| 0,0 → 1,464 |
|---|
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + FOR NON COMMERCIAL USE ONLY |
| // + 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 permitted |
| // + 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 this software (or part of it) 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 "91x_lib.h" |
| #include "uart1.h" |
| #include "ubx.h" |
| #include "led.h" |
| #include "timer.h" |
| |
| // ------------------------------------------------------------------------------------------------ |
| // defines |
| |
| #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
| #define DAYS_PER_YEAR 365 |
| #define DAYS_PER_LEAPYEAR 366 |
| #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
| #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
| #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
| #define SECONDS_PER_MINUTE 60 |
| #define MINUTES_PER_HOUR 60 |
| #define HOURS_PER_DAY 24 |
| #define DAYS_PER_WEEK 7 |
| #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
| #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
| #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
| |
| // days per month in normal and leap years |
| const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
| const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
| |
| #define LEAP_SECONDS_FROM_1980 13 |
| |
| // message sync bytes |
| #define UBX_SYNC1_CHAR 0xB5 |
| #define UBX_SYNC2_CHAR 0x62 |
| // protocoll identifier |
| #define UBX_CLASS_NAV 0x01 |
| // message id |
| #define UBX_ID_POSLLH 0x02 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_VELNED 0x12 |
| |
| // ------------------------------------------------------------------------------------------------ |
| // typedefs |
| |
| |
| // ubx parser state |
| typedef enum |
| { |
| UBXSTATE_IDLE, |
| UBXSTATE_SYNC1, |
| UBXSTATE_SYNC2, |
| UBXSTATE_CLASS, |
| UBXSTATE_LEN1, |
| UBXSTATE_LEN2, |
| UBXSTATE_DATA, |
| UBXSTATE_CKA, |
| UBXSTATE_CKB |
| } ubxState_t; |
| |
| typedef struct |
| { |
| u32 itow; // ms GPS Millisecond Time of Week |
| s32 frac; // ns remainder of rounded ms above |
| s16 week; // GPS week |
| u8 GPSfix; // GPSfix Type, range 0..6 |
| u8 Flags; // Navigation Status Flags |
| s32 ECEF_X; // cm ECEF X coordinate |
| s32 ECEF_Y; // cm ECEF Y coordinate |
| s32 ECEF_Z; // cm ECEF Z coordinate |
| u32 PAcc; // cm 3D Position Accuracy Estimate |
| s32 ECEFVX; // cm/s ECEF X velocity |
| s32 ECEFVY; // cm/s ECEF Y velocity |
| s32 ECEFVZ; // cm/s ECEF Z velocity |
| u32 SAcc; // cm/s Speed Accuracy Estimate |
| u16 PDOP; // 0.01 Position DOP |
| u8 res1; // reserved |
| u8 numSV; // Number of SVs used in navigation solution |
| u32 res2; // reserved |
| Status_t Status; // invalid/newdata/processed |
| } __attribute__((packed)) ubx_nav_sol_t; |
| |
| |
| typedef struct |
| { |
| u32 itow; // ms GPS Millisecond Time of Week |
| s32 VEL_N; // cm/s NED north velocity |
| s32 VEL_E; // cm/s NED east velocity |
| s32 VEL_D; // cm/s NED down velocity |
| u32 Speed; // cm/s Speed (3-D) |
| u32 GSpeed; // cm/s Ground Speed (2-D) |
| s32 Heading; // 1e-05 deg Heading 2-D |
| u32 SAcc; // cm/s Speed Accuracy Estimate |
| u32 CAcc; // deg Course / Heading Accuracy Estimate |
| Status_t Status; // invalid/newdata/processed |
| } __attribute__((packed)) ubx_nav_velned_t; |
| |
| typedef struct |
| { |
| u32 itow; // ms GPS Millisecond Time of Week |
| s32 LON; // 1e-07 deg Longitude |
| s32 LAT; // 1e-07 deg Latitude |
| s32 HEIGHT; // mm Height above Ellipsoid |
| s32 HMSL; // mm Height above mean sea level |
| u32 Hacc; // mm Horizontal Accuracy Estimate |
| u32 Vacc; // mm Vertical Accuracy Estimate |
| Status_t Status; // invalid/newdata/processed |
| } __attribute__((packed)) ubx_nav_posllh_t; |
| |
| |
| |
| //------------------------------------------------------------------------------------ |
| // global variables |
| |
| // local buffers for the incomming ubx messages |
| volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| |
| u32 CheckGPSOkay = 0; |
| |
| // shared buffer |
| gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
| DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
| |
| |
| //------------------------------------------------------------------------------------ |
| // functions |
| |
| u8 IsLeapYear(u16 year) |
| { |
| if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
| else return 0; |
| } |
| /********************************************************/ |
| /* Calculates the UTC Time from the GPS week and tow */ |
| /********************************************************/ |
| void SetGPSTime(DateTime_t * pTimeStruct) |
| { |
| u32 Days, Seconds, Week; |
| u16 YearPart; |
| u32 * MonthDayTab = 0; |
| u8 i; |
| |
| |
| |
| // if GPS data show valid time data |
| if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
| { |
| Seconds = UbxSol.itow / 1000L; |
| Week = (u32)UbxSol.week; |
| // correct leap seconds since 1980 |
| if(Seconds < LEAP_SECONDS_FROM_1980) |
| { |
| Week--; |
| Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
| } |
| else Seconds -= LEAP_SECONDS_FROM_1980; |
| |
| Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
| Days += (Week * DAYS_PER_WEEK); |
| Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
| |
| pTimeStruct->Year = 1; |
| YearPart = (u16)(Days / DAYS_PER_400YEARS); |
| pTimeStruct->Year += YearPart * 400; |
| Days = Days % DAYS_PER_400YEARS; |
| YearPart = (u16)(Days / DAYS_PER_100YEARS); |
| pTimeStruct->Year += YearPart * 100; |
| Days = Days % DAYS_PER_100YEARS; |
| YearPart = (u16)(Days / DAYS_PER_4YEARS); |
| pTimeStruct->Year += YearPart * 4; |
| Days = Days % DAYS_PER_4YEARS; |
| if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
| else YearPart = 3; |
| pTimeStruct->Year += YearPart; |
| // calculate remaining days of year |
| Days -= (u32)(YearPart * DAYS_PER_YEAR); |
| Days += 1; |
| // check if current year is a leap year |
| if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
| else MonthDayTab = (u32*)Normal; |
| // seperate month and day from days of year |
| for ( i = 0; i < 12; i++ ) |
| { |
| if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
| { |
| pTimeStruct->Month = i+1; |
| pTimeStruct->Day = Days - MonthDayTab[i]; |
| i = 12; |
| } |
| } |
| Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
| pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
| Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
| pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
| Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
| pTimeStruct->Sec = (u8)(Seconds); |
| pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
| pTimeStruct->Valid = 1; |
| } |
| else |
| { |
| pTimeStruct->Valid = 0; |
| } |
| } |
| |
| |
| |
| /********************************************************/ |
| /* Initialize UBX Parser */ |
| /********************************************************/ |
| void UBX_Init(void) |
| { |
| // mark msg buffers invalid |
| UbxSol.Status = INVALID; |
| UbxPosLlh.Status = INVALID; |
| UbxVelNed.Status = INVALID; |
| GPSData.Status = INVALID; |
| } |
| |
| /********************************************************/ |
| /* Upate GPS data stcructure */ |
| /********************************************************/ |
| void Update_GPSData (void) |
| { |
| static u32 Ubx_Timeout = 0; |
| static u8 Msg_Count = 0; |
| |
| // the timeout is used to detect the delay between two message sets |
| // and is used for synchronisation so that always a set is collected |
| // that belongs together |
| // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
| // | 8ms | 8ms | 184 ms | | | |
| // msg_count: 0 1 2 0 1 2 |
| |
| if(CheckDelay(Ubx_Timeout)) Msg_Count = 0; |
| else Msg_Count++; |
| Ubx_Timeout = SetDelay(100); // reset ubx msg timeout |
| |
| // if a new set of ubx messages was collected |
| if((Msg_Count >= 2)) |
| { // if set is complete |
| if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| { |
| CheckGPSOkay++; |
| DebugOut.Analog[11]++; |
| // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
| if(GPSData.Status != NEWDATA) // if last data were processed |
| { // wait for new data at all neccesary ubx messages |
| GPSData.Status = INVALID; |
| // NAV SOL |
| GPSData.Flags = UbxSol.Flags; |
| GPSData.NumOfSats = UbxSol.numSV; |
| GPSData.SatFix = UbxSol.GPSfix; |
| GPSData.Position_Accuracy = UbxSol.PAcc; |
| GPSData.Speed_Accuracy = UbxSol.SAcc; |
| SetGPSTime(&SystemTime); // update system time |
| // NAV POSLLH |
| GPSData.Position.Status = INVALID; |
| GPSData.Position.Longitude = UbxPosLlh.LON; |
| GPSData.Position.Latitude = UbxPosLlh.LAT; |
| GPSData.Position.Altitude = UbxPosLlh.HMSL; |
| GPSData.Position.Status = NEWDATA; |
| // NAV VELNED |
| GPSData.Speed_East = UbxVelNed.VEL_E; |
| GPSData.Speed_North = UbxVelNed.VEL_N; |
| GPSData.Speed_Top = -UbxVelNed.VEL_D; |
| GPSData.Speed_Ground = UbxVelNed.GSpeed; |
| GPSData.Heading = UbxVelNed.Heading; |
| |
| GPSData.Status = NEWDATA; // new data available |
| } // EOF if(GPSData.Status != NEWDATA) |
| } // EOF all ubx messages received |
| // set state to collect new data |
| UbxSol.Status = PROCESSED; // ready for new data |
| UbxPosLlh.Status = PROCESSED; // ready for new data |
| UbxVelNed.Status = PROCESSED; // ready for new data |
| } |
| } |
| |
| |
| /********************************************************/ |
| /* UBX Parser */ |
| /********************************************************/ |
| void UBX_Parser(u8 c) |
| { |
| static ubxState_t ubxState = UBXSTATE_IDLE; |
| static u16 msglen; |
| static u8 cka, ckb; |
| static u8 *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
| |
| |
| //state machine |
| switch (ubxState) // ubx message parser |
| { |
| 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 = (u8 *)&UbxPosLlh; // data start pointer |
| ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
| ubxSp = (u8 *)&UbxPosLlh.Status; // status pointer |
| break; |
| |
| case UBX_ID_SOL: // navigation solution |
| ubxP = (u8 *)&UbxSol; // data start pointer |
| ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
| ubxSp = (u8 *)&UbxSol.Status; // status pointer |
| break; |
| |
| case UBX_ID_VELNED: // velocity vector in tangent plane |
| ubxP = (u8 *)&UbxVelNed; // data start pointer |
| ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
| ubxSp = (u8 *)&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 = (u16)c; // lowbyte first |
| cka += c; |
| ckb += cka; |
| ubxState = UBXSTATE_LEN2; |
| break; |
| |
| case UBXSTATE_LEN2: // 2nd message length byte |
| msglen += ((u16)c)<<8; // high byte last |
| 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 ) |
| { |
| ubxState = UBXSTATE_IDLE; |
| Update_GPSData(); //update GPS info respectively |
| } |
| else // data invalid or allready processd |
| { |
| *ubxSp = INVALID; // mark invalid during buffer filling |
| ubxState = UBXSTATE_DATA; |
| } |
| break; |
| |
| case UBXSTATE_DATA: // collecting 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 |
| } |
| else // rx buffer overrun |
| { |
| ubxState = UBXSTATE_IDLE; |
| } |
| 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 |
| Update_GPSData(); //update GPS info respectively |
| } |
| else |
| { // if checksum not match then set data invalid |
| *ubxSp = INVALID; |
| } |
| ubxState = UBXSTATE_IDLE; // ready to parse new data |
| break; |
| |
| default: // unknown ubx state |
| ubxState = UBXSTATE_IDLE; |
| break; |
| |
| } |
| } |