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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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41 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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41 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
41 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
263 | killagreg | 56 | #include <string.h> |
41 | ingob | 57 | #include "91x_lib.h" |
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 | |||
427 | killagreg | 84 | #define LEAP_SECONDS_FROM_1980 16 |
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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263 | killagreg | 167 | ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
168 | ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
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169 | ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
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170 | ubxmsg_t UbxMsg; |
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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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263 | killagreg | 279 | void Update_GPSData(void) |
41 | ingob | 280 | { |
263 | killagreg | 281 | static u32 last_itow = 0; |
41 | ingob | 282 | |
283 | // if a new set of ubx messages was collected |
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263 | killagreg | 284 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
285 | { // and the itow is equal (same time base) |
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454 | holgerb | 286 | UART_VersionInfo.Flags |= NC_VERSION_FLAG_GPS_PRESENT; |
263 | killagreg | 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) |
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41 | ingob | 293 | { // wait for new data at all neccesary ubx messages |
294 | GPSData.Status = INVALID; |
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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 |
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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; |
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303 | GPSData.Position_Accuracy = UbxSol.PAcc; |
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304 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
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305 | SetGPSTime(&SystemTime); // update system time |
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306 | // NAV POSLLH |
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307 | GPSData.Position.Status = INVALID; |
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308 | GPSData.Position.Longitude = UbxPosLlh.LON; |
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309 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
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310 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
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311 | GPSData.Position.Status = NEWDATA; |
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312 | // NAV VELNED |
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313 | GPSData.Speed_East = UbxVelNed.VEL_E; |
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314 | GPSData.Speed_North = UbxVelNed.VEL_N; |
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315 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
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316 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
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317 | GPSData.Heading = UbxVelNed.Heading; |
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263 | killagreg | 318 | |
41 | ingob | 319 | GPSData.Status = NEWDATA; // new data available |
320 | } // EOF if(GPSData.Status != NEWDATA) |
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263 | killagreg | 321 | // set state to collect new data |
322 | UbxSol.Status = PROCESSED; // ready for new data |
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323 | UbxPosLlh.Status = PROCESSED; // ready for new data |
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324 | UbxVelNed.Status = PROCESSED; // ready for new data |
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325 | } // EOF all itow are equal |
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326 | } // EOF all ubx messages received |
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392 | holgerb | 327 | |
405 | holgerb | 328 | //++++++++ |
392 | holgerb | 329 | //GPSData.Position.Longitude = 1517409123L; // Hamilton, Australia |
330 | //GPSData.Position.Latitude = -329294773L; // Hamilton, Australia |
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405 | holgerb | 331 | //++++++++ |
392 | holgerb | 332 | //GPSData.Position.Longitude =-1556010020L; // Alaska |
333 | //GPSData.Position.Latitude = 629581270L; // Alaska |
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405 | holgerb | 334 | //++++++++ |
392 | holgerb | 335 | //GPSData.Position.Longitude =-584343419L; // Buenos aires |
336 | //GPSData.Position.Latitude = -345464421L; // Buenos aires |
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405 | holgerb | 337 | //++++++++ |
392 | holgerb | 338 | //GPSData.Position.Longitude =1683362691L; // Neuseeland |
339 | //GPSData.Position.Latitude = -465945926L; // Neuseeland |
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41 | ingob | 340 | } |
341 | |||
342 | |||
343 | /********************************************************/ |
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344 | /* UBX Parser */ |
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345 | /********************************************************/ |
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245 | killagreg | 346 | void UBX_RxParser(u8 c) |
41 | ingob | 347 | { |
348 | static ubxState_t ubxState = UBXSTATE_IDLE; |
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263 | killagreg | 349 | static ubxmsghdr_t RxHdr; |
350 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
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351 | static u16 RxBytes = 0; |
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41 | ingob | 352 | static u8 cka, ckb; |
353 | |||
354 | |||
355 | //state machine |
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356 | switch (ubxState) // ubx message parser |
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357 | { |
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358 | case UBXSTATE_IDLE: // check 1st sync byte |
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359 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
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360 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
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361 | break; |
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362 | |||
363 | case UBXSTATE_SYNC1: // check 2nd sync byte |
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364 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
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365 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
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366 | break; |
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367 | |||
368 | case UBXSTATE_SYNC2: // check msg class to be NAV |
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263 | killagreg | 369 | RxHdr.Class = c; |
245 | killagreg | 370 | ubxState = UBXSTATE_CLASS; |
41 | ingob | 371 | break; |
372 | |||
373 | case UBXSTATE_CLASS: // check message identifier |
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263 | killagreg | 374 | RxHdr.Id = c; |
247 | killagreg | 375 | ubxState = UBXSTATE_LEN1; |
263 | killagreg | 376 | cka = RxHdr.Class + RxHdr.Id; |
377 | ckb = RxHdr.Class + cka; |
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247 | killagreg | 378 | break; |
379 | |||
380 | case UBXSTATE_LEN1: // 1st message length byte |
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263 | killagreg | 381 | RxHdr.Length = (u16)c; // lowbyte first |
247 | killagreg | 382 | cka += c; |
383 | ckb += cka; |
||
384 | ubxState = UBXSTATE_LEN2; |
||
385 | break; |
||
386 | |||
387 | case UBXSTATE_LEN2: // 2nd message length byte |
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263 | killagreg | 388 | RxHdr.Length += ((u16)c)<<8; // high byte last |
389 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
||
41 | ingob | 390 | { |
263 | killagreg | 391 | ubxState = UBXSTATE_IDLE; |
41 | ingob | 392 | } |
263 | killagreg | 393 | else |
41 | ingob | 394 | { |
263 | killagreg | 395 | cka += c; |
396 | ckb += cka; |
||
397 | RxBytes = 0; // reset data byte counter |
||
398 | ubxState = UBXSTATE_DATA; |
||
41 | ingob | 399 | } |
400 | break; |
||
401 | |||
402 | case UBXSTATE_DATA: // collecting data |
||
263 | killagreg | 403 | if (RxBytes < UBX_MSG_DATA_SIZE) |
41 | ingob | 404 | { |
263 | killagreg | 405 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
41 | ingob | 406 | cka += c; |
407 | ckb += cka; |
||
263 | killagreg | 408 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
41 | ingob | 409 | } |
410 | else // rx buffer overrun |
||
411 | { |
||
412 | ubxState = UBXSTATE_IDLE; |
||
413 | } |
||
414 | break; |
||
415 | |||
416 | case UBXSTATE_CKA: |
||
417 | if (c == cka) ubxState = UBXSTATE_CKB; |
||
418 | else |
||
419 | { |
||
420 | ubxState = UBXSTATE_IDLE; |
||
421 | } |
||
422 | break; |
||
423 | |||
424 | case UBXSTATE_CKB: |
||
425 | if (c == ckb) |
||
263 | killagreg | 426 | { // checksum is ok |
427 | |||
428 | switch(RxHdr.Class) |
||
429 | { |
||
430 | case UBX_CLASS_NAV: |
||
431 | switch(RxHdr.Id) |
||
432 | { |
||
433 | case UBX_ID_POSLLH: // geodetic position |
||
434 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
||
435 | UbxPosLlh.Status = NEWDATA; |
||
436 | break; |
||
437 | |||
438 | case UBX_ID_VELNED: // velocity vector in tangent plane |
||
439 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
||
440 | UbxVelNed.Status = NEWDATA; |
||
441 | break; |
||
442 | |||
443 | case UBX_ID_SOL: // navigation solution |
||
444 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
||
445 | UbxSol.Status = NEWDATA; |
||
446 | break; |
||
447 | |||
448 | default: |
||
449 | break; |
||
450 | } // EOF switch(Id) |
||
451 | Update_GPSData(); |
||
452 | break; |
||
453 | |||
454 | default: |
||
455 | break; |
||
456 | } // EOF switch(class) |
||
457 | |||
458 | // check generic msg filter |
||
459 | if(UbxMsg.Status != NEWDATA) |
||
460 | { // msg buffer is free |
||
461 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
||
462 | { // msg matches to the filter criteria |
||
463 | UbxMsg.Status = INVALID; |
||
464 | UbxMsg.Hdr.Class = RxHdr.Class; |
||
465 | UbxMsg.Hdr.Id = RxHdr.Id; |
||
466 | UbxMsg.Hdr.Length = RxHdr.Length; |
||
467 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
||
468 | { // copy data block |
||
469 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
||
470 | UbxMsg.Status = NEWDATA; |
||
471 | } |
||
472 | } // EOF filter matches |
||
473 | } // EOF != INVALID |
||
474 | }// EOF crc ok |
||
41 | ingob | 475 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
476 | break; |
||
477 | |||
478 | default: // unknown ubx state |
||
479 | ubxState = UBXSTATE_IDLE; |
||
480 | break; |
||
481 | |||
482 | } |
||
483 | } |
||
245 | killagreg | 484 | |
247 | killagreg | 485 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
245 | killagreg | 486 | { |
487 | u16 i; |
||
488 | u8 cka = 0, ckb = 0; |
||
489 | // check if buffer is available |
||
490 | if(pBuff->Locked == TRUE) return(0); |
||
491 | // check if buffer size is sufficient |
||
492 | if(pBuff->Size < 8 + Len) return(0); |
||
493 | // lock the buffer |
||
494 | pBuff->Locked = TRUE; |
||
495 | // start at begin |
||
496 | pBuff->Position = 0; |
||
497 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
||
498 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
||
247 | killagreg | 499 | for(i=0;i<Len;i++) |
500 | { |
||
501 | pBuff->pData[pBuff->Position++] = pData[i]; |
||
502 | } |
||
245 | killagreg | 503 | // calculate checksum |
504 | for(i=2;i<pBuff->Position;i++) |
||
505 | { |
||
506 | cka += pBuff->pData[i]; |
||
507 | ckb += cka; |
||
508 | } |
||
509 | pBuff->pData[pBuff->Position++] = cka; |
||
510 | pBuff->pData[pBuff->Position++] = ckb; |
||
511 | pBuff->DataBytes = pBuff->Position; |
||
512 | pBuff->Position = 0; // reset buffer position for transmision |
||
513 | return(1); |
||
514 | } |
||
263 | killagreg | 515 | /* |
516 | switch(ubxclass) |
||
517 | { |
||
518 | case UBX_CLASS_NAV: |
||
519 | switch(ubxid) |
||
520 | { |
||
521 | case UBX_ID_POSLLH: // geodetic position |
||
522 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
||
523 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
||
524 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
||
525 | break; |
||
526 | |||
527 | case UBX_ID_SOL: // navigation solution |
||
528 | ubxSp = (u8 *)&UbxSol; // data start pointer |
||
529 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
||
530 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
||
531 | break; |
||
532 | |||
533 | case UBX_ID_VELNED: // velocity vector in tangent plane |
||
534 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
||
535 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
||
536 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
||
537 | break; |
||
538 | |||
539 | default: // unsupported identifier |
||
540 | ubxState = UBXSTATE_IDLE; |
||
541 | return; |
||
542 | } |
||
543 | break; |
||
544 | |||
545 | default: // other classes |
||
546 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
||
547 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
||
548 | { // buffer is free and message matches to filter criteria |
||
549 | UbxMsg.Status = INVALID; |
||
550 | UbxMsg.Hdr.Class = ubxclass; |
||
551 | UbxMsg.Hdr.Id = ubxid; |
||
552 | UbxMsg.Hdr.Length = msglen; |
||
553 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
||
554 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
||
555 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
||
556 | } |
||
557 | else ubxState = UBXSTATE_IDLE; |
||
558 | break; |
||
559 | } |
||
560 | */ |
||
561 |