0,0 → 1,289 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <inttypes.h> |
#include "ubx.h" |
#include "main.h" |
#include <avr/io.h> |
|
//#include "uart0.h" |
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// ubx protocol parser state machine |
#define UBXSTATE_IDLE 0 |
#define UBXSTATE_SYNC1 1 |
#define UBXSTATE_SYNC2 2 |
#define UBXSTATE_CLASS 3 |
#define UBXSTATE_LEN1 4 |
#define UBXSTATE_LEN2 5 |
#define UBXSTATE_DATA 6 |
#define UBXSTATE_CKA 7 |
#define UBXSTATE_CKB 8 |
|
// ublox protocoll identifier |
#define UBX_CLASS_NAV 0x01 |
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#define UBX_ID_POSLLH 0x02 |
#define UBX_ID_SOL 0x06 |
#define UBX_ID_VELNED 0x12 |
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#define UBX_SYNC1_CHAR 0xB5 |
#define UBX_SYNC2_CHAR 0x62 |
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typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t Frac; // ns remainder of rounded ms above |
int16_t week; // GPS week |
uint8_t GPSfix; // GPSfix Type, range 0..6 |
uint8_t Flags; // Navigation Status Flags |
int32_t ECEF_X; // cm ECEF X coordinate |
int32_t ECEF_Y; // cm ECEF Y coordinate |
int32_t ECEF_Z; // cm ECEF Z coordinate |
uint32_t PAcc; // cm 3D Position Accuracy Estimate |
int32_t ECEFVX; // cm/s ECEF X velocity |
int32_t ECEFVY; // cm/s ECEF Y velocity |
int32_t ECEFVZ; // cm/s ECEF Z velocity |
uint32_t SAcc; // cm/s Speed Accuracy Estimate |
uint16_t PDOP; // 0.01 Position DOP |
uint8_t res1; // reserved |
uint8_t numSV; // Number of SVs used in navigation solution |
uint32_t res2; // reserved |
Status_t Status; |
} UBX_SOL_t; |
|
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t LON; // 1e-07 deg Longitude |
int32_t LAT; // 1e-07 deg Latitude |
int32_t HEIGHT; // mm Height above Ellipsoid |
int32_t HMSL; // mm Height above mean sea level |
uint32_t Hacc; // mm Horizontal Accuracy Estimate |
uint32_t Vacc; // mm Vertical Accuracy Estimate |
Status_t Status; |
} UBX_POSLLH_t; |
|
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t VEL_N; // cm/s NED north velocity |
int32_t VEL_E; // cm/s NED east velocity |
int32_t VEL_D; // cm/s NED down velocity |
uint32_t Speed; // cm/s Speed (3-D) |
uint32_t GSpeed; // cm/s Ground Speed (2-D) |
int32_t Heading; // 1e-05 deg Heading 2-D |
uint32_t SAcc; // cm/s Speed Accuracy Estimate |
uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
Status_t Status; |
} UBX_VELNED_t; |
|
UBX_SOL_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
UBX_POSLLH_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
UBX_VELNED_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
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volatile uint8_t GPSTimeout = 0; |
|
void UpdateGPSInfo (void) |
{ |
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if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
{ |
RED_FLASH; |
if(GPSInfo.status != NEWDATA) |
{ |
GPSInfo.status = INVALID; |
// NAV SOL |
GPSInfo.flags = UbxSol.Flags; |
GPSInfo.satfix = UbxSol.GPSfix; |
GPSInfo.satnum = UbxSol.numSV; |
GPSInfo.PAcc = UbxSol.PAcc; |
GPSInfo.VAcc = UbxSol.SAcc; |
// NAV POSLLH |
GPSInfo.longitude = UbxPosLlh.LON; |
GPSInfo.latitude = UbxPosLlh.LAT; |
GPSInfo.altitude = UbxPosLlh.HEIGHT; |
|
GPSInfo.veleast = UbxVelNed.VEL_E; |
GPSInfo.velnorth = UbxVelNed.VEL_N; |
GPSInfo.veltop = -UbxVelNed.VEL_D; |
GPSInfo.velground = UbxVelNed.GSpeed; |
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GPSInfo.status = NEWDATA; |
|
} |
// set state to collect new data |
UbxSol.Status = PROCESSED; // never update old data |
UbxPosLlh.Status = PROCESSED; // never update old data |
UbxVelNed.Status = PROCESSED; // never update old data |
} |
|
|
} |
|
|
// this function should be called within the UART RX ISR |
void ubx_parser(uint8_t c) |
{ |
static uint8_t ubxstate = UBXSTATE_IDLE; |
static uint8_t cka, ckb; |
static uint16_t msglen; |
static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
|
switch(ubxstate) |
{ |
case UBXSTATE_IDLE: // check 1st sync byte |
if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
else ubxstate = UBXSTATE_IDLE; // out of synchronization |
break; |
|
case UBXSTATE_SYNC1: // check 2nd sync byte |
if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
else ubxstate = UBXSTATE_IDLE; // out of synchronization |
break; |
|
case UBXSTATE_SYNC2: // check msg class to be NAV |
if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
else ubxstate = UBXSTATE_IDLE; // unsupported message class |
break; |
|
case UBXSTATE_CLASS: // check message identifier |
switch(c) |
{ |
case UBX_ID_POSLLH: // geodetic position |
ubxP = (int8_t *)&UbxPosLlh; // data start pointer |
ubxEp = (int8_t *)(&UbxPosLlh + 1); // data end pointer |
ubxSp = (int8_t *)&UbxPosLlh.Status; // status pointer |
break; |
|
case UBX_ID_SOL: // navigation solution |
ubxP = (int8_t *)&UbxSol; // data start pointer |
ubxEp = (int8_t *)(&UbxSol + 1); // data end pointer |
ubxSp = (int8_t *)&UbxSol.Status; // status pointer |
break; |
|
case UBX_ID_VELNED: // velocity vector in tangent plane |
ubxP = (int8_t *)&UbxVelNed; // data start pointer |
ubxEp = (int8_t *)(&UbxVelNed + 1); // data end pointer |
ubxSp = (int8_t *)&UbxVelNed.Status; // status pointer |
break; |
|
default: // unsupported identifier |
ubxstate = UBXSTATE_IDLE; |
break; |
} |
if (ubxstate != UBXSTATE_IDLE) |
{ |
ubxstate = UBXSTATE_LEN1; |
cka = UBX_CLASS_NAV + c; |
ckb = UBX_CLASS_NAV + cka; |
} |
break; |
|
case UBXSTATE_LEN1: // 1st message length byte |
msglen = c; |
cka += c; |
ckb += cka; |
ubxstate = UBXSTATE_LEN2; |
break; |
|
case UBXSTATE_LEN2: // 2nd message length byte |
msglen += ((uint16_t)c)<<8; |
cka += c; |
ckb += cka; |
// if the old data are not processed so far then break parsing now |
// to avoid writing new data in ISR during reading by another function |
if ( *ubxSp == NEWDATA ) |
{ |
UpdateGPSInfo(); //update GPS info respectively |
ubxstate = UBXSTATE_IDLE; |
} |
else // data invalid or allready processd |
{ |
*ubxSp = INVALID; |
ubxstate = UBXSTATE_DATA; |
} |
break; |
|
case UBXSTATE_DATA: |
if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
cka += c; |
ckb += cka; |
if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
break; |
|
case UBXSTATE_CKA: |
if (c == cka) ubxstate = UBXSTATE_CKB; |
else |
{ |
*ubxSp = INVALID; |
ubxstate = UBXSTATE_IDLE; |
} |
break; |
|
case UBXSTATE_CKB: |
if (c == ckb) |
{ |
*ubxSp = NEWDATA; // new data are valid |
UpdateGPSInfo(); //update GPS info respectively |
GPSTimeout = 255; |
} |
else |
{ // if checksum not fit then set data invalid |
*ubxSp = INVALID; |
} |
ubxstate = UBXSTATE_IDLE; // ready to parse new data |
break; |
|
default: // unknown ubx state |
ubxstate = UBXSTATE_IDLE; |
break; |
} |
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} |
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