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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1704 | - | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include "gps.h" |
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| 58 | #include "uart0.h" |
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| 59 | #include "main.h" |
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| 60 | #include "timer0.h" |
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| 61 | |||
| 62 | #define GPS_TIMEOUT 1000 // if no new gps data arrive within that time an error is set |
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| 63 | #define GPS_MINSATS 4 |
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| 64 | |||
| 65 | //------------------------------------------------------------ |
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| 66 | // copy GPS position from source position to target position |
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| 67 | uint8_t GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
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| 68 | { |
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| 69 | uint8_t retval = 0; |
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| 70 | if((pGPSPosSrc == 0) || (pGPSPosTgt == 0)) return(retval); // bad pointer |
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| 71 | // copy only valid positions |
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| 72 | if(pGPSPosSrc->Status != INVALID) |
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| 73 | { |
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| 74 | // if the source GPS position is not invalid |
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| 75 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
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| 76 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
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| 77 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
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| 78 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
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| 79 | retval = 1; |
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| 80 | } |
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| 81 | return(retval); |
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| 82 | } |
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| 83 | |||
| 84 | //------------------------------------------------------------ |
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| 85 | // clear position data |
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| 86 | uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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| 87 | { |
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| 88 | uint8_t retval = 0; |
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| 89 | if(pGPSPos == 0) return(retval); // bad pointer |
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| 90 | else |
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| 91 | { |
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| 92 | pGPSPos->Longitude = 0; |
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| 93 | pGPSPos->Latitude = 0; |
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| 94 | pGPSPos->Altitude = 0; |
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| 95 | pGPSPos->Status = INVALID; |
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| 96 | retval = 1; |
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| 97 | } |
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| 98 | return (retval); |
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| 99 | } |
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| 100 | |||
| 101 | |||
| 102 | //------------------------------------------------------------ |
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| 103 | // check for new GPS data |
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| 104 | void GPS_Update(void) |
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| 105 | { |
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| 106 | static uint16_t GPS_Timeout = 0; |
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| 107 | static uint16_t beep_rythm = 0; |
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| 108 | |||
| 109 | switch(GPSData.Status) |
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| 110 | { |
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| 111 | case INVALID: |
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| 112 | Error |= ERROR_GPS_RX_TIMEOUT; |
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| 113 | GPS_ClearPosition(&(FollowMe.Position)); // clear followme position |
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| 114 | break; |
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| 115 | |||
| 116 | case PROCESSED: |
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| 117 | // wait for timeout |
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| 118 | if(CheckDelay(GPS_Timeout)) |
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| 119 | { |
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| 120 | GPSData.Status = INVALID; |
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| 121 | } |
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| 122 | break; |
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| 123 | |||
| 124 | case NEWDATA: |
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| 125 | GPS_Timeout = SetDelay(GPS_TIMEOUT); // reset gps timeout |
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| 126 | Error &= ~ERROR_GPS_RX_TIMEOUT; // clear possible error |
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| 127 | beep_rythm++; |
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| 128 | |||
| 129 | // update data in the FollowMe message |
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| 130 | if((GPSData.SatFix & SATFIX_3D) && (GPSData.NumOfSats >= GPS_MINSATS)) |
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| 131 | { |
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| 132 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
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| 133 | } |
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| 134 | else |
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| 135 | { |
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| 136 | GPS_ClearPosition(&(FollowMe.Position)); // clear followme position |
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| 137 | } |
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| 138 | |||
| 139 | // NC like sound on bad gps signals |
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| 140 | if(SysState == STATE_SEND_FOLLOWME) |
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| 141 | { |
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| 142 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
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| 143 | else if ((GPSData.NumOfSats < GPS_MINSATS) && !(beep_rythm % 5)) BeepTime = 10; |
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| 144 | } |
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| 145 | |||
| 146 | GPSData.Status = PROCESSED; // set to processed unlocks the buffer for new data |
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| 147 | break; |
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| 148 | |||
| 149 | default: |
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| 150 | GPSData.Status = INVALID; |
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| 151 | break; |
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| 152 | } |
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| 153 | } |
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| 154 |