Rev 2044 | Rev 2058 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2039 | - | 1 | #include <inttypes.h> |
| 2 | #include "ubx.h" |
||
| 3 | //#include "main.h" |
||
| 4 | #include <avr/io.h> |
||
| 5 | |||
| 6 | // ubx protocol parser state machine |
||
| 7 | #define UBXSTATE_IDLE 0 |
||
| 8 | #define UBXSTATE_SYNC1 1 |
||
| 9 | #define UBXSTATE_SYNC2 2 |
||
| 10 | #define UBXSTATE_CLASS 3 |
||
| 11 | #define UBXSTATE_LEN1 4 |
||
| 12 | #define UBXSTATE_LEN2 5 |
||
| 13 | #define UBXSTATE_DATA 6 |
||
| 14 | #define UBXSTATE_CKA 7 |
||
| 15 | #define UBXSTATE_CKB 8 |
||
| 16 | |||
| 17 | // ublox protocoll identifier |
||
| 18 | #define UBX_CLASS_NAV 0x01 |
||
| 19 | |||
| 20 | #define UBX_ID_POSLLH 0x02 |
||
| 21 | #define UBX_ID_SOL 0x06 |
||
| 22 | #define UBX_ID_VELNED 0x12 |
||
| 23 | |||
| 24 | #define UBX_SYNC1_CHAR 0xB5 |
||
| 25 | #define UBX_SYNC2_CHAR 0x62 |
||
| 26 | |||
| 27 | typedef struct { |
||
| 28 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
||
| 2044 | - | 29 | int32_t frac; // ns remainder of rounded ms above |
| 2039 | - | 30 | int16_t week; // GPS week |
| 31 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
||
| 2044 | - | 32 | uint8_t flags; // Navigation Status Flags |
| 2039 | - | 33 | int32_t ECEF_X; // cm ECEF X coordinate |
| 34 | int32_t ECEF_Y; // cm ECEF Y coordinate |
||
| 35 | int32_t ECEF_Z; // cm ECEF Z coordinate |
||
| 2044 | - | 36 | uint32_t pAcc; // cm 3D Position Accuracy Estimate |
| 2039 | - | 37 | int32_t ECEFVX; // cm/s ECEF X velocity |
| 38 | int32_t ECEFVY; // cm/s ECEF Y velocity |
||
| 39 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
||
| 2044 | - | 40 | uint32_t sAcc; // cm/s Speed Accuracy Estimate |
| 2039 | - | 41 | uint16_t PDOP; // 0.01 Position DOP |
| 42 | uint8_t res1; // reserved |
||
| 43 | uint8_t numSV; // Number of SVs used in navigation solution |
||
| 44 | uint32_t res2; // reserved |
||
| 2044 | - | 45 | Status_t status; |
| 2039 | - | 46 | } UBX_SOL_t; |
| 47 | |||
| 48 | typedef struct { |
||
| 49 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
||
| 2044 | - | 50 | int32_t lon; // 1e-07 deg Longitude |
| 51 | int32_t lat; // 1e-07 deg Latitude |
||
| 52 | int32_t height; // mm Height above Ellipsoid |
||
| 2039 | - | 53 | int32_t HMSL; // mm Height above mean sea level |
| 2044 | - | 54 | uint32_t hAcc; // mm Horizontal Accuracy Estimate |
| 55 | uint32_t vAacc; // mm Vertical Accuracy Estimate |
||
| 56 | Status_t status; |
||
| 2039 | - | 57 | } UBX_POSLLH_t; |
| 58 | |||
| 59 | typedef struct { |
||
| 60 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
||
| 61 | int32_t VEL_N; // cm/s NED north velocity |
||
| 62 | int32_t VEL_E; // cm/s NED east velocity |
||
| 63 | int32_t VEL_D; // cm/s NED down velocity |
||
| 2044 | - | 64 | uint32_t speed; // cm/s Speed (3-D) |
| 65 | uint32_t gSpeed; // cm/s Ground Speed (2-D) |
||
| 66 | int32_t heading; // 1e-05 deg Heading 2-D |
||
| 67 | uint32_t sAcc; // cm/s Speed Accuracy Estimate |
||
| 68 | uint32_t cAcc; // deg Course / Heading Accuracy Estimate |
||
| 69 | Status_t status; |
||
| 2039 | - | 70 | } UBX_VELNED_t; |
| 71 | |||
| 2044 | - | 72 | UBX_SOL_t ubxSol = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
| 73 | UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID }; |
||
| 74 | UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
||
| 2039 | - | 75 | GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
| 76 | |||
| 77 | volatile uint8_t GPSTimeout = 0; |
||
| 78 | |||
| 79 | void updateGPSInfo(void) { |
||
| 2044 | - | 80 | if ((ubxSol.status == NEWDATA) && (ubxPosLlh.status == NEWDATA) |
| 81 | && (ubxVelNed.status == NEWDATA)) { |
||
| 2039 | - | 82 | //RED_FLASH; |
| 83 | // DebugOut.Digital ....blah... |
||
| 84 | if (GPSInfo.status != NEWDATA) { |
||
| 85 | GPSInfo.status = INVALID; |
||
| 86 | // NAV SOL |
||
| 2044 | - | 87 | GPSInfo.flags = ubxSol.flags; |
| 88 | GPSInfo.satfix = ubxSol.GPSfix; |
||
| 89 | GPSInfo.satnum = ubxSol.numSV; |
||
| 90 | GPSInfo.PAcc = ubxSol.pAcc; |
||
| 91 | GPSInfo.VAcc = ubxSol.sAcc; |
||
| 2039 | - | 92 | // NAV POSLLH |
| 2044 | - | 93 | GPSInfo.longitude = ubxPosLlh.lon; |
| 94 | GPSInfo.latitude = ubxPosLlh.lat; |
||
| 95 | GPSInfo.altitude = ubxPosLlh.height; |
||
| 2039 | - | 96 | |
| 2044 | - | 97 | GPSInfo.veleast = ubxVelNed.VEL_E; |
| 98 | GPSInfo.velnorth = ubxVelNed.VEL_N; |
||
| 2051 | - | 99 | GPSInfo.veltop = -ubxVelNed.VEL_D; |
| 2044 | - | 100 | GPSInfo.velground = ubxVelNed.gSpeed; |
| 2039 | - | 101 | |
| 102 | GPSInfo.status = NEWDATA; |
||
| 103 | } |
||
| 104 | |||
| 105 | // set state to collect new data |
||
| 2044 | - | 106 | ubxSol.status = PROCESSED; // never update old data |
| 107 | ubxPosLlh.status = PROCESSED; // never update old data |
||
| 108 | ubxVelNed.status = PROCESSED; // never update old data |
||
| 2039 | - | 109 | } |
| 110 | } |
||
| 111 | |||
| 112 | // this function should be called within the UART RX ISR |
||
| 113 | void ubx_parser(uint8_t c) { |
||
| 114 | static uint8_t ubxstate = UBXSTATE_IDLE; |
||
| 115 | static uint8_t cka, ckb; |
||
| 116 | static uint16_t msglen; |
||
| 117 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
||
| 118 | |||
| 119 | switch (ubxstate) { |
||
| 120 | case UBXSTATE_IDLE: // check 1st sync byte |
||
| 121 | if (c == UBX_SYNC1_CHAR) |
||
| 122 | ubxstate = UBXSTATE_SYNC1; |
||
| 123 | else |
||
| 124 | ubxstate = UBXSTATE_IDLE; // out of synchronization |
||
| 125 | break; |
||
| 126 | |||
| 127 | case UBXSTATE_SYNC1: // check 2nd sync byte |
||
| 128 | if (c == UBX_SYNC2_CHAR) |
||
| 129 | ubxstate = UBXSTATE_SYNC2; |
||
| 130 | else |
||
| 131 | ubxstate = UBXSTATE_IDLE; // out of synchronization |
||
| 132 | break; |
||
| 133 | |||
| 134 | case UBXSTATE_SYNC2: // check msg class to be NAV |
||
| 135 | if (c == UBX_CLASS_NAV) |
||
| 136 | ubxstate = UBXSTATE_CLASS; |
||
| 137 | else |
||
| 138 | ubxstate = UBXSTATE_IDLE; // unsupported message class |
||
| 139 | break; |
||
| 140 | |||
| 141 | case UBXSTATE_CLASS: // check message identifier |
||
| 142 | switch (c) { |
||
| 143 | case UBX_ID_POSLLH: // geodetic position |
||
| 2044 | - | 144 | ubxP = (int8_t *) &ubxPosLlh; // data start pointer |
| 145 | ubxEp = (int8_t *) (&ubxPosLlh + 1); // data end pointer |
||
| 146 | ubxSp = (int8_t *) &ubxPosLlh.status; // status pointer |
||
| 2039 | - | 147 | break; |
| 148 | |||
| 149 | case UBX_ID_SOL: // navigation solution |
||
| 2044 | - | 150 | ubxP = (int8_t *) &ubxSol; // data start pointer |
| 151 | ubxEp = (int8_t *) (&ubxSol + 1); // data end pointer |
||
| 152 | ubxSp = (int8_t *) &ubxSol.status; // status pointer |
||
| 2039 | - | 153 | break; |
| 154 | |||
| 155 | case UBX_ID_VELNED: // velocity vector in tangent plane |
||
| 2044 | - | 156 | ubxP = (int8_t *) &ubxVelNed; // data start pointer |
| 157 | ubxEp = (int8_t *) (&ubxVelNed + 1); // data end pointer |
||
| 158 | ubxSp = (int8_t *) &ubxVelNed.status; // status pointer |
||
| 2039 | - | 159 | break; |
| 160 | |||
| 161 | default: // unsupported identifier |
||
| 162 | ubxstate = UBXSTATE_IDLE; |
||
| 163 | break; |
||
| 164 | } |
||
| 165 | if (ubxstate != UBXSTATE_IDLE) { |
||
| 166 | ubxstate = UBXSTATE_LEN1; |
||
| 167 | cka = UBX_CLASS_NAV + c; |
||
| 168 | ckb = UBX_CLASS_NAV + cka; |
||
| 169 | } |
||
| 170 | break; |
||
| 171 | |||
| 172 | case UBXSTATE_LEN1: // 1st message length byte |
||
| 173 | msglen = c; |
||
| 174 | cka += c; |
||
| 175 | ckb += cka; |
||
| 176 | ubxstate = UBXSTATE_LEN2; |
||
| 177 | break; |
||
| 178 | |||
| 179 | case UBXSTATE_LEN2: // 2nd message length byte |
||
| 180 | msglen += ((uint16_t) c) << 8; |
||
| 181 | cka += c; |
||
| 182 | ckb += cka; |
||
| 183 | // if the old data are not processed so far then break parsing now |
||
| 184 | // to avoid writing new data in ISR during reading by another function |
||
| 185 | if (*ubxSp == NEWDATA) { |
||
| 186 | updateGPSInfo(); //update GPS info respectively |
||
| 187 | ubxstate = UBXSTATE_IDLE; |
||
| 188 | } else // data invalid or allready processd |
||
| 189 | { |
||
| 190 | *ubxSp = INVALID; |
||
| 191 | ubxstate = UBXSTATE_DATA; |
||
| 192 | } |
||
| 193 | break; |
||
| 194 | |||
| 195 | case UBXSTATE_DATA: |
||
| 196 | if (ubxP < ubxEp) |
||
| 197 | *ubxP++ = c; // copy curent data byte if any space is left |
||
| 198 | cka += c; |
||
| 199 | ckb += cka; |
||
| 200 | if (--msglen == 0) |
||
| 201 | ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
||
| 202 | break; |
||
| 203 | |||
| 204 | case UBXSTATE_CKA: |
||
| 205 | if (c == cka) |
||
| 206 | ubxstate = UBXSTATE_CKB; |
||
| 207 | else { |
||
| 208 | *ubxSp = INVALID; |
||
| 209 | ubxstate = UBXSTATE_IDLE; |
||
| 210 | } |
||
| 211 | break; |
||
| 212 | |||
| 213 | case UBXSTATE_CKB: |
||
| 214 | if (c == ckb) { |
||
| 215 | *ubxSp = NEWDATA; // new data are valid |
||
| 216 | updateGPSInfo(); //update GPS info respectively |
||
| 217 | GPSTimeout = 255; |
||
| 218 | } else { // if checksum not match then set data invalid |
||
| 219 | *ubxSp = INVALID; |
||
| 220 | } |
||
| 221 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
||
| 222 | break; |
||
| 223 | |||
| 224 | default: // unknown ubx state |
||
| 225 | ubxstate = UBXSTATE_IDLE; |
||
| 226 | break; |
||
| 227 | } |
||
| 228 | } |