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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 684 | killagreg | 1 | #include <inttypes.h> |
| 2 | #include "ubx.h" |
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| 702 | killagreg | 3 | #include "main.h" |
| 4 | #include <avr/io.h> |
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| 684 | killagreg | 5 | |
| 722 | killagreg | 6 | #include "uart.h" |
| 7 | |||
| 684 | killagreg | 8 | // ubx protocol parser state machine |
| 9 | #define UBXSTATE_IDLE 0 |
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| 10 | #define UBXSTATE_SYNC1 1 |
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| 11 | #define UBXSTATE_SYNC2 2 |
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| 12 | #define UBXSTATE_CLASS 3 |
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| 13 | #define UBXSTATE_LEN1 4 |
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| 14 | #define UBXSTATE_LEN2 5 |
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| 15 | #define UBXSTATE_DATA 6 |
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| 16 | #define UBXSTATE_CKA 7 |
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| 17 | #define UBXSTATE_CKB 8 |
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| 18 | |||
| 19 | // ublox protocoll identifier |
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| 20 | #define UBX_CLASS_NAV 0x01 |
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| 752 | killagreg | 21 | |
| 684 | killagreg | 22 | #define UBX_ID_POSLLH 0x02 |
| 752 | killagreg | 23 | #define UBX_ID_SOL 0x06 |
| 684 | killagreg | 24 | #define UBX_ID_POSUTM 0x08 |
| 25 | #define UBX_ID_VELNED 0x12 |
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| 752 | killagreg | 26 | |
| 684 | killagreg | 27 | #define UBX_SYNC1_CHAR 0xB5 |
| 28 | #define UBX_SYNC2_CHAR 0x62 |
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| 29 | |||
| 30 | typedef struct { |
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| 31 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 752 | killagreg | 32 | int32_t Frac; // ns remainder of rounded ms above |
| 33 | int16_t week; // GPS week |
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| 684 | killagreg | 34 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
| 35 | uint8_t Flags; // Navigation Status Flags |
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| 752 | killagreg | 36 | int32_t ECEF_X; // cm ECEF X coordinate |
| 37 | int32_t ECEF_Y; // cm ECEF Y coordinate |
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| 38 | int32_t ECEF_Z; // cm ECEF Z coordinate |
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| 39 | uint32_t PAcc; // cm 3D Position Accuracy Estimate |
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| 40 | int32_t ECEFVX; // cm/s ECEF X velocity |
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| 41 | int32_t ECEFVY; // cm/s ECEF Y velocity |
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| 42 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
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| 43 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
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| 44 | uint16_t PDOP; // 0.01 Position DOP |
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| 45 | uint8_t res1; // reserved |
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| 46 | uint8_t numSV; // Number of SVs used in navigation solution |
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| 47 | uint32_t res2; // reserved |
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| 702 | killagreg | 48 | uint8_t Status; |
| 752 | killagreg | 49 | } GPS_SOL_t; |
| 684 | killagreg | 50 | |
| 51 | typedef struct { |
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| 52 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 53 | int32_t LON; // 1e-07 deg Longitude |
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| 54 | int32_t LAT; // 1e-07 deg Latitude |
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| 55 | int32_t HEIGHT; // mm Height above Ellipsoid |
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| 56 | int32_t HMSL; // mm Height above mean sea level |
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| 57 | uint32_t Hacc; // mm Horizontal Accuracy Estimate |
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| 58 | uint32_t Vacc; // mm Vertical Accuracy Estimate |
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| 702 | killagreg | 59 | uint8_t Status; |
| 684 | killagreg | 60 | } GPS_POSLLH_t; |
| 61 | |||
| 62 | typedef struct { |
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| 63 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 64 | int32_t EAST; // cm UTM Easting |
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| 65 | int32_t NORTH; // cm UTM Nording |
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| 66 | int32_t ALT; // cm altitude |
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| 67 | uint8_t ZONE; // UTM zone number |
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| 68 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
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| 702 | killagreg | 69 | uint8_t Status; |
| 684 | killagreg | 70 | } GPS_POSUTM_t; |
| 71 | |||
| 72 | typedef struct { |
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| 73 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 74 | int32_t VEL_N; // cm/s NED north velocity |
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| 75 | int32_t VEL_E; // cm/s NED east velocity |
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| 76 | int32_t VEL_D; // cm/s NED down velocity |
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| 77 | uint32_t Speed; // cm/s Speed (3-D) |
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| 78 | uint32_t GSpeed; // cm/s Ground Speed (2-D) |
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| 79 | int32_t Heading; // 1e-05 deg Heading 2-D |
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| 80 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
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| 81 | uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
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| 702 | killagreg | 82 | uint8_t Status; |
| 684 | killagreg | 83 | } GPS_VELNED_t; |
| 84 | |||
| 752 | killagreg | 85 | GPS_SOL_t GpsSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| 726 | killagreg | 86 | GPS_POSLLH_t GpsPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| 87 | GPS_POSUTM_t GpsPosUtm = {0,0,0,0,0,0, INVALID}; |
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| 88 | GPS_VELNED_t GpsVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
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| 89 | GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
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| 684 | killagreg | 90 | |
| 726 | killagreg | 91 | volatile uint8_t GPSTimeout = 0; |
| 684 | killagreg | 92 | |
| 93 | void UpdateGPSInfo (void) |
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| 94 | { |
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| 752 | killagreg | 95 | if (GpsSol.Status == VALID) // valid packet |
| 684 | killagreg | 96 | { |
| 752 | killagreg | 97 | GPSInfo.satfix = GpsSol.GPSfix; |
| 98 | GPSInfo.satnum = GpsSol.numSV; |
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| 99 | GPSInfo.PAcc = GpsSol.PAcc; |
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| 100 | GPSInfo.VAcc = GpsSol.SAcc; |
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| 101 | GpsSol.Status = PROCESSED; // never update old data |
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| 684 | killagreg | 102 | } |
| 702 | killagreg | 103 | if (GpsPosLlh.Status == VALID) // valid packet |
| 684 | killagreg | 104 | { |
| 702 | killagreg | 105 | GPSInfo.longitude = GpsPosLlh.LON; |
| 106 | GPSInfo.latitude = GpsPosLlh.LAT; |
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| 107 | GPSInfo.altitude = GpsPosLlh.HEIGHT; |
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| 726 | killagreg | 108 | GpsPosLlh.Status = PROCESSED; // never update old data |
| 684 | killagreg | 109 | } |
| 702 | killagreg | 110 | if (GpsPosUtm.Status == VALID) // valid packet |
| 684 | killagreg | 111 | { |
| 702 | killagreg | 112 | GPSInfo.utmeast = GpsPosUtm.EAST; |
| 113 | GPSInfo.utmnorth = GpsPosUtm.NORTH; |
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| 114 | GPSInfo.utmalt = GpsPosUtm.ALT; |
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| 726 | killagreg | 115 | GpsPosUtm.Status = PROCESSED; // never update old data |
| 684 | killagreg | 116 | } |
| 702 | killagreg | 117 | if (GpsVelNed.Status == VALID) // valid packet |
| 684 | killagreg | 118 | { |
| 702 | killagreg | 119 | GPSInfo.veleast = GpsVelNed.VEL_E; |
| 120 | GPSInfo.velnorth = GpsVelNed.VEL_N; |
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| 121 | GPSInfo.veltop = -GpsVelNed.VEL_D; |
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| 726 | killagreg | 122 | GpsVelNed.Status = PROCESSED; // never update old data |
| 684 | killagreg | 123 | } |
| 752 | killagreg | 124 | if ((GpsSol.Status != INVALID) && (GpsPosLlh.Status != INVALID) && (GpsPosUtm.Status != INVALID) && (GpsVelNed.Status != INVALID)) |
| 702 | killagreg | 125 | { |
| 726 | killagreg | 126 | GPSInfo.status = VALID; // set valid if data are updated |
| 702 | killagreg | 127 | } |
| 684 | killagreg | 128 | } |
| 129 | |||
| 724 | killagreg | 130 | |
| 684 | killagreg | 131 | // this function should be called within the UART RX ISR |
| 132 | void ubx_parser(uint8_t c) |
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| 133 | { |
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| 134 | static uint8_t ubxstate = UBXSTATE_IDLE; |
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| 135 | static uint8_t cka, ckb; |
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| 136 | static uint16_t msglen; |
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| 137 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
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| 138 | |||
| 139 | switch(ubxstate) |
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| 140 | { |
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| 141 | case UBXSTATE_IDLE: // check 1st sync byte |
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| 142 | if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
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| 143 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
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| 144 | break; |
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| 145 | |||
| 146 | case UBXSTATE_SYNC1: // check 2nd sync byte |
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| 147 | if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
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| 148 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
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| 149 | break; |
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| 150 | |||
| 151 | case UBXSTATE_SYNC2: // check msg class to be NAV |
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| 152 | if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
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| 153 | else ubxstate = UBXSTATE_IDLE; // unsupported message class |
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| 154 | break; |
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| 155 | |||
| 156 | case UBXSTATE_CLASS: // check message identifier |
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| 157 | switch(c) |
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| 158 | { |
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| 159 | case UBX_ID_POSUTM: // utm position |
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| 160 | ubxP = (int8_t *)&GpsPosUtm; // data start pointer |
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| 161 | ubxEp = (int8_t *)(&GpsPosUtm + sizeof(GPS_POSUTM_t)); // data end pointer |
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| 702 | killagreg | 162 | ubxSp = (int8_t *)&GpsPosUtm.Status; // status pointer |
| 684 | killagreg | 163 | break; |
| 164 | |||
| 165 | case UBX_ID_POSLLH: // geodetic position |
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| 722 | killagreg | 166 | ubxP = (int8_t *)&GpsPosLlh; // data start pointer |
| 167 | ubxEp = (int8_t *)(&GpsPosLlh + sizeof(GPS_POSLLH_t)); // data end pointer |
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| 168 | ubxSp = (int8_t *)&GpsPosLlh.Status; // status pointer |
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| 684 | killagreg | 169 | break; |
| 170 | |||
| 752 | killagreg | 171 | case UBX_ID_SOL: // navigation solution |
| 172 | ubxP = (int8_t *)&GpsSol; // data start pointer |
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| 173 | ubxEp = (int8_t *)(&GpsSol + sizeof(GPS_SOL_t)); // data end pointer |
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| 174 | ubxSp = (int8_t *)&GpsSol.Status; // status pointer |
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| 684 | killagreg | 175 | break; |
| 176 | |||
| 177 | case UBX_ID_VELNED: // velocity vector in tangent plane |
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| 178 | ubxP = (int8_t *)&GpsVelNed; // data start pointer |
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| 179 | ubxEp = (int8_t *)(&GpsVelNed + sizeof(GPS_VELNED_t)); // data end pointer |
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| 702 | killagreg | 180 | ubxSp = (int8_t *)&GpsVelNed.Status; // status pointer |
| 684 | killagreg | 181 | break; |
| 182 | |||
| 183 | default: // unsupported identifier |
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| 184 | ubxstate = UBXSTATE_IDLE; |
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| 185 | break; |
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| 186 | } |
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| 187 | if (ubxstate != UBXSTATE_IDLE) |
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| 188 | { |
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| 189 | ubxstate = UBXSTATE_LEN1; |
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| 190 | cka = UBX_CLASS_NAV + c; |
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| 191 | ckb = UBX_CLASS_NAV + cka; |
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| 192 | } |
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| 193 | break; |
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| 194 | |||
| 195 | case UBXSTATE_LEN1: // 1st message length byte |
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| 196 | msglen = c; |
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| 197 | cka += c; |
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| 198 | ckb += cka; |
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| 199 | ubxstate = UBXSTATE_LEN2; |
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| 200 | break; |
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| 201 | |||
| 202 | case UBXSTATE_LEN2: // 2nd message length byte |
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| 203 | msglen += ((uint16_t)c)<<8; |
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| 204 | cka += c; |
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| 205 | ckb += cka; |
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| 206 | // if the old data are not processed so far then break parsing now |
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| 207 | // to avoid writing new data in ISR during reading by another function |
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| 208 | if ( *ubxSp == VALID ) ubxstate = UBXSTATE_IDLE; |
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| 209 | else // data invalid or allready processd |
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| 210 | { |
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| 211 | *ubxSp = INVALID; |
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| 212 | ubxstate = UBXSTATE_DATA; |
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| 213 | } |
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| 214 | break; |
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| 215 | |||
| 216 | case UBXSTATE_DATA: |
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| 217 | if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
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| 218 | cka += c; |
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| 219 | ckb += cka; |
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| 220 | if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
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| 221 | break; |
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| 222 | |||
| 223 | case UBXSTATE_CKA: |
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| 224 | if (c == cka) ubxstate = UBXSTATE_CKB; |
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| 722 | killagreg | 225 | else |
| 226 | { |
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| 227 | *ubxSp = INVALID; |
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| 228 | ubxstate = UBXSTATE_IDLE; |
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| 229 | } |
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| 684 | killagreg | 230 | break; |
| 231 | |||
| 232 | case UBXSTATE_CKB: |
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| 233 | if (c == ckb) |
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| 234 | { |
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| 722 | killagreg | 235 | *ubxSp = VALID; // new data are valid |
| 236 | ROT_FLASH; |
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| 684 | killagreg | 237 | UpdateGPSInfo(); //update GPS info respectively |
| 726 | killagreg | 238 | GPSTimeout = 255; |
| 684 | killagreg | 239 | } |
| 722 | killagreg | 240 | else |
| 241 | { // if checksum not fit then set data invalid |
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| 242 | *ubxSp = INVALID; |
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| 243 | } |
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| 684 | killagreg | 244 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
| 245 | break; |
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| 246 | |||
| 247 | default: // unknown ubx state |
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| 248 | ubxstate = UBXSTATE_IDLE; |
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| 249 | break; |
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| 250 | } |
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| 251 | |||
| 252 | } |
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| 253 | |||
| 724 | killagreg | 254 |