Rev 322 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
||
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
22 | // + eindeutig als Ursprung verlinkt werden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
25 | // + Benutzung auf eigene Gefahr |
||
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
34 | // + this list of conditions and the following disclaimer. |
||
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
36 | // + from this software without specific prior written permission. |
||
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
||
38 | // + for non-commercial use (directly or indirectly) |
||
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
40 | // + with our written permission |
||
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
42 | // + clearly linked as origin |
||
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" |
||
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
55 | // + POSSIBILITY OF SUCH DAMAGE. |
||
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
263 | killagreg | 57 | #include <string.h> |
41 | ingob | 58 | #include "91x_lib.h" |
59 | #include "uart1.h" |
||
60 | #include "ubx.h" |
||
61 | #include "led.h" |
||
119 | killagreg | 62 | #include "timer1.h" |
41 | ingob | 63 | |
64 | // ------------------------------------------------------------------------------------------------ |
||
65 | // defines |
||
66 | |||
67 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
||
68 | #define DAYS_PER_YEAR 365 |
||
69 | #define DAYS_PER_LEAPYEAR 366 |
||
70 | #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
||
71 | #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
||
72 | #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
||
73 | #define SECONDS_PER_MINUTE 60 |
||
74 | #define MINUTES_PER_HOUR 60 |
||
75 | #define HOURS_PER_DAY 24 |
||
76 | #define DAYS_PER_WEEK 7 |
||
77 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
||
78 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
||
79 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
||
80 | |||
81 | // days per month in normal and leap years |
||
82 | const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
||
83 | const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
||
84 | |||
212 | killagreg | 85 | #define LEAP_SECONDS_FROM_1980 15 |
41 | ingob | 86 | |
87 | // message sync bytes |
||
88 | #define UBX_SYNC1_CHAR 0xB5 |
||
89 | #define UBX_SYNC2_CHAR 0x62 |
||
245 | killagreg | 90 | // protocoll identifiers |
91 | // navigation class |
||
41 | ingob | 92 | #define UBX_CLASS_NAV 0x01 |
93 | #define UBX_ID_POSLLH 0x02 |
||
94 | #define UBX_ID_SOL 0x06 |
||
95 | #define UBX_ID_VELNED 0x12 |
||
247 | killagreg | 96 | |
41 | ingob | 97 | // ------------------------------------------------------------------------------------------------ |
98 | // typedefs |
||
99 | |||
100 | |||
101 | // ubx parser state |
||
102 | typedef enum |
||
103 | { |
||
104 | UBXSTATE_IDLE, |
||
105 | UBXSTATE_SYNC1, |
||
106 | UBXSTATE_SYNC2, |
||
107 | UBXSTATE_CLASS, |
||
108 | UBXSTATE_LEN1, |
||
109 | UBXSTATE_LEN2, |
||
110 | UBXSTATE_DATA, |
||
111 | UBXSTATE_CKA, |
||
112 | UBXSTATE_CKB |
||
113 | } ubxState_t; |
||
114 | |||
115 | typedef struct |
||
116 | { |
||
117 | u32 itow; // ms GPS Millisecond Time of Week |
||
118 | s32 frac; // ns remainder of rounded ms above |
||
119 | s16 week; // GPS week |
||
120 | u8 GPSfix; // GPSfix Type, range 0..6 |
||
121 | u8 Flags; // Navigation Status Flags |
||
122 | s32 ECEF_X; // cm ECEF X coordinate |
||
123 | s32 ECEF_Y; // cm ECEF Y coordinate |
||
124 | s32 ECEF_Z; // cm ECEF Z coordinate |
||
125 | u32 PAcc; // cm 3D Position Accuracy Estimate |
||
126 | s32 ECEFVX; // cm/s ECEF X velocity |
||
127 | s32 ECEFVY; // cm/s ECEF Y velocity |
||
128 | s32 ECEFVZ; // cm/s ECEF Z velocity |
||
129 | u32 SAcc; // cm/s Speed Accuracy Estimate |
||
130 | u16 PDOP; // 0.01 Position DOP |
||
131 | u8 res1; // reserved |
||
132 | u8 numSV; // Number of SVs used in navigation solution |
||
133 | u32 res2; // reserved |
||
52 | killagreg | 134 | u8 Status; // invalid/newdata/processed |
41 | ingob | 135 | } __attribute__((packed)) ubx_nav_sol_t; |
136 | |||
137 | |||
138 | typedef struct |
||
139 | { |
||
140 | u32 itow; // ms GPS Millisecond Time of Week |
||
141 | s32 VEL_N; // cm/s NED north velocity |
||
142 | s32 VEL_E; // cm/s NED east velocity |
||
143 | s32 VEL_D; // cm/s NED down velocity |
||
144 | u32 Speed; // cm/s Speed (3-D) |
||
145 | u32 GSpeed; // cm/s Ground Speed (2-D) |
||
146 | s32 Heading; // 1e-05 deg Heading 2-D |
||
147 | u32 SAcc; // cm/s Speed Accuracy Estimate |
||
148 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
||
52 | killagreg | 149 | u8 Status; // invalid/newdata/processed |
41 | ingob | 150 | } __attribute__((packed)) ubx_nav_velned_t; |
151 | |||
152 | typedef struct |
||
153 | { |
||
154 | u32 itow; // ms GPS Millisecond Time of Week |
||
155 | s32 LON; // 1e-07 deg Longitude |
||
156 | s32 LAT; // 1e-07 deg Latitude |
||
157 | s32 HEIGHT; // mm Height above Ellipsoid |
||
158 | s32 HMSL; // mm Height above mean sea level |
||
159 | u32 Hacc; // mm Horizontal Accuracy Estimate |
||
160 | u32 Vacc; // mm Vertical Accuracy Estimate |
||
52 | killagreg | 161 | u8 Status; // invalid/newdata/processed |
41 | ingob | 162 | } __attribute__((packed)) ubx_nav_posllh_t; |
163 | |||
164 | //------------------------------------------------------------------------------------ |
||
165 | // global variables |
||
166 | |||
167 | // local buffers for the incomming ubx messages |
||
263 | killagreg | 168 | ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
169 | ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
||
170 | ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
||
171 | ubxmsg_t UbxMsg; |
||
41 | ingob | 172 | |
173 | // shared buffer |
||
244 | killagreg | 174 | gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
41 | ingob | 175 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
176 | |||
146 | killagreg | 177 | #define UBX_TIMEOUT 500 // 500 ms |
178 | u32 UBX_Timeout = 0; |
||
41 | ingob | 179 | |
180 | //------------------------------------------------------------------------------------ |
||
181 | // functions |
||
182 | |||
183 | u8 IsLeapYear(u16 year) |
||
184 | { |
||
185 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
||
186 | else return 0; |
||
187 | } |
||
188 | /********************************************************/ |
||
189 | /* Calculates the UTC Time from the GPS week and tow */ |
||
190 | /********************************************************/ |
||
191 | void SetGPSTime(DateTime_t * pTimeStruct) |
||
192 | { |
||
193 | u32 Days, Seconds, Week; |
||
194 | u16 YearPart; |
||
195 | u32 * MonthDayTab = 0; |
||
196 | u8 i; |
||
197 | |||
198 | |||
199 | // if GPS data show valid time data |
||
200 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
||
201 | { |
||
202 | Seconds = UbxSol.itow / 1000L; |
||
203 | Week = (u32)UbxSol.week; |
||
204 | // correct leap seconds since 1980 |
||
205 | if(Seconds < LEAP_SECONDS_FROM_1980) |
||
206 | { |
||
207 | Week--; |
||
208 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
||
209 | } |
||
210 | else Seconds -= LEAP_SECONDS_FROM_1980; |
||
211 | |||
212 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
||
213 | Days += (Week * DAYS_PER_WEEK); |
||
214 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
||
215 | |||
216 | pTimeStruct->Year = 1; |
||
217 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
||
218 | pTimeStruct->Year += YearPart * 400; |
||
219 | Days = Days % DAYS_PER_400YEARS; |
||
220 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
||
221 | pTimeStruct->Year += YearPart * 100; |
||
222 | Days = Days % DAYS_PER_100YEARS; |
||
223 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
||
224 | pTimeStruct->Year += YearPart * 4; |
||
225 | Days = Days % DAYS_PER_4YEARS; |
||
226 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
||
227 | else YearPart = 3; |
||
228 | pTimeStruct->Year += YearPart; |
||
229 | // calculate remaining days of year |
||
230 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
||
231 | Days += 1; |
||
232 | // check if current year is a leap year |
||
233 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
||
234 | else MonthDayTab = (u32*)Normal; |
||
235 | // seperate month and day from days of year |
||
236 | for ( i = 0; i < 12; i++ ) |
||
237 | { |
||
238 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
||
239 | { |
||
240 | pTimeStruct->Month = i+1; |
||
241 | pTimeStruct->Day = Days - MonthDayTab[i]; |
||
242 | i = 12; |
||
243 | } |
||
244 | } |
||
245 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
||
246 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
||
247 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
||
248 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
||
249 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
||
250 | pTimeStruct->Sec = (u8)(Seconds); |
||
251 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
||
252 | pTimeStruct->Valid = 1; |
||
253 | } |
||
254 | else |
||
255 | { |
||
256 | pTimeStruct->Valid = 0; |
||
257 | } |
||
258 | } |
||
259 | |||
260 | |||
261 | |||
262 | /********************************************************/ |
||
263 | /* Initialize UBX Parser */ |
||
264 | /********************************************************/ |
||
265 | void UBX_Init(void) |
||
266 | { |
||
267 | // mark msg buffers invalid |
||
268 | UbxSol.Status = INVALID; |
||
269 | UbxPosLlh.Status = INVALID; |
||
270 | UbxVelNed.Status = INVALID; |
||
247 | killagreg | 271 | UbxMsg.Status = INVALID; |
41 | ingob | 272 | GPSData.Status = INVALID; |
146 | killagreg | 273 | |
274 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
||
41 | ingob | 275 | } |
276 | |||
277 | /********************************************************/ |
||
278 | /* Upate GPS data stcructure */ |
||
279 | /********************************************************/ |
||
263 | killagreg | 280 | void Update_GPSData(void) |
41 | ingob | 281 | { |
263 | killagreg | 282 | static u32 last_itow = 0; |
41 | ingob | 283 | |
284 | // if a new set of ubx messages was collected |
||
263 | killagreg | 285 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
286 | { // and the itow is equal (same time base) |
||
287 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
||
41 | ingob | 288 | { |
146 | killagreg | 289 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
61 | holgerb | 290 | DebugOut.Analog[9]++; |
263 | killagreg | 291 | // update GPS data only if the status is INVALID or PROCESSED |
292 | if(GPSData.Status != NEWDATA) |
||
41 | ingob | 293 | { // wait for new data at all neccesary ubx messages |
294 | GPSData.Status = INVALID; |
||
244 | killagreg | 295 | // update message cycle time |
264 | killagreg | 296 | GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
297 | last_itow = UbxSol.itow; // update last itow |
||
281 | holgerb | 298 | // DebugOut.Analog[16] = GPSData.MsgCycleTime; |
41 | ingob | 299 | // NAV SOL |
322 | holgerb | 300 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
41 | ingob | 301 | GPSData.NumOfSats = UbxSol.numSV; |
302 | GPSData.SatFix = UbxSol.GPSfix; |
||
303 | GPSData.Position_Accuracy = UbxSol.PAcc; |
||
304 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
||
305 | SetGPSTime(&SystemTime); // update system time |
||
306 | // NAV POSLLH |
||
307 | GPSData.Position.Status = INVALID; |
||
308 | GPSData.Position.Longitude = UbxPosLlh.LON; |
||
309 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
||
310 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
||
311 | GPSData.Position.Status = NEWDATA; |
||
312 | // NAV VELNED |
||
313 | GPSData.Speed_East = UbxVelNed.VEL_E; |
||
314 | GPSData.Speed_North = UbxVelNed.VEL_N; |
||
315 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
||
316 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
||
317 | GPSData.Heading = UbxVelNed.Heading; |
||
263 | killagreg | 318 | |
41 | ingob | 319 | GPSData.Status = NEWDATA; // new data available |
320 | } // EOF if(GPSData.Status != NEWDATA) |
||
263 | killagreg | 321 | // set state to collect new data |
322 | UbxSol.Status = PROCESSED; // ready for new data |
||
323 | UbxPosLlh.Status = PROCESSED; // ready for new data |
||
324 | UbxVelNed.Status = PROCESSED; // ready for new data |
||
325 | } // EOF all itow are equal |
||
326 | } // EOF all ubx messages received |
||
41 | ingob | 327 | } |
328 | |||
329 | |||
330 | /********************************************************/ |
||
331 | /* UBX Parser */ |
||
332 | /********************************************************/ |
||
245 | killagreg | 333 | void UBX_RxParser(u8 c) |
41 | ingob | 334 | { |
335 | static ubxState_t ubxState = UBXSTATE_IDLE; |
||
263 | killagreg | 336 | static ubxmsghdr_t RxHdr; |
337 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
||
338 | static u16 RxBytes = 0; |
||
41 | ingob | 339 | static u8 cka, ckb; |
340 | |||
341 | |||
342 | //state machine |
||
343 | switch (ubxState) // ubx message parser |
||
344 | { |
||
345 | case UBXSTATE_IDLE: // check 1st sync byte |
||
346 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
||
347 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
||
348 | break; |
||
349 | |||
350 | case UBXSTATE_SYNC1: // check 2nd sync byte |
||
351 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
||
352 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
||
353 | break; |
||
354 | |||
355 | case UBXSTATE_SYNC2: // check msg class to be NAV |
||
263 | killagreg | 356 | RxHdr.Class = c; |
245 | killagreg | 357 | ubxState = UBXSTATE_CLASS; |
41 | ingob | 358 | break; |
359 | |||
360 | case UBXSTATE_CLASS: // check message identifier |
||
263 | killagreg | 361 | RxHdr.Id = c; |
247 | killagreg | 362 | ubxState = UBXSTATE_LEN1; |
263 | killagreg | 363 | cka = RxHdr.Class + RxHdr.Id; |
364 | ckb = RxHdr.Class + cka; |
||
247 | killagreg | 365 | break; |
366 | |||
367 | case UBXSTATE_LEN1: // 1st message length byte |
||
263 | killagreg | 368 | RxHdr.Length = (u16)c; // lowbyte first |
247 | killagreg | 369 | cka += c; |
370 | ckb += cka; |
||
371 | ubxState = UBXSTATE_LEN2; |
||
372 | break; |
||
373 | |||
374 | case UBXSTATE_LEN2: // 2nd message length byte |
||
263 | killagreg | 375 | RxHdr.Length += ((u16)c)<<8; // high byte last |
376 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
||
41 | ingob | 377 | { |
263 | killagreg | 378 | ubxState = UBXSTATE_IDLE; |
41 | ingob | 379 | } |
263 | killagreg | 380 | else |
41 | ingob | 381 | { |
263 | killagreg | 382 | cka += c; |
383 | ckb += cka; |
||
384 | RxBytes = 0; // reset data byte counter |
||
385 | ubxState = UBXSTATE_DATA; |
||
41 | ingob | 386 | } |
387 | break; |
||
388 | |||
389 | case UBXSTATE_DATA: // collecting data |
||
263 | killagreg | 390 | if (RxBytes < UBX_MSG_DATA_SIZE) |
41 | ingob | 391 | { |
263 | killagreg | 392 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
41 | ingob | 393 | cka += c; |
394 | ckb += cka; |
||
263 | killagreg | 395 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
41 | ingob | 396 | } |
397 | else // rx buffer overrun |
||
398 | { |
||
399 | ubxState = UBXSTATE_IDLE; |
||
400 | } |
||
401 | break; |
||
402 | |||
403 | case UBXSTATE_CKA: |
||
404 | if (c == cka) ubxState = UBXSTATE_CKB; |
||
405 | else |
||
406 | { |
||
407 | ubxState = UBXSTATE_IDLE; |
||
408 | } |
||
409 | break; |
||
410 | |||
411 | case UBXSTATE_CKB: |
||
412 | if (c == ckb) |
||
263 | killagreg | 413 | { // checksum is ok |
414 | |||
415 | switch(RxHdr.Class) |
||
416 | { |
||
417 | case UBX_CLASS_NAV: |
||
418 | switch(RxHdr.Id) |
||
419 | { |
||
420 | case UBX_ID_POSLLH: // geodetic position |
||
421 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
||
422 | UbxPosLlh.Status = NEWDATA; |
||
423 | break; |
||
424 | |||
425 | case UBX_ID_VELNED: // velocity vector in tangent plane |
||
426 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
||
427 | UbxVelNed.Status = NEWDATA; |
||
428 | break; |
||
429 | |||
430 | case UBX_ID_SOL: // navigation solution |
||
431 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
||
432 | UbxSol.Status = NEWDATA; |
||
433 | break; |
||
434 | |||
435 | default: |
||
436 | break; |
||
437 | } // EOF switch(Id) |
||
438 | Update_GPSData(); |
||
439 | break; |
||
440 | |||
441 | default: |
||
442 | break; |
||
443 | } // EOF switch(class) |
||
444 | |||
445 | // check generic msg filter |
||
446 | if(UbxMsg.Status != NEWDATA) |
||
447 | { // msg buffer is free |
||
448 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
||
449 | { // msg matches to the filter criteria |
||
450 | UbxMsg.Status = INVALID; |
||
451 | UbxMsg.Hdr.Class = RxHdr.Class; |
||
452 | UbxMsg.Hdr.Id = RxHdr.Id; |
||
453 | UbxMsg.Hdr.Length = RxHdr.Length; |
||
454 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
||
455 | { // copy data block |
||
456 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
||
457 | UbxMsg.Status = NEWDATA; |
||
458 | } |
||
459 | } // EOF filter matches |
||
460 | } // EOF != INVALID |
||
461 | }// EOF crc ok |
||
41 | ingob | 462 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
463 | break; |
||
464 | |||
465 | default: // unknown ubx state |
||
466 | ubxState = UBXSTATE_IDLE; |
||
467 | break; |
||
468 | |||
469 | } |
||
470 | } |
||
245 | killagreg | 471 | |
247 | killagreg | 472 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
245 | killagreg | 473 | { |
474 | u16 i; |
||
475 | u8 cka = 0, ckb = 0; |
||
476 | // check if buffer is available |
||
477 | if(pBuff->Locked == TRUE) return(0); |
||
478 | // check if buffer size is sufficient |
||
479 | if(pBuff->Size < 8 + Len) return(0); |
||
480 | // lock the buffer |
||
481 | pBuff->Locked = TRUE; |
||
482 | // start at begin |
||
483 | pBuff->Position = 0; |
||
484 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
||
485 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
||
247 | killagreg | 486 | for(i=0;i<Len;i++) |
487 | { |
||
488 | pBuff->pData[pBuff->Position++] = pData[i]; |
||
489 | } |
||
245 | killagreg | 490 | // calculate checksum |
491 | for(i=2;i<pBuff->Position;i++) |
||
492 | { |
||
493 | cka += pBuff->pData[i]; |
||
494 | ckb += cka; |
||
495 | } |
||
496 | pBuff->pData[pBuff->Position++] = cka; |
||
497 | pBuff->pData[pBuff->Position++] = ckb; |
||
498 | pBuff->DataBytes = pBuff->Position; |
||
499 | pBuff->Position = 0; // reset buffer position for transmision |
||
500 | return(1); |
||
501 | } |
||
263 | killagreg | 502 | /* |
503 | switch(ubxclass) |
||
504 | { |
||
505 | case UBX_CLASS_NAV: |
||
506 | switch(ubxid) |
||
507 | { |
||
508 | case UBX_ID_POSLLH: // geodetic position |
||
509 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
||
510 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
||
511 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
||
512 | break; |
||
513 | |||
514 | case UBX_ID_SOL: // navigation solution |
||
515 | ubxSp = (u8 *)&UbxSol; // data start pointer |
||
516 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
||
517 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
||
518 | break; |
||
519 | |||
520 | case UBX_ID_VELNED: // velocity vector in tangent plane |
||
521 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
||
522 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
||
523 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
||
524 | break; |
||
525 | |||
526 | default: // unsupported identifier |
||
527 | ubxState = UBXSTATE_IDLE; |
||
528 | return; |
||
529 | } |
||
530 | break; |
||
531 | |||
532 | default: // other classes |
||
533 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
||
534 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
||
535 | { // buffer is free and message matches to filter criteria |
||
536 | UbxMsg.Status = INVALID; |
||
537 | UbxMsg.Hdr.Class = ubxclass; |
||
538 | UbxMsg.Hdr.Id = ubxid; |
||
539 | UbxMsg.Hdr.Length = msglen; |
||
540 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
||
541 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
||
542 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
||
543 | } |
||
544 | else ubxState = UBXSTATE_IDLE; |
||
545 | break; |
||
546 | } |
||
547 | */ |
||
548 |