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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 identifiers |
90 | // protocoll identifiers |
90 | // navigation class |
91 | // navigation class |
91 | #define UBX_CLASS_NAV 0x01 |
92 | #define UBX_CLASS_NAV 0x01 |
92 | #define UBX_ID_POSLLH 0x02 |
93 | #define UBX_ID_POSLLH 0x02 |
93 | #define UBX_ID_SOL 0x06 |
94 | #define UBX_ID_SOL 0x06 |
94 | #define UBX_ID_VELNED 0x12 |
95 | #define UBX_ID_VELNED 0x12 |
95 | 96 | ||
96 | // ------------------------------------------------------------------------------------------------ |
97 | // ------------------------------------------------------------------------------------------------ |
97 | // typedefs |
98 | // typedefs |
98 | 99 | ||
99 | 100 | ||
100 | // ubx parser state |
101 | // ubx parser state |
101 | typedef enum |
102 | typedef enum |
102 | { |
103 | { |
103 | UBXSTATE_IDLE, |
104 | UBXSTATE_IDLE, |
104 | UBXSTATE_SYNC1, |
105 | UBXSTATE_SYNC1, |
105 | UBXSTATE_SYNC2, |
106 | UBXSTATE_SYNC2, |
106 | UBXSTATE_CLASS, |
107 | UBXSTATE_CLASS, |
107 | UBXSTATE_LEN1, |
108 | UBXSTATE_LEN1, |
108 | UBXSTATE_LEN2, |
109 | UBXSTATE_LEN2, |
109 | UBXSTATE_DATA, |
110 | UBXSTATE_DATA, |
110 | UBXSTATE_CKA, |
111 | UBXSTATE_CKA, |
111 | UBXSTATE_CKB |
112 | UBXSTATE_CKB |
112 | } ubxState_t; |
113 | } ubxState_t; |
113 | 114 | ||
114 | typedef struct |
115 | typedef struct |
115 | { |
116 | { |
116 | u32 itow; // ms GPS Millisecond Time of Week |
117 | u32 itow; // ms GPS Millisecond Time of Week |
117 | s32 frac; // ns remainder of rounded ms above |
118 | s32 frac; // ns remainder of rounded ms above |
118 | s16 week; // GPS week |
119 | s16 week; // GPS week |
119 | u8 GPSfix; // GPSfix Type, range 0..6 |
120 | u8 GPSfix; // GPSfix Type, range 0..6 |
120 | u8 Flags; // Navigation Status Flags |
121 | u8 Flags; // Navigation Status Flags |
121 | s32 ECEF_X; // cm ECEF X coordinate |
122 | s32 ECEF_X; // cm ECEF X coordinate |
122 | s32 ECEF_Y; // cm ECEF Y coordinate |
123 | s32 ECEF_Y; // cm ECEF Y coordinate |
123 | s32 ECEF_Z; // cm ECEF Z coordinate |
124 | s32 ECEF_Z; // cm ECEF Z coordinate |
124 | u32 PAcc; // cm 3D Position Accuracy Estimate |
125 | u32 PAcc; // cm 3D Position Accuracy Estimate |
125 | s32 ECEFVX; // cm/s ECEF X velocity |
126 | s32 ECEFVX; // cm/s ECEF X velocity |
126 | s32 ECEFVY; // cm/s ECEF Y velocity |
127 | s32 ECEFVY; // cm/s ECEF Y velocity |
127 | s32 ECEFVZ; // cm/s ECEF Z velocity |
128 | s32 ECEFVZ; // cm/s ECEF Z velocity |
128 | u32 SAcc; // cm/s Speed Accuracy Estimate |
129 | u32 SAcc; // cm/s Speed Accuracy Estimate |
129 | u16 PDOP; // 0.01 Position DOP |
130 | u16 PDOP; // 0.01 Position DOP |
130 | u8 res1; // reserved |
131 | u8 res1; // reserved |
131 | u8 numSV; // Number of SVs used in navigation solution |
132 | u8 numSV; // Number of SVs used in navigation solution |
132 | u32 res2; // reserved |
133 | u32 res2; // reserved |
133 | u8 Status; // invalid/newdata/processed |
134 | u8 Status; // invalid/newdata/processed |
134 | } __attribute__((packed)) ubx_nav_sol_t; |
135 | } __attribute__((packed)) ubx_nav_sol_t; |
135 | 136 | ||
136 | 137 | ||
137 | typedef struct |
138 | typedef struct |
138 | { |
139 | { |
139 | u32 itow; // ms GPS Millisecond Time of Week |
140 | u32 itow; // ms GPS Millisecond Time of Week |
140 | s32 VEL_N; // cm/s NED north velocity |
141 | s32 VEL_N; // cm/s NED north velocity |
141 | s32 VEL_E; // cm/s NED east velocity |
142 | s32 VEL_E; // cm/s NED east velocity |
142 | s32 VEL_D; // cm/s NED down velocity |
143 | s32 VEL_D; // cm/s NED down velocity |
143 | u32 Speed; // cm/s Speed (3-D) |
144 | u32 Speed; // cm/s Speed (3-D) |
144 | u32 GSpeed; // cm/s Ground Speed (2-D) |
145 | u32 GSpeed; // cm/s Ground Speed (2-D) |
145 | s32 Heading; // 1e-05 deg Heading 2-D |
146 | s32 Heading; // 1e-05 deg Heading 2-D |
146 | u32 SAcc; // cm/s Speed Accuracy Estimate |
147 | u32 SAcc; // cm/s Speed Accuracy Estimate |
147 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
148 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
148 | u8 Status; // invalid/newdata/processed |
149 | u8 Status; // invalid/newdata/processed |
149 | } __attribute__((packed)) ubx_nav_velned_t; |
150 | } __attribute__((packed)) ubx_nav_velned_t; |
150 | 151 | ||
151 | typedef struct |
152 | typedef struct |
152 | { |
153 | { |
153 | u32 itow; // ms GPS Millisecond Time of Week |
154 | u32 itow; // ms GPS Millisecond Time of Week |
154 | s32 LON; // 1e-07 deg Longitude |
155 | s32 LON; // 1e-07 deg Longitude |
155 | s32 LAT; // 1e-07 deg Latitude |
156 | s32 LAT; // 1e-07 deg Latitude |
156 | s32 HEIGHT; // mm Height above Ellipsoid |
157 | s32 HEIGHT; // mm Height above Ellipsoid |
157 | s32 HMSL; // mm Height above mean sea level |
158 | s32 HMSL; // mm Height above mean sea level |
158 | u32 Hacc; // mm Horizontal Accuracy Estimate |
159 | u32 Hacc; // mm Horizontal Accuracy Estimate |
159 | u32 Vacc; // mm Vertical Accuracy Estimate |
160 | u32 Vacc; // mm Vertical Accuracy Estimate |
160 | u8 Status; // invalid/newdata/processed |
161 | u8 Status; // invalid/newdata/processed |
161 | } __attribute__((packed)) ubx_nav_posllh_t; |
162 | } __attribute__((packed)) ubx_nav_posllh_t; |
162 | 163 | ||
163 | //------------------------------------------------------------------------------------ |
164 | //------------------------------------------------------------------------------------ |
164 | // global variables |
165 | // global variables |
165 | 166 | ||
166 | // local buffers for the incomming ubx messages |
167 | // local buffers for the incomming ubx messages |
167 | volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
168 | ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
168 | volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
169 | ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
169 | volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
170 | ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
170 | volatile ubxmsg_t UbxMsg; |
171 | ubxmsg_t UbxMsg; |
171 | 172 | ||
172 | // shared buffer |
173 | // shared buffer |
173 | gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
174 | gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
174 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
175 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
175 | 176 | ||
176 | #define UBX_TIMEOUT 500 // 500 ms |
177 | #define UBX_TIMEOUT 500 // 500 ms |
177 | u32 UBX_Timeout = 0; |
178 | u32 UBX_Timeout = 0; |
178 | 179 | ||
179 | //------------------------------------------------------------------------------------ |
180 | //------------------------------------------------------------------------------------ |
180 | // functions |
181 | // functions |
181 | 182 | ||
182 | u8 IsLeapYear(u16 year) |
183 | u8 IsLeapYear(u16 year) |
183 | { |
184 | { |
184 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
185 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
185 | else return 0; |
186 | else return 0; |
186 | } |
187 | } |
187 | /********************************************************/ |
188 | /********************************************************/ |
188 | /* Calculates the UTC Time from the GPS week and tow */ |
189 | /* Calculates the UTC Time from the GPS week and tow */ |
189 | /********************************************************/ |
190 | /********************************************************/ |
190 | void SetGPSTime(DateTime_t * pTimeStruct) |
191 | void SetGPSTime(DateTime_t * pTimeStruct) |
191 | { |
192 | { |
192 | u32 Days, Seconds, Week; |
193 | u32 Days, Seconds, Week; |
193 | u16 YearPart; |
194 | u16 YearPart; |
194 | u32 * MonthDayTab = 0; |
195 | u32 * MonthDayTab = 0; |
195 | u8 i; |
196 | u8 i; |
196 | 197 | ||
197 | 198 | ||
198 | // if GPS data show valid time data |
199 | // if GPS data show valid time data |
199 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
200 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
200 | { |
201 | { |
201 | Seconds = UbxSol.itow / 1000L; |
202 | Seconds = UbxSol.itow / 1000L; |
202 | Week = (u32)UbxSol.week; |
203 | Week = (u32)UbxSol.week; |
203 | // correct leap seconds since 1980 |
204 | // correct leap seconds since 1980 |
204 | if(Seconds < LEAP_SECONDS_FROM_1980) |
205 | if(Seconds < LEAP_SECONDS_FROM_1980) |
205 | { |
206 | { |
206 | Week--; |
207 | Week--; |
207 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
208 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
208 | } |
209 | } |
209 | else Seconds -= LEAP_SECONDS_FROM_1980; |
210 | else Seconds -= LEAP_SECONDS_FROM_1980; |
210 | 211 | ||
211 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
212 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
212 | Days += (Week * DAYS_PER_WEEK); |
213 | Days += (Week * DAYS_PER_WEEK); |
213 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
214 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
214 | 215 | ||
215 | pTimeStruct->Year = 1; |
216 | pTimeStruct->Year = 1; |
216 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
217 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
217 | pTimeStruct->Year += YearPart * 400; |
218 | pTimeStruct->Year += YearPart * 400; |
218 | Days = Days % DAYS_PER_400YEARS; |
219 | Days = Days % DAYS_PER_400YEARS; |
219 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
220 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
220 | pTimeStruct->Year += YearPart * 100; |
221 | pTimeStruct->Year += YearPart * 100; |
221 | Days = Days % DAYS_PER_100YEARS; |
222 | Days = Days % DAYS_PER_100YEARS; |
222 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
223 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
223 | pTimeStruct->Year += YearPart * 4; |
224 | pTimeStruct->Year += YearPart * 4; |
224 | Days = Days % DAYS_PER_4YEARS; |
225 | Days = Days % DAYS_PER_4YEARS; |
225 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
226 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
226 | else YearPart = 3; |
227 | else YearPart = 3; |
227 | pTimeStruct->Year += YearPart; |
228 | pTimeStruct->Year += YearPart; |
228 | // calculate remaining days of year |
229 | // calculate remaining days of year |
229 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
230 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
230 | Days += 1; |
231 | Days += 1; |
231 | // check if current year is a leap year |
232 | // check if current year is a leap year |
232 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
233 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
233 | else MonthDayTab = (u32*)Normal; |
234 | else MonthDayTab = (u32*)Normal; |
234 | // seperate month and day from days of year |
235 | // seperate month and day from days of year |
235 | for ( i = 0; i < 12; i++ ) |
236 | for ( i = 0; i < 12; i++ ) |
236 | { |
237 | { |
237 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
238 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
238 | { |
239 | { |
239 | pTimeStruct->Month = i+1; |
240 | pTimeStruct->Month = i+1; |
240 | pTimeStruct->Day = Days - MonthDayTab[i]; |
241 | pTimeStruct->Day = Days - MonthDayTab[i]; |
241 | i = 12; |
242 | i = 12; |
242 | } |
243 | } |
243 | } |
244 | } |
244 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
245 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
245 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
246 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
246 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
247 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
247 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
248 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
248 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
249 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
249 | pTimeStruct->Sec = (u8)(Seconds); |
250 | pTimeStruct->Sec = (u8)(Seconds); |
250 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
251 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
251 | pTimeStruct->Valid = 1; |
252 | pTimeStruct->Valid = 1; |
252 | } |
253 | } |
253 | else |
254 | else |
254 | { |
255 | { |
255 | pTimeStruct->Valid = 0; |
256 | pTimeStruct->Valid = 0; |
256 | } |
257 | } |
257 | } |
258 | } |
258 | 259 | ||
259 | 260 | ||
260 | 261 | ||
261 | /********************************************************/ |
262 | /********************************************************/ |
262 | /* Initialize UBX Parser */ |
263 | /* Initialize UBX Parser */ |
263 | /********************************************************/ |
264 | /********************************************************/ |
264 | void UBX_Init(void) |
265 | void UBX_Init(void) |
265 | { |
266 | { |
266 | // mark msg buffers invalid |
267 | // mark msg buffers invalid |
267 | UbxSol.Status = INVALID; |
268 | UbxSol.Status = INVALID; |
268 | UbxPosLlh.Status = INVALID; |
269 | UbxPosLlh.Status = INVALID; |
269 | UbxVelNed.Status = INVALID; |
270 | UbxVelNed.Status = INVALID; |
270 | UbxMsg.Status = INVALID; |
271 | UbxMsg.Status = INVALID; |
271 | GPSData.Status = INVALID; |
272 | GPSData.Status = INVALID; |
272 | 273 | ||
273 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
274 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
274 | } |
275 | } |
275 | 276 | ||
276 | /********************************************************/ |
277 | /********************************************************/ |
277 | /* Upate GPS data stcructure */ |
278 | /* Upate GPS data stcructure */ |
278 | /********************************************************/ |
279 | /********************************************************/ |
279 | void Update_GPSData (void) |
280 | void Update_GPSData(void) |
280 | { |
281 | { |
281 | static u32 Msg_Count_Timeout = 0; |
- | |
282 | static u8 Msg_Count = 0; |
- | |
283 | static u32 LastTimeStamp = 0; |
282 | static u32 LastTimeStamp = 0; |
284 | u32 TimeStamp; |
283 | u32 TimeStamp; |
285 | - | ||
286 | // 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 |
- | |
288 | // that belongs together |
284 | static u32 last_itow = 0; |
289 | // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
- | |
290 | // | 8ms | 8ms | 184 ms | | | |
- | |
291 | // msg_count: 0 1 2 0 1 2 |
- | |
292 | - | ||
293 | if(CheckDelay(Msg_Count_Timeout)) Msg_Count = 0; |
- | |
294 | else Msg_Count++; |
- | |
295 | Msg_Count_Timeout = SetDelay(100); // reset ubx msg timeout |
- | |
296 | 285 | ||
297 | // if a new set of ubx messages was collected |
- | |
298 | if((Msg_Count >= 2)) |
- | |
299 | { // if set is complete |
286 | // if a new set of ubx messages was collected |
- | 287 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
|
- | 288 | { // and the itow is equal (same time base) |
|
300 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
289 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
- | 290 | { |
|
- | 291 | DebugOut.Analog[23] = (u16)(UbxSol.itow-last_itow); |
|
301 | { |
292 | last_itow = UbxSol.itow; // update last itow |
302 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
293 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
303 | DebugOut.Analog[9]++; |
- | |
304 | 294 | DebugOut.Analog[9]++; |
|
305 | // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
295 | // update GPS data only if the status is INVALID or PROCESSED |
306 | if(GPSData.Status != NEWDATA) // if last data were processed |
296 | if(GPSData.Status != NEWDATA) |
307 | { // wait for new data at all neccesary ubx messages |
297 | { // wait for new data at all neccesary ubx messages |
308 | GPSData.Status = INVALID; |
298 | GPSData.Status = INVALID; |
309 | // update message cycle time |
299 | // update message cycle time |
310 | TimeStamp = CountMilliseconds; |
300 | TimeStamp = CountMilliseconds; |
311 | GPSData.MsgCycleTime = (u16)(TimeStamp - LastTimeStamp); |
301 | GPSData.MsgCycleTime = (u16)(TimeStamp - LastTimeStamp); |
312 | LastTimeStamp = TimeStamp; |
302 | LastTimeStamp = TimeStamp; |
313 | DebugOut.Analog[16] = GPSData.MsgCycleTime; |
303 | DebugOut.Analog[16] = GPSData.MsgCycleTime; |
314 | // NAV SOL |
304 | // NAV SOL |
315 | GPSData.Flags = UbxSol.Flags; |
305 | GPSData.Flags = UbxSol.Flags; |
316 | GPSData.NumOfSats = UbxSol.numSV; |
306 | GPSData.NumOfSats = UbxSol.numSV; |
317 | GPSData.SatFix = UbxSol.GPSfix; |
307 | GPSData.SatFix = UbxSol.GPSfix; |
318 | GPSData.Position_Accuracy = UbxSol.PAcc; |
308 | GPSData.Position_Accuracy = UbxSol.PAcc; |
319 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
309 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
320 | SetGPSTime(&SystemTime); // update system time |
310 | SetGPSTime(&SystemTime); // update system time |
321 | // NAV POSLLH |
311 | // NAV POSLLH |
322 | GPSData.Position.Status = INVALID; |
312 | GPSData.Position.Status = INVALID; |
323 | GPSData.Position.Longitude = UbxPosLlh.LON; |
313 | GPSData.Position.Longitude = UbxPosLlh.LON; |
324 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
314 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
325 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
315 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
326 | GPSData.Position.Status = NEWDATA; |
316 | GPSData.Position.Status = NEWDATA; |
327 | // NAV VELNED |
317 | // NAV VELNED |
328 | GPSData.Speed_East = UbxVelNed.VEL_E; |
318 | GPSData.Speed_East = UbxVelNed.VEL_E; |
329 | GPSData.Speed_North = UbxVelNed.VEL_N; |
319 | GPSData.Speed_North = UbxVelNed.VEL_N; |
330 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
320 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
331 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
321 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
332 | GPSData.Heading = UbxVelNed.Heading; |
322 | GPSData.Heading = UbxVelNed.Heading; |
333 | 323 | ||
334 | GPSData.Status = NEWDATA; // new data available |
324 | GPSData.Status = NEWDATA; // new data available |
335 | } // EOF if(GPSData.Status != NEWDATA) |
325 | } // EOF if(GPSData.Status != NEWDATA) |
336 | } // EOF all ubx messages received |
- | |
337 | // set state to collect new data |
326 | // set state to collect new data |
338 | UbxSol.Status = PROCESSED; // ready for new data |
327 | UbxSol.Status = PROCESSED; // ready for new data |
339 | UbxPosLlh.Status = PROCESSED; // ready for new data |
328 | UbxPosLlh.Status = PROCESSED; // ready for new data |
340 | UbxVelNed.Status = PROCESSED; // ready for new data |
329 | UbxVelNed.Status = PROCESSED; // ready for new data |
341 | } |
330 | } // EOF all itow are equal |
- | 331 | } // EOF all ubx messages received |
|
342 | } |
332 | } |
343 | 333 | ||
344 | 334 | ||
345 | /********************************************************/ |
335 | /********************************************************/ |
346 | /* UBX Parser */ |
336 | /* UBX Parser */ |
347 | /********************************************************/ |
337 | /********************************************************/ |
348 | void UBX_RxParser(u8 c) |
338 | void UBX_RxParser(u8 c) |
349 | { |
339 | { |
350 | static ubxState_t ubxState = UBXSTATE_IDLE; |
340 | static ubxState_t ubxState = UBXSTATE_IDLE; |
351 | static u8 ubxclass; |
341 | static ubxmsghdr_t RxHdr; |
352 | static u8 ubxid; |
342 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
353 | static u16 msglen; |
343 | static u16 RxBytes = 0; |
354 | static u8 cka, ckb; |
344 | static u8 cka, ckb; |
355 | static u8 *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
- | |
356 | 345 | ||
357 | 346 | ||
358 | //state machine |
347 | //state machine |
359 | switch (ubxState) // ubx message parser |
348 | switch (ubxState) // ubx message parser |
360 | { |
349 | { |
361 | case UBXSTATE_IDLE: // check 1st sync byte |
350 | case UBXSTATE_IDLE: // check 1st sync byte |
362 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
351 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
363 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
352 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
364 | break; |
353 | break; |
365 | 354 | ||
366 | case UBXSTATE_SYNC1: // check 2nd sync byte |
355 | case UBXSTATE_SYNC1: // check 2nd sync byte |
367 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
356 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
368 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
357 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
369 | break; |
358 | break; |
370 | 359 | ||
371 | case UBXSTATE_SYNC2: // check msg class to be NAV |
360 | case UBXSTATE_SYNC2: // check msg class to be NAV |
372 | ubxclass = c; |
361 | RxHdr.Class = c; |
373 | ubxState = UBXSTATE_CLASS; |
362 | ubxState = UBXSTATE_CLASS; |
374 | break; |
363 | break; |
375 | 364 | ||
376 | case UBXSTATE_CLASS: // check message identifier |
365 | case UBXSTATE_CLASS: // check message identifier |
377 | ubxid = c; |
366 | RxHdr.Id = c; |
378 | ubxState = UBXSTATE_LEN1; |
367 | ubxState = UBXSTATE_LEN1; |
379 | cka = ubxclass + ubxid; |
368 | cka = RxHdr.Class + RxHdr.Id; |
380 | ckb = ubxclass + cka; |
369 | ckb = RxHdr.Class + cka; |
381 | break; |
370 | break; |
382 | 371 | ||
383 | case UBXSTATE_LEN1: // 1st message length byte |
372 | case UBXSTATE_LEN1: // 1st message length byte |
384 | msglen = (u16)c; // lowbyte first |
373 | RxHdr.Length = (u16)c; // lowbyte first |
385 | cka += c; |
374 | cka += c; |
386 | ckb += cka; |
375 | ckb += cka; |
387 | ubxState = UBXSTATE_LEN2; |
376 | ubxState = UBXSTATE_LEN2; |
388 | break; |
377 | break; |
389 | 378 | ||
390 | case UBXSTATE_LEN2: // 2nd message length byte |
379 | case UBXSTATE_LEN2: // 2nd message length byte |
391 | msglen += ((u16)c)<<8; // high byte last |
380 | RxHdr.Length += ((u16)c)<<8; // high byte last |
392 | cka += c; |
- | |
393 | ckb += cka; |
- | |
394 | - | ||
395 | switch(ubxclass) |
- | |
396 | { |
- | |
397 | case UBX_CLASS_NAV: |
- | |
398 | switch(ubxid) |
- | |
399 | { |
- | |
400 | case UBX_ID_POSLLH: // geodetic position |
- | |
401 | ubxP = (u8 *)&UbxPosLlh; // data start pointer |
- | |
402 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
- | |
403 | ubxSp = (u8 *)&UbxPosLlh.Status; // status pointer |
- | |
404 | break; |
- | |
405 | - | ||
406 | case UBX_ID_SOL: // navigation solution |
- | |
407 | ubxP = (u8 *)&UbxSol; // data start pointer |
- | |
408 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
- | |
409 | ubxSp = (u8 *)&UbxSol.Status; // status pointer |
- | |
410 | break; |
- | |
411 | - | ||
412 | case UBX_ID_VELNED: // velocity vector in tangent plane |
- | |
413 | ubxP = (u8 *)&UbxVelNed; // data start pointer |
- | |
414 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
- | |
415 | ubxSp = (u8 *)&UbxVelNed.Status; // status pointer |
- | |
416 | break; |
- | |
417 | - | ||
418 | default: // unsupported identifier |
- | |
419 | ubxState = UBXSTATE_IDLE; |
- | |
420 | return; |
- | |
421 | } |
- | |
422 | break; |
- | |
423 | - | ||
424 | default: // other classes |
- | |
425 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
- | |
426 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
- | |
427 | { // buffer is free and message matches to filter criteria |
- | |
428 | UbxMsg.Status = INVALID; |
- | |
429 | UbxMsg.Hdr.Class = ubxclass; |
- | |
430 | UbxMsg.Hdr.Id = ubxid; |
- | |
431 | UbxMsg.Hdr.Length = msglen; |
- | |
432 | ubxP = (u8 *)&(UbxMsg.Data); // data start pointer |
- | |
433 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
- | |
434 | ubxSp = (u8 *)&UbxMsg.Status; // status pointer |
- | |
435 | } |
- | |
436 | else ubxState = UBXSTATE_IDLE; |
- | |
437 | break; |
- | |
438 | } |
- | |
439 | if(ubxState != UBXSTATE_IDLE) |
381 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
440 | { |
- | |
441 | // if the old data are not processed so far then break parsing now |
- | |
442 | // to avoid writing new data in ISR during reading by another function |
- | |
443 | if ( *ubxSp == NEWDATA ) |
- | |
444 | { |
382 | { |
445 | ubxState = UBXSTATE_IDLE; |
383 | ubxState = UBXSTATE_IDLE; |
446 | if(ubxclass == UBX_CLASS_NAV) Update_GPSData(); //update GPS info respectively |
384 | DebugOut.Analog[25]++; |
447 | } |
385 | } |
448 | else // data invalid or allready processed |
386 | else |
449 | { |
387 | { |
- | 388 | cka += c; |
|
- | 389 | ckb += cka; |
|
450 | *ubxSp = INVALID; // mark invalid during buffer filling |
390 | RxBytes = 0; // reset data byte counter |
451 | ubxState = UBXSTATE_DATA; |
391 | ubxState = UBXSTATE_DATA; |
452 | } |
392 | } |
453 | } |
- | |
454 | break; |
393 | break; |
455 | 394 | ||
456 | case UBXSTATE_DATA: // collecting data |
395 | case UBXSTATE_DATA: // collecting data |
457 | if (ubxP < ubxEp) |
396 | if (RxBytes < UBX_MSG_DATA_SIZE) |
458 | { |
397 | { |
459 | *ubxP++ = c; // copy curent data byte if any space is left |
398 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
460 | cka += c; |
399 | cka += c; |
461 | ckb += cka; |
400 | ckb += cka; |
462 | if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read |
401 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
463 | } |
402 | } |
464 | else // rx buffer overrun |
403 | else // rx buffer overrun |
465 | { |
404 | { |
466 | ubxState = UBXSTATE_IDLE; |
405 | ubxState = UBXSTATE_IDLE; |
- | 406 | DebugOut.Analog[25]++; |
|
467 | } |
407 | } |
468 | break; |
408 | break; |
469 | 409 | ||
470 | case UBXSTATE_CKA: |
410 | case UBXSTATE_CKA: |
471 | if (c == cka) ubxState = UBXSTATE_CKB; |
411 | if (c == cka) ubxState = UBXSTATE_CKB; |
472 | else |
412 | else |
473 | { |
413 | { |
474 | *ubxSp = INVALID; |
- | |
475 | ubxState = UBXSTATE_IDLE; |
414 | ubxState = UBXSTATE_IDLE; |
- | 415 | DebugOut.Analog[24]++; |
|
476 | } |
416 | } |
477 | break; |
417 | break; |
478 | 418 | ||
479 | case UBXSTATE_CKB: |
419 | case UBXSTATE_CKB: |
480 | if (c == ckb) |
420 | if (c == ckb) |
- | 421 | { // checksum is ok |
|
- | 422 | ||
- | 423 | switch(RxHdr.Class) |
|
481 | { |
424 | { |
- | 425 | case UBX_CLASS_NAV: |
|
- | 426 | switch(RxHdr.Id) |
|
- | 427 | { |
|
482 | *ubxSp = NEWDATA; // new data are valid |
428 | case UBX_ID_POSLLH: // geodetic position |
- | 429 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
|
- | 430 | UbxPosLlh.Status = NEWDATA; |
|
- | 431 | break; |
|
- | 432 | ||
483 | if(ubxclass == UBX_CLASS_NAV) Update_GPSData(); //update GPS info respectively |
433 | case UBX_ID_VELNED: // velocity vector in tangent plane |
- | 434 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
|
- | 435 | UbxVelNed.Status = NEWDATA; |
|
- | 436 | break; |
|
- | 437 | ||
- | 438 | case UBX_ID_SOL: // navigation solution |
|
- | 439 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
|
- | 440 | UbxSol.Status = NEWDATA; |
|
- | 441 | break; |
|
- | 442 | ||
- | 443 | default: |
|
- | 444 | break; |
|
- | 445 | } // EOF switch(Id) |
|
- | 446 | Update_GPSData(); |
|
484 | } |
447 | break; |
- | 448 | ||
485 | else |
449 | default: |
- | 450 | break; |
|
- | 451 | } // EOF switch(class) |
|
- | 452 | ||
- | 453 | // check generic msg filter |
|
- | 454 | if(UbxMsg.Status != NEWDATA) |
|
- | 455 | { // msg buffer is free |
|
- | 456 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
|
486 | { // if checksum not match then set data invalid |
457 | { // msg matches to the filter criteria |
487 | *ubxSp = INVALID; |
458 | UbxMsg.Status = INVALID; |
- | 459 | UbxMsg.Hdr.Class = RxHdr.Class; |
|
- | 460 | UbxMsg.Hdr.Id = RxHdr.Id; |
|
- | 461 | UbxMsg.Hdr.Length = RxHdr.Length; |
|
- | 462 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
|
- | 463 | { // copy data block |
|
- | 464 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
|
- | 465 | UbxMsg.Status = NEWDATA; |
|
488 | } |
466 | } |
- | 467 | } // EOF filter matches |
|
- | 468 | } // EOF != INVALID |
|
- | 469 | }// EOF crc ok |
|
- | 470 | else DebugOut.Analog[24]++; |
|
489 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
471 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
490 | break; |
472 | break; |
491 | 473 | ||
492 | default: // unknown ubx state |
474 | default: // unknown ubx state |
493 | ubxState = UBXSTATE_IDLE; |
475 | ubxState = UBXSTATE_IDLE; |
494 | break; |
476 | break; |
495 | 477 | ||
496 | } |
478 | } |
497 | } |
479 | } |
498 | 480 | ||
499 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
481 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
500 | { |
482 | { |
501 | u16 i; |
483 | u16 i; |
502 | u8 cka = 0, ckb = 0; |
484 | u8 cka = 0, ckb = 0; |
503 | // check if buffer is available |
485 | // check if buffer is available |
504 | if(pBuff->Locked == TRUE) return(0); |
486 | if(pBuff->Locked == TRUE) return(0); |
505 | // check if buffer size is sufficient |
487 | // check if buffer size is sufficient |
506 | if(pBuff->Size < 8 + Len) return(0); |
488 | if(pBuff->Size < 8 + Len) return(0); |
507 | // lock the buffer |
489 | // lock the buffer |
508 | pBuff->Locked = TRUE; |
490 | pBuff->Locked = TRUE; |
509 | // start at begin |
491 | // start at begin |
510 | pBuff->Position = 0; |
492 | pBuff->Position = 0; |
511 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
493 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
512 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
494 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
513 | for(i=0;i<Len;i++) |
495 | for(i=0;i<Len;i++) |
514 | { |
496 | { |
515 | pBuff->pData[pBuff->Position++] = pData[i]; |
497 | pBuff->pData[pBuff->Position++] = pData[i]; |
516 | } |
498 | } |
517 | // calculate checksum |
499 | // calculate checksum |
518 | for(i=2;i<pBuff->Position;i++) |
500 | for(i=2;i<pBuff->Position;i++) |
519 | { |
501 | { |
520 | cka += pBuff->pData[i]; |
502 | cka += pBuff->pData[i]; |
521 | ckb += cka; |
503 | ckb += cka; |
522 | } |
504 | } |
523 | pBuff->pData[pBuff->Position++] = cka; |
505 | pBuff->pData[pBuff->Position++] = cka; |
524 | pBuff->pData[pBuff->Position++] = ckb; |
506 | pBuff->pData[pBuff->Position++] = ckb; |
525 | pBuff->DataBytes = pBuff->Position; |
507 | pBuff->DataBytes = pBuff->Position; |
526 | pBuff->Position = 0; // reset buffer position for transmision |
508 | pBuff->Position = 0; // reset buffer position for transmision |
527 | return(1); |
509 | return(1); |
528 | } |
510 | } |
- | 511 | /* |
|
- | 512 | switch(ubxclass) |
|
- | 513 | { |
|
- | 514 | case UBX_CLASS_NAV: |
|
- | 515 | switch(ubxid) |
|
- | 516 | { |
|
- | 517 | case UBX_ID_POSLLH: // geodetic position |
|
- | 518 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
|
- | 519 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
|
- | 520 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
|
- | 521 | break; |
|
- | 522 | |
|
- | 523 | case UBX_ID_SOL: // navigation solution |
|
- | 524 | ubxSp = (u8 *)&UbxSol; // data start pointer |
|
- | 525 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
|
- | 526 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
|
- | 527 | break; |
|
- | 528 | |
|
- | 529 | case UBX_ID_VELNED: // velocity vector in tangent plane |
|
- | 530 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
|
- | 531 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
|
- | 532 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
|
- | 533 | break; |
|
- | 534 | |
|
- | 535 | default: // unsupported identifier |
|
- | 536 | ubxState = UBXSTATE_IDLE; |
|
- | 537 | return; |
|
- | 538 | } |
|
- | 539 | break; |
|
- | 540 | ||
- | 541 | default: // other classes |
|
- | 542 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
|
- | 543 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
|
- | 544 | { // buffer is free and message matches to filter criteria |
|
- | 545 | UbxMsg.Status = INVALID; |
|
- | 546 | UbxMsg.Hdr.Class = ubxclass; |
|
- | 547 | UbxMsg.Hdr.Id = ubxid; |
|
- | 548 | UbxMsg.Hdr.Length = msglen; |
|
- | 549 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
|
- | 550 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
|
- | 551 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
|
- | 552 | } |
|
- | 553 | else ubxState = UBXSTATE_IDLE; |
|
- | 554 | break; |
|
- | 555 | } |
|
- | 556 | */ |
|
- | 557 | ||
529 | 558 |