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1 | #include <inttypes.h> |
1 | #include <inttypes.h> |
2 | #include "ubx.h" |
2 | #include "ubx.h" |
3 | #include <avr/io.h> |
3 | #include <avr/io.h> |
4 | #include "output.h" |
4 | #include "output.h" |
5 | 5 | ||
6 | // ubx protocol parser state machine |
6 | // ubx protocol parser state machine |
7 | #define UBXSTATE_IDLE 0 |
7 | #define UBXSTATE_IDLE 0 |
8 | #define UBXSTATE_SYNC1 1 |
8 | #define UBXSTATE_SYNC1 1 |
9 | #define UBXSTATE_SYNC2 2 |
9 | #define UBXSTATE_SYNC2 2 |
10 | #define UBXSTATE_CLASS 3 |
10 | #define UBXSTATE_CLASS 3 |
11 | #define UBXSTATE_LEN1 4 |
11 | #define UBXSTATE_LEN1 4 |
12 | #define UBXSTATE_LEN2 5 |
12 | #define UBXSTATE_LEN2 5 |
13 | #define UBXSTATE_DATA 6 |
13 | #define UBXSTATE_DATA 6 |
14 | #define UBXSTATE_CKA 7 |
14 | #define UBXSTATE_CKA 7 |
15 | #define UBXSTATE_CKB 8 |
15 | #define UBXSTATE_CKB 8 |
16 | 16 | ||
17 | // ublox protocoll identifier |
17 | // ublox protocoll identifier |
18 | #define UBX_CLASS_NAV 0x01 |
18 | #define UBX_CLASS_NAV 0x01 |
19 | 19 | ||
20 | #define UBX_ID_POSLLH 0x02 |
20 | #define UBX_ID_POSLLH 0x02 |
21 | #define UBX_ID_SOL 0x06 |
21 | #define UBX_ID_SOL 0x06 |
22 | #define UBX_ID_VELNED 0x12 |
22 | #define UBX_ID_VELNED 0x12 |
23 | 23 | ||
24 | #define UBX_SYNC1_CHAR 0xB5 |
24 | #define UBX_SYNC1_CHAR 0xB5 |
25 | #define UBX_SYNC2_CHAR 0x62 |
25 | #define UBX_SYNC2_CHAR 0x62 |
26 | 26 | ||
27 | typedef struct { |
27 | typedef struct { |
28 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
28 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
29 | int32_t frac; // ns remainder of rounded ms above |
29 | int32_t frac; // ns remainder of rounded ms above |
30 | int16_t week; // GPS week |
30 | int16_t week; // GPS week |
31 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
31 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
32 | uint8_t flags; // Navigation Status Flags |
32 | uint8_t flags; // Navigation Status Flags |
33 | int32_t ECEF_X; // cm ECEF X coordinate |
33 | int32_t ECEF_X; // cm ECEF X coordinate |
34 | int32_t ECEF_Y; // cm ECEF Y coordinate |
34 | int32_t ECEF_Y; // cm ECEF Y coordinate |
35 | int32_t ECEF_Z; // cm ECEF Z coordinate |
35 | int32_t ECEF_Z; // cm ECEF Z coordinate |
36 | uint32_t pAcc; // cm 3D Position Accuracy Estimate |
36 | uint32_t pAcc; // cm 3D Position Accuracy Estimate |
37 | int32_t ECEFVX; // cm/s ECEF X velocity |
37 | int32_t ECEFVX; // cm/s ECEF X velocity |
38 | int32_t ECEFVY; // cm/s ECEF Y velocity |
38 | int32_t ECEFVY; // cm/s ECEF Y velocity |
39 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
39 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
40 | uint32_t sAcc; // cm/s Speed Accuracy Estimate |
40 | uint32_t sAcc; // cm/s Speed Accuracy Estimate |
41 | uint16_t PDOP; // 0.01 Position DOP |
41 | uint16_t PDOP; // 0.01 Position DOP |
42 | uint8_t res1; // reserved |
42 | uint8_t res1; // reserved |
43 | uint8_t numSV; // Number of SVs used in navigation solution |
43 | uint8_t numSV; // Number of SVs used in navigation solution |
44 | uint32_t res2; // reserved |
44 | uint32_t res2; // reserved |
45 | Status_t status; |
45 | Status_t status; |
46 | } UBX_SOL_t; |
46 | } UBX_SOL_t; |
47 | 47 | ||
48 | typedef struct { |
48 | typedef struct { |
49 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
49 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
50 | int32_t lon; // 1e-07 deg Longitude |
50 | int32_t lon; // 1e-07 deg Longitude |
51 | int32_t lat; // 1e-07 deg Latitude |
51 | int32_t lat; // 1e-07 deg Latitude |
52 | int32_t height; // mm Height above Ellipsoid |
52 | int32_t height; // mm Height above Ellipsoid |
53 | int32_t HMSL; // mm Height above mean sea level |
53 | int32_t HMSL; // mm Height above mean sea level |
54 | uint32_t hAcc; // mm Horizontal Accuracy Estimate |
54 | uint32_t hAcc; // mm Horizontal Accuracy Estimate |
55 | uint32_t vAacc; // mm Vertical Accuracy Estimate |
55 | uint32_t vAacc; // mm Vertical Accuracy Estimate |
56 | Status_t status; |
56 | Status_t status; |
57 | } UBX_POSLLH_t; |
57 | } UBX_POSLLH_t; |
58 | 58 | ||
59 | typedef struct { |
59 | typedef struct { |
60 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
60 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
61 | int32_t VEL_N; // cm/s NED north velocity |
61 | int32_t VEL_N; // cm/s NED north velocity |
62 | int32_t VEL_E; // cm/s NED east velocity |
62 | int32_t VEL_E; // cm/s NED east velocity |
63 | int32_t VEL_D; // cm/s NED down velocity |
63 | int32_t VEL_D; // cm/s NED down velocity |
64 | uint32_t speed; // cm/s Speed (3-D) |
64 | uint32_t speed; // cm/s Speed (3-D) |
65 | uint32_t gSpeed; // cm/s Ground Speed (2-D) |
65 | uint32_t gSpeed; // cm/s Ground Speed (2-D) |
66 | int32_t heading; // 1e-05 deg Heading 2-D |
66 | int32_t heading; // 1e-05 deg Heading 2-D |
67 | uint32_t sAcc; // cm/s Speed Accuracy Estimate |
67 | uint32_t sAcc; // cm/s Speed Accuracy Estimate |
68 | uint32_t cAcc; // deg Course / Heading Accuracy Estimate |
68 | uint32_t cAcc; // deg Course / Heading Accuracy Estimate |
69 | Status_t status; |
69 | Status_t status; |
70 | } UBX_VELNED_t; |
70 | } UBX_VELNED_t; |
71 | 71 | ||
72 | UBX_SOL_t ubxSol = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
72 | UBX_SOL_t ubxSol = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
73 | UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID }; |
73 | UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID }; |
74 | UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
74 | UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
75 | GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
75 | GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
76 | 76 | ||
77 | volatile uint8_t GPSTimeout = 0; |
77 | volatile uint8_t GPSTimeout = 0; |
78 | volatile uint16_t GPSDatasetCounter = 0; |
78 | volatile uint16_t GPSDatasetCounter = 0; |
79 | 79 | ||
80 | void updateGPSInfo(void) { |
80 | void updateGPSInfo(void) { |
81 | if ((ubxSol.status == NEWDATA) && (ubxPosLlh.status == NEWDATA) && (ubxVelNed.status == NEWDATA)) { |
81 | if ((ubxSol.status == NEWDATA) && (ubxPosLlh.status == NEWDATA) && (ubxVelNed.status == NEWDATA)) { |
82 | //RED_FLASH; |
82 | //RED_FLASH; |
83 | // DebugOut.Digital ....blah... |
83 | // DebugOut.Digital ....blah... |
84 | if (GPSInfo.status != NEWDATA) { |
84 | if (GPSInfo.status != NEWDATA) { |
85 | GPSDatasetCounter++; |
85 | GPSDatasetCounter++; |
86 | GPSInfo.status = INVALID; |
86 | GPSInfo.status = INVALID; |
87 | // NAV SOL |
87 | // NAV SOL |
88 | GPSInfo.flags = ubxSol.flags; |
88 | GPSInfo.flags = ubxSol.flags; |
89 | GPSInfo.satfix = ubxSol.GPSfix; |
89 | GPSInfo.satfix = ubxSol.GPSfix; |
90 | GPSInfo.satnum = ubxSol.numSV; |
90 | GPSInfo.satnum = ubxSol.numSV; |
91 | GPSInfo.PAcc = ubxSol.pAcc; |
91 | GPSInfo.PAcc = ubxSol.pAcc; |
92 | GPSInfo.VAcc = ubxSol.sAcc; |
92 | GPSInfo.VAcc = ubxSol.sAcc; |
- | 93 | debugOut.analog[31] = GPSInfo.VAcc/1000L; |
|
- | 94 | ||
93 | // NAV POSLLH |
95 | // NAV POSLLH |
94 | GPSInfo.longitude = ubxPosLlh.lon; |
96 | GPSInfo.longitude = ubxPosLlh.lon; |
95 | GPSInfo.latitude = ubxPosLlh.lat; |
97 | GPSInfo.latitude = ubxPosLlh.lat; |
96 | GPSInfo.altitude = ubxPosLlh.height; |
98 | GPSInfo.altitude = ubxPosLlh.height; |
97 | 99 | ||
98 | GPSInfo.veleast = ubxVelNed.VEL_E; |
100 | GPSInfo.veleast = ubxVelNed.VEL_E; |
99 | GPSInfo.velnorth = ubxVelNed.VEL_N; |
101 | GPSInfo.velnorth = ubxVelNed.VEL_N; |
100 | GPSInfo.veltop = -ubxVelNed.VEL_D; |
102 | GPSInfo.veltop = -ubxVelNed.VEL_D; |
101 | GPSInfo.velground = ubxVelNed.gSpeed; |
103 | GPSInfo.velground = ubxVelNed.gSpeed; |
102 | 104 | ||
103 | GPSInfo.status = NEWDATA; |
105 | GPSInfo.status = NEWDATA; |
104 | } |
106 | } |
105 | 107 | ||
106 | // set state to collect new data |
108 | // set state to collect new data |
107 | ubxSol.status = PROCESSED; // never update old data |
109 | ubxSol.status = PROCESSED; // never update old data |
108 | ubxPosLlh.status = PROCESSED; // never update old data |
110 | ubxPosLlh.status = PROCESSED; // never update old data |
109 | ubxVelNed.status = PROCESSED; // never update old data |
111 | ubxVelNed.status = PROCESSED; // never update old data |
110 | } |
112 | } |
111 | } |
113 | } |
112 | 114 | ||
113 | // this function should be called within the UART RX ISR |
115 | // this function should be called within the UART RX ISR |
114 | void ubx_parser(uint8_t c) { |
116 | void ubx_parser(uint8_t c) { |
115 | static uint8_t ubxstate = UBXSTATE_IDLE; |
117 | static uint8_t ubxstate = UBXSTATE_IDLE; |
116 | static uint8_t cka, ckb; |
118 | static uint8_t cka, ckb; |
117 | static uint16_t msglen; |
119 | static uint16_t msglen; |
118 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
120 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
119 | 121 | ||
120 | switch (ubxstate) { |
122 | switch (ubxstate) { |
121 | case UBXSTATE_IDLE: // check 1st sync byte |
123 | case UBXSTATE_IDLE: // check 1st sync byte |
122 | if (c == UBX_SYNC1_CHAR) |
124 | if (c == UBX_SYNC1_CHAR) |
123 | ubxstate = UBXSTATE_SYNC1; |
125 | ubxstate = UBXSTATE_SYNC1; |
124 | else |
126 | else |
125 | ubxstate = UBXSTATE_IDLE; // out of synchronization |
127 | ubxstate = UBXSTATE_IDLE; // out of synchronization |
126 | break; |
128 | break; |
127 | 129 | ||
128 | case UBXSTATE_SYNC1: // check 2nd sync byte |
130 | case UBXSTATE_SYNC1: // check 2nd sync byte |
129 | if (c == UBX_SYNC2_CHAR) |
131 | if (c == UBX_SYNC2_CHAR) |
130 | ubxstate = UBXSTATE_SYNC2; |
132 | ubxstate = UBXSTATE_SYNC2; |
131 | else |
133 | else |
132 | ubxstate = UBXSTATE_IDLE; // out of synchronization |
134 | ubxstate = UBXSTATE_IDLE; // out of synchronization |
133 | break; |
135 | break; |
134 | 136 | ||
135 | case UBXSTATE_SYNC2: // check msg class to be NAV |
137 | case UBXSTATE_SYNC2: // check msg class to be NAV |
136 | if (c == UBX_CLASS_NAV) |
138 | if (c == UBX_CLASS_NAV) |
137 | ubxstate = UBXSTATE_CLASS; |
139 | ubxstate = UBXSTATE_CLASS; |
138 | else |
140 | else |
139 | ubxstate = UBXSTATE_IDLE; // unsupported message class |
141 | ubxstate = UBXSTATE_IDLE; // unsupported message class |
140 | break; |
142 | break; |
141 | 143 | ||
142 | case UBXSTATE_CLASS: // check message identifier |
144 | case UBXSTATE_CLASS: // check message identifier |
143 | switch (c) { |
145 | switch (c) { |
144 | case UBX_ID_POSLLH: // geodetic position |
146 | case UBX_ID_POSLLH: // geodetic position |
145 | ubxP = (int8_t *) &ubxPosLlh; // data start pointer |
147 | ubxP = (int8_t *) &ubxPosLlh; // data start pointer |
146 | ubxEp = (int8_t *) (&ubxPosLlh + 1); // data end pointer |
148 | ubxEp = (int8_t *) (&ubxPosLlh + 1); // data end pointer |
147 | ubxSp = (int8_t *) &ubxPosLlh.status; // status pointer |
149 | ubxSp = (int8_t *) &ubxPosLlh.status; // status pointer |
148 | break; |
150 | break; |
149 | 151 | ||
150 | case UBX_ID_SOL: // navigation solution |
152 | case UBX_ID_SOL: // navigation solution |
151 | ubxP = (int8_t *) &ubxSol; // data start pointer |
153 | ubxP = (int8_t *) &ubxSol; // data start pointer |
152 | ubxEp = (int8_t *) (&ubxSol + 1); // data end pointer |
154 | ubxEp = (int8_t *) (&ubxSol + 1); // data end pointer |
153 | ubxSp = (int8_t *) &ubxSol.status; // status pointer |
155 | ubxSp = (int8_t *) &ubxSol.status; // status pointer |
154 | break; |
156 | break; |
155 | 157 | ||
156 | case UBX_ID_VELNED: // velocity vector in tangent plane |
158 | case UBX_ID_VELNED: // velocity vector in tangent plane |
157 | ubxP = (int8_t *) &ubxVelNed; // data start pointer |
159 | ubxP = (int8_t *) &ubxVelNed; // data start pointer |
158 | ubxEp = (int8_t *) (&ubxVelNed + 1); // data end pointer |
160 | ubxEp = (int8_t *) (&ubxVelNed + 1); // data end pointer |
159 | ubxSp = (int8_t *) &ubxVelNed.status; // status pointer |
161 | ubxSp = (int8_t *) &ubxVelNed.status; // status pointer |
160 | break; |
162 | break; |
161 | 163 | ||
162 | default: // unsupported identifier |
164 | default: // unsupported identifier |
163 | ubxstate = UBXSTATE_IDLE; |
165 | ubxstate = UBXSTATE_IDLE; |
164 | break; |
166 | break; |
165 | } |
167 | } |
166 | if (ubxstate != UBXSTATE_IDLE) { |
168 | if (ubxstate != UBXSTATE_IDLE) { |
167 | ubxstate = UBXSTATE_LEN1; |
169 | ubxstate = UBXSTATE_LEN1; |
168 | cka = UBX_CLASS_NAV + c; |
170 | cka = UBX_CLASS_NAV + c; |
169 | ckb = UBX_CLASS_NAV + cka; |
171 | ckb = UBX_CLASS_NAV + cka; |
170 | } |
172 | } |
171 | break; |
173 | break; |
172 | 174 | ||
173 | case UBXSTATE_LEN1: // 1st message length byte |
175 | case UBXSTATE_LEN1: // 1st message length byte |
174 | msglen = c; |
176 | msglen = c; |
175 | cka += c; |
177 | cka += c; |
176 | ckb += cka; |
178 | ckb += cka; |
177 | ubxstate = UBXSTATE_LEN2; |
179 | ubxstate = UBXSTATE_LEN2; |
178 | break; |
180 | break; |
179 | 181 | ||
180 | case UBXSTATE_LEN2: // 2nd message length byte |
182 | case UBXSTATE_LEN2: // 2nd message length byte |
181 | msglen += ((uint16_t) c) << 8; |
183 | msglen += ((uint16_t) c) << 8; |
182 | cka += c; |
184 | cka += c; |
183 | ckb += cka; |
185 | ckb += cka; |
184 | // if the old data are not processed so far then break parsing now |
186 | // if the old data are not processed so far then break parsing now |
185 | // to avoid writing new data in ISR during reading by another function |
187 | // to avoid writing new data in ISR during reading by another function |
186 | if (*ubxSp == NEWDATA) { |
188 | if (*ubxSp == NEWDATA) { |
187 | updateGPSInfo(); //update GPS info respectively |
189 | updateGPSInfo(); //update GPS info respectively |
188 | ubxstate = UBXSTATE_IDLE; |
190 | ubxstate = UBXSTATE_IDLE; |
189 | } else {// data invalid or already processd |
191 | } else {// data invalid or already processd |
190 | *ubxSp = INVALID; |
192 | *ubxSp = INVALID; |
191 | ubxstate = UBXSTATE_DATA; |
193 | ubxstate = UBXSTATE_DATA; |
192 | } |
194 | } |
193 | break; |
195 | break; |
194 | 196 | ||
195 | case UBXSTATE_DATA: |
197 | case UBXSTATE_DATA: |
196 | if (ubxP < ubxEp) |
198 | if (ubxP < ubxEp) |
197 | *ubxP++ = c; // copy curent data byte if any space is left |
199 | *ubxP++ = c; // copy curent data byte if any space is left |
198 | cka += c; |
200 | cka += c; |
199 | ckb += cka; |
201 | ckb += cka; |
200 | if (--msglen == 0) |
202 | if (--msglen == 0) |
201 | ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
203 | ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
202 | break; |
204 | break; |
203 | 205 | ||
204 | case UBXSTATE_CKA: |
206 | case UBXSTATE_CKA: |
205 | if (c == cka) |
207 | if (c == cka) |
206 | ubxstate = UBXSTATE_CKB; |
208 | ubxstate = UBXSTATE_CKB; |
207 | else { |
209 | else { |
208 | *ubxSp = INVALID; |
210 | *ubxSp = INVALID; |
209 | ubxstate = UBXSTATE_IDLE; |
211 | ubxstate = UBXSTATE_IDLE; |
210 | } |
212 | } |
211 | break; |
213 | break; |
212 | 214 | ||
213 | case UBXSTATE_CKB: |
215 | case UBXSTATE_CKB: |
214 | if (c == ckb) { |
216 | if (c == ckb) { |
215 | *ubxSp = NEWDATA; // new data are valid |
217 | *ubxSp = NEWDATA; // new data are valid |
216 | updateGPSInfo(); //update GPS info respectively |
218 | updateGPSInfo(); //update GPS info respectively |
217 | GPSTimeout = 255; |
219 | GPSTimeout = 255; |
218 | } else { // if checksum not match then set data invalid |
220 | } else { // if checksum not match then set data invalid |
219 | *ubxSp = INVALID; |
221 | *ubxSp = INVALID; |
220 | } |
222 | } |
221 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
223 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
222 | break; |
224 | break; |
223 | 225 | ||
224 | default: // unknown ubx state |
226 | default: // unknown ubx state |
225 | ubxstate = UBXSTATE_IDLE; |
227 | ubxstate = UBXSTATE_IDLE; |
226 | break; |
228 | break; |
227 | } |
229 | } |
228 | } |
230 | } |
229 | 231 |