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| - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 2 | // + Copyright (c) 04.2007 Holger Buss |
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| - | 3 | // + Nur für den privaten Gebrauch |
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| - | 4 | // + www.MikroKopter.com |
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| - | 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| - | 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| - | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| - | 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| - | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| - | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| - | 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| - | 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| - | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| - | 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| - | 18 | // + eindeutig als Ursprung verlinkt werden |
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| - | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| - | 21 | // + Benutzung auf eigene Gefahr |
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| - | 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| - | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| - | 25 | // + mit unserer Zustimmung zulässig |
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| - | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| - | 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| - | 30 | // + this list of conditions and the following disclaimer. |
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| - | 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| - | 32 | // + from this software without specific prior written permission. |
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| - | 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| - | 34 | // + for non-commercial use (directly or indirectly) |
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| - | 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| - | 36 | // + with our written permission |
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| - | 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| - | 38 | // + clearly linked as origin |
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| - | 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| - | 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| - | 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| - | 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| - | 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| - | 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| - | 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| - | 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| - | 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| - | 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| - | 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | #include <inttypes.h> |
51 | #include <inttypes.h> |
| 2 | #include "ubx.h" |
52 | #include "ubx.h" |
| 3 | #include "main.h" |
53 | #include "main.h" |
| 4 | #include <avr/io.h> |
54 | #include <avr/io.h> |
| 5 | 55 | ||
| 6 | #include "uart.h" |
56 | //#include "uart0.h" |
| 7 | 57 | ||
| 8 | // ubx protocol parser state machine |
58 | // ubx protocol parser state machine |
| 9 | #define UBXSTATE_IDLE 0 |
59 | #define UBXSTATE_IDLE 0 |
| 10 | #define UBXSTATE_SYNC1 1 |
60 | #define UBXSTATE_SYNC1 1 |
| 11 | #define UBXSTATE_SYNC2 2 |
61 | #define UBXSTATE_SYNC2 2 |
| 12 | #define UBXSTATE_CLASS 3 |
62 | #define UBXSTATE_CLASS 3 |
| 13 | #define UBXSTATE_LEN1 4 |
63 | #define UBXSTATE_LEN1 4 |
| 14 | #define UBXSTATE_LEN2 5 |
64 | #define UBXSTATE_LEN2 5 |
| 15 | #define UBXSTATE_DATA 6 |
65 | #define UBXSTATE_DATA 6 |
| 16 | #define UBXSTATE_CKA 7 |
66 | #define UBXSTATE_CKA 7 |
| 17 | #define UBXSTATE_CKB 8 |
67 | #define UBXSTATE_CKB 8 |
| 18 | 68 | ||
| 19 | // ublox protocoll identifier |
69 | // ublox protocoll identifier |
| 20 | #define UBX_CLASS_NAV 0x01 |
70 | #define UBX_CLASS_NAV 0x01 |
| 21 | 71 | ||
| 22 | #define UBX_ID_POSLLH 0x02 |
72 | #define UBX_ID_POSLLH 0x02 |
| 23 | #define UBX_ID_SOL 0x06 |
73 | #define UBX_ID_SOL 0x06 |
| 24 | #define UBX_ID_VELNED 0x12 |
74 | #define UBX_ID_VELNED 0x12 |
| 25 | 75 | ||
| 26 | #define UBX_SYNC1_CHAR 0xB5 |
76 | #define UBX_SYNC1_CHAR 0xB5 |
| 27 | #define UBX_SYNC2_CHAR 0x62 |
77 | #define UBX_SYNC2_CHAR 0x62 |
| 28 | 78 | ||
| 29 | typedef struct { |
79 | typedef struct { |
| 30 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
80 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
| 31 | int32_t Frac; // ns remainder of rounded ms above |
81 | int32_t Frac; // ns remainder of rounded ms above |
| 32 | int16_t week; // GPS week |
82 | int16_t week; // GPS week |
| 33 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
83 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
| 34 | uint8_t Flags; // Navigation Status Flags |
84 | uint8_t Flags; // Navigation Status Flags |
| 35 | int32_t ECEF_X; // cm ECEF X coordinate |
85 | int32_t ECEF_X; // cm ECEF X coordinate |
| 36 | int32_t ECEF_Y; // cm ECEF Y coordinate |
86 | int32_t ECEF_Y; // cm ECEF Y coordinate |
| 37 | int32_t ECEF_Z; // cm ECEF Z coordinate |
87 | int32_t ECEF_Z; // cm ECEF Z coordinate |
| 38 | uint32_t PAcc; // cm 3D Position Accuracy Estimate |
88 | uint32_t PAcc; // cm 3D Position Accuracy Estimate |
| 39 | int32_t ECEFVX; // cm/s ECEF X velocity |
89 | int32_t ECEFVX; // cm/s ECEF X velocity |
| 40 | int32_t ECEFVY; // cm/s ECEF Y velocity |
90 | int32_t ECEFVY; // cm/s ECEF Y velocity |
| 41 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
91 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
| 42 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
92 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| 43 | uint16_t PDOP; // 0.01 Position DOP |
93 | uint16_t PDOP; // 0.01 Position DOP |
| 44 | uint8_t res1; // reserved |
94 | uint8_t res1; // reserved |
| 45 | uint8_t numSV; // Number of SVs used in navigation solution |
95 | uint8_t numSV; // Number of SVs used in navigation solution |
| 46 | uint32_t res2; // reserved |
96 | uint32_t res2; // reserved |
| 47 | Status_t Status; |
97 | Status_t Status; |
| 48 | } UBX_SOL_t; |
98 | } UBX_SOL_t; |
| 49 | 99 | ||
| 50 | typedef struct { |
100 | typedef struct { |
| 51 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
101 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
| 52 | int32_t LON; // 1e-07 deg Longitude |
102 | int32_t LON; // 1e-07 deg Longitude |
| 53 | int32_t LAT; // 1e-07 deg Latitude |
103 | int32_t LAT; // 1e-07 deg Latitude |
| 54 | int32_t HEIGHT; // mm Height above Ellipsoid |
104 | int32_t HEIGHT; // mm Height above Ellipsoid |
| 55 | int32_t HMSL; // mm Height above mean sea level |
105 | int32_t HMSL; // mm Height above mean sea level |
| 56 | uint32_t Hacc; // mm Horizontal Accuracy Estimate |
106 | uint32_t Hacc; // mm Horizontal Accuracy Estimate |
| 57 | uint32_t Vacc; // mm Vertical Accuracy Estimate |
107 | uint32_t Vacc; // mm Vertical Accuracy Estimate |
| 58 | Status_t Status; |
108 | Status_t Status; |
| 59 | } UBX_POSLLH_t; |
109 | } UBX_POSLLH_t; |
| 60 | 110 | ||
| 61 | typedef struct { |
111 | typedef struct { |
| 62 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
112 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
| 63 | int32_t VEL_N; // cm/s NED north velocity |
113 | int32_t VEL_N; // cm/s NED north velocity |
| 64 | int32_t VEL_E; // cm/s NED east velocity |
114 | int32_t VEL_E; // cm/s NED east velocity |
| 65 | int32_t VEL_D; // cm/s NED down velocity |
115 | int32_t VEL_D; // cm/s NED down velocity |
| 66 | uint32_t Speed; // cm/s Speed (3-D) |
116 | uint32_t Speed; // cm/s Speed (3-D) |
| 67 | uint32_t GSpeed; // cm/s Ground Speed (2-D) |
117 | uint32_t GSpeed; // cm/s Ground Speed (2-D) |
| 68 | int32_t Heading; // 1e-05 deg Heading 2-D |
118 | int32_t Heading; // 1e-05 deg Heading 2-D |
| 69 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
119 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| 70 | uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
120 | uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
| 71 | Status_t Status; |
121 | Status_t Status; |
| 72 | } UBX_VELNED_t; |
122 | } UBX_VELNED_t; |
| 73 | 123 | ||
| 74 | UBX_SOL_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
124 | UBX_SOL_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| 75 | UBX_POSLLH_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
125 | UBX_POSLLH_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| 76 | UBX_VELNED_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
126 | UBX_VELNED_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| 77 | GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
127 | GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
| 78 | 128 | ||
| 79 | volatile uint8_t GPSTimeout = 0; |
129 | volatile uint8_t GPSTimeout = 0; |
| 80 | 130 | ||
| 81 | void UpdateGPSInfo (void) |
131 | void UpdateGPSInfo (void) |
| 82 | { |
132 | { |
| 83 | 133 | ||
| 84 | if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
134 | if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| 85 | { |
135 | { |
| 86 | RED_FLASH; |
136 | RED_FLASH; |
| 87 | if(GPSInfo.status != NEWDATA) |
137 | if(GPSInfo.status != NEWDATA) |
| 88 | { |
138 | { |
| 89 | GPSInfo.status = INVALID; |
139 | GPSInfo.status = INVALID; |
| 90 | // NAV SOL |
140 | // NAV SOL |
| 91 | GPSInfo.flags = UbxSol.Flags; |
141 | GPSInfo.flags = UbxSol.Flags; |
| 92 | GPSInfo.satfix = UbxSol.GPSfix; |
142 | GPSInfo.satfix = UbxSol.GPSfix; |
| 93 | GPSInfo.satnum = UbxSol.numSV; |
143 | GPSInfo.satnum = UbxSol.numSV; |
| 94 | GPSInfo.PAcc = UbxSol.PAcc; |
144 | GPSInfo.PAcc = UbxSol.PAcc; |
| 95 | GPSInfo.VAcc = UbxSol.SAcc; |
145 | GPSInfo.VAcc = UbxSol.SAcc; |
| 96 | // NAV POSLLH |
146 | // NAV POSLLH |
| 97 | GPSInfo.longitude = UbxPosLlh.LON; |
147 | GPSInfo.longitude = UbxPosLlh.LON; |
| 98 | GPSInfo.latitude = UbxPosLlh.LAT; |
148 | GPSInfo.latitude = UbxPosLlh.LAT; |
| 99 | GPSInfo.altitude = UbxPosLlh.HEIGHT; |
149 | GPSInfo.altitude = UbxPosLlh.HEIGHT; |
| 100 | 150 | ||
| 101 | GPSInfo.veleast = UbxVelNed.VEL_E; |
151 | GPSInfo.veleast = UbxVelNed.VEL_E; |
| 102 | GPSInfo.velnorth = UbxVelNed.VEL_N; |
152 | GPSInfo.velnorth = UbxVelNed.VEL_N; |
| 103 | GPSInfo.veltop = -UbxVelNed.VEL_D; |
153 | GPSInfo.veltop = -UbxVelNed.VEL_D; |
| 104 | GPSInfo.velground = UbxVelNed.GSpeed; |
154 | GPSInfo.velground = UbxVelNed.GSpeed; |
| 105 | 155 | ||
| 106 | GPSInfo.status = NEWDATA; |
156 | GPSInfo.status = NEWDATA; |
| 107 | 157 | ||
| 108 | } |
158 | } |
| 109 | // set state to collect new data |
159 | // set state to collect new data |
| 110 | UbxSol.Status = PROCESSED; // never update old data |
160 | UbxSol.Status = PROCESSED; // never update old data |
| 111 | UbxPosLlh.Status = PROCESSED; // never update old data |
161 | UbxPosLlh.Status = PROCESSED; // never update old data |
| 112 | UbxVelNed.Status = PROCESSED; // never update old data |
162 | UbxVelNed.Status = PROCESSED; // never update old data |
| 113 | } |
163 | } |
| 114 | 164 | ||
| 115 | 165 | ||
| 116 | } |
166 | } |
| 117 | 167 | ||
| 118 | 168 | ||
| 119 | // this function should be called within the UART RX ISR |
169 | // this function should be called within the UART RX ISR |
| 120 | void ubx_parser(uint8_t c) |
170 | void ubx_parser(uint8_t c) |
| 121 | { |
171 | { |
| 122 | static uint8_t ubxstate = UBXSTATE_IDLE; |
172 | static uint8_t ubxstate = UBXSTATE_IDLE; |
| 123 | static uint8_t cka, ckb; |
173 | static uint8_t cka, ckb; |
| 124 | static uint16_t msglen; |
174 | static uint16_t msglen; |
| 125 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
175 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
| 126 | 176 | ||
| 127 | switch(ubxstate) |
177 | switch(ubxstate) |
| 128 | { |
178 | { |
| 129 | case UBXSTATE_IDLE: // check 1st sync byte |
179 | case UBXSTATE_IDLE: // check 1st sync byte |
| 130 | if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
180 | if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
| 131 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
181 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
| 132 | break; |
182 | break; |
| 133 | 183 | ||
| 134 | case UBXSTATE_SYNC1: // check 2nd sync byte |
184 | case UBXSTATE_SYNC1: // check 2nd sync byte |
| 135 | if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
185 | if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
| 136 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
186 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
| 137 | break; |
187 | break; |
| 138 | 188 | ||
| 139 | case UBXSTATE_SYNC2: // check msg class to be NAV |
189 | case UBXSTATE_SYNC2: // check msg class to be NAV |
| 140 | if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
190 | if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
| 141 | else ubxstate = UBXSTATE_IDLE; // unsupported message class |
191 | else ubxstate = UBXSTATE_IDLE; // unsupported message class |
| 142 | break; |
192 | break; |
| 143 | 193 | ||
| 144 | case UBXSTATE_CLASS: // check message identifier |
194 | case UBXSTATE_CLASS: // check message identifier |
| 145 | switch(c) |
195 | switch(c) |
| 146 | { |
196 | { |
| 147 | case UBX_ID_POSLLH: // geodetic position |
197 | case UBX_ID_POSLLH: // geodetic position |
| 148 | ubxP = (int8_t *)&UbxPosLlh; // data start pointer |
198 | ubxP = (int8_t *)&UbxPosLlh; // data start pointer |
| 149 | ubxEp = (int8_t *)(&UbxPosLlh + 1); // data end pointer |
199 | ubxEp = (int8_t *)(&UbxPosLlh + 1); // data end pointer |
| 150 | ubxSp = (int8_t *)&UbxPosLlh.Status; // status pointer |
200 | ubxSp = (int8_t *)&UbxPosLlh.Status; // status pointer |
| 151 | break; |
201 | break; |
| 152 | 202 | ||
| 153 | case UBX_ID_SOL: // navigation solution |
203 | case UBX_ID_SOL: // navigation solution |
| 154 | ubxP = (int8_t *)&UbxSol; // data start pointer |
204 | ubxP = (int8_t *)&UbxSol; // data start pointer |
| 155 | ubxEp = (int8_t *)(&UbxSol + 1); // data end pointer |
205 | ubxEp = (int8_t *)(&UbxSol + 1); // data end pointer |
| 156 | ubxSp = (int8_t *)&UbxSol.Status; // status pointer |
206 | ubxSp = (int8_t *)&UbxSol.Status; // status pointer |
| 157 | break; |
207 | break; |
| 158 | 208 | ||
| 159 | case UBX_ID_VELNED: // velocity vector in tangent plane |
209 | case UBX_ID_VELNED: // velocity vector in tangent plane |
| 160 | ubxP = (int8_t *)&UbxVelNed; // data start pointer |
210 | ubxP = (int8_t *)&UbxVelNed; // data start pointer |
| 161 | ubxEp = (int8_t *)(&UbxVelNed + 1); // data end pointer |
211 | ubxEp = (int8_t *)(&UbxVelNed + 1); // data end pointer |
| 162 | ubxSp = (int8_t *)&UbxVelNed.Status; // status pointer |
212 | ubxSp = (int8_t *)&UbxVelNed.Status; // status pointer |
| 163 | break; |
213 | break; |
| 164 | 214 | ||
| 165 | default: // unsupported identifier |
215 | default: // unsupported identifier |
| 166 | ubxstate = UBXSTATE_IDLE; |
216 | ubxstate = UBXSTATE_IDLE; |
| 167 | break; |
217 | break; |
| 168 | } |
218 | } |
| 169 | if (ubxstate != UBXSTATE_IDLE) |
219 | if (ubxstate != UBXSTATE_IDLE) |
| 170 | { |
220 | { |
| 171 | ubxstate = UBXSTATE_LEN1; |
221 | ubxstate = UBXSTATE_LEN1; |
| 172 | cka = UBX_CLASS_NAV + c; |
222 | cka = UBX_CLASS_NAV + c; |
| 173 | ckb = UBX_CLASS_NAV + cka; |
223 | ckb = UBX_CLASS_NAV + cka; |
| 174 | } |
224 | } |
| 175 | break; |
225 | break; |
| 176 | 226 | ||
| 177 | case UBXSTATE_LEN1: // 1st message length byte |
227 | case UBXSTATE_LEN1: // 1st message length byte |
| 178 | msglen = c; |
228 | msglen = c; |
| 179 | cka += c; |
229 | cka += c; |
| 180 | ckb += cka; |
230 | ckb += cka; |
| 181 | ubxstate = UBXSTATE_LEN2; |
231 | ubxstate = UBXSTATE_LEN2; |
| 182 | break; |
232 | break; |
| 183 | 233 | ||
| 184 | case UBXSTATE_LEN2: // 2nd message length byte |
234 | case UBXSTATE_LEN2: // 2nd message length byte |
| 185 | msglen += ((uint16_t)c)<<8; |
235 | msglen += ((uint16_t)c)<<8; |
| 186 | cka += c; |
236 | cka += c; |
| 187 | ckb += cka; |
237 | ckb += cka; |
| 188 | // if the old data are not processed so far then break parsing now |
238 | // if the old data are not processed so far then break parsing now |
| 189 | // to avoid writing new data in ISR during reading by another function |
239 | // to avoid writing new data in ISR during reading by another function |
| 190 | if ( *ubxSp == NEWDATA ) |
240 | if ( *ubxSp == NEWDATA ) |
| 191 | { |
241 | { |
| 192 | UpdateGPSInfo(); //update GPS info respectively |
242 | UpdateGPSInfo(); //update GPS info respectively |
| 193 | ubxstate = UBXSTATE_IDLE; |
243 | ubxstate = UBXSTATE_IDLE; |
| 194 | } |
244 | } |
| 195 | else // data invalid or allready processd |
245 | else // data invalid or allready processd |
| 196 | { |
246 | { |
| 197 | *ubxSp = INVALID; |
247 | *ubxSp = INVALID; |
| 198 | ubxstate = UBXSTATE_DATA; |
248 | ubxstate = UBXSTATE_DATA; |
| 199 | } |
249 | } |
| 200 | break; |
250 | break; |
| 201 | 251 | ||
| 202 | case UBXSTATE_DATA: |
252 | case UBXSTATE_DATA: |
| 203 | if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
253 | if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
| 204 | cka += c; |
254 | cka += c; |
| 205 | ckb += cka; |
255 | ckb += cka; |
| 206 | if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
256 | if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
| 207 | break; |
257 | break; |
| 208 | 258 | ||
| 209 | case UBXSTATE_CKA: |
259 | case UBXSTATE_CKA: |
| 210 | if (c == cka) ubxstate = UBXSTATE_CKB; |
260 | if (c == cka) ubxstate = UBXSTATE_CKB; |
| 211 | else |
261 | else |
| 212 | { |
262 | { |
| 213 | *ubxSp = INVALID; |
263 | *ubxSp = INVALID; |
| 214 | ubxstate = UBXSTATE_IDLE; |
264 | ubxstate = UBXSTATE_IDLE; |
| 215 | } |
265 | } |
| 216 | break; |
266 | break; |
| 217 | 267 | ||
| 218 | case UBXSTATE_CKB: |
268 | case UBXSTATE_CKB: |
| 219 | if (c == ckb) |
269 | if (c == ckb) |
| 220 | { |
270 | { |
| 221 | *ubxSp = NEWDATA; // new data are valid |
271 | *ubxSp = NEWDATA; // new data are valid |
| 222 | UpdateGPSInfo(); //update GPS info respectively |
272 | UpdateGPSInfo(); //update GPS info respectively |
| 223 | GPSTimeout = 255; |
273 | GPSTimeout = 255; |
| 224 | } |
274 | } |
| 225 | else |
275 | else |
| 226 | { // if checksum not fit then set data invalid |
276 | { // if checksum not fit then set data invalid |
| 227 | *ubxSp = INVALID; |
277 | *ubxSp = INVALID; |
| 228 | } |
278 | } |
| 229 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
279 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
| 230 | break; |
280 | break; |
| 231 | 281 | ||
| 232 | default: // unknown ubx state |
282 | default: // unknown ubx state |
| 233 | ubxstate = UBXSTATE_IDLE; |
283 | ubxstate = UBXSTATE_IDLE; |
| 234 | break; |
284 | break; |
| 235 | } |
285 | } |
| 236 | 286 | ||
| 237 | } |
287 | } |
| 238 | 288 | ||
| 239 | 289 | ||
| 240 | 290 | ||