Rev 515 | 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 | // + www.MikroKopter.com |
||
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
515 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
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. |
||
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
515 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
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 - |
515 | killagreg | 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 |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
||
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
40 | // + agreement shall be the property of the Licensor. |
||
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
43 | // + The customer shall be responsible for taking reasonable precautions |
||
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
53 | // + #### END OF LICENSING TERMS #### |
||
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
263 | killagreg | 56 | #include <string.h> |
41 | ingob | 57 | #include "91x_lib.h" |
58 | #include "uart1.h" |
||
59 | #include "ubx.h" |
||
60 | #include "led.h" |
||
119 | killagreg | 61 | #include "timer1.h" |
41 | ingob | 62 | |
63 | // ------------------------------------------------------------------------------------------------ |
||
64 | // defines |
||
65 | |||
66 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
||
67 | #define DAYS_PER_YEAR 365 |
||
68 | #define DAYS_PER_LEAPYEAR 366 |
||
69 | #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
||
70 | #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
||
71 | #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
||
72 | #define SECONDS_PER_MINUTE 60 |
||
73 | #define MINUTES_PER_HOUR 60 |
||
74 | #define HOURS_PER_DAY 24 |
||
75 | #define DAYS_PER_WEEK 7 |
||
76 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
||
77 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
||
78 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
||
79 | |||
80 | // days per month in normal and leap years |
||
81 | const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
||
82 | const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
||
83 | |||
427 | killagreg | 84 | #define LEAP_SECONDS_FROM_1980 16 |
41 | ingob | 85 | |
86 | // message sync bytes |
||
87 | #define UBX_SYNC1_CHAR 0xB5 |
||
88 | #define UBX_SYNC2_CHAR 0x62 |
||
245 | killagreg | 89 | // protocoll identifiers |
90 | // navigation class |
||
41 | ingob | 91 | #define UBX_CLASS_NAV 0x01 |
92 | #define UBX_ID_POSLLH 0x02 |
||
93 | #define UBX_ID_SOL 0x06 |
||
94 | #define UBX_ID_VELNED 0x12 |
||
247 | killagreg | 95 | |
41 | ingob | 96 | // ------------------------------------------------------------------------------------------------ |
97 | // typedefs |
||
98 | |||
99 | |||
100 | // ubx parser state |
||
101 | typedef enum |
||
102 | { |
||
103 | UBXSTATE_IDLE, |
||
104 | UBXSTATE_SYNC1, |
||
105 | UBXSTATE_SYNC2, |
||
106 | UBXSTATE_CLASS, |
||
107 | UBXSTATE_LEN1, |
||
108 | UBXSTATE_LEN2, |
||
109 | UBXSTATE_DATA, |
||
110 | UBXSTATE_CKA, |
||
111 | UBXSTATE_CKB |
||
112 | } ubxState_t; |
||
113 | |||
114 | typedef struct |
||
115 | { |
||
116 | u32 itow; // ms GPS Millisecond Time of Week |
||
117 | s32 frac; // ns remainder of rounded ms above |
||
118 | s16 week; // GPS week |
||
119 | u8 GPSfix; // GPSfix Type, range 0..6 |
||
120 | u8 Flags; // Navigation Status Flags |
||
121 | s32 ECEF_X; // cm ECEF X coordinate |
||
122 | s32 ECEF_Y; // cm ECEF Y coordinate |
||
123 | s32 ECEF_Z; // cm ECEF Z coordinate |
||
124 | u32 PAcc; // cm 3D Position Accuracy Estimate |
||
125 | s32 ECEFVX; // cm/s ECEF X velocity |
||
126 | s32 ECEFVY; // cm/s ECEF Y velocity |
||
127 | s32 ECEFVZ; // cm/s ECEF Z velocity |
||
128 | u32 SAcc; // cm/s Speed Accuracy Estimate |
||
129 | u16 PDOP; // 0.01 Position DOP |
||
130 | u8 res1; // reserved |
||
131 | u8 numSV; // Number of SVs used in navigation solution |
||
132 | u32 res2; // reserved |
||
52 | killagreg | 133 | u8 Status; // invalid/newdata/processed |
41 | ingob | 134 | } __attribute__((packed)) ubx_nav_sol_t; |
135 | |||
136 | |||
137 | typedef struct |
||
138 | { |
||
139 | u32 itow; // ms GPS Millisecond Time of Week |
||
140 | s32 VEL_N; // cm/s NED north velocity |
||
141 | s32 VEL_E; // cm/s NED east velocity |
||
142 | s32 VEL_D; // cm/s NED down velocity |
||
143 | u32 Speed; // cm/s Speed (3-D) |
||
144 | u32 GSpeed; // cm/s Ground Speed (2-D) |
||
145 | s32 Heading; // 1e-05 deg Heading 2-D |
||
146 | u32 SAcc; // cm/s Speed Accuracy Estimate |
||
147 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
||
52 | killagreg | 148 | u8 Status; // invalid/newdata/processed |
41 | ingob | 149 | } __attribute__((packed)) ubx_nav_velned_t; |
150 | |||
151 | typedef struct |
||
152 | { |
||
153 | u32 itow; // ms GPS Millisecond Time of Week |
||
154 | s32 LON; // 1e-07 deg Longitude |
||
155 | s32 LAT; // 1e-07 deg Latitude |
||
156 | s32 HEIGHT; // mm Height above Ellipsoid |
||
157 | s32 HMSL; // mm Height above mean sea level |
||
158 | u32 Hacc; // mm Horizontal Accuracy Estimate |
||
159 | u32 Vacc; // mm Vertical Accuracy Estimate |
||
52 | killagreg | 160 | u8 Status; // invalid/newdata/processed |
41 | ingob | 161 | } __attribute__((packed)) ubx_nav_posllh_t; |
162 | |||
163 | //------------------------------------------------------------------------------------ |
||
164 | // global variables |
||
165 | |||
166 | // local buffers for the incomming ubx messages |
||
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}; |
||
169 | ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
||
170 | ubxmsg_t UbxMsg; |
||
41 | ingob | 171 | |
172 | // shared buffer |
||
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; |
||
41 | ingob | 178 | |
179 | //------------------------------------------------------------------------------------ |
||
180 | // functions |
||
181 | |||
182 | u8 IsLeapYear(u16 year) |
||
183 | { |
||
184 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
||
185 | else return 0; |
||
186 | } |
||
187 | /********************************************************/ |
||
188 | /* Calculates the UTC Time from the GPS week and tow */ |
||
189 | /********************************************************/ |
||
190 | void SetGPSTime(DateTime_t * pTimeStruct) |
||
191 | { |
||
192 | u32 Days, Seconds, Week; |
||
193 | u16 YearPart; |
||
194 | u32 * MonthDayTab = 0; |
||
195 | u8 i; |
||
196 | |||
197 | |||
198 | // if GPS data show valid time data |
||
199 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
||
200 | { |
||
201 | Seconds = UbxSol.itow / 1000L; |
||
202 | Week = (u32)UbxSol.week; |
||
203 | // correct leap seconds since 1980 |
||
204 | if(Seconds < LEAP_SECONDS_FROM_1980) |
||
205 | { |
||
206 | Week--; |
||
207 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
||
208 | } |
||
209 | else Seconds -= LEAP_SECONDS_FROM_1980; |
||
210 | |||
515 | killagreg | 211 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
41 | ingob | 212 | Days += (Week * DAYS_PER_WEEK); |
213 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
||
214 | |||
215 | pTimeStruct->Year = 1; |
||
216 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
||
217 | pTimeStruct->Year += YearPart * 400; |
||
218 | Days = Days % DAYS_PER_400YEARS; |
||
219 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
||
220 | pTimeStruct->Year += YearPart * 100; |
||
221 | Days = Days % DAYS_PER_100YEARS; |
||
222 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
||
223 | pTimeStruct->Year += YearPart * 4; |
||
224 | Days = Days % DAYS_PER_4YEARS; |
||
225 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
||
226 | else YearPart = 3; |
||
227 | pTimeStruct->Year += YearPart; |
||
228 | // calculate remaining days of year |
||
229 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
||
230 | Days += 1; |
||
231 | // check if current year is a leap year |
||
232 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
||
233 | else MonthDayTab = (u32*)Normal; |
||
515 | killagreg | 234 | // seperate month and day from days of year |
41 | ingob | 235 | for ( i = 0; i < 12; i++ ) |
236 | { |
||
237 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
||
238 | { |
||
239 | pTimeStruct->Month = i+1; |
||
240 | pTimeStruct->Day = Days - MonthDayTab[i]; |
||
241 | i = 12; |
||
242 | } |
||
243 | } |
||
244 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
||
245 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
||
246 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
||
247 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
||
248 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
||
249 | pTimeStruct->Sec = (u8)(Seconds); |
||
250 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
||
251 | pTimeStruct->Valid = 1; |
||
252 | } |
||
253 | else |
||
254 | { |
||
255 | pTimeStruct->Valid = 0; |
||
256 | } |
||
257 | } |
||
258 | |||
259 | |||
260 | |||
261 | /********************************************************/ |
||
262 | /* Initialize UBX Parser */ |
||
263 | /********************************************************/ |
||
264 | void UBX_Init(void) |
||
265 | { |
||
266 | // mark msg buffers invalid |
||
267 | UbxSol.Status = INVALID; |
||
268 | UbxPosLlh.Status = INVALID; |
||
269 | UbxVelNed.Status = INVALID; |
||
247 | killagreg | 270 | UbxMsg.Status = INVALID; |
41 | ingob | 271 | GPSData.Status = INVALID; |
146 | killagreg | 272 | |
273 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
||
41 | ingob | 274 | } |
275 | |||
276 | /********************************************************/ |
||
277 | /* Upate GPS data stcructure */ |
||
278 | /********************************************************/ |
||
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 |
||
263 | killagreg | 284 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
285 | { // and the itow is equal (same time base) |
||
515 | killagreg | 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 |
515 | killagreg | 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 |
||
41 | ingob | 298 | // NAV SOL |
322 | holgerb | 299 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
41 | ingob | 300 | GPSData.NumOfSats = UbxSol.numSV; |
301 | GPSData.SatFix = UbxSol.GPSfix; |
||
492 | killagreg | 302 | GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
303 | GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
||
41 | ingob | 304 | SetGPSTime(&SystemTime); // update system time |
305 | // NAV POSLLH |
||
306 | GPSData.Position.Status = INVALID; |
||
492 | killagreg | 307 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
308 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
||
309 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
||
41 | ingob | 310 | GPSData.Position.Status = NEWDATA; |
311 | // NAV VELNED |
||
492 | killagreg | 312 | GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
313 | GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
||
314 | GPSData.Speed_Top = -UbxVelNed.VEL_D; // in steps of 1cm/s |
||
315 | GPSData.Speed_Ground = UbxVelNed.GSpeed; // in steps of 1cm/s |
||
316 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
||
515 | killagreg | 317 | |
41 | ingob | 318 | GPSData.Status = NEWDATA; // new data available |
319 | } // EOF if(GPSData.Status != NEWDATA) |
||
263 | killagreg | 320 | // set state to collect new data |
321 | UbxSol.Status = PROCESSED; // ready for new data |
||
322 | UbxPosLlh.Status = PROCESSED; // ready for new data |
||
323 | UbxVelNed.Status = PROCESSED; // ready for new data |
||
324 | } // EOF all itow are equal |
||
325 | } // EOF all ubx messages received |
||
503 | holgerb | 326 | |
327 | |||
328 | //++++++++++++++++++++++++++++++++ |
||
329 | // Please do not delete |
||
515 | killagreg | 330 | // This helps me for testing |
503 | holgerb | 331 | //++++++++++++++++++++++++++++++++ |
332 | //GPSData.Position.Longitude = 1517409123L; // Hamilton, Australia |
||
333 | //GPSData.Position.Latitude = -329294773L; // Hamilton, Australia |
||
334 | //++++++++ |
||
335 | //GPSData.Position.Longitude =-1556010020L; // Alaska |
||
336 | //GPSData.Position.Latitude = 629581270L; // Alaska |
||
337 | //++++++++ |
||
338 | //GPSData.Position.Longitude =-584343419L; // Buenos aires |
||
339 | //GPSData.Position.Latitude = -345464421L; // Buenos aires |
||
340 | //++++++++ |
||
341 | //GPSData.Position.Longitude =1683362691L; // Neuseeland |
||
342 | //GPSData.Position.Latitude = -465945926L; // Neuseeland |
||
504 | holgerb | 343 | //++++++++ |
507 | holgerb | 344 | //GPSData.Position.Longitude = 194140605L; // Afrika |
345 | //GPSData.Position.Latitude = -345384656L; // Afrika |
||
346 | //++++++++ |
||
504 | holgerb | 347 | //GPSData.Position.Longitude =-740443840L; // Liberty Staue davor |
515 | killagreg | 348 | //GPSData.Position.Latitude = 406888880L; // Liberty Staue |
504 | holgerb | 349 | |
350 | //GPSData.Position.Longitude =-740451660L; // Liberty Staue daneben |
||
515 | killagreg | 351 | //GPSData.Position.Latitude = 406891880L; // Liberty Staue |
504 | holgerb | 352 | |
353 | //GPSData.Position.Longitude =-740446540L; // Liberty Staue direkt |
||
354 | //GPSData.Position.Latitude = 406891590L; // Liberty Staue 1 |
||
355 | |||
514 | holgerb | 356 | //GPSData.Position.Longitude =-1142878694L; // Flori |
515 | killagreg | 357 | //GPSData.Position.Latitude = 483712102L; // |
514 | holgerb | 358 | |
359 | //GPSData.Position.Longitude =1251674613L; // Bubble |
||
515 | killagreg | 360 | //GPSData.Position.Latitude = 466058365L; // |
361 | |||
41 | ingob | 362 | } |
363 | |||
364 | |||
365 | /********************************************************/ |
||
366 | /* UBX Parser */ |
||
367 | /********************************************************/ |
||
245 | killagreg | 368 | void UBX_RxParser(u8 c) |
41 | ingob | 369 | { |
370 | static ubxState_t ubxState = UBXSTATE_IDLE; |
||
263 | killagreg | 371 | static ubxmsghdr_t RxHdr; |
372 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
||
373 | static u16 RxBytes = 0; |
||
41 | ingob | 374 | static u8 cka, ckb; |
375 | |||
376 | |||
377 | //state machine |
||
378 | switch (ubxState) // ubx message parser |
||
379 | { |
||
380 | case UBXSTATE_IDLE: // check 1st sync byte |
||
381 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
||
382 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
||
383 | break; |
||
384 | |||
385 | case UBXSTATE_SYNC1: // check 2nd sync byte |
||
386 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
||
387 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
||
388 | break; |
||
389 | |||
390 | case UBXSTATE_SYNC2: // check msg class to be NAV |
||
263 | killagreg | 391 | RxHdr.Class = c; |
245 | killagreg | 392 | ubxState = UBXSTATE_CLASS; |
41 | ingob | 393 | break; |
394 | |||
395 | case UBXSTATE_CLASS: // check message identifier |
||
263 | killagreg | 396 | RxHdr.Id = c; |
247 | killagreg | 397 | ubxState = UBXSTATE_LEN1; |
263 | killagreg | 398 | cka = RxHdr.Class + RxHdr.Id; |
399 | ckb = RxHdr.Class + cka; |
||
247 | killagreg | 400 | break; |
401 | |||
402 | case UBXSTATE_LEN1: // 1st message length byte |
||
263 | killagreg | 403 | RxHdr.Length = (u16)c; // lowbyte first |
247 | killagreg | 404 | cka += c; |
405 | ckb += cka; |
||
406 | ubxState = UBXSTATE_LEN2; |
||
407 | break; |
||
408 | |||
409 | case UBXSTATE_LEN2: // 2nd message length byte |
||
263 | killagreg | 410 | RxHdr.Length += ((u16)c)<<8; // high byte last |
411 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
||
41 | ingob | 412 | { |
515 | killagreg | 413 | ubxState = UBXSTATE_IDLE; |
41 | ingob | 414 | } |
263 | killagreg | 415 | else |
41 | ingob | 416 | { |
263 | killagreg | 417 | cka += c; |
418 | ckb += cka; |
||
419 | RxBytes = 0; // reset data byte counter |
||
420 | ubxState = UBXSTATE_DATA; |
||
41 | ingob | 421 | } |
422 | break; |
||
423 | |||
424 | case UBXSTATE_DATA: // collecting data |
||
263 | killagreg | 425 | if (RxBytes < UBX_MSG_DATA_SIZE) |
41 | ingob | 426 | { |
263 | killagreg | 427 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
41 | ingob | 428 | cka += c; |
429 | ckb += cka; |
||
263 | killagreg | 430 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
41 | ingob | 431 | } |
432 | else // rx buffer overrun |
||
433 | { |
||
434 | ubxState = UBXSTATE_IDLE; |
||
435 | } |
||
436 | break; |
||
437 | |||
438 | case UBXSTATE_CKA: |
||
439 | if (c == cka) ubxState = UBXSTATE_CKB; |
||
440 | else |
||
441 | { |
||
442 | ubxState = UBXSTATE_IDLE; |
||
443 | } |
||
444 | break; |
||
445 | |||
446 | case UBXSTATE_CKB: |
||
447 | if (c == ckb) |
||
263 | killagreg | 448 | { // checksum is ok |
449 | |||
450 | switch(RxHdr.Class) |
||
451 | { |
||
452 | case UBX_CLASS_NAV: |
||
453 | switch(RxHdr.Id) |
||
454 | { |
||
455 | case UBX_ID_POSLLH: // geodetic position |
||
456 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
||
457 | UbxPosLlh.Status = NEWDATA; |
||
458 | break; |
||
459 | |||
515 | killagreg | 460 | case UBX_ID_VELNED: // velocity vector in tangent plane |
263 | killagreg | 461 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
462 | UbxVelNed.Status = NEWDATA; |
||
463 | break; |
||
464 | |||
465 | case UBX_ID_SOL: // navigation solution |
||
466 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
||
467 | UbxSol.Status = NEWDATA; |
||
468 | break; |
||
469 | |||
470 | default: |
||
471 | break; |
||
472 | } // EOF switch(Id) |
||
473 | Update_GPSData(); |
||
474 | break; |
||
515 | killagreg | 475 | |
263 | killagreg | 476 | default: |
477 | break; |
||
478 | } // EOF switch(class) |
||
479 | |||
515 | killagreg | 480 | // check generic msg filter |
263 | killagreg | 481 | if(UbxMsg.Status != NEWDATA) |
482 | { // msg buffer is free |
||
483 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
||
484 | { // msg matches to the filter criteria |
||
485 | UbxMsg.Status = INVALID; |
||
486 | UbxMsg.Hdr.Class = RxHdr.Class; |
||
487 | UbxMsg.Hdr.Id = RxHdr.Id; |
||
488 | UbxMsg.Hdr.Length = RxHdr.Length; |
||
489 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
||
490 | { // copy data block |
||
491 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
||
492 | UbxMsg.Status = NEWDATA; |
||
515 | killagreg | 493 | } |
263 | killagreg | 494 | } // EOF filter matches |
495 | } // EOF != INVALID |
||
496 | }// EOF crc ok |
||
41 | ingob | 497 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
498 | break; |
||
499 | |||
500 | default: // unknown ubx state |
||
501 | ubxState = UBXSTATE_IDLE; |
||
502 | break; |
||
503 | |||
504 | } |
||
505 | } |
||
245 | killagreg | 506 | |
247 | killagreg | 507 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
245 | killagreg | 508 | { |
509 | u16 i; |
||
510 | u8 cka = 0, ckb = 0; |
||
511 | // check if buffer is available |
||
512 | if(pBuff->Locked == TRUE) return(0); |
||
513 | // check if buffer size is sufficient |
||
514 | if(pBuff->Size < 8 + Len) return(0); |
||
515 | // lock the buffer |
||
516 | pBuff->Locked = TRUE; |
||
515 | killagreg | 517 | // start at begin |
245 | killagreg | 518 | pBuff->Position = 0; |
519 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
||
520 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
||
247 | killagreg | 521 | for(i=0;i<Len;i++) |
522 | { |
||
523 | pBuff->pData[pBuff->Position++] = pData[i]; |
||
524 | } |
||
245 | killagreg | 525 | // calculate checksum |
526 | for(i=2;i<pBuff->Position;i++) |
||
527 | { |
||
515 | killagreg | 528 | cka += pBuff->pData[i]; |
245 | killagreg | 529 | ckb += cka; |
530 | } |
||
531 | pBuff->pData[pBuff->Position++] = cka; |
||
532 | pBuff->pData[pBuff->Position++] = ckb; |
||
533 | pBuff->DataBytes = pBuff->Position; |
||
534 | pBuff->Position = 0; // reset buffer position for transmision |
||
535 | return(1); |
||
536 | } |
||
263 | killagreg | 537 | /* |
538 | switch(ubxclass) |
||
539 | { |
||
540 | case UBX_CLASS_NAV: |
||
541 | switch(ubxid) |
||
542 | { |
||
543 | case UBX_ID_POSLLH: // geodetic position |
||
544 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
||
545 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
||
546 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
||
547 | break; |
||
515 | killagreg | 548 | |
263 | killagreg | 549 | case UBX_ID_SOL: // navigation solution |
550 | ubxSp = (u8 *)&UbxSol; // data start pointer |
||
551 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
||
552 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
||
553 | break; |
||
515 | killagreg | 554 | |
263 | killagreg | 555 | case UBX_ID_VELNED: // velocity vector in tangent plane |
556 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
||
557 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
||
558 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
||
559 | break; |
||
515 | killagreg | 560 | |
263 | killagreg | 561 | default: // unsupported identifier |
562 | ubxState = UBXSTATE_IDLE; |
||
563 | return; |
||
564 | } |
||
565 | break; |
||
566 | |||
567 | default: // other classes |
||
568 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
||
569 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
||
570 | { // buffer is free and message matches to filter criteria |
||
571 | UbxMsg.Status = INVALID; |
||
572 | UbxMsg.Hdr.Class = ubxclass; |
||
573 | UbxMsg.Hdr.Id = ubxid; |
||
574 | UbxMsg.Hdr.Length = msglen; |
||
575 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
||
576 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
||
515 | killagreg | 577 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
263 | killagreg | 578 | } |
515 | killagreg | 579 | else ubxState = UBXSTATE_IDLE; |
263 | killagreg | 580 | break; |
581 | } |
||
582 | */ |
||
583 |