WebSVN - NaviCtrl - Diff - Rev 244 and 245


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + 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 oder Nutzung 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
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//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <string.h>
#include "91x_lib.h"
#include "uart1.h"
#include "ubx.h"
#include "led.h"
#include "timer1.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  15
 
// message sync bytes
#define UBX_SYNC1_CHAR  0xB5
#define UBX_SYNC2_CHAR  0x62
// protocoll identifiers
#define UBX_CLASS_UNDEF 0x00
// navigation class
#define UBX_CLASS_NAV   0x01
 
#define UBX_ID_POSLLH   0x02
#define UBX_ID_SOL              0x06
#define UBX_ID_VELNED   0x12
 
// acknowledge class
#define UBX_CLASS_ACK   0x05
#define UBX_ID_ACK_NAK  0x00
#define UBX_ID_ACK_ACK  0x01
// ------------------------------------------------------------------------------------------------
// 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
        u8                      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
        u8                      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
        u8                      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};
volatile ubx_ack_t                      UbxAck    = {0,0,0,INVALID};
 
// shared buffer
gps_data_t              GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID};
DateTime_t                      GPSDateTime = {0,0,0,0,0,0,0, INVALID};
 
#define UBX_TIMEOUT 500 // 500 ms
u32 UBX_Timeout = 0;
 
//------------------------------------------------------------------------------------
// 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;
        UbxAck.Status = INVALID;
        GPSData.Status = INVALID;
 
        UBX_Timeout = SetDelay(2 * UBX_Timeout);
}
 
/********************************************************/
/*            Upate GPS data stcructure                 */
/********************************************************/
void Update_GPSData (void)
{
        static u32 Msg_Count_Timeout = 0;
        static u8 Msg_Count = 0;
        static u32 LastTimeStamp = 0;
        u32 TimeStamp;
 
        // 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(Msg_Count_Timeout))       Msg_Count = 0;
        else Msg_Count++;
        Msg_Count_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))
                {
                        UBX_Timeout = SetDelay(UBX_TIMEOUT);
                        DebugOut.Analog[9]++;
 
                        // 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;
                                // update message cycle time
                                TimeStamp = CountMilliseconds;
                                GPSData.MsgCycleTime = (u16)(TimeStamp - LastTimeStamp);
                                LastTimeStamp = TimeStamp;
                                DebugOut.Analog[16] = GPSData.MsgCycleTime;
                                // 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_RxParser(u8 c)
{
        static ubxState_t ubxState = UBXSTATE_IDLE;
        static u8 ubxclass = UBX_CLASS_UNDEF;
        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
                        ubxclass = c;
                        ubxState = UBXSTATE_CLASS;
                        break;
 
                case UBXSTATE_CLASS: // check message identifier
                        switch(ubxclass)
                        {
                                case UBX_CLASS_NAV:
                                        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;
                                                        return;
                                        }
                                        break;
 
                                case UBX_CLASS_ACK:
                                        switch(c)
                                        {
                                                case UBX_ID_ACK_ACK:
                                                        UbxAck.Ack = 1;
                                                        break;
 
                                                case UBX_ID_ACK_NAK:
                                                        UbxAck.Ack = 0;
                                                        break;
 
                                                default:
                                                        ubxState = UBXSTATE_IDLE;
                                                        return;
                                        }
                                        ubxP =  (u8 *)&(UbxAck.clsID); // data start pointer
                                        ubxEp = (u8 *)(&UbxAck + 1); // data end pointer
                                        ubxSp = (u8 *)&UbxAck.Status; // status pointer
                                        break;
 
                                default: // unsupported  class
                                        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;
                                if(ubxclass == UBX_CLASS_NAV) 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
                                if(ubxclass == UBX_CLASS_NAV) 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;
 
        }
}
 
u8 UBX_CreateMsg(Buffer_t* pBuff, u8 Class, u8 Id, u8* pData, u16 Len)
{
        u16 i;
        u8 cka = 0, ckb = 0;
        // check if buffer is available
        if(pBuff->Locked == TRUE) return(0);
        // check if buffer size is sufficient
        if(pBuff->Size < 8 + Len) return(0);
        // lock the buffer
        pBuff->Locked = TRUE;
        // start at begin 
        pBuff->Position = 0;
        pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR;
        pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR;
        pBuff->pData[pBuff->Position++] = Class;
        pBuff->pData[pBuff->Position++] = Id;
        pBuff->pData[pBuff->Position++] = (u8)(Len);
        pBuff->pData[pBuff->Position++] = (u8)(Len>>8);
        memcpy(&(pBuff->pData[pBuff->Position]), pData, Len);
        pBuff->Position += Len;
        // calculate checksum
        for(i=2;i<pBuff->Position;i++)
        {
                cka += pBuff->pData[i];
                ckb += cka;
        }
        pBuff->pData[pBuff->Position++] = cka;
        pBuff->pData[pBuff->Position++] = ckb;
        pBuff->DataBytes = pBuff->Position;
        pBuff->Position = 0;  // reset buffer position for transmision
        return(1);
}
 

Rev 244	Rev 245
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-		57	#include <string.h>
57	#include "91x_lib.h"	58	#include "91x_lib.h"
58	#include "uart1.h"	59	#include "uart1.h"
59	#include "ubx.h"	60	#include "ubx.h"
60	#include "led.h"	61	#include "led.h"
61	#include "timer1.h"	62	#include "timer1.h"
62		63
63	// ------------------------------------------------------------------------------------------------	64	// ------------------------------------------------------------------------------------------------
64	// defines	65	// defines
65		66
66	#define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist!	67	#define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist!
67	#define DAYS_PER_YEAR 365	68	#define DAYS_PER_YEAR 365
68	#define DAYS_PER_LEAPYEAR 366	69	#define DAYS_PER_LEAPYEAR 366
69	#define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years	70	#define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years
70	#define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years	71	#define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years
71	#define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years	72	#define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years
72	#define SECONDS_PER_MINUTE 60	73	#define SECONDS_PER_MINUTE 60
73	#define MINUTES_PER_HOUR 60	74	#define MINUTES_PER_HOUR 60
74	#define HOURS_PER_DAY 24	75	#define HOURS_PER_DAY 24
75	#define DAYS_PER_WEEK 7	76	#define DAYS_PER_WEEK 7
76	#define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR)	77	#define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR)
77	#define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY)	78	#define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY)
78	#define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK)	79	#define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK)
79		80
80	// days per month in normal and leap years	81	// days per month in normal and leap years
81	const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 };	82	const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 };
82	const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 };	83	const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 };
83		84
84	#define LEAP_SECONDS_FROM_1980 15	85	#define LEAP_SECONDS_FROM_1980 15
85		86
86	// message sync bytes	87	// message sync bytes
87	#define UBX_SYNC1_CHAR 0xB5	88	#define UBX_SYNC1_CHAR 0xB5
88	#define UBX_SYNC2_CHAR 0x62	89	#define UBX_SYNC2_CHAR 0x62
89	// protocoll identifier	90	// protocoll identifiers
-		91	#define UBX_CLASS_UNDEF 0x00
-		92	// navigation class
90	#define UBX_CLASS_NAV 0x01	93	#define UBX_CLASS_NAV 0x01
91	// message id	-
92	#define UBX_ID_POSLLH 0x02	94	#define UBX_ID_POSLLH 0x02
93	#define UBX_ID_SOL 0x06	95	#define UBX_ID_SOL 0x06
94	#define UBX_ID_VELNED 0x12	96	#define UBX_ID_VELNED 0x12
95		-
-		97	// acknowledge class
-		98	#define UBX_CLASS_ACK 0x05
-		99	#define UBX_ID_ACK_NAK 0x00
-		100	#define UBX_ID_ACK_ACK 0x01
96	// ------------------------------------------------------------------------------------------------	101	// ------------------------------------------------------------------------------------------------
97	// typedefs	102	// typedefs
98		103
99		104
100	// ubx parser state	105	// ubx parser state
101	typedef enum	106	typedef enum
102	{	107	{
103	UBXSTATE_IDLE,	108	UBXSTATE_IDLE,
104	UBXSTATE_SYNC1,	109	UBXSTATE_SYNC1,
105	UBXSTATE_SYNC2,	110	UBXSTATE_SYNC2,
106	UBXSTATE_CLASS,	111	UBXSTATE_CLASS,
107	UBXSTATE_LEN1,	112	UBXSTATE_LEN1,
108	UBXSTATE_LEN2,	113	UBXSTATE_LEN2,
109	UBXSTATE_DATA,	114	UBXSTATE_DATA,
110	UBXSTATE_CKA,	115	UBXSTATE_CKA,
111	UBXSTATE_CKB	116	UBXSTATE_CKB
112	} ubxState_t;	117	} ubxState_t;
113		118
114	typedef struct	119	typedef struct
115	{	120	{
116	u32 itow; // ms GPS Millisecond Time of Week	121	u32 itow; // ms GPS Millisecond Time of Week
117	s32 frac; // ns remainder of rounded ms above	122	s32 frac; // ns remainder of rounded ms above
118	s16 week; // GPS week	123	s16 week; // GPS week
119	u8 GPSfix; // GPSfix Type, range 0..6	124	u8 GPSfix; // GPSfix Type, range 0..6
120	u8 Flags; // Navigation Status Flags	125	u8 Flags; // Navigation Status Flags
121	s32 ECEF_X; // cm ECEF X coordinate	126	s32 ECEF_X; // cm ECEF X coordinate
122	s32 ECEF_Y; // cm ECEF Y coordinate	127	s32 ECEF_Y; // cm ECEF Y coordinate
123	s32 ECEF_Z; // cm ECEF Z coordinate	128	s32 ECEF_Z; // cm ECEF Z coordinate
124	u32 PAcc; // cm 3D Position Accuracy Estimate	129	u32 PAcc; // cm 3D Position Accuracy Estimate
125	s32 ECEFVX; // cm/s ECEF X velocity	130	s32 ECEFVX; // cm/s ECEF X velocity
126	s32 ECEFVY; // cm/s ECEF Y velocity	131	s32 ECEFVY; // cm/s ECEF Y velocity
127	s32 ECEFVZ; // cm/s ECEF Z velocity	132	s32 ECEFVZ; // cm/s ECEF Z velocity
128	u32 SAcc; // cm/s Speed Accuracy Estimate	133	u32 SAcc; // cm/s Speed Accuracy Estimate
129	u16 PDOP; // 0.01 Position DOP	134	u16 PDOP; // 0.01 Position DOP
130	u8 res1; // reserved	135	u8 res1; // reserved
131	u8 numSV; // Number of SVs used in navigation solution	136	u8 numSV; // Number of SVs used in navigation solution
132	u32 res2; // reserved	137	u32 res2; // reserved
133	u8 Status; // invalid/newdata/processed	138	u8 Status; // invalid/newdata/processed
134	} __attribute__((packed)) ubx_nav_sol_t;	139	} __attribute__((packed)) ubx_nav_sol_t;
135		140
136		141
137	typedef struct	142	typedef struct
138	{	143	{
139	u32 itow; // ms GPS Millisecond Time of Week	144	u32 itow; // ms GPS Millisecond Time of Week
140	s32 VEL_N; // cm/s NED north velocity	145	s32 VEL_N; // cm/s NED north velocity
141	s32 VEL_E; // cm/s NED east velocity	146	s32 VEL_E; // cm/s NED east velocity
142	s32 VEL_D; // cm/s NED down velocity	147	s32 VEL_D; // cm/s NED down velocity
143	u32 Speed; // cm/s Speed (3-D)	148	u32 Speed; // cm/s Speed (3-D)
144	u32 GSpeed; // cm/s Ground Speed (2-D)	149	u32 GSpeed; // cm/s Ground Speed (2-D)
145	s32 Heading; // 1e-05 deg Heading 2-D	150	s32 Heading; // 1e-05 deg Heading 2-D
146	u32 SAcc; // cm/s Speed Accuracy Estimate	151	u32 SAcc; // cm/s Speed Accuracy Estimate
147	u32 CAcc; // deg Course / Heading Accuracy Estimate	152	u32 CAcc; // deg Course / Heading Accuracy Estimate
148	u8 Status; // invalid/newdata/processed	153	u8 Status; // invalid/newdata/processed
149	} __attribute__((packed)) ubx_nav_velned_t;	154	} __attribute__((packed)) ubx_nav_velned_t;
150		155
151	typedef struct	156	typedef struct
152	{	157	{
153	u32 itow; // ms GPS Millisecond Time of Week	158	u32 itow; // ms GPS Millisecond Time of Week
154	s32 LON; // 1e-07 deg Longitude	159	s32 LON; // 1e-07 deg Longitude
155	s32 LAT; // 1e-07 deg Latitude	160	s32 LAT; // 1e-07 deg Latitude
156	s32 HEIGHT; // mm Height above Ellipsoid	161	s32 HEIGHT; // mm Height above Ellipsoid
157	s32 HMSL; // mm Height above mean sea level	162	s32 HMSL; // mm Height above mean sea level
158	u32 Hacc; // mm Horizontal Accuracy Estimate	163	u32 Hacc; // mm Horizontal Accuracy Estimate
159	u32 Vacc; // mm Vertical Accuracy Estimate	164	u32 Vacc; // mm Vertical Accuracy Estimate
160	u8 Status; // invalid/newdata/processed	165	u8 Status; // invalid/newdata/processed
161	} __attribute__((packed)) ubx_nav_posllh_t;	166	} __attribute__((packed)) ubx_nav_posllh_t;
162		-
163		-
164		167
165	//------------------------------------------------------------------------------------	168	//------------------------------------------------------------------------------------
166	// global variables	169	// global variables
167		170
168	// local buffers for the incomming ubx messages	171	// local buffers for the incomming ubx messages
169	volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID};	172	volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID};
170	volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID};	173	volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID};
171	volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID};	174	volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID};
-		175	volatile ubx_ack_t UbxAck = {0,0,0,INVALID};
172		176
173	// shared buffer	177	// shared buffer
174	gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID};	178	gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID};
175	DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID};	179	DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID};
176		180
177	#define UBX_TIMEOUT 500 // 500 ms	181	#define UBX_TIMEOUT 500 // 500 ms
178	u32 UBX_Timeout = 0;	182	u32 UBX_Timeout = 0;
179		183
180	//------------------------------------------------------------------------------------	184	//------------------------------------------------------------------------------------
181	// functions	185	// functions
182		186
183	u8 IsLeapYear(u16 year)	187	u8 IsLeapYear(u16 year)
184	{	188	{
185	if((year%400 == 0) \|\| ( (year%4 == 0) && (year%100 != 0) ) ) return 1;	189	if((year%400 == 0) \|\| ( (year%4 == 0) && (year%100 != 0) ) ) return 1;
186	else return 0;	190	else return 0;
187	}	191	}
188	/********************************************************/	192	/********************************************************/
189	/* Calculates the UTC Time from the GPS week and tow */	193	/* Calculates the UTC Time from the GPS week and tow */
190	/********************************************************/	194	/********************************************************/
191	void SetGPSTime(DateTime_t * pTimeStruct)	195	void SetGPSTime(DateTime_t * pTimeStruct)
192	{	196	{
193	u32 Days, Seconds, Week;	197	u32 Days, Seconds, Week;
194	u16 YearPart;	198	u16 YearPart;
195	u32 * MonthDayTab = 0;	199	u32 * MonthDayTab = 0;
196	u8 i;	200	u8 i;
197		201
198		202
199	// if GPS data show valid time data	203	// if GPS data show valid time data
200	if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) )	204	if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) )
201	{	205	{
202	Seconds = UbxSol.itow / 1000L;	206	Seconds = UbxSol.itow / 1000L;
203	Week = (u32)UbxSol.week;	207	Week = (u32)UbxSol.week;
204	// correct leap seconds since 1980	208	// correct leap seconds since 1980
205	if(Seconds < LEAP_SECONDS_FROM_1980)	209	if(Seconds < LEAP_SECONDS_FROM_1980)
206	{	210	{
207	Week--;	211	Week--;
208	Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds;	212	Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds;
209	}	213	}
210	else Seconds -= LEAP_SECONDS_FROM_1980;	214	else Seconds -= LEAP_SECONDS_FROM_1980;
211		215
212	Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980;	216	Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980;
213	Days += (Week * DAYS_PER_WEEK);	217	Days += (Week * DAYS_PER_WEEK);
214	Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week	218	Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week
215		219
216	pTimeStruct->Year = 1;	220	pTimeStruct->Year = 1;
217	YearPart = (u16)(Days / DAYS_PER_400YEARS);	221	YearPart = (u16)(Days / DAYS_PER_400YEARS);
218	pTimeStruct->Year += YearPart * 400;	222	pTimeStruct->Year += YearPart * 400;
219	Days = Days % DAYS_PER_400YEARS;	223	Days = Days % DAYS_PER_400YEARS;
220	YearPart = (u16)(Days / DAYS_PER_100YEARS);	224	YearPart = (u16)(Days / DAYS_PER_100YEARS);
221	pTimeStruct->Year += YearPart * 100;	225	pTimeStruct->Year += YearPart * 100;
222	Days = Days % DAYS_PER_100YEARS;	226	Days = Days % DAYS_PER_100YEARS;
223	YearPart = (u16)(Days / DAYS_PER_4YEARS);	227	YearPart = (u16)(Days / DAYS_PER_4YEARS);
224	pTimeStruct->Year += YearPart * 4;	228	pTimeStruct->Year += YearPart * 4;
225	Days = Days % DAYS_PER_4YEARS;	229	Days = Days % DAYS_PER_4YEARS;
226	if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR);	230	if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR);
227	else YearPart = 3;	231	else YearPart = 3;
228	pTimeStruct->Year += YearPart;	232	pTimeStruct->Year += YearPart;
229	// calculate remaining days of year	233	// calculate remaining days of year
230	Days -= (u32)(YearPart * DAYS_PER_YEAR);	234	Days -= (u32)(YearPart * DAYS_PER_YEAR);
231	Days += 1;	235	Days += 1;
232	// check if current year is a leap year	236	// check if current year is a leap year
233	if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap;	237	if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap;
234	else MonthDayTab = (u32*)Normal;	238	else MonthDayTab = (u32*)Normal;
235	// seperate month and day from days of year	239	// seperate month and day from days of year
236	for ( i = 0; i < 12; i++ )	240	for ( i = 0; i < 12; i++ )
237	{	241	{
238	if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) )	242	if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) )
239	{	243	{
240	pTimeStruct->Month = i+1;	244	pTimeStruct->Month = i+1;
241	pTimeStruct->Day = Days - MonthDayTab[i];	245	pTimeStruct->Day = Days - MonthDayTab[i];
242	i = 12;	246	i = 12;
243	}	247	}
244	}	248	}
245	Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day	249	Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day
246	pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR);	250	pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR);
247	Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour	251	Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour
248	pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE);	252	pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE);
249	Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute	253	Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute
250	pTimeStruct->Sec = (u8)(Seconds);	254	pTimeStruct->Sec = (u8)(Seconds);
251	pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L);	255	pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L);
252	pTimeStruct->Valid = 1;	256	pTimeStruct->Valid = 1;
253	}	257	}
254	else	258	else
255	{	259	{
256	pTimeStruct->Valid = 0;	260	pTimeStruct->Valid = 0;
257	}	261	}
258	}	262	}
259		263
260		264
261		265
262	/********************************************************/	266	/********************************************************/
263	/* Initialize UBX Parser */	267	/* Initialize UBX Parser */
264	/********************************************************/	268	/********************************************************/
265	void UBX_Init(void)	269	void UBX_Init(void)
266	{	270	{
267	// mark msg buffers invalid	271	// mark msg buffers invalid
268	UbxSol.Status = INVALID;	272	UbxSol.Status = INVALID;
269	UbxPosLlh.Status = INVALID;	273	UbxPosLlh.Status = INVALID;
270	UbxVelNed.Status = INVALID;	274	UbxVelNed.Status = INVALID;
-		275	UbxAck.Status = INVALID;
271	GPSData.Status = INVALID;	276	GPSData.Status = INVALID;
272		277
273	UBX_Timeout = SetDelay(2 * UBX_Timeout);	278	UBX_Timeout = SetDelay(2 * UBX_Timeout);
274	}	279	}
275		280
276	/********************************************************/	281	/********************************************************/
277	/* Upate GPS data stcructure */	282	/* Upate GPS data stcructure */
278	/********************************************************/	283	/********************************************************/
279	void Update_GPSData (void)	284	void Update_GPSData (void)
280	{	285	{
281	static u32 Msg_Count_Timeout = 0;	286	static u32 Msg_Count_Timeout = 0;
282	static u8 Msg_Count = 0;	287	static u8 Msg_Count = 0;
283	static u32 LastTimeStamp = 0;	288	static u32 LastTimeStamp = 0;
284	u32 TimeStamp;	289	u32 TimeStamp;
285		290
286	// the timeout is used to detect the delay between two message sets	291	// the timeout is used to detect the delay between two message sets
287	// and is used for synchronisation so that always a set is collected	292	// and is used for synchronisation so that always a set is collected
288	// that belongs together	293	// that belongs together
289	// _______NAVSOL\|POSLLH\|VELNED\|___________________NAVSOL\|POSLLH\|VELNED\|_____________	294	// _______NAVSOL\|POSLLH\|VELNED\|___________________NAVSOL\|POSLLH\|VELNED\|_____________
290	// \| 8ms \| 8ms \| 184 ms \| \| \|	295	// \| 8ms \| 8ms \| 184 ms \| \| \|
291	// msg_count: 0 1 2 0 1 2	296	// msg_count: 0 1 2 0 1 2
292		297
293	if(CheckDelay(Msg_Count_Timeout)) Msg_Count = 0;	298	if(CheckDelay(Msg_Count_Timeout)) Msg_Count = 0;
294	else Msg_Count++;	299	else Msg_Count++;
295	Msg_Count_Timeout = SetDelay(100); // reset ubx msg timeout	300	Msg_Count_Timeout = SetDelay(100); // reset ubx msg timeout
296		301
297	// if a new set of ubx messages was collected	302	// if a new set of ubx messages was collected
298	if((Msg_Count >= 2))	303	if((Msg_Count >= 2))
299	{ // if set is complete	304	{ // if set is complete
300	if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA))	305	if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA))
301	{	306	{
302	UBX_Timeout = SetDelay(UBX_TIMEOUT);	307	UBX_Timeout = SetDelay(UBX_TIMEOUT);
303	DebugOut.Analog[9]++;	308	DebugOut.Analog[9]++;
304		309
305	// update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms	310	// update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms
306	if(GPSData.Status != NEWDATA) // if last data were processed	311	if(GPSData.Status != NEWDATA) // if last data were processed
307	{ // wait for new data at all neccesary ubx messages	312	{ // wait for new data at all neccesary ubx messages
308	GPSData.Status = INVALID;	313	GPSData.Status = INVALID;
309	// update message cycle time	314	// update message cycle time
310	TimeStamp = CountMilliseconds;	315	TimeStamp = CountMilliseconds;
311	GPSData.MsgCycleTime = (u16)(TimeStamp - LastTimeStamp);	316	GPSData.MsgCycleTime = (u16)(TimeStamp - LastTimeStamp);
312	LastTimeStamp = TimeStamp;	317	LastTimeStamp = TimeStamp;
313	DebugOut.Analog[16] = GPSData.MsgCycleTime;	318	DebugOut.Analog[16] = GPSData.MsgCycleTime;
314	// NAV SOL	319	// NAV SOL
315	GPSData.Flags = UbxSol.Flags;	320	GPSData.Flags = UbxSol.Flags;
316	GPSData.NumOfSats = UbxSol.numSV;	321	GPSData.NumOfSats = UbxSol.numSV;
317	GPSData.SatFix = UbxSol.GPSfix;	322	GPSData.SatFix = UbxSol.GPSfix;
318	GPSData.Position_Accuracy = UbxSol.PAcc;	323	GPSData.Position_Accuracy = UbxSol.PAcc;
319	GPSData.Speed_Accuracy = UbxSol.SAcc;	324	GPSData.Speed_Accuracy = UbxSol.SAcc;
320	SetGPSTime(&SystemTime); // update system time	325	SetGPSTime(&SystemTime); // update system time
321	// NAV POSLLH	326	// NAV POSLLH
322	GPSData.Position.Status = INVALID;	327	GPSData.Position.Status = INVALID;
323	GPSData.Position.Longitude = UbxPosLlh.LON;	328	GPSData.Position.Longitude = UbxPosLlh.LON;
324	GPSData.Position.Latitude = UbxPosLlh.LAT;	329	GPSData.Position.Latitude = UbxPosLlh.LAT;
325	GPSData.Position.Altitude = UbxPosLlh.HMSL;	330	GPSData.Position.Altitude = UbxPosLlh.HMSL;
326	GPSData.Position.Status = NEWDATA;	331	GPSData.Position.Status = NEWDATA;
327	// NAV VELNED	332	// NAV VELNED
328	GPSData.Speed_East = UbxVelNed.VEL_E;	333	GPSData.Speed_East = UbxVelNed.VEL_E;
329	GPSData.Speed_North = UbxVelNed.VEL_N;	334	GPSData.Speed_North = UbxVelNed.VEL_N;
330	GPSData.Speed_Top = -UbxVelNed.VEL_D;	335	GPSData.Speed_Top = -UbxVelNed.VEL_D;
331	GPSData.Speed_Ground = UbxVelNed.GSpeed;	336	GPSData.Speed_Ground = UbxVelNed.GSpeed;
332	GPSData.Heading = UbxVelNed.Heading;	337	GPSData.Heading = UbxVelNed.Heading;
333		338
334	GPSData.Status = NEWDATA; // new data available	339	GPSData.Status = NEWDATA; // new data available
335	} // EOF if(GPSData.Status != NEWDATA)	340	} // EOF if(GPSData.Status != NEWDATA)
336	} // EOF all ubx messages received	341	} // EOF all ubx messages received
337	// set state to collect new data	342	// set state to collect new data
338	UbxSol.Status = PROCESSED; // ready for new data	343	UbxSol.Status = PROCESSED; // ready for new data
339	UbxPosLlh.Status = PROCESSED; // ready for new data	344	UbxPosLlh.Status = PROCESSED; // ready for new data
340	UbxVelNed.Status = PROCESSED; // ready for new data	345	UbxVelNed.Status = PROCESSED; // ready for new data
341	}	346	}
342	}	347	}
343		348
344		349
345	/********************************************************/	350	/********************************************************/
346	/* UBX Parser */	351	/* UBX Parser */
347	/********************************************************/	352	/********************************************************/
348	void UBX_Parser(u8 c)	353	void UBX_RxParser(u8 c)
349	{	354	{
350	static ubxState_t ubxState = UBXSTATE_IDLE;	355	static ubxState_t ubxState = UBXSTATE_IDLE;
-		356	static u8 ubxclass = UBX_CLASS_UNDEF;
351	static u16 msglen;	357	static u16 msglen;
352	static u8 cka, ckb;	358	static u8 cka, ckb;
353	static u8 ubxP, ubxEp, *ubxSp; // pointers to data currently transfered	359	static u8 ubxP, ubxEp, *ubxSp; // pointers to data currently transfered
354		360
355		361
356	//state machine	362	//state machine
357	switch (ubxState) // ubx message parser	363	switch (ubxState) // ubx message parser
358	{	364	{
359	case UBXSTATE_IDLE: // check 1st sync byte	365	case UBXSTATE_IDLE: // check 1st sync byte
360	if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1;	366	if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1;
361	else ubxState = UBXSTATE_IDLE; // out of synchronization	367	else ubxState = UBXSTATE_IDLE; // out of synchronization
362	break;	368	break;
363		369
364	case UBXSTATE_SYNC1: // check 2nd sync byte	370	case UBXSTATE_SYNC1: // check 2nd sync byte
365	if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2;	371	if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2;
366	else ubxState = UBXSTATE_IDLE; // out of synchronization	372	else ubxState = UBXSTATE_IDLE; // out of synchronization
367	break;	373	break;
368		374
369	case UBXSTATE_SYNC2: // check msg class to be NAV	375	case UBXSTATE_SYNC2: // check msg class to be NAV
370	if (c == UBX_CLASS_NAV) ubxState = UBXSTATE_CLASS;	376	ubxclass = c;
371	else ubxState = UBXSTATE_IDLE; // unsupported message class	377	ubxState = UBXSTATE_CLASS;
372	break;	378	break;
373		379
374	case UBXSTATE_CLASS: // check message identifier	380	case UBXSTATE_CLASS: // check message identifier
-		381	switch(ubxclass)
-		382	{
-		383	case UBX_CLASS_NAV:
375	switch(c)	384	switch(c)
376	{	385	{
377	case UBX_ID_POSLLH: // geodetic position	386	case UBX_ID_POSLLH: // geodetic position
378	ubxP = (u8 *)&UbxPosLlh; // data start pointer	387	ubxP = (u8 *)&UbxPosLlh; // data start pointer
379	ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer	388	ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer
380	ubxSp = (u8 *)&UbxPosLlh.Status; // status pointer	389	ubxSp = (u8 *)&UbxPosLlh.Status; // status pointer
381	break;	390	break;
382		391
383	case UBX_ID_SOL: // navigation solution	392	case UBX_ID_SOL: // navigation solution
384	ubxP = (u8 *)&UbxSol; // data start pointer	393	ubxP = (u8 *)&UbxSol; // data start pointer
385	ubxEp = (u8 *)(&UbxSol + 1); // data end pointer	394	ubxEp = (u8 *)(&UbxSol + 1); // data end pointer
386	ubxSp = (u8 *)&UbxSol.Status; // status pointer	395	ubxSp = (u8 *)&UbxSol.Status; // status pointer
387	break;	396	break;
388		397
389	case UBX_ID_VELNED: // velocity vector in tangent plane	398	case UBX_ID_VELNED: // velocity vector in tangent plane
390	ubxP = (u8 *)&UbxVelNed; // data start pointer	399	ubxP = (u8 *)&UbxVelNed; // data start pointer
391	ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer	400	ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer
392	ubxSp = (u8 *)&UbxVelNed.Status; // status pointer	401	ubxSp = (u8 *)&UbxVelNed.Status; // status pointer
393	break;	402	break;
394		403
395	default: // unsupported identifier	404	default: // unsupported identifier
396	ubxState = UBXSTATE_IDLE;	405	ubxState = UBXSTATE_IDLE;
-		406	return;
-		407	}
-		408	break;
-		409
-		410	case UBX_CLASS_ACK:
-		411	switch(c)
-		412	{
-		413	case UBX_ID_ACK_ACK:
-		414	UbxAck.Ack = 1;
-		415	break;
-		416
-		417	case UBX_ID_ACK_NAK:
-		418	UbxAck.Ack = 0;
-		419	break;
-		420
-		421	default:
-		422	ubxState = UBXSTATE_IDLE;
-		423	return;
-		424	}
-		425	ubxP = (u8 *)&(UbxAck.clsID); // data start pointer
-		426	ubxEp = (u8 *)(&UbxAck + 1); // data end pointer
-		427	ubxSp = (u8 *)&UbxAck.Status; // status pointer
-		428	break;
-		429
-		430	default: // unsupported class
-		431	ubxState = UBXSTATE_IDLE;
397	break;	432	break;
398	}	433	}
399	if (ubxState != UBXSTATE_IDLE)	434	if (ubxState != UBXSTATE_IDLE)
400	{	435	{
401	ubxState = UBXSTATE_LEN1;	436	ubxState = UBXSTATE_LEN1;
402	cka = UBX_CLASS_NAV + c;	437	cka = UBX_CLASS_NAV + c;
403	ckb = UBX_CLASS_NAV + cka;	438	ckb = UBX_CLASS_NAV + cka;
404	}	439	}
405	break;	440	break;
406		441
407	case UBXSTATE_LEN1: // 1st message length byte	442	case UBXSTATE_LEN1: // 1st message length byte
408	msglen = (u16)c; // lowbyte first	443	msglen = (u16)c; // lowbyte first
409	cka += c;	444	cka += c;
410	ckb += cka;	445	ckb += cka;
411	ubxState = UBXSTATE_LEN2;	446	ubxState = UBXSTATE_LEN2;
412	break;	447	break;
413		448
414	case UBXSTATE_LEN2: // 2nd message length byte	449	case UBXSTATE_LEN2: // 2nd message length byte
415	msglen += ((u16)c)<<8; // high byte last	450	msglen += ((u16)c)<<8; // high byte last
416	cka += c;	451	cka += c;
417	ckb += cka;	452	ckb += cka;
418	// if the old data are not processed so far then break parsing now	453	// if the old data are not processed so far then break parsing now
419	// to avoid writing new data in ISR during reading by another function	454	// to avoid writing new data in ISR during reading by another function
420	if ( *ubxSp == NEWDATA )	455	if ( *ubxSp == NEWDATA )
421	{	456	{
422	ubxState = UBXSTATE_IDLE;	457	ubxState = UBXSTATE_IDLE;
423	Update_GPSData(); //update GPS info respectively	458	if(ubxclass == UBX_CLASS_NAV) Update_GPSData(); //update GPS info respectively
424	}	459	}
425	else // data invalid or allready processd	460	else // data invalid or allready processd
426	{	461	{
427	*ubxSp = INVALID; // mark invalid during buffer filling	462	*ubxSp = INVALID; // mark invalid during buffer filling
428	ubxState = UBXSTATE_DATA;	463	ubxState = UBXSTATE_DATA;
429	}	464	}
430	break;	465	break;
431		466
432	case UBXSTATE_DATA: // collecting data	467	case UBXSTATE_DATA: // collecting data
433	if (ubxP < ubxEp)	468	if (ubxP < ubxEp)
434	{	469	{
435	*ubxP++ = c; // copy curent data byte if any space is left	470	*ubxP++ = c; // copy curent data byte if any space is left
436	cka += c;	471	cka += c;
437	ckb += cka;	472	ckb += cka;
438	if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read	473	if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read
439	}	474	}
440	else // rx buffer overrun	475	else // rx buffer overrun
441	{	476	{
442	ubxState = UBXSTATE_IDLE;	477	ubxState = UBXSTATE_IDLE;
443	}	478	}
444	break;	479	break;
445		480
446	case UBXSTATE_CKA:	481	case UBXSTATE_CKA:
447	if (c == cka) ubxState = UBXSTATE_CKB;	482	if (c == cka) ubxState = UBXSTATE_CKB;
448	else	483	else
449	{	484	{
450	*ubxSp = INVALID;	485	*ubxSp = INVALID;
451	ubxState = UBXSTATE_IDLE;	486	ubxState = UBXSTATE_IDLE;
452	}	487	}
453	break;	488	break;
454		489
455	case UBXSTATE_CKB:	490	case UBXSTATE_CKB:
456	if (c == ckb)	491	if (c == ckb)
457	{	492	{
458	*ubxSp = NEWDATA; // new data are valid	493	*ubxSp = NEWDATA; // new data are valid
459	Update_GPSData(); //update GPS info respectively	494	if(ubxclass == UBX_CLASS_NAV) Update_GPSData(); //update GPS info respectively
460	}	495	}
461	else	496	else

Subversion Repositories NaviCtrl

(root)/tags/V0.24b/ubx.c @ 311 - Rev 244 → 245