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1180 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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886 | killagreg | 51 | #include <inttypes.h> |
52 | #include "ubx.h" |
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53 | #include "main.h" |
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54 | #include <avr/io.h> |
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55 | |||
1180 | killagreg | 56 | //#include "uart0.h" |
886 | killagreg | 57 | |
58 | // ubx protocol parser state machine |
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59 | #define UBXSTATE_IDLE 0 |
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60 | #define UBXSTATE_SYNC1 1 |
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61 | #define UBXSTATE_SYNC2 2 |
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62 | #define UBXSTATE_CLASS 3 |
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63 | #define UBXSTATE_LEN1 4 |
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64 | #define UBXSTATE_LEN2 5 |
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65 | #define UBXSTATE_DATA 6 |
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66 | #define UBXSTATE_CKA 7 |
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67 | #define UBXSTATE_CKB 8 |
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68 | |||
69 | // ublox protocoll identifier |
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70 | #define UBX_CLASS_NAV 0x01 |
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71 | |||
72 | #define UBX_ID_POSLLH 0x02 |
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73 | #define UBX_ID_SOL 0x06 |
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74 | #define UBX_ID_VELNED 0x12 |
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75 | |||
76 | #define UBX_SYNC1_CHAR 0xB5 |
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77 | #define UBX_SYNC2_CHAR 0x62 |
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78 | |||
79 | typedef struct { |
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80 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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81 | int32_t Frac; // ns remainder of rounded ms above |
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82 | int16_t week; // GPS week |
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83 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
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84 | uint8_t Flags; // Navigation Status Flags |
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85 | int32_t ECEF_X; // cm ECEF X coordinate |
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86 | int32_t ECEF_Y; // cm ECEF Y coordinate |
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87 | int32_t ECEF_Z; // cm ECEF Z coordinate |
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88 | uint32_t PAcc; // cm 3D Position Accuracy Estimate |
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89 | int32_t ECEFVX; // cm/s ECEF X velocity |
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90 | int32_t ECEFVY; // cm/s ECEF Y velocity |
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91 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
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92 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
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93 | uint16_t PDOP; // 0.01 Position DOP |
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94 | uint8_t res1; // reserved |
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95 | uint8_t numSV; // Number of SVs used in navigation solution |
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96 | uint32_t res2; // reserved |
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936 | killagreg | 97 | Status_t Status; |
98 | } UBX_SOL_t; |
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886 | killagreg | 99 | |
100 | typedef struct { |
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101 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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102 | int32_t LON; // 1e-07 deg Longitude |
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103 | int32_t LAT; // 1e-07 deg Latitude |
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104 | int32_t HEIGHT; // mm Height above Ellipsoid |
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105 | int32_t HMSL; // mm Height above mean sea level |
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106 | uint32_t Hacc; // mm Horizontal Accuracy Estimate |
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107 | uint32_t Vacc; // mm Vertical Accuracy Estimate |
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936 | killagreg | 108 | Status_t Status; |
109 | } UBX_POSLLH_t; |
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886 | killagreg | 110 | |
111 | typedef struct { |
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112 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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113 | int32_t VEL_N; // cm/s NED north velocity |
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114 | int32_t VEL_E; // cm/s NED east velocity |
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115 | int32_t VEL_D; // cm/s NED down velocity |
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116 | uint32_t Speed; // cm/s Speed (3-D) |
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117 | uint32_t GSpeed; // cm/s Ground Speed (2-D) |
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118 | int32_t Heading; // 1e-05 deg Heading 2-D |
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119 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
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120 | uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
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936 | killagreg | 121 | Status_t Status; |
122 | } UBX_VELNED_t; |
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886 | killagreg | 123 | |
936 | killagreg | 124 | UBX_SOL_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
125 | UBX_POSLLH_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
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126 | UBX_VELNED_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
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886 | killagreg | 127 | GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
128 | |||
129 | volatile uint8_t GPSTimeout = 0; |
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130 | |||
131 | void UpdateGPSInfo (void) |
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132 | { |
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936 | killagreg | 133 | |
134 | if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
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886 | killagreg | 135 | { |
936 | killagreg | 136 | RED_FLASH; |
137 | if(GPSInfo.status != NEWDATA) |
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138 | { |
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139 | GPSInfo.status = INVALID; |
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140 | // NAV SOL |
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141 | GPSInfo.flags = UbxSol.Flags; |
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142 | GPSInfo.satfix = UbxSol.GPSfix; |
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143 | GPSInfo.satnum = UbxSol.numSV; |
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144 | GPSInfo.PAcc = UbxSol.PAcc; |
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145 | GPSInfo.VAcc = UbxSol.SAcc; |
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146 | // NAV POSLLH |
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147 | GPSInfo.longitude = UbxPosLlh.LON; |
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148 | GPSInfo.latitude = UbxPosLlh.LAT; |
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149 | GPSInfo.altitude = UbxPosLlh.HEIGHT; |
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150 | |||
151 | GPSInfo.veleast = UbxVelNed.VEL_E; |
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152 | GPSInfo.velnorth = UbxVelNed.VEL_N; |
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153 | GPSInfo.veltop = -UbxVelNed.VEL_D; |
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154 | GPSInfo.velground = UbxVelNed.GSpeed; |
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155 | |||
156 | GPSInfo.status = NEWDATA; |
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157 | |||
158 | } |
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159 | // set state to collect new data |
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160 | UbxSol.Status = PROCESSED; // never update old data |
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161 | UbxPosLlh.Status = PROCESSED; // never update old data |
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162 | UbxVelNed.Status = PROCESSED; // never update old data |
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886 | killagreg | 163 | } |
936 | killagreg | 164 | |
165 | |||
886 | killagreg | 166 | } |
167 | |||
168 | |||
169 | // this function should be called within the UART RX ISR |
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170 | void ubx_parser(uint8_t c) |
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171 | { |
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172 | static uint8_t ubxstate = UBXSTATE_IDLE; |
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173 | static uint8_t cka, ckb; |
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174 | static uint16_t msglen; |
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175 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
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176 | |||
177 | switch(ubxstate) |
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178 | { |
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179 | case UBXSTATE_IDLE: // check 1st sync byte |
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180 | if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
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181 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
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182 | break; |
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183 | |||
184 | case UBXSTATE_SYNC1: // check 2nd sync byte |
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185 | if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
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186 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
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187 | break; |
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188 | |||
189 | case UBXSTATE_SYNC2: // check msg class to be NAV |
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190 | if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
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191 | else ubxstate = UBXSTATE_IDLE; // unsupported message class |
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192 | break; |
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193 | |||
194 | case UBXSTATE_CLASS: // check message identifier |
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195 | switch(c) |
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196 | { |
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197 | case UBX_ID_POSLLH: // geodetic position |
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936 | killagreg | 198 | ubxP = (int8_t *)&UbxPosLlh; // data start pointer |
199 | ubxEp = (int8_t *)(&UbxPosLlh + 1); // data end pointer |
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200 | ubxSp = (int8_t *)&UbxPosLlh.Status; // status pointer |
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886 | killagreg | 201 | break; |
202 | |||
203 | case UBX_ID_SOL: // navigation solution |
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936 | killagreg | 204 | ubxP = (int8_t *)&UbxSol; // data start pointer |
205 | ubxEp = (int8_t *)(&UbxSol + 1); // data end pointer |
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206 | ubxSp = (int8_t *)&UbxSol.Status; // status pointer |
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886 | killagreg | 207 | break; |
208 | |||
209 | case UBX_ID_VELNED: // velocity vector in tangent plane |
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936 | killagreg | 210 | ubxP = (int8_t *)&UbxVelNed; // data start pointer |
211 | ubxEp = (int8_t *)(&UbxVelNed + 1); // data end pointer |
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212 | ubxSp = (int8_t *)&UbxVelNed.Status; // status pointer |
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886 | killagreg | 213 | break; |
214 | |||
215 | default: // unsupported identifier |
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216 | ubxstate = UBXSTATE_IDLE; |
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217 | break; |
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218 | } |
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219 | if (ubxstate != UBXSTATE_IDLE) |
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220 | { |
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221 | ubxstate = UBXSTATE_LEN1; |
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222 | cka = UBX_CLASS_NAV + c; |
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223 | ckb = UBX_CLASS_NAV + cka; |
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224 | } |
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225 | break; |
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226 | |||
227 | case UBXSTATE_LEN1: // 1st message length byte |
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228 | msglen = c; |
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229 | cka += c; |
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230 | ckb += cka; |
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231 | ubxstate = UBXSTATE_LEN2; |
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232 | break; |
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233 | |||
234 | case UBXSTATE_LEN2: // 2nd message length byte |
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235 | msglen += ((uint16_t)c)<<8; |
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236 | cka += c; |
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237 | ckb += cka; |
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238 | // if the old data are not processed so far then break parsing now |
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239 | // to avoid writing new data in ISR during reading by another function |
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936 | killagreg | 240 | if ( *ubxSp == NEWDATA ) |
911 | killagreg | 241 | { |
242 | UpdateGPSInfo(); //update GPS info respectively |
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243 | ubxstate = UBXSTATE_IDLE; |
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244 | } |
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886 | killagreg | 245 | else // data invalid or allready processd |
246 | { |
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247 | *ubxSp = INVALID; |
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248 | ubxstate = UBXSTATE_DATA; |
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249 | } |
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250 | break; |
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251 | |||
252 | case UBXSTATE_DATA: |
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253 | if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
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254 | cka += c; |
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255 | ckb += cka; |
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256 | if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
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257 | break; |
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258 | |||
259 | case UBXSTATE_CKA: |
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260 | if (c == cka) ubxstate = UBXSTATE_CKB; |
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261 | else |
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262 | { |
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263 | *ubxSp = INVALID; |
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264 | ubxstate = UBXSTATE_IDLE; |
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265 | } |
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266 | break; |
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267 | |||
268 | case UBXSTATE_CKB: |
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269 | if (c == ckb) |
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270 | { |
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936 | killagreg | 271 | *ubxSp = NEWDATA; // new data are valid |
886 | killagreg | 272 | UpdateGPSInfo(); //update GPS info respectively |
273 | GPSTimeout = 255; |
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274 | } |
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275 | else |
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276 | { // if checksum not fit then set data invalid |
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277 | *ubxSp = INVALID; |
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278 | } |
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279 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
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280 | break; |
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281 | |||
282 | default: // unknown ubx state |
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283 | ubxstate = UBXSTATE_IDLE; |
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284 | break; |
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285 | } |
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286 | |||
287 | } |
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288 | |||
289 |