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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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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. |
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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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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. |
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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 - |
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. |
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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" |
561 | holgerb | 62 | #include "GPS.h" |
41 | ingob | 63 | |
64 | // ------------------------------------------------------------------------------------------------ |
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65 | // defines |
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66 | |||
67 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
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68 | #define DAYS_PER_YEAR 365 |
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69 | #define DAYS_PER_LEAPYEAR 366 |
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70 | #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
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71 | #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
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72 | #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
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73 | #define SECONDS_PER_MINUTE 60 |
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74 | #define MINUTES_PER_HOUR 60 |
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75 | #define HOURS_PER_DAY 24 |
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76 | #define DAYS_PER_WEEK 7 |
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77 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
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78 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
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79 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
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80 | |||
81 | // days per month in normal and leap years |
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82 | const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
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83 | const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
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84 | |||
427 | killagreg | 85 | #define LEAP_SECONDS_FROM_1980 16 |
41 | ingob | 86 | |
87 | // message sync bytes |
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88 | #define UBX_SYNC1_CHAR 0xB5 |
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89 | #define UBX_SYNC2_CHAR 0x62 |
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245 | killagreg | 90 | // protocoll identifiers |
91 | // navigation class |
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41 | ingob | 92 | #define UBX_CLASS_NAV 0x01 |
93 | #define UBX_ID_POSLLH 0x02 |
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94 | #define UBX_ID_SOL 0x06 |
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95 | #define UBX_ID_VELNED 0x12 |
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247 | killagreg | 96 | |
41 | ingob | 97 | // ------------------------------------------------------------------------------------------------ |
98 | // typedefs |
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99 | |||
100 | |||
101 | // ubx parser state |
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102 | typedef enum |
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103 | { |
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104 | UBXSTATE_IDLE, |
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105 | UBXSTATE_SYNC1, |
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106 | UBXSTATE_SYNC2, |
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107 | UBXSTATE_CLASS, |
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108 | UBXSTATE_LEN1, |
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109 | UBXSTATE_LEN2, |
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110 | UBXSTATE_DATA, |
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111 | UBXSTATE_CKA, |
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112 | UBXSTATE_CKB |
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113 | } ubxState_t; |
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114 | |||
115 | typedef struct |
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116 | { |
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117 | u32 itow; // ms GPS Millisecond Time of Week |
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118 | s32 frac; // ns remainder of rounded ms above |
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119 | s16 week; // GPS week |
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120 | u8 GPSfix; // GPSfix Type, range 0..6 |
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121 | u8 Flags; // Navigation Status Flags |
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122 | s32 ECEF_X; // cm ECEF X coordinate |
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123 | s32 ECEF_Y; // cm ECEF Y coordinate |
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124 | s32 ECEF_Z; // cm ECEF Z coordinate |
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125 | u32 PAcc; // cm 3D Position Accuracy Estimate |
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126 | s32 ECEFVX; // cm/s ECEF X velocity |
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127 | s32 ECEFVY; // cm/s ECEF Y velocity |
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128 | s32 ECEFVZ; // cm/s ECEF Z velocity |
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129 | u32 SAcc; // cm/s Speed Accuracy Estimate |
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130 | u16 PDOP; // 0.01 Position DOP |
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131 | u8 res1; // reserved |
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132 | u8 numSV; // Number of SVs used in navigation solution |
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133 | u32 res2; // reserved |
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52 | killagreg | 134 | u8 Status; // invalid/newdata/processed |
41 | ingob | 135 | } __attribute__((packed)) ubx_nav_sol_t; |
136 | |||
137 | |||
138 | typedef struct |
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139 | { |
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140 | u32 itow; // ms GPS Millisecond Time of Week |
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141 | s32 VEL_N; // cm/s NED north velocity |
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142 | s32 VEL_E; // cm/s NED east velocity |
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143 | s32 VEL_D; // cm/s NED down velocity |
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144 | u32 Speed; // cm/s Speed (3-D) |
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145 | u32 GSpeed; // cm/s Ground Speed (2-D) |
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146 | s32 Heading; // 1e-05 deg Heading 2-D |
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147 | u32 SAcc; // cm/s Speed Accuracy Estimate |
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148 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
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52 | killagreg | 149 | u8 Status; // invalid/newdata/processed |
41 | ingob | 150 | } __attribute__((packed)) ubx_nav_velned_t; |
151 | |||
152 | typedef struct |
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153 | { |
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154 | u32 itow; // ms GPS Millisecond Time of Week |
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155 | s32 LON; // 1e-07 deg Longitude |
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156 | s32 LAT; // 1e-07 deg Latitude |
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157 | s32 HEIGHT; // mm Height above Ellipsoid |
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158 | s32 HMSL; // mm Height above mean sea level |
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159 | u32 Hacc; // mm Horizontal Accuracy Estimate |
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160 | u32 Vacc; // mm Vertical Accuracy Estimate |
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52 | killagreg | 161 | u8 Status; // invalid/newdata/processed |
41 | ingob | 162 | } __attribute__((packed)) ubx_nav_posllh_t; |
163 | |||
164 | //------------------------------------------------------------------------------------ |
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165 | // global variables |
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166 | |||
167 | // local buffers for the incomming ubx messages |
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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}; |
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170 | ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
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171 | ubxmsg_t UbxMsg; |
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41 | ingob | 172 | |
173 | // shared buffer |
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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; |
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41 | ingob | 179 | |
180 | //------------------------------------------------------------------------------------ |
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181 | // functions |
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182 | |||
183 | u8 IsLeapYear(u16 year) |
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184 | { |
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185 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
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186 | else return 0; |
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187 | } |
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188 | /********************************************************/ |
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189 | /* Calculates the UTC Time from the GPS week and tow */ |
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190 | /********************************************************/ |
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191 | void SetGPSTime(DateTime_t * pTimeStruct) |
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192 | { |
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193 | u32 Days, Seconds, Week; |
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194 | u16 YearPart; |
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195 | u32 * MonthDayTab = 0; |
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196 | u8 i; |
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197 | |||
198 | |||
199 | // if GPS data show valid time data |
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200 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
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201 | { |
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202 | Seconds = UbxSol.itow / 1000L; |
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203 | Week = (u32)UbxSol.week; |
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204 | // correct leap seconds since 1980 |
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205 | if(Seconds < LEAP_SECONDS_FROM_1980) |
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206 | { |
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207 | Week--; |
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208 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
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209 | } |
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210 | else Seconds -= LEAP_SECONDS_FROM_1980; |
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211 | |||
515 | killagreg | 212 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
41 | ingob | 213 | Days += (Week * DAYS_PER_WEEK); |
214 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
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215 | |||
216 | pTimeStruct->Year = 1; |
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217 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
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218 | pTimeStruct->Year += YearPart * 400; |
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219 | Days = Days % DAYS_PER_400YEARS; |
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220 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
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221 | pTimeStruct->Year += YearPart * 100; |
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222 | Days = Days % DAYS_PER_100YEARS; |
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223 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
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224 | pTimeStruct->Year += YearPart * 4; |
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225 | Days = Days % DAYS_PER_4YEARS; |
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226 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
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227 | else YearPart = 3; |
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228 | pTimeStruct->Year += YearPart; |
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229 | // calculate remaining days of year |
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230 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
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231 | Days += 1; |
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232 | // check if current year is a leap year |
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233 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
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234 | else MonthDayTab = (u32*)Normal; |
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515 | killagreg | 235 | // seperate month and day from days of year |
41 | ingob | 236 | for ( i = 0; i < 12; i++ ) |
237 | { |
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238 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
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239 | { |
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240 | pTimeStruct->Month = i+1; |
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241 | pTimeStruct->Day = Days - MonthDayTab[i]; |
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242 | i = 12; |
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243 | } |
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244 | } |
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245 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
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246 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
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247 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
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248 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
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249 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
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250 | pTimeStruct->Sec = (u8)(Seconds); |
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251 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
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252 | pTimeStruct->Valid = 1; |
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253 | } |
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254 | else |
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255 | { |
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256 | pTimeStruct->Valid = 0; |
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257 | } |
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258 | } |
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259 | |||
260 | |||
261 | |||
262 | /********************************************************/ |
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263 | /* Initialize UBX Parser */ |
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264 | /********************************************************/ |
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265 | void UBX_Init(void) |
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266 | { |
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267 | // mark msg buffers invalid |
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268 | UbxSol.Status = INVALID; |
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269 | UbxPosLlh.Status = INVALID; |
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270 | UbxVelNed.Status = INVALID; |
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247 | killagreg | 271 | UbxMsg.Status = INVALID; |
41 | ingob | 272 | GPSData.Status = INVALID; |
146 | killagreg | 273 | |
274 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
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41 | ingob | 275 | } |
276 | |||
277 | /********************************************************/ |
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278 | /* Upate GPS data stcructure */ |
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279 | /********************************************************/ |
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263 | killagreg | 280 | void Update_GPSData(void) |
41 | ingob | 281 | { |
263 | killagreg | 282 | static u32 last_itow = 0; |
569 | holgerb | 283 | static u32 milliseconds = 0; |
41 | ingob | 284 | |
285 | // if a new set of ubx messages was collected |
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263 | killagreg | 286 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
287 | { // and the itow is equal (same time base) |
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515 | killagreg | 288 | UART_VersionInfo.Flags |= NC_VERSION_FLAG_GPS_PRESENT; |
263 | killagreg | 289 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
41 | ingob | 290 | { |
146 | killagreg | 291 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
61 | holgerb | 292 | DebugOut.Analog[9]++; |
263 | killagreg | 293 | // update GPS data only if the status is INVALID or PROCESSED |
515 | killagreg | 294 | if(GPSData.Status != NEWDATA) |
41 | ingob | 295 | { // wait for new data at all neccesary ubx messages |
296 | GPSData.Status = INVALID; |
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244 | killagreg | 297 | // update message cycle time |
264 | killagreg | 298 | GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
569 | holgerb | 299 | milliseconds += GPSData.MsgCycleTime; |
264 | killagreg | 300 | last_itow = UbxSol.itow; // update last itow |
41 | ingob | 301 | // NAV SOL |
322 | holgerb | 302 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
41 | ingob | 303 | GPSData.NumOfSats = UbxSol.numSV; |
304 | GPSData.SatFix = UbxSol.GPSfix; |
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492 | killagreg | 305 | GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
306 | GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
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41 | ingob | 307 | SetGPSTime(&SystemTime); // update system time |
308 | // NAV VELNED |
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492 | killagreg | 309 | GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
310 | GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
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311 | GPSData.Speed_Top = -UbxVelNed.VEL_D; // in steps of 1cm/s |
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312 | GPSData.Speed_Ground = UbxVelNed.GSpeed; // in steps of 1cm/s |
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313 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
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569 | holgerb | 314 | // NAV POSLLH |
315 | GPSData.Position.Status = INVALID; |
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316 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
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317 | { |
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318 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
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319 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
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320 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
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321 | } |
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322 | else // simulation active |
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323 | { |
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574 | holgerb | 324 | if(GPSData.SatFix != SATFIX_3D || GPSData.NumOfSats < 6) // simulate satfix |
569 | holgerb | 325 | { |
326 | GPSData.SatFix = SATFIX_3D; |
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327 | GPSData.Flags |= FLAG_GPSFIXOK; |
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328 | GPSData.NumOfSats = 8; |
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329 | if(!SystemTime.Valid) |
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330 | { |
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331 | UbxSol.Status = 1; |
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332 | UbxSol.Flags |= FLAG_WKNSET; |
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333 | UbxSol.Flags |= FLAG_TOWSET; |
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334 | UbxSol.week = 1043; // starts in year 2000 |
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335 | UbxSol.itow = milliseconds; |
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336 | SetGPSTime(&SystemTime); // update system time |
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337 | SystemTime.Valid = 1; // use the time that is given by the GPS-Module |
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338 | } |
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339 | } |
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340 | } |
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341 | GPSData.Position.Status = NEWDATA; |
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515 | killagreg | 342 | |
41 | ingob | 343 | GPSData.Status = NEWDATA; // new data available |
344 | } // EOF if(GPSData.Status != NEWDATA) |
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263 | killagreg | 345 | // set state to collect new data |
346 | UbxSol.Status = PROCESSED; // ready for new data |
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347 | UbxPosLlh.Status = PROCESSED; // ready for new data |
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348 | UbxVelNed.Status = PROCESSED; // ready for new data |
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349 | } // EOF all itow are equal |
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350 | } // EOF all ubx messages received |
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503 | holgerb | 351 | |
352 | |||
353 | //++++++++++++++++++++++++++++++++ |
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354 | // Please do not delete |
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515 | killagreg | 355 | // This helps me for testing |
503 | holgerb | 356 | //++++++++++++++++++++++++++++++++ |
357 | //GPSData.Position.Longitude = 1517409123L; // Hamilton, Australia |
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358 | //GPSData.Position.Latitude = -329294773L; // Hamilton, Australia |
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359 | //++++++++ |
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360 | //GPSData.Position.Longitude =-1556010020L; // Alaska |
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361 | //GPSData.Position.Latitude = 629581270L; // Alaska |
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362 | //++++++++ |
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363 | //GPSData.Position.Longitude =-584343419L; // Buenos aires |
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364 | //GPSData.Position.Latitude = -345464421L; // Buenos aires |
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365 | //++++++++ |
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366 | //GPSData.Position.Longitude =1683362691L; // Neuseeland |
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367 | //GPSData.Position.Latitude = -465945926L; // Neuseeland |
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504 | holgerb | 368 | //++++++++ |
507 | holgerb | 369 | //GPSData.Position.Longitude = 194140605L; // Afrika |
370 | //GPSData.Position.Latitude = -345384656L; // Afrika |
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371 | //++++++++ |
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504 | holgerb | 372 | //GPSData.Position.Longitude =-740443840L; // Liberty Staue davor |
515 | killagreg | 373 | //GPSData.Position.Latitude = 406888880L; // Liberty Staue |
504 | holgerb | 374 | |
375 | //GPSData.Position.Longitude =-740451660L; // Liberty Staue daneben |
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515 | killagreg | 376 | //GPSData.Position.Latitude = 406891880L; // Liberty Staue |
504 | holgerb | 377 | |
378 | //GPSData.Position.Longitude =-740446540L; // Liberty Staue direkt |
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379 | //GPSData.Position.Latitude = 406891590L; // Liberty Staue 1 |
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380 | |||
514 | holgerb | 381 | //GPSData.Position.Longitude =-1142878694L; // Flori |
515 | killagreg | 382 | //GPSData.Position.Latitude = 483712102L; // |
514 | holgerb | 383 | |
384 | //GPSData.Position.Longitude =1251674613L; // Bubble |
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515 | killagreg | 385 | //GPSData.Position.Latitude = 466058365L; // |
386 | |||
41 | ingob | 387 | } |
388 | |||
389 | |||
390 | /********************************************************/ |
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391 | /* UBX Parser */ |
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392 | /********************************************************/ |
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245 | killagreg | 393 | void UBX_RxParser(u8 c) |
41 | ingob | 394 | { |
395 | static ubxState_t ubxState = UBXSTATE_IDLE; |
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263 | killagreg | 396 | static ubxmsghdr_t RxHdr; |
397 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
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398 | static u16 RxBytes = 0; |
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41 | ingob | 399 | static u8 cka, ckb; |
400 | |||
401 | |||
402 | //state machine |
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403 | switch (ubxState) // ubx message parser |
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404 | { |
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405 | case UBXSTATE_IDLE: // check 1st sync byte |
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406 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
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407 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
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408 | break; |
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409 | |||
410 | case UBXSTATE_SYNC1: // check 2nd sync byte |
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411 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
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412 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
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413 | break; |
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414 | |||
415 | case UBXSTATE_SYNC2: // check msg class to be NAV |
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263 | killagreg | 416 | RxHdr.Class = c; |
245 | killagreg | 417 | ubxState = UBXSTATE_CLASS; |
41 | ingob | 418 | break; |
419 | |||
420 | case UBXSTATE_CLASS: // check message identifier |
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263 | killagreg | 421 | RxHdr.Id = c; |
247 | killagreg | 422 | ubxState = UBXSTATE_LEN1; |
263 | killagreg | 423 | cka = RxHdr.Class + RxHdr.Id; |
424 | ckb = RxHdr.Class + cka; |
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247 | killagreg | 425 | break; |
426 | |||
427 | case UBXSTATE_LEN1: // 1st message length byte |
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263 | killagreg | 428 | RxHdr.Length = (u16)c; // lowbyte first |
247 | killagreg | 429 | cka += c; |
430 | ckb += cka; |
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431 | ubxState = UBXSTATE_LEN2; |
||
432 | break; |
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433 | |||
434 | case UBXSTATE_LEN2: // 2nd message length byte |
||
263 | killagreg | 435 | RxHdr.Length += ((u16)c)<<8; // high byte last |
436 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
||
41 | ingob | 437 | { |
515 | killagreg | 438 | ubxState = UBXSTATE_IDLE; |
41 | ingob | 439 | } |
263 | killagreg | 440 | else |
41 | ingob | 441 | { |
263 | killagreg | 442 | cka += c; |
443 | ckb += cka; |
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444 | RxBytes = 0; // reset data byte counter |
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445 | ubxState = UBXSTATE_DATA; |
||
41 | ingob | 446 | } |
447 | break; |
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448 | |||
449 | case UBXSTATE_DATA: // collecting data |
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263 | killagreg | 450 | if (RxBytes < UBX_MSG_DATA_SIZE) |
41 | ingob | 451 | { |
263 | killagreg | 452 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
41 | ingob | 453 | cka += c; |
454 | ckb += cka; |
||
263 | killagreg | 455 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
41 | ingob | 456 | } |
457 | else // rx buffer overrun |
||
458 | { |
||
459 | ubxState = UBXSTATE_IDLE; |
||
460 | } |
||
461 | break; |
||
462 | |||
463 | case UBXSTATE_CKA: |
||
464 | if (c == cka) ubxState = UBXSTATE_CKB; |
||
465 | else |
||
466 | { |
||
467 | ubxState = UBXSTATE_IDLE; |
||
468 | } |
||
469 | break; |
||
470 | |||
471 | case UBXSTATE_CKB: |
||
472 | if (c == ckb) |
||
263 | killagreg | 473 | { // checksum is ok |
474 | |||
475 | switch(RxHdr.Class) |
||
476 | { |
||
477 | case UBX_CLASS_NAV: |
||
478 | switch(RxHdr.Id) |
||
479 | { |
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480 | case UBX_ID_POSLLH: // geodetic position |
||
481 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
||
482 | UbxPosLlh.Status = NEWDATA; |
||
483 | break; |
||
484 | |||
515 | killagreg | 485 | case UBX_ID_VELNED: // velocity vector in tangent plane |
263 | killagreg | 486 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
487 | UbxVelNed.Status = NEWDATA; |
||
488 | break; |
||
489 | |||
490 | case UBX_ID_SOL: // navigation solution |
||
491 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
||
492 | UbxSol.Status = NEWDATA; |
||
493 | break; |
||
494 | |||
495 | default: |
||
496 | break; |
||
497 | } // EOF switch(Id) |
||
498 | Update_GPSData(); |
||
499 | break; |
||
515 | killagreg | 500 | |
263 | killagreg | 501 | default: |
502 | break; |
||
503 | } // EOF switch(class) |
||
504 | |||
515 | killagreg | 505 | // check generic msg filter |
263 | killagreg | 506 | if(UbxMsg.Status != NEWDATA) |
507 | { // msg buffer is free |
||
508 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
||
509 | { // msg matches to the filter criteria |
||
510 | UbxMsg.Status = INVALID; |
||
511 | UbxMsg.Hdr.Class = RxHdr.Class; |
||
512 | UbxMsg.Hdr.Id = RxHdr.Id; |
||
513 | UbxMsg.Hdr.Length = RxHdr.Length; |
||
514 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
||
515 | { // copy data block |
||
516 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
||
517 | UbxMsg.Status = NEWDATA; |
||
515 | killagreg | 518 | } |
263 | killagreg | 519 | } // EOF filter matches |
520 | } // EOF != INVALID |
||
521 | }// EOF crc ok |
||
41 | ingob | 522 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
523 | break; |
||
524 | |||
525 | default: // unknown ubx state |
||
526 | ubxState = UBXSTATE_IDLE; |
||
527 | break; |
||
528 | |||
529 | } |
||
530 | } |
||
245 | killagreg | 531 | |
247 | killagreg | 532 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
245 | killagreg | 533 | { |
534 | u16 i; |
||
535 | u8 cka = 0, ckb = 0; |
||
536 | // check if buffer is available |
||
537 | if(pBuff->Locked == TRUE) return(0); |
||
538 | // check if buffer size is sufficient |
||
539 | if(pBuff->Size < 8 + Len) return(0); |
||
540 | // lock the buffer |
||
541 | pBuff->Locked = TRUE; |
||
515 | killagreg | 542 | // start at begin |
245 | killagreg | 543 | pBuff->Position = 0; |
544 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
||
545 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
||
247 | killagreg | 546 | for(i=0;i<Len;i++) |
547 | { |
||
548 | pBuff->pData[pBuff->Position++] = pData[i]; |
||
549 | } |
||
245 | killagreg | 550 | // calculate checksum |
551 | for(i=2;i<pBuff->Position;i++) |
||
552 | { |
||
515 | killagreg | 553 | cka += pBuff->pData[i]; |
245 | killagreg | 554 | ckb += cka; |
555 | } |
||
556 | pBuff->pData[pBuff->Position++] = cka; |
||
557 | pBuff->pData[pBuff->Position++] = ckb; |
||
558 | pBuff->DataBytes = pBuff->Position; |
||
559 | pBuff->Position = 0; // reset buffer position for transmision |
||
560 | return(1); |
||
561 | } |
||
263 | killagreg | 562 | /* |
563 | switch(ubxclass) |
||
564 | { |
||
565 | case UBX_CLASS_NAV: |
||
566 | switch(ubxid) |
||
567 | { |
||
568 | case UBX_ID_POSLLH: // geodetic position |
||
569 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
||
570 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
||
571 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
||
572 | break; |
||
515 | killagreg | 573 | |
263 | killagreg | 574 | case UBX_ID_SOL: // navigation solution |
575 | ubxSp = (u8 *)&UbxSol; // data start pointer |
||
576 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
||
577 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
||
578 | break; |
||
515 | killagreg | 579 | |
263 | killagreg | 580 | case UBX_ID_VELNED: // velocity vector in tangent plane |
581 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
||
582 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
||
583 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
||
584 | break; |
||
515 | killagreg | 585 | |
263 | killagreg | 586 | default: // unsupported identifier |
587 | ubxState = UBXSTATE_IDLE; |
||
588 | return; |
||
589 | } |
||
590 | break; |
||
591 | |||
592 | default: // other classes |
||
593 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
||
594 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
||
595 | { // buffer is free and message matches to filter criteria |
||
596 | UbxMsg.Status = INVALID; |
||
597 | UbxMsg.Hdr.Class = ubxclass; |
||
598 | UbxMsg.Hdr.Id = ubxid; |
||
599 | UbxMsg.Hdr.Length = msglen; |
||
600 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
||
601 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
||
515 | killagreg | 602 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
263 | killagreg | 603 | } |
515 | killagreg | 604 | else ubxState = UBXSTATE_IDLE; |
263 | killagreg | 605 | break; |
606 | } |
||
607 | */ |
||
608 |