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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + 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 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 permittet |
| // + 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 to systems other than 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 <inttypes.h> |
| #include "ubx.h" |
| #include "main.h" |
| #include <avr/io.h> |
| |
| //#include "uart0.h" |
| |
| // ubx protocol parser state machine |
| #define UBXSTATE_IDLE 0 |
| #define UBXSTATE_SYNC1 1 |
| #define UBXSTATE_SYNC2 2 |
| #define UBXSTATE_CLASS 3 |
| #define UBXSTATE_LEN1 4 |
| #define UBXSTATE_LEN2 5 |
| #define UBXSTATE_DATA 6 |
| #define UBXSTATE_CKA 7 |
| #define UBXSTATE_CKB 8 |
| |
| // ublox protocoll identifier |
| #define UBX_CLASS_NAV 0x01 |
| |
| #define UBX_ID_POSLLH 0x02 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_VELNED 0x12 |
| |
| #define UBX_SYNC1_CHAR 0xB5 |
| #define UBX_SYNC2_CHAR 0x62 |
| |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t Frac; // ns remainder of rounded ms above |
| int16_t week; // GPS week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| int32_t ECEF_X; // cm ECEF X coordinate |
| int32_t ECEF_Y; // cm ECEF Y coordinate |
| int32_t ECEF_Z; // cm ECEF Z coordinate |
| uint32_t PAcc; // cm 3D Position Accuracy Estimate |
| int32_t ECEFVX; // cm/s ECEF X velocity |
| int32_t ECEFVY; // cm/s ECEF Y velocity |
| int32_t ECEFVZ; // cm/s ECEF Z velocity |
| uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| uint16_t PDOP; // 0.01 Position DOP |
| uint8_t res1; // reserved |
| uint8_t numSV; // Number of SVs used in navigation solution |
| uint32_t res2; // reserved |
| Status_t Status; |
| } UBX_SOL_t; |
| |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t LON; // 1e-07 deg Longitude |
| int32_t LAT; // 1e-07 deg Latitude |
| int32_t HEIGHT; // mm Height above Ellipsoid |
| int32_t HMSL; // mm Height above mean sea level |
| uint32_t Hacc; // mm Horizontal Accuracy Estimate |
| uint32_t Vacc; // mm Vertical Accuracy Estimate |
| Status_t Status; |
| } UBX_POSLLH_t; |
| |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t VEL_N; // cm/s NED north velocity |
| int32_t VEL_E; // cm/s NED east velocity |
| int32_t VEL_D; // cm/s NED down velocity |
| uint32_t Speed; // cm/s Speed (3-D) |
| uint32_t GSpeed; // cm/s Ground Speed (2-D) |
| int32_t Heading; // 1e-05 deg Heading 2-D |
| uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
| Status_t Status; |
| } UBX_VELNED_t; |
| |
| UBX_SOL_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| UBX_POSLLH_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| UBX_VELNED_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
| |
| volatile uint8_t GPSTimeout = 0; |
| |
| void UpdateGPSInfo (void) |
| { |
| |
| if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| { |
| RED_FLASH; |
| if(GPSInfo.status != NEWDATA) |
| { |
| GPSInfo.status = INVALID; |
| // NAV SOL |
| GPSInfo.flags = UbxSol.Flags; |
| GPSInfo.satfix = UbxSol.GPSfix; |
| GPSInfo.satnum = UbxSol.numSV; |
| GPSInfo.PAcc = UbxSol.PAcc; |
| GPSInfo.VAcc = UbxSol.SAcc; |
| // NAV POSLLH |
| GPSInfo.longitude = UbxPosLlh.LON; |
| GPSInfo.latitude = UbxPosLlh.LAT; |
| GPSInfo.altitude = UbxPosLlh.HEIGHT; |
| |
| GPSInfo.veleast = UbxVelNed.VEL_E; |
| GPSInfo.velnorth = UbxVelNed.VEL_N; |
| GPSInfo.veltop = -UbxVelNed.VEL_D; |
| GPSInfo.velground = UbxVelNed.GSpeed; |
| |
| GPSInfo.status = NEWDATA; |
| |
| } |
| // set state to collect new data |
| UbxSol.Status = PROCESSED; // never update old data |
| UbxPosLlh.Status = PROCESSED; // never update old data |
| UbxVelNed.Status = PROCESSED; // never update old data |
| } |
| |
| |
| } |
| |
| |
| // this function should be called within the UART RX ISR |
| void ubx_parser(uint8_t c) |
| { |
| static uint8_t ubxstate = UBXSTATE_IDLE; |
| static uint8_t cka, ckb; |
| static uint16_t msglen; |
| static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
| |
| switch(ubxstate) |
| { |
| 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 = (int8_t *)&UbxPosLlh; // data start pointer |
| ubxEp = (int8_t *)(&UbxPosLlh + 1); // data end pointer |
| ubxSp = (int8_t *)&UbxPosLlh.Status; // status pointer |
| break; |
| |
| case UBX_ID_SOL: // navigation solution |
| ubxP = (int8_t *)&UbxSol; // data start pointer |
| ubxEp = (int8_t *)(&UbxSol + 1); // data end pointer |
| ubxSp = (int8_t *)&UbxSol.Status; // status pointer |
| break; |
| |
| case UBX_ID_VELNED: // velocity vector in tangent plane |
| ubxP = (int8_t *)&UbxVelNed; // data start pointer |
| ubxEp = (int8_t *)(&UbxVelNed + 1); // data end pointer |
| ubxSp = (int8_t *)&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 = c; |
| cka += c; |
| ckb += cka; |
| ubxstate = UBXSTATE_LEN2; |
| break; |
| |
| case UBXSTATE_LEN2: // 2nd message length byte |
| msglen += ((uint16_t)c)<<8; |
| 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 ) |
| { |
| UpdateGPSInfo(); //update GPS info respectively |
| ubxstate = UBXSTATE_IDLE; |
| } |
| else // data invalid or allready processd |
| { |
| *ubxSp = INVALID; |
| ubxstate = UBXSTATE_DATA; |
| } |
| break; |
| |
| case UBXSTATE_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 |
| 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 |
| UpdateGPSInfo(); //update GPS info respectively |
| GPSTimeout = 255; |
| } |
| else |
| { // if checksum not fit then set data invalid |
| *ubxSp = INVALID; |
| } |
| ubxstate = UBXSTATE_IDLE; // ready to parse new data |
| break; |
| |
| default: // unknown ubx state |
| ubxstate = UBXSTATE_IDLE; |
| break; |
| } |
| |
| } |
| |
| |