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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * 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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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
41 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include "91x_lib.h" |
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58 | #include "uart1.h" |
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59 | #include "ubx.h" |
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60 | #include "led.h" |
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119 | killagreg | 61 | #include "timer1.h" |
41 | ingob | 62 | |
63 | // ------------------------------------------------------------------------------------------------ |
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64 | // defines |
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65 | |||
66 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
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67 | #define DAYS_PER_YEAR 365 |
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68 | #define DAYS_PER_LEAPYEAR 366 |
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69 | #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
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70 | #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
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71 | #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
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72 | #define SECONDS_PER_MINUTE 60 |
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73 | #define MINUTES_PER_HOUR 60 |
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74 | #define HOURS_PER_DAY 24 |
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75 | #define DAYS_PER_WEEK 7 |
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76 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
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77 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
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78 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
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79 | |||
80 | // days per month in normal and leap years |
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81 | const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
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82 | const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
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83 | |||
212 | killagreg | 84 | #define LEAP_SECONDS_FROM_1980 15 |
41 | ingob | 85 | |
86 | // message sync bytes |
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87 | #define UBX_SYNC1_CHAR 0xB5 |
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88 | #define UBX_SYNC2_CHAR 0x62 |
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245 | killagreg | 89 | // protocoll identifiers |
90 | // navigation class |
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41 | ingob | 91 | #define UBX_CLASS_NAV 0x01 |
92 | #define UBX_ID_POSLLH 0x02 |
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93 | #define UBX_ID_SOL 0x06 |
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94 | #define UBX_ID_VELNED 0x12 |
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247 | killagreg | 95 | |
41 | ingob | 96 | // ------------------------------------------------------------------------------------------------ |
97 | // typedefs |
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98 | |||
99 | |||
100 | // ubx parser state |
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101 | typedef enum |
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102 | { |
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103 | UBXSTATE_IDLE, |
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104 | UBXSTATE_SYNC1, |
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105 | UBXSTATE_SYNC2, |
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106 | UBXSTATE_CLASS, |
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107 | UBXSTATE_LEN1, |
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108 | UBXSTATE_LEN2, |
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109 | UBXSTATE_DATA, |
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110 | UBXSTATE_CKA, |
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111 | UBXSTATE_CKB |
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112 | } ubxState_t; |
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113 | |||
114 | typedef struct |
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115 | { |
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116 | u32 itow; // ms GPS Millisecond Time of Week |
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117 | s32 frac; // ns remainder of rounded ms above |
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118 | s16 week; // GPS week |
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119 | u8 GPSfix; // GPSfix Type, range 0..6 |
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120 | u8 Flags; // Navigation Status Flags |
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121 | s32 ECEF_X; // cm ECEF X coordinate |
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122 | s32 ECEF_Y; // cm ECEF Y coordinate |
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123 | s32 ECEF_Z; // cm ECEF Z coordinate |
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124 | u32 PAcc; // cm 3D Position Accuracy Estimate |
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125 | s32 ECEFVX; // cm/s ECEF X velocity |
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126 | s32 ECEFVY; // cm/s ECEF Y velocity |
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127 | s32 ECEFVZ; // cm/s ECEF Z velocity |
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128 | u32 SAcc; // cm/s Speed Accuracy Estimate |
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129 | u16 PDOP; // 0.01 Position DOP |
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130 | u8 res1; // reserved |
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131 | u8 numSV; // Number of SVs used in navigation solution |
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132 | u32 res2; // reserved |
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52 | killagreg | 133 | u8 Status; // invalid/newdata/processed |
41 | ingob | 134 | } __attribute__((packed)) ubx_nav_sol_t; |
135 | |||
136 | |||
137 | typedef struct |
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138 | { |
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139 | u32 itow; // ms GPS Millisecond Time of Week |
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140 | s32 VEL_N; // cm/s NED north velocity |
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141 | s32 VEL_E; // cm/s NED east velocity |
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142 | s32 VEL_D; // cm/s NED down velocity |
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143 | u32 Speed; // cm/s Speed (3-D) |
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144 | u32 GSpeed; // cm/s Ground Speed (2-D) |
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145 | s32 Heading; // 1e-05 deg Heading 2-D |
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146 | u32 SAcc; // cm/s Speed Accuracy Estimate |
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147 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
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52 | killagreg | 148 | u8 Status; // invalid/newdata/processed |
41 | ingob | 149 | } __attribute__((packed)) ubx_nav_velned_t; |
150 | |||
151 | typedef struct |
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152 | { |
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153 | u32 itow; // ms GPS Millisecond Time of Week |
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154 | s32 LON; // 1e-07 deg Longitude |
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155 | s32 LAT; // 1e-07 deg Latitude |
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156 | s32 HEIGHT; // mm Height above Ellipsoid |
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157 | s32 HMSL; // mm Height above mean sea level |
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158 | u32 Hacc; // mm Horizontal Accuracy Estimate |
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159 | u32 Vacc; // mm Vertical Accuracy Estimate |
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52 | killagreg | 160 | u8 Status; // invalid/newdata/processed |
41 | ingob | 161 | } __attribute__((packed)) ubx_nav_posllh_t; |
162 | |||
163 | //------------------------------------------------------------------------------------ |
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164 | // global variables |
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165 | |||
166 | // local buffers for the incomming ubx messages |
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167 | volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
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168 | volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
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169 | volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
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247 | killagreg | 170 | volatile ubxmsg_t UbxMsg; |
41 | ingob | 171 | |
172 | // shared buffer |
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244 | killagreg | 173 | gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
41 | ingob | 174 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
175 | |||
146 | killagreg | 176 | #define UBX_TIMEOUT 500 // 500 ms |
177 | u32 UBX_Timeout = 0; |
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41 | ingob | 178 | |
179 | //------------------------------------------------------------------------------------ |
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180 | // functions |
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181 | |||
182 | u8 IsLeapYear(u16 year) |
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183 | { |
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184 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
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185 | else return 0; |
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186 | } |
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187 | /********************************************************/ |
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188 | /* Calculates the UTC Time from the GPS week and tow */ |
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189 | /********************************************************/ |
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190 | void SetGPSTime(DateTime_t * pTimeStruct) |
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191 | { |
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192 | u32 Days, Seconds, Week; |
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193 | u16 YearPart; |
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194 | u32 * MonthDayTab = 0; |
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195 | u8 i; |
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196 | |||
197 | |||
198 | // if GPS data show valid time data |
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199 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
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200 | { |
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201 | Seconds = UbxSol.itow / 1000L; |
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202 | Week = (u32)UbxSol.week; |
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203 | // correct leap seconds since 1980 |
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204 | if(Seconds < LEAP_SECONDS_FROM_1980) |
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205 | { |
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206 | Week--; |
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207 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
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208 | } |
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209 | else Seconds -= LEAP_SECONDS_FROM_1980; |
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210 | |||
211 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
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212 | Days += (Week * DAYS_PER_WEEK); |
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213 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
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214 | |||
215 | pTimeStruct->Year = 1; |
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216 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
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217 | pTimeStruct->Year += YearPart * 400; |
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218 | Days = Days % DAYS_PER_400YEARS; |
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219 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
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220 | pTimeStruct->Year += YearPart * 100; |
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221 | Days = Days % DAYS_PER_100YEARS; |
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222 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
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223 | pTimeStruct->Year += YearPart * 4; |
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224 | Days = Days % DAYS_PER_4YEARS; |
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225 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
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226 | else YearPart = 3; |
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227 | pTimeStruct->Year += YearPart; |
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228 | // calculate remaining days of year |
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229 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
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230 | Days += 1; |
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231 | // check if current year is a leap year |
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232 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
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233 | else MonthDayTab = (u32*)Normal; |
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234 | // seperate month and day from days of year |
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235 | for ( i = 0; i < 12; i++ ) |
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236 | { |
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237 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
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238 | { |
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239 | pTimeStruct->Month = i+1; |
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240 | pTimeStruct->Day = Days - MonthDayTab[i]; |
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241 | i = 12; |
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242 | } |
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243 | } |
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244 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
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245 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
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246 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
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247 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
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248 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
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249 | pTimeStruct->Sec = (u8)(Seconds); |
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250 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
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251 | pTimeStruct->Valid = 1; |
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252 | } |
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253 | else |
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254 | { |
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255 | pTimeStruct->Valid = 0; |
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256 | } |
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257 | } |
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258 | |||
259 | |||
260 | |||
261 | /********************************************************/ |
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262 | /* Initialize UBX Parser */ |
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263 | /********************************************************/ |
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264 | void UBX_Init(void) |
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265 | { |
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266 | // mark msg buffers invalid |
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267 | UbxSol.Status = INVALID; |
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268 | UbxPosLlh.Status = INVALID; |
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269 | UbxVelNed.Status = INVALID; |
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247 | killagreg | 270 | UbxMsg.Status = INVALID; |
41 | ingob | 271 | GPSData.Status = INVALID; |
146 | killagreg | 272 | |
273 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
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41 | ingob | 274 | } |
275 | |||
276 | /********************************************************/ |
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277 | /* Upate GPS data stcructure */ |
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278 | /********************************************************/ |
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279 | void Update_GPSData (void) |
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280 | { |
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146 | killagreg | 281 | static u32 Msg_Count_Timeout = 0; |
41 | ingob | 282 | static u8 Msg_Count = 0; |
244 | killagreg | 283 | static u32 LastTimeStamp = 0; |
284 | u32 TimeStamp; |
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41 | ingob | 285 | |
286 | // the timeout is used to detect the delay between two message sets |
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287 | // and is used for synchronisation so that always a set is collected |
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288 | // that belongs together |
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289 | // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
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290 | // | 8ms | 8ms | 184 ms | | | |
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291 | // msg_count: 0 1 2 0 1 2 |
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292 | |||
146 | killagreg | 293 | if(CheckDelay(Msg_Count_Timeout)) Msg_Count = 0; |
41 | ingob | 294 | else Msg_Count++; |
146 | killagreg | 295 | Msg_Count_Timeout = SetDelay(100); // reset ubx msg timeout |
41 | ingob | 296 | |
297 | // if a new set of ubx messages was collected |
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298 | if((Msg_Count >= 2)) |
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299 | { // if set is complete |
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300 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
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301 | { |
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146 | killagreg | 302 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
61 | holgerb | 303 | DebugOut.Analog[9]++; |
244 | killagreg | 304 | |
41 | ingob | 305 | // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
306 | if(GPSData.Status != NEWDATA) // if last data were processed |
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307 | { // wait for new data at all neccesary ubx messages |
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308 | GPSData.Status = INVALID; |
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244 | killagreg | 309 | // update message cycle time |
310 | TimeStamp = CountMilliseconds; |
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311 | GPSData.MsgCycleTime = (u16)(TimeStamp - LastTimeStamp); |
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312 | LastTimeStamp = TimeStamp; |
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313 | DebugOut.Analog[16] = GPSData.MsgCycleTime; |
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41 | ingob | 314 | // NAV SOL |
315 | GPSData.Flags = UbxSol.Flags; |
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316 | GPSData.NumOfSats = UbxSol.numSV; |
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317 | GPSData.SatFix = UbxSol.GPSfix; |
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318 | GPSData.Position_Accuracy = UbxSol.PAcc; |
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319 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
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320 | SetGPSTime(&SystemTime); // update system time |
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321 | // NAV POSLLH |
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322 | GPSData.Position.Status = INVALID; |
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323 | GPSData.Position.Longitude = UbxPosLlh.LON; |
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324 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
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325 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
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326 | GPSData.Position.Status = NEWDATA; |
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327 | // NAV VELNED |
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328 | GPSData.Speed_East = UbxVelNed.VEL_E; |
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329 | GPSData.Speed_North = UbxVelNed.VEL_N; |
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330 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
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331 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
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332 | GPSData.Heading = UbxVelNed.Heading; |
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333 | |||
334 | GPSData.Status = NEWDATA; // new data available |
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335 | } // EOF if(GPSData.Status != NEWDATA) |
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336 | } // EOF all ubx messages received |
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337 | // set state to collect new data |
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338 | UbxSol.Status = PROCESSED; // ready for new data |
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339 | UbxPosLlh.Status = PROCESSED; // ready for new data |
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340 | UbxVelNed.Status = PROCESSED; // ready for new data |
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341 | } |
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342 | } |
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343 | |||
344 | |||
345 | /********************************************************/ |
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346 | /* UBX Parser */ |
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347 | /********************************************************/ |
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245 | killagreg | 348 | void UBX_RxParser(u8 c) |
41 | ingob | 349 | { |
350 | static ubxState_t ubxState = UBXSTATE_IDLE; |
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247 | killagreg | 351 | static u8 ubxclass; |
352 | static u8 ubxid; |
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41 | ingob | 353 | static u16 msglen; |
354 | static u8 cka, ckb; |
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355 | static u8 *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
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356 | |||
357 | |||
358 | //state machine |
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359 | switch (ubxState) // ubx message parser |
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360 | { |
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361 | case UBXSTATE_IDLE: // check 1st sync byte |
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362 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
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363 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
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364 | break; |
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365 | |||
366 | case UBXSTATE_SYNC1: // check 2nd sync byte |
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367 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
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368 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
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369 | break; |
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370 | |||
371 | case UBXSTATE_SYNC2: // check msg class to be NAV |
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245 | killagreg | 372 | ubxclass = c; |
373 | ubxState = UBXSTATE_CLASS; |
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41 | ingob | 374 | break; |
375 | |||
376 | case UBXSTATE_CLASS: // check message identifier |
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247 | killagreg | 377 | ubxid = c; |
378 | ubxState = UBXSTATE_LEN1; |
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379 | cka = ubxclass + ubxid; |
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380 | ckb = ubxclass + cka; |
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381 | break; |
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382 | |||
383 | case UBXSTATE_LEN1: // 1st message length byte |
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384 | msglen = (u16)c; // lowbyte first |
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385 | cka += c; |
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386 | ckb += cka; |
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387 | ubxState = UBXSTATE_LEN2; |
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388 | break; |
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389 | |||
390 | case UBXSTATE_LEN2: // 2nd message length byte |
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391 | msglen += ((u16)c)<<8; // high byte last |
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392 | cka += c; |
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393 | ckb += cka; |
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394 | |||
245 | killagreg | 395 | switch(ubxclass) |
41 | ingob | 396 | { |
245 | killagreg | 397 | case UBX_CLASS_NAV: |
247 | killagreg | 398 | switch(ubxid) |
245 | killagreg | 399 | { |
400 | case UBX_ID_POSLLH: // geodetic position |
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401 | ubxP = (u8 *)&UbxPosLlh; // data start pointer |
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402 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
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403 | ubxSp = (u8 *)&UbxPosLlh.Status; // status pointer |
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404 | break; |
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405 | |||
406 | case UBX_ID_SOL: // navigation solution |
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407 | ubxP = (u8 *)&UbxSol; // data start pointer |
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408 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
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409 | ubxSp = (u8 *)&UbxSol.Status; // status pointer |
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410 | break; |
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411 | |||
412 | case UBX_ID_VELNED: // velocity vector in tangent plane |
||
413 | ubxP = (u8 *)&UbxVelNed; // data start pointer |
||
414 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
||
415 | ubxSp = (u8 *)&UbxVelNed.Status; // status pointer |
||
416 | break; |
||
417 | |||
418 | default: // unsupported identifier |
||
419 | ubxState = UBXSTATE_IDLE; |
||
420 | return; |
||
421 | } |
||
41 | ingob | 422 | break; |
423 | |||
247 | killagreg | 424 | default: // other classes |
425 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
||
426 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
||
427 | { // buffer is free and message matches to filter criteria |
||
428 | UbxMsg.Status = INVALID; |
||
429 | UbxMsg.Hdr.Class = ubxclass; |
||
430 | UbxMsg.Hdr.Id = ubxid; |
||
431 | UbxMsg.Hdr.Length = msglen; |
||
432 | ubxP = (u8 *)&(UbxMsg.Data); // data start pointer |
||
433 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
||
434 | ubxSp = (u8 *)&UbxMsg.Status; // status pointer |
||
245 | killagreg | 435 | } |
247 | killagreg | 436 | else ubxState = UBXSTATE_IDLE; |
41 | ingob | 437 | break; |
438 | } |
||
247 | killagreg | 439 | if(ubxState != UBXSTATE_IDLE) |
41 | ingob | 440 | { |
247 | killagreg | 441 | // if the old data are not processed so far then break parsing now |
442 | // to avoid writing new data in ISR during reading by another function |
||
443 | if ( *ubxSp == NEWDATA ) |
||
444 | { |
||
445 | ubxState = UBXSTATE_IDLE; |
||
446 | if(ubxclass == UBX_CLASS_NAV) Update_GPSData(); //update GPS info respectively |
||
447 | } |
||
448 | else // data invalid or allready processed |
||
449 | { |
||
450 | *ubxSp = INVALID; // mark invalid during buffer filling |
||
451 | ubxState = UBXSTATE_DATA; |
||
452 | } |
||
41 | ingob | 453 | } |
454 | break; |
||
455 | |||
456 | case UBXSTATE_DATA: // collecting data |
||
457 | if (ubxP < ubxEp) |
||
458 | { |
||
459 | *ubxP++ = c; // copy curent data byte if any space is left |
||
460 | cka += c; |
||
461 | ckb += cka; |
||
462 | if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read |
||
463 | } |
||
464 | else // rx buffer overrun |
||
465 | { |
||
466 | ubxState = UBXSTATE_IDLE; |
||
467 | } |
||
468 | break; |
||
469 | |||
470 | case UBXSTATE_CKA: |
||
471 | if (c == cka) ubxState = UBXSTATE_CKB; |
||
472 | else |
||
473 | { |
||
474 | *ubxSp = INVALID; |
||
475 | ubxState = UBXSTATE_IDLE; |
||
476 | } |
||
477 | break; |
||
478 | |||
479 | case UBXSTATE_CKB: |
||
480 | if (c == ckb) |
||
481 | { |
||
482 | *ubxSp = NEWDATA; // new data are valid |
||
245 | killagreg | 483 | if(ubxclass == UBX_CLASS_NAV) Update_GPSData(); //update GPS info respectively |
41 | ingob | 484 | } |
485 | else |
||
486 | { // if checksum not match then set data invalid |
||
487 | *ubxSp = INVALID; |
||
488 | } |
||
489 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
||
490 | break; |
||
491 | |||
492 | default: // unknown ubx state |
||
493 | ubxState = UBXSTATE_IDLE; |
||
494 | break; |
||
495 | |||
496 | } |
||
497 | } |
||
245 | killagreg | 498 | |
247 | killagreg | 499 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
245 | killagreg | 500 | { |
501 | u16 i; |
||
502 | u8 cka = 0, ckb = 0; |
||
503 | // check if buffer is available |
||
504 | if(pBuff->Locked == TRUE) return(0); |
||
505 | // check if buffer size is sufficient |
||
506 | if(pBuff->Size < 8 + Len) return(0); |
||
507 | // lock the buffer |
||
508 | pBuff->Locked = TRUE; |
||
509 | // start at begin |
||
510 | pBuff->Position = 0; |
||
511 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
||
512 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
||
247 | killagreg | 513 | for(i=0;i<Len;i++) |
514 | { |
||
515 | pBuff->pData[pBuff->Position++] = pData[i]; |
||
516 | } |
||
245 | killagreg | 517 | // calculate checksum |
518 | for(i=2;i<pBuff->Position;i++) |
||
519 | { |
||
520 | cka += pBuff->pData[i]; |
||
521 | ckb += cka; |
||
522 | } |
||
523 | pBuff->pData[pBuff->Position++] = cka; |
||
524 | pBuff->pData[pBuff->Position++] = ckb; |
||
525 | pBuff->DataBytes = pBuff->Position; |
||
526 | pBuff->Position = 0; // reset buffer position for transmision |
||
527 | return(1); |
||
528 | } |