
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| 29 | |||
| 30 | /**** Global variables ********************************************************/ |
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| 31 | |||
| 32 | struct ubx_struct ubx; |
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| 33 | struct nav_sol_struct nav_sol; |
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| 34 | |||
| 35 | /**** Local constants ********************************************************/ |
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| 36 | |||
| 37 | /**** Local variables *********************************************************/ |
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| 38 | |||
| 39 | uint8 ubx_buf[256]; |
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| 40 | uint8 ubx_buf_len; |
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| 41 | |||
| 42 | /**** Local function prototypes ***********************************************/ |
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| 43 | |||
| 44 | |||
| 45 | |||
| 46 | //------------------------------------------------------------------------------ |
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| 47 | // Name: ubx_push |
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| 48 | // Function: |
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| 49 | // |
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| 50 | // Parameter: |
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| 51 | // Return: |
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| 52 | //------------------------------------------------------------------------------ |
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| 53 | void ubx_push(uint8 c) |
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| 54 | { |
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| 55 | uint8 length; |
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| 56 | uint8 check_a,check_b; |
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| 57 | uint16 i; |
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| 58 | |||
| 59 | ubx_buf[ubx_buf_len] = c; |
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| 60 | ubx_buf_len++; |
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| 61 | |||
| 62 | if(ubx_buf_len == 1) { if(ubx_buf[0] != 0xB5) ubx_buf_len = 0; } // Sync |
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| 63 | else if(ubx_buf_len == 2) { if(ubx_buf[1] != 0x62) ubx_buf_len = 0; } // Sync |
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| 64 | else if(ubx_buf_len >= 6) |
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| 65 | { |
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| 66 | length = (((uint16)ubx_buf[5]) << 8)+ ubx_buf[4]; // length |
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| 67 | if(ubx_buf_len >= (length+8)) // frame complete |
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| 68 | { |
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| 69 | //=== Calculate checksum === |
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| 70 | check_a = 0; |
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| 71 | check_b = 0; |
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| 72 | for(i=2;i<(ubx_buf_len-2);i++) |
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| 73 | { |
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| 74 | check_a = check_a + ubx_buf[i]; |
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| 75 | check_b = check_b + check_a; |
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| 76 | } |
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| 77 | |||
| 78 | //=== Test checksum === |
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| 79 | if((check_a == ubx_buf[ubx_buf_len-2]) && (check_b == ubx_buf[ubx_buf_len-1])) |
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| 80 | { |
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| 81 | ubx.msg_class = ubx_buf[2]; |
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| 82 | ubx.msg_id = ubx_buf[3]; |
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| 83 | ubx.length = length; |
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| 84 | for(i=0;i<ubx.length;i++) ubx.data[i] = ubx_buf[i+6]; // copy data |
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| 85 | ubx.update = true; |
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| 86 | } |
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| 87 | ubx_buf_len = 0; |
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| 88 | } |
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| 89 | } |
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| 90 | } |
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| 91 | |||
| 92 | //------------------------------------------------------------------------------ |
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| 93 | // Name: ubx_decode |
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| 94 | // Function: |
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| 95 | // |
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| 96 | // Parameter: |
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| 97 | // Return: |
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| 98 | //------------------------------------------------------------------------------ |
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| 99 | void ubx_decode(struct ubx_struct *ubx) |
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| 100 | { |
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| 101 | if((ubx->msg_class == 0x01) && (ubx->msg_id == 0x06)) // NAV-SOL |
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| 102 | { |
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| 103 | nav_sol.itow = *(uint32*)(&ubx->data[0]); // ms |
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| 104 | nav_sol.gpsfix = ubx->data[10]; |
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| 105 | nav_sol.ecef_x = *(int32*)(&ubx->data[12]); // cm |
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| 106 | nav_sol.ecef_y = *(int32*)(&ubx->data[16]); // cm |
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| 107 | nav_sol.ecef_z = *(int32*)(&ubx->data[20]); // cm |
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| 108 | nav_sol.pacc = *(int32*)(&ubx->data[24]); // cm |
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| 109 | nav_sol.ecefvx = *(uint32*)(&ubx->data[28]); // cm/s |
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| 110 | nav_sol.ecefvy = *(uint32*)(&ubx->data[32]); // cm/s |
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| 111 | nav_sol.ecefvz = *(uint32*)(&ubx->data[36]); // cm/s |
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| 112 | nav_sol.sacc = *(uint32*)(&ubx->data[40]); // cm/s |
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| 113 | nav_sol.pdop = (uint16)ubx->data[44]; |
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| 114 | nav_sol.numsv = ubx->data[47]; |
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| 115 | |||
| 116 | nav_sol.update = true; |
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| 117 | } |
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| 118 | } |
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| 119 | |||
| 120 | //------------------------------------------------------------------------------ |
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| 121 | // Name: show_ubx |
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| 122 | // Function: |
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| 123 | // |
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| 124 | // Parameter: |
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| 125 | // Return: |
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| 126 | //------------------------------------------------------------------------------ |
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| 127 | void show_ubx(struct ubx_struct *ubx) |
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| 128 | { |
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| 129 | uint8 i; |
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| 130 | |||
| 131 | printf("MsgClass=%u ",ubx->msg_class); |
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| 132 | printf("MsgId=%u ",ubx->msg_id); |
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| 133 | printf("Length=%u ",ubx->length); |
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| 134 | printf("Data= "); |
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| 135 | for(i=0;i<ubx->length;i++) printf("%02X ",ubx->data[i]); |
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| 136 | printf("\r\n"); |
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| 137 | } |