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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" |
700 | holgerb | 58 | #include "uart0.h" |
41 | ingob | 59 | #include "uart1.h" |
881 | holgerb | 60 | #include "uart2.h" |
41 | ingob | 61 | #include "ubx.h" |
645 | holgerb | 62 | #include "main.h" |
41 | ingob | 63 | #include "led.h" |
119 | killagreg | 64 | #include "timer1.h" |
561 | holgerb | 65 | #include "GPS.h" |
883 | holgerb | 66 | #include "spi_slave.h" |
41 | ingob | 67 | |
68 | // ------------------------------------------------------------------------------------------------ |
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69 | // defines |
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70 | |||
71 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
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72 | #define DAYS_PER_YEAR 365 |
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73 | #define DAYS_PER_LEAPYEAR 366 |
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74 | #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
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75 | #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
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76 | #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
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77 | #define SECONDS_PER_MINUTE 60 |
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78 | #define MINUTES_PER_HOUR 60 |
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79 | #define HOURS_PER_DAY 24 |
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80 | #define DAYS_PER_WEEK 7 |
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81 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
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82 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
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83 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
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84 | |||
85 | // days per month in normal and leap years |
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86 | const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
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87 | const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
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88 | |||
835 | holgerb | 89 | #define LEAP_SECONDS_FROM_1980 18 |
41 | ingob | 90 | |
91 | // message sync bytes |
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92 | #define UBX_SYNC1_CHAR 0xB5 |
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93 | #define UBX_SYNC2_CHAR 0x62 |
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245 | killagreg | 94 | // protocoll identifiers |
95 | // navigation class |
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41 | ingob | 96 | #define UBX_CLASS_NAV 0x01 |
700 | holgerb | 97 | #define UBX_CLASS_MON 0x0A |
98 | |||
41 | ingob | 99 | #define UBX_ID_POSLLH 0x02 |
100 | #define UBX_ID_SOL 0x06 |
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101 | #define UBX_ID_VELNED 0x12 |
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247 | killagreg | 102 | |
700 | holgerb | 103 | #define UBX_ID_MON_VER 0x04 |
104 | |||
41 | ingob | 105 | // ------------------------------------------------------------------------------------------------ |
106 | // typedefs |
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107 | |||
108 | |||
109 | // ubx parser state |
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110 | typedef enum |
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111 | { |
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112 | UBXSTATE_IDLE, |
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113 | UBXSTATE_SYNC1, |
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114 | UBXSTATE_SYNC2, |
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115 | UBXSTATE_CLASS, |
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116 | UBXSTATE_LEN1, |
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117 | UBXSTATE_LEN2, |
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118 | UBXSTATE_DATA, |
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119 | UBXSTATE_CKA, |
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120 | UBXSTATE_CKB |
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121 | } ubxState_t; |
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122 | |||
123 | typedef struct |
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124 | { |
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125 | u32 itow; // ms GPS Millisecond Time of Week |
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126 | s32 frac; // ns remainder of rounded ms above |
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127 | s16 week; // GPS week |
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128 | u8 GPSfix; // GPSfix Type, range 0..6 |
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129 | u8 Flags; // Navigation Status Flags |
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130 | s32 ECEF_X; // cm ECEF X coordinate |
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131 | s32 ECEF_Y; // cm ECEF Y coordinate |
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132 | s32 ECEF_Z; // cm ECEF Z coordinate |
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133 | u32 PAcc; // cm 3D Position Accuracy Estimate |
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134 | s32 ECEFVX; // cm/s ECEF X velocity |
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135 | s32 ECEFVY; // cm/s ECEF Y velocity |
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136 | s32 ECEFVZ; // cm/s ECEF Z velocity |
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137 | u32 SAcc; // cm/s Speed Accuracy Estimate |
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138 | u16 PDOP; // 0.01 Position DOP |
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139 | u8 res1; // reserved |
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140 | u8 numSV; // Number of SVs used in navigation solution |
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141 | u32 res2; // reserved |
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52 | killagreg | 142 | u8 Status; // invalid/newdata/processed |
41 | ingob | 143 | } __attribute__((packed)) ubx_nav_sol_t; |
144 | |||
145 | |||
146 | typedef struct |
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147 | { |
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148 | u32 itow; // ms GPS Millisecond Time of Week |
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149 | s32 VEL_N; // cm/s NED north velocity |
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150 | s32 VEL_E; // cm/s NED east velocity |
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151 | s32 VEL_D; // cm/s NED down velocity |
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152 | u32 Speed; // cm/s Speed (3-D) |
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153 | u32 GSpeed; // cm/s Ground Speed (2-D) |
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154 | s32 Heading; // 1e-05 deg Heading 2-D |
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155 | u32 SAcc; // cm/s Speed Accuracy Estimate |
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156 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
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52 | killagreg | 157 | u8 Status; // invalid/newdata/processed |
41 | ingob | 158 | } __attribute__((packed)) ubx_nav_velned_t; |
159 | |||
160 | typedef struct |
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161 | { |
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162 | u32 itow; // ms GPS Millisecond Time of Week |
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163 | s32 LON; // 1e-07 deg Longitude |
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164 | s32 LAT; // 1e-07 deg Latitude |
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165 | s32 HEIGHT; // mm Height above Ellipsoid |
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166 | s32 HMSL; // mm Height above mean sea level |
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167 | u32 Hacc; // mm Horizontal Accuracy Estimate |
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168 | u32 Vacc; // mm Vertical Accuracy Estimate |
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52 | killagreg | 169 | u8 Status; // invalid/newdata/processed |
41 | ingob | 170 | } __attribute__((packed)) ubx_nav_posllh_t; |
171 | |||
172 | //------------------------------------------------------------------------------------ |
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173 | // global variables |
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174 | |||
175 | // local buffers for the incomming ubx messages |
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263 | killagreg | 176 | ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
177 | ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
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178 | ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
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179 | ubxmsg_t UbxMsg; |
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41 | ingob | 180 | |
181 | // shared buffer |
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244 | killagreg | 182 | gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
41 | ingob | 183 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
184 | |||
146 | killagreg | 185 | #define UBX_TIMEOUT 500 // 500 ms |
186 | u32 UBX_Timeout = 0; |
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41 | ingob | 187 | |
188 | //------------------------------------------------------------------------------------ |
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189 | // functions |
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190 | |||
191 | u8 IsLeapYear(u16 year) |
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192 | { |
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193 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
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194 | else return 0; |
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195 | } |
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196 | /********************************************************/ |
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197 | /* Calculates the UTC Time from the GPS week and tow */ |
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198 | /********************************************************/ |
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199 | void SetGPSTime(DateTime_t * pTimeStruct) |
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200 | { |
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201 | u32 Days, Seconds, Week; |
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202 | u16 YearPart; |
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203 | u32 * MonthDayTab = 0; |
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204 | u8 i; |
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205 | |||
206 | |||
207 | // if GPS data show valid time data |
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208 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
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209 | { |
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210 | Seconds = UbxSol.itow / 1000L; |
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211 | Week = (u32)UbxSol.week; |
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212 | // correct leap seconds since 1980 |
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213 | if(Seconds < LEAP_SECONDS_FROM_1980) |
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214 | { |
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215 | Week--; |
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216 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
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217 | } |
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218 | else Seconds -= LEAP_SECONDS_FROM_1980; |
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219 | |||
515 | killagreg | 220 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
41 | ingob | 221 | Days += (Week * DAYS_PER_WEEK); |
222 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
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223 | |||
224 | pTimeStruct->Year = 1; |
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225 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
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226 | pTimeStruct->Year += YearPart * 400; |
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227 | Days = Days % DAYS_PER_400YEARS; |
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228 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
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229 | pTimeStruct->Year += YearPart * 100; |
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230 | Days = Days % DAYS_PER_100YEARS; |
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231 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
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232 | pTimeStruct->Year += YearPart * 4; |
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233 | Days = Days % DAYS_PER_4YEARS; |
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234 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
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235 | else YearPart = 3; |
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236 | pTimeStruct->Year += YearPart; |
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237 | // calculate remaining days of year |
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238 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
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239 | Days += 1; |
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240 | // check if current year is a leap year |
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241 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
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242 | else MonthDayTab = (u32*)Normal; |
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515 | killagreg | 243 | // seperate month and day from days of year |
41 | ingob | 244 | for ( i = 0; i < 12; i++ ) |
245 | { |
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246 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
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247 | { |
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248 | pTimeStruct->Month = i+1; |
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249 | pTimeStruct->Day = Days - MonthDayTab[i]; |
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250 | i = 12; |
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251 | } |
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252 | } |
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253 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
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254 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
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255 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
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256 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
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257 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
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258 | pTimeStruct->Sec = (u8)(Seconds); |
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259 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
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260 | pTimeStruct->Valid = 1; |
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261 | } |
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262 | else |
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263 | { |
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264 | pTimeStruct->Valid = 0; |
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265 | } |
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266 | } |
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267 | |||
268 | |||
269 | |||
270 | /********************************************************/ |
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271 | /* Initialize UBX Parser */ |
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272 | /********************************************************/ |
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273 | void UBX_Init(void) |
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274 | { |
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275 | // mark msg buffers invalid |
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276 | UbxSol.Status = INVALID; |
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277 | UbxPosLlh.Status = INVALID; |
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278 | UbxVelNed.Status = INVALID; |
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247 | killagreg | 279 | UbxMsg.Status = INVALID; |
41 | ingob | 280 | GPSData.Status = INVALID; |
806 | holgerb | 281 | UBX_Timeout = SetDelay(5000); |
41 | ingob | 282 | } |
283 | |||
284 | /********************************************************/ |
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285 | /* Upate GPS data stcructure */ |
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286 | /********************************************************/ |
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263 | killagreg | 287 | void Update_GPSData(void) |
41 | ingob | 288 | { |
263 | killagreg | 289 | static u32 last_itow = 0; |
569 | holgerb | 290 | static u32 milliseconds = 0; |
41 | ingob | 291 | |
292 | // if a new set of ubx messages was collected |
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263 | killagreg | 293 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
294 | { // and the itow is equal (same time base) |
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515 | killagreg | 295 | UART_VersionInfo.Flags |= NC_VERSION_FLAG_GPS_PRESENT; |
263 | killagreg | 296 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
41 | ingob | 297 | { |
146 | killagreg | 298 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
700 | holgerb | 299 | DebugOut.Analog[9]++; |
263 | killagreg | 300 | // update GPS data only if the status is INVALID or PROCESSED |
515 | killagreg | 301 | if(GPSData.Status != NEWDATA) |
41 | ingob | 302 | { // wait for new data at all neccesary ubx messages |
659 | holgerb | 303 | CountNewGpsDataIn5Sec++; |
41 | ingob | 304 | GPSData.Status = INVALID; |
244 | killagreg | 305 | // update message cycle time |
264 | killagreg | 306 | GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
569 | holgerb | 307 | milliseconds += GPSData.MsgCycleTime; |
264 | killagreg | 308 | last_itow = UbxSol.itow; // update last itow |
41 | ingob | 309 | // NAV SOL |
322 | holgerb | 310 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
41 | ingob | 311 | GPSData.NumOfSats = UbxSol.numSV; |
312 | GPSData.SatFix = UbxSol.GPSfix; |
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645 | holgerb | 313 | //if(Parameter.User3 > 100) { GPSData.NumOfSats = 0; GPSData.SatFix = 0;} |
314 | //if(Parameter.User3 > 100) { GPSData.SatFix = 0;} |
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780 | holgerb | 315 | //DebugOut.Analog[] = UbxPosLlh.Hacc; |
316 | //DebugOut.Analog[] = UbxPosLlh.Vacc; |
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492 | killagreg | 317 | GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
318 | GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
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41 | ingob | 319 | SetGPSTime(&SystemTime); // update system time |
320 | // NAV VELNED |
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492 | killagreg | 321 | GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
322 | GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
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323 | GPSData.Speed_Top = -UbxVelNed.VEL_D; // in steps of 1cm/s |
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324 | GPSData.Speed_Ground = UbxVelNed.GSpeed; // in steps of 1cm/s |
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325 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
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569 | holgerb | 326 | // NAV POSLLH |
327 | GPSData.Position.Status = INVALID; |
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328 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
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329 | { |
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883 | holgerb | 330 | |
331 | if((NMEA_Position.Status != INVALID) && (PPM_In[EE_Parameter.ExternalGpsChannel] > 50)) |
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881 | holgerb | 332 | { |
333 | GPSData.Position.Longitude = NMEA_Position.Longitude; |
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334 | GPSData.Position.Latitude = NMEA_Position.Latitude; |
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335 | GPSData.Position.Altitude = NMEA_Position.Altitude; |
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336 | if(CheckAscii(NMEA_In_Fix_Txt[3])) |
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337 | GPSData.NumOfSats = 10 * AsciiToNum(NMEA_In_Fix_Txt[2]) + AsciiToNum(NMEA_In_Fix_Txt[3]); |
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338 | else |
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339 | if(CheckAscii(NMEA_In_Fix_Txt[2])) GPSData.NumOfSats = AsciiToNum(NMEA_In_Fix_Txt[2]); // nur eine Ziffer? (weiss nicht, ob das vorkommt..) |
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340 | else GPSData.NumOfSats = 0; |
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883 | holgerb | 341 | ExternalGpsInUse = 1; |
881 | holgerb | 342 | } |
343 | else |
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344 | { |
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345 | |||
569 | holgerb | 346 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
347 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
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348 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
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883 | holgerb | 349 | ExternalGpsInUse = 0; |
881 | holgerb | 350 | } |
569 | holgerb | 351 | } |
352 | else // simulation active |
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353 | { |
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574 | holgerb | 354 | if(GPSData.SatFix != SATFIX_3D || GPSData.NumOfSats < 6) // simulate satfix |
569 | holgerb | 355 | { |
645 | holgerb | 356 | GPSData.SatFix = SATFIX_3D; // Simulation |
357 | GPSData.Flags |= FLAG_GPSFIXOK; // Simulation |
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358 | GPSData.NumOfSats = 8; // Simulation |
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569 | holgerb | 359 | if(!SystemTime.Valid) |
360 | { |
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361 | UbxSol.Status = 1; |
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362 | UbxSol.Flags |= FLAG_WKNSET; |
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363 | UbxSol.Flags |= FLAG_TOWSET; |
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364 | UbxSol.week = 1043; // starts in year 2000 |
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365 | UbxSol.itow = milliseconds; |
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366 | SetGPSTime(&SystemTime); // update system time |
||
367 | SystemTime.Valid = 1; // use the time that is given by the GPS-Module |
||
368 | } |
||
369 | } |
||
370 | } |
||
371 | GPSData.Position.Status = NEWDATA; |
||
515 | killagreg | 372 | |
41 | ingob | 373 | GPSData.Status = NEWDATA; // new data available |
374 | } // EOF if(GPSData.Status != NEWDATA) |
||
263 | killagreg | 375 | // set state to collect new data |
376 | UbxSol.Status = PROCESSED; // ready for new data |
||
377 | UbxPosLlh.Status = PROCESSED; // ready for new data |
||
378 | UbxVelNed.Status = PROCESSED; // ready for new data |
||
379 | } // EOF all itow are equal |
||
380 | } // EOF all ubx messages received |
||
503 | holgerb | 381 | |
382 | |||
383 | //++++++++++++++++++++++++++++++++ |
||
384 | // Please do not delete |
||
515 | killagreg | 385 | // This helps me for testing |
503 | holgerb | 386 | //++++++++++++++++++++++++++++++++ |
387 | //GPSData.Position.Longitude = 1517409123L; // Hamilton, Australia |
||
388 | //GPSData.Position.Latitude = -329294773L; // Hamilton, Australia |
||
389 | //++++++++ |
||
390 | //GPSData.Position.Longitude =-1556010020L; // Alaska |
||
391 | //GPSData.Position.Latitude = 629581270L; // Alaska |
||
392 | //++++++++ |
||
393 | //GPSData.Position.Longitude =-584343419L; // Buenos aires |
||
394 | //GPSData.Position.Latitude = -345464421L; // Buenos aires |
||
395 | //++++++++ |
||
396 | //GPSData.Position.Longitude =1683362691L; // Neuseeland |
||
397 | //GPSData.Position.Latitude = -465945926L; // Neuseeland |
||
504 | holgerb | 398 | //++++++++ |
507 | holgerb | 399 | //GPSData.Position.Longitude = 194140605L; // Afrika |
400 | //GPSData.Position.Latitude = -345384656L; // Afrika |
||
401 | //++++++++ |
||
504 | holgerb | 402 | //GPSData.Position.Longitude =-740443840L; // Liberty Staue davor |
515 | killagreg | 403 | //GPSData.Position.Latitude = 406888880L; // Liberty Staue |
504 | holgerb | 404 | |
405 | //GPSData.Position.Longitude =-740451660L; // Liberty Staue daneben |
||
515 | killagreg | 406 | //GPSData.Position.Latitude = 406891880L; // Liberty Staue |
504 | holgerb | 407 | |
408 | //GPSData.Position.Longitude =-740446540L; // Liberty Staue direkt |
||
409 | //GPSData.Position.Latitude = 406891590L; // Liberty Staue 1 |
||
410 | |||
514 | holgerb | 411 | //GPSData.Position.Longitude =-1142878694L; // Flori |
515 | killagreg | 412 | //GPSData.Position.Latitude = 483712102L; // |
514 | holgerb | 413 | |
414 | //GPSData.Position.Longitude =1251674613L; // Bubble |
||
515 | killagreg | 415 | //GPSData.Position.Latitude = 466058365L; // |
416 | |||
41 | ingob | 417 | } |
418 | |||
700 | holgerb | 419 | u8 UbxVersionParser(void) |
420 | { |
||
421 | // HW:00000040: Antaris |
||
422 | // HW:00040001: Antaris-4 |
||
423 | // HW:80040001: Antaris-4 |
||
803 | holgerb | 424 | // HW:00040005: u-blox 5 (nicht von uns verbaut) |
700 | holgerb | 425 | // HW:00040006: u-blox 6 |
426 | // HW:00040007: u-blox 6 |
||
803 | holgerb | 427 | // HW:00070000: u-blox 7 (nicht von uns verbaut) |
700 | holgerb | 428 | // HW:00080000: u-blox M8 |
41 | ingob | 429 | |
803 | holgerb | 430 | // MKGPS V10 -> 1500 -> LEA-4H-0-000 -> ubxsw == 5.00 HW:00040001 |
431 | // MKGPS V20 -> 2602 -> LEA-6S-0-000 -> ubxsw == 6.02 HW:00040007 |
||
432 | // MKGPS V20 -> 2703 -> LEA-6S-0-001 -> ubxsw == 7.03 HW:00040007 |
||
433 | // MKGPS V30 -> 3101 -> NEO-M8N-0-01 -> ubxsw == 2.01 HW:00080000 (Flash- Variante) kann nur 5Hz bei MAX-Sat:15 |
||
434 | // MKGPS V31 -> 3201 -> NEO-M8Q-0-00 -> ubxsw == 2.01 HW:00080000 (ROM Variante) |
||
435 | // MKGPS V40 -> 4301 -> NEO-M8Q-0-10 -> ubxsw == 3.01 HW:00080000 (Message:"ROM CORE 3.01 (107888)) |
||
436 | |||
700 | holgerb | 437 | u8 retval = 0xFF; |
438 | if(UbxMsg.Data[33] == '4' && UbxMsg.Data[37] == '1') // LEA-4 |
||
439 | { |
||
440 | GPS_Version = 1000 + (UbxMsg.Data[0] - '0') * 100 + (UbxMsg.Data[2] - '0') * 10 + (UbxMsg.Data[3] - '0'); |
||
441 | retval = 10; // MKGPS V1 |
||
442 | } |
||
443 | else |
||
444 | if(UbxMsg.Data[33] == '4' && UbxMsg.Data[37] == '7') // LEA-6 |
||
445 | { |
||
446 | GPS_Version = 2000 + (UbxMsg.Data[0] - '0') * 100 + (UbxMsg.Data[2] - '0') * 10 + (UbxMsg.Data[3] - '0'); |
||
447 | retval = 20; // MKGPS V2 |
||
448 | } |
||
449 | else |
||
450 | if(UbxMsg.Data[33] == '8' && UbxMsg.Data[37] == '0') // NEO-8 |
||
451 | { |
||
452 | retval = 30; // MKGPS V3 |
||
803 | holgerb | 453 | if(UbxMsg.Data[100] == 'F') // Message[100]:"FIS 0xEF4015 (73171)" bei der Flash-Variante |
454 | { |
||
455 | GPS_Version = 3000 - 100 + (UbxMsg.Data[0] - '0') * 100 + (UbxMsg.Data[2] - '0') * 10 + (UbxMsg.Data[3] - '0'); |
||
456 | retval = 30; // MKGPS V3 Flash |
||
457 | } |
||
458 | else |
||
459 | if(UbxMsg.Data[0] >= '0' && UbxMsg.Data[0] <= '9') // Steht da gleich zu Anfang eine Zahl? |
||
460 | { |
||
461 | GPS_Version = 3000 + (UbxMsg.Data[0] - '0') * 100 + (UbxMsg.Data[2] - '0') * 10 + (UbxMsg.Data[3] - '0'); |
||
462 | retval = 31; // MKGPS V3 ROM |
||
463 | } |
||
464 | else |
||
465 | if(UbxMsg.Data[9] >= '0' && UbxMsg.Data[9] <= '9') // Message:"ROM CORE 3.01 (107888)" |
||
466 | { |
||
467 | GPS_Version = 4000 + (UbxMsg.Data[9] - '0') * 100 + (UbxMsg.Data[11] - '0') * 10 + (UbxMsg.Data[12] - '0'); |
||
468 | retval = 40; // MKGPS V4 (Galileo) |
||
469 | } |
||
700 | holgerb | 470 | } |
471 | return(retval); |
||
472 | } |
||
473 | |||
41 | ingob | 474 | /********************************************************/ |
475 | /* UBX Parser */ |
||
476 | /********************************************************/ |
||
245 | killagreg | 477 | void UBX_RxParser(u8 c) |
41 | ingob | 478 | { |
479 | static ubxState_t ubxState = UBXSTATE_IDLE; |
||
263 | killagreg | 480 | static ubxmsghdr_t RxHdr; |
481 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
||
482 | static u16 RxBytes = 0; |
||
41 | ingob | 483 | static u8 cka, ckb; |
484 | |||
485 | |||
486 | //state machine |
||
487 | switch (ubxState) // ubx message parser |
||
488 | { |
||
489 | case UBXSTATE_IDLE: // check 1st sync byte |
||
490 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
||
491 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
||
492 | break; |
||
493 | |||
494 | case UBXSTATE_SYNC1: // check 2nd sync byte |
||
495 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
||
496 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
||
497 | break; |
||
498 | |||
499 | case UBXSTATE_SYNC2: // check msg class to be NAV |
||
263 | killagreg | 500 | RxHdr.Class = c; |
245 | killagreg | 501 | ubxState = UBXSTATE_CLASS; |
41 | ingob | 502 | break; |
503 | |||
504 | case UBXSTATE_CLASS: // check message identifier |
||
263 | killagreg | 505 | RxHdr.Id = c; |
247 | killagreg | 506 | ubxState = UBXSTATE_LEN1; |
263 | killagreg | 507 | cka = RxHdr.Class + RxHdr.Id; |
508 | ckb = RxHdr.Class + cka; |
||
247 | killagreg | 509 | break; |
510 | |||
511 | case UBXSTATE_LEN1: // 1st message length byte |
||
263 | killagreg | 512 | RxHdr.Length = (u16)c; // lowbyte first |
247 | killagreg | 513 | cka += c; |
514 | ckb += cka; |
||
515 | ubxState = UBXSTATE_LEN2; |
||
516 | break; |
||
517 | |||
518 | case UBXSTATE_LEN2: // 2nd message length byte |
||
263 | killagreg | 519 | RxHdr.Length += ((u16)c)<<8; // high byte last |
520 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
||
41 | ingob | 521 | { |
515 | killagreg | 522 | ubxState = UBXSTATE_IDLE; |
41 | ingob | 523 | } |
263 | killagreg | 524 | else |
41 | ingob | 525 | { |
263 | killagreg | 526 | cka += c; |
527 | ckb += cka; |
||
528 | RxBytes = 0; // reset data byte counter |
||
529 | ubxState = UBXSTATE_DATA; |
||
41 | ingob | 530 | } |
531 | break; |
||
532 | |||
533 | case UBXSTATE_DATA: // collecting data |
||
263 | killagreg | 534 | if (RxBytes < UBX_MSG_DATA_SIZE) |
41 | ingob | 535 | { |
263 | killagreg | 536 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
41 | ingob | 537 | cka += c; |
538 | ckb += cka; |
||
263 | killagreg | 539 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
41 | ingob | 540 | } |
541 | else // rx buffer overrun |
||
542 | { |
||
543 | ubxState = UBXSTATE_IDLE; |
||
544 | } |
||
545 | break; |
||
546 | |||
547 | case UBXSTATE_CKA: |
||
548 | if (c == cka) ubxState = UBXSTATE_CKB; |
||
549 | else |
||
550 | { |
||
551 | ubxState = UBXSTATE_IDLE; |
||
552 | } |
||
553 | break; |
||
554 | |||
555 | case UBXSTATE_CKB: |
||
556 | if (c == ckb) |
||
263 | killagreg | 557 | { // checksum is ok |
558 | |||
559 | switch(RxHdr.Class) |
||
560 | { |
||
561 | case UBX_CLASS_NAV: |
||
562 | switch(RxHdr.Id) |
||
563 | { |
||
564 | case UBX_ID_POSLLH: // geodetic position |
||
565 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
||
566 | UbxPosLlh.Status = NEWDATA; |
||
567 | break; |
||
568 | |||
515 | killagreg | 569 | case UBX_ID_VELNED: // velocity vector in tangent plane |
263 | killagreg | 570 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
571 | UbxVelNed.Status = NEWDATA; |
||
572 | break; |
||
573 | |||
574 | case UBX_ID_SOL: // navigation solution |
||
575 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
||
576 | UbxSol.Status = NEWDATA; |
||
577 | break; |
||
578 | |||
579 | default: |
||
580 | break; |
||
581 | } // EOF switch(Id) |
||
582 | Update_GPSData(); |
||
583 | break; |
||
700 | holgerb | 584 | case UBX_CLASS_MON: // version |
585 | switch(RxHdr.Id) |
||
586 | { |
||
587 | case UBX_ID_MON_VER: |
||
588 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
||
589 | UbxVersionParser(); |
||
590 | break; |
||
515 | killagreg | 591 | |
700 | holgerb | 592 | default: |
593 | break; |
||
594 | } |
||
263 | killagreg | 595 | default: |
596 | break; |
||
597 | } // EOF switch(class) |
||
598 | |||
515 | killagreg | 599 | // check generic msg filter |
263 | killagreg | 600 | if(UbxMsg.Status != NEWDATA) |
601 | { // msg buffer is free |
||
602 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
||
603 | { // msg matches to the filter criteria |
||
604 | UbxMsg.Status = INVALID; |
||
605 | UbxMsg.Hdr.Class = RxHdr.Class; |
||
606 | UbxMsg.Hdr.Id = RxHdr.Id; |
||
607 | UbxMsg.Hdr.Length = RxHdr.Length; |
||
608 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
||
609 | { // copy data block |
||
610 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
||
611 | UbxMsg.Status = NEWDATA; |
||
515 | killagreg | 612 | } |
263 | killagreg | 613 | } // EOF filter matches |
614 | } // EOF != INVALID |
||
615 | }// EOF crc ok |
||
792 | holgerb | 616 | // else DebugOut.Analog[13]++; // CRC Error -> since 2.10e (6.2015) -> removed 11.2016 (V2.16) |
41 | ingob | 617 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
618 | break; |
||
619 | |||
620 | default: // unknown ubx state |
||
621 | ubxState = UBXSTATE_IDLE; |
||
622 | break; |
||
623 | |||
624 | } |
||
625 | } |
||
245 | killagreg | 626 | |
247 | killagreg | 627 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
245 | killagreg | 628 | { |
629 | u16 i; |
||
630 | u8 cka = 0, ckb = 0; |
||
631 | // check if buffer is available |
||
632 | if(pBuff->Locked == TRUE) return(0); |
||
633 | // check if buffer size is sufficient |
||
634 | if(pBuff->Size < 8 + Len) return(0); |
||
635 | // lock the buffer |
||
636 | pBuff->Locked = TRUE; |
||
515 | killagreg | 637 | // start at begin |
245 | killagreg | 638 | pBuff->Position = 0; |
639 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
||
640 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
||
247 | killagreg | 641 | for(i=0;i<Len;i++) |
642 | { |
||
643 | pBuff->pData[pBuff->Position++] = pData[i]; |
||
644 | } |
||
245 | killagreg | 645 | // calculate checksum |
646 | for(i=2;i<pBuff->Position;i++) |
||
647 | { |
||
515 | killagreg | 648 | cka += pBuff->pData[i]; |
245 | killagreg | 649 | ckb += cka; |
650 | } |
||
651 | pBuff->pData[pBuff->Position++] = cka; |
||
652 | pBuff->pData[pBuff->Position++] = ckb; |
||
653 | pBuff->DataBytes = pBuff->Position; |
||
654 | pBuff->Position = 0; // reset buffer position for transmision |
||
655 | return(1); |
||
656 | } |
||
263 | killagreg | 657 | /* |
658 | switch(ubxclass) |
||
659 | { |
||
660 | case UBX_CLASS_NAV: |
||
661 | switch(ubxid) |
||
662 | { |
||
663 | case UBX_ID_POSLLH: // geodetic position |
||
664 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
||
665 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
||
666 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
||
667 | break; |
||
515 | killagreg | 668 | |
263 | killagreg | 669 | case UBX_ID_SOL: // navigation solution |
670 | ubxSp = (u8 *)&UbxSol; // data start pointer |
||
671 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
||
672 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
||
673 | break; |
||
515 | killagreg | 674 | |
263 | killagreg | 675 | case UBX_ID_VELNED: // velocity vector in tangent plane |
676 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
||
677 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
||
678 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
||
679 | break; |
||
515 | killagreg | 680 | |
263 | killagreg | 681 | default: // unsupported identifier |
682 | ubxState = UBXSTATE_IDLE; |
||
683 | return; |
||
684 | } |
||
685 | break; |
||
686 | |||
687 | default: // other classes |
||
688 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
||
689 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
||
690 | { // buffer is free and message matches to filter criteria |
||
691 | UbxMsg.Status = INVALID; |
||
692 | UbxMsg.Hdr.Class = ubxclass; |
||
693 | UbxMsg.Hdr.Id = ubxid; |
||
694 | UbxMsg.Hdr.Length = msglen; |
||
695 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
||
696 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
||
515 | killagreg | 697 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
263 | killagreg | 698 | } |
515 | killagreg | 699 | else ubxState = UBXSTATE_IDLE; |
263 | killagreg | 700 | break; |
701 | } |
||
702 | */ |
||
703 |