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1 | /* |
1 | /* |
2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
2 | This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
4 | either version 3 of the License, or (at your option) any later version. |
4 | either version 3 of the License, or (at your option) any later version. |
5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
9 | 9 | ||
10 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
10 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
11 | */ |
11 | */ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | Peter Muehlenbrock |
13 | Peter Muehlenbrock |
14 | Auswertung der Daten vom GPS im ublox Format |
14 | Auswertung der Daten vom GPS im ublox Format |
15 | Regelung fuer GPS noch nicht implementiert |
15 | Regelung fuer GPS noch nicht implementiert |
16 | Stand 16.9.2007 |
16 | Stand 16.9.2007 |
17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | */ |
18 | */ |
19 | #include "main.h" |
19 | #include "main.h" |
20 | //#include "gps.h" |
20 | //#include "gps.h" |
21 | 21 | ||
22 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
22 | // Defines fuer ublox Messageformat um Auswertung zu steuern |
23 | #define UBLOX_IDLE 0 |
23 | #define UBLOX_IDLE 0 |
24 | #define UBLOX_SYNC1 1 |
24 | #define UBLOX_SYNC1 1 |
25 | #define UBLOX_SYNC2 2 |
25 | #define UBLOX_SYNC2 2 |
26 | #define UBLOX_CLASS 3 |
26 | #define UBLOX_CLASS 3 |
27 | #define UBLOX_ID 4 |
27 | #define UBLOX_ID 4 |
28 | #define UBLOX_LEN1 5 |
28 | #define UBLOX_LEN1 5 |
29 | #define UBLOX_LEN2 6 |
29 | #define UBLOX_LEN2 6 |
30 | #define UBLOX_CKA 7 |
30 | #define UBLOX_CKA 7 |
31 | #define UBLOX_CKB 8 |
31 | #define UBLOX_CKB 8 |
32 | #define UBLOX_PAYLOAD 9 |
32 | #define UBLOX_PAYLOAD 9 |
33 | 33 | ||
34 | // ublox Protokoll Identifier |
34 | // ublox Protokoll Identifier |
35 | #define UBLOX_NAV_POSUTM 0x08 |
35 | #define UBLOX_NAV_POSUTM 0x08 |
36 | #define UBLOX_NAV_STATUS 0x03 |
36 | #define UBLOX_NAV_STATUS 0x03 |
37 | #define UBLOX_NAV_VELED 0x12 |
37 | #define UBLOX_NAV_VELED 0x12 |
38 | #define UBLOX_NAV_CLASS 0x01 |
38 | #define UBLOX_NAV_CLASS 0x01 |
39 | #define UBLOX_SYNCH1_CHAR 0xB5 |
39 | #define UBLOX_SYNCH1_CHAR 0xB5 |
40 | #define UBLOX_SYNCH2_CHAR 0x62 |
40 | #define UBLOX_SYNCH2_CHAR 0x62 |
41 | 41 | ||
42 | signed int GPS_Nick = 0; |
42 | signed int GPS_Nick = 0; |
43 | signed int GPS_Roll = 0; |
43 | signed int GPS_Roll = 0; |
44 | short int ublox_msg_state = UBLOX_IDLE; |
44 | short int ublox_msg_state = UBLOX_IDLE; |
45 | static uint8_t chk_a =0; //Checksum |
45 | static uint8_t chk_a =0; //Checksum |
46 | static uint8_t chk_b =0; |
46 | static uint8_t chk_b =0; |
47 | short int gps_state; |
47 | short int gps_state; |
48 | short int gps_updte_flag; |
48 | short int gps_updte_flag; |
49 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
49 | signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
50 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
50 | signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
51 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
51 | signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
- | 52 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
|
52 | 53 | signed int ; |
|
53 | static unsigned int rx_len; |
54 | static unsigned int rx_len; |
54 | unsigned int cnt0,cnt1,cnt2; //******Provisorisch |
55 | unsigned int cnt0,cnt1,cnt2; //******Provisorisch |
55 | static unsigned int ptr_payload_data_end; |
56 | static unsigned int ptr_payload_data_end; |
56 | 57 | ||
57 | static uint8_t *ptr_payload_data; |
58 | static uint8_t *ptr_payload_data; |
58 | static uint8_t *ptr_pac_status; |
59 | static uint8_t *ptr_pac_status; |
59 | 60 | ||
60 | short int Get_GPS_data(void); |
61 | short int Get_GPS_data(void); |
61 | 62 | ||
62 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
63 | NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
63 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
64 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
64 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
65 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
65 | 66 | ||
66 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
67 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
67 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
68 | GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
68 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
69 | GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
69 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
70 | GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
70 | 71 | ||
71 | // Initialisierung |
72 | // Initialisierung |
72 | void GPS_Neutral(void) |
73 | void GPS_Neutral(void) |
73 | { |
74 | { |
74 | short int n; |
75 | short int n; |
75 | ublox_msg_state = UBLOX_IDLE; |
76 | ublox_msg_state = UBLOX_IDLE; |
76 | gps_state = GPS_CRTL_IDLE; |
77 | gps_state = GPS_CRTL_IDLE; |
77 | actual_pos.status = 0; |
78 | actual_pos.status = 0; |
78 | actual_speed.status = 0; |
79 | actual_speed.status = 0; |
79 | actual_status.status = 0; |
80 | actual_status.status = 0; |
80 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
81 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
81 | gps_act_position.status = 0; |
82 | gps_act_position.status = 0; |
82 | gps_rel_act_position.status = 0; |
83 | gps_rel_act_position.status = 0; |
83 | GPS_Nick = 0; |
84 | GPS_Nick = 0; |
84 | GPS_Roll = 0; |
85 | GPS_Roll = 0; |
85 | gps_updte_flag = 0; |
86 | gps_updte_flag = 0; |
- | 87 | gps_int_x = 0; |
|
- | 88 | gps_int_y = 0; |
|
- | 89 | ||
86 | } |
90 | } |
87 | 91 | ||
88 | // Home Position sichern falls Daten verfuegbar sind. |
92 | // Home Position sichern falls Daten verfuegbar sind. |
89 | void GPS_Save_Home(void) |
93 | void GPS_Save_Home(void) |
90 | { |
94 | { |
91 | short int n; |
95 | short int n; |
92 | n = Get_GPS_data(); |
96 | n = Get_GPS_data(); |
93 | if (n == 0) // Gueltige und aktuelle Daten ? |
97 | if (n == 0) // Gueltige und aktuelle Daten ? |
94 | { |
98 | { |
95 | // Neue GPS Daten liegen vor |
99 | // Neue GPS Daten liegen vor |
96 | gps_home_position.utm_east = gps_act_position.utm_east; |
100 | gps_home_position.utm_east = gps_act_position.utm_east; |
97 | gps_home_position.utm_north = gps_act_position.utm_north; |
101 | gps_home_position.utm_north = gps_act_position.utm_north; |
98 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
102 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
99 | gps_home_position.status = 1; // Home Position gueltig |
103 | gps_home_position.status = 1; // Home Position gueltig |
100 | } |
104 | } |
101 | } |
105 | } |
102 | 106 | ||
103 | // Relative Position zur Home Position bestimmen |
107 | // Relative Position zur Home Position bestimmen |
104 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
108 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
105 | short int Get_Rel_Position(void) |
109 | short int Get_Rel_Position(void) |
106 | { |
110 | { |
107 | short int n = 0; |
111 | short int n = 0; |
108 | n = Get_GPS_data(); |
112 | n = Get_GPS_data(); |
109 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
113 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
110 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
114 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
111 | { |
115 | { |
112 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
116 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
113 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
117 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
114 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
118 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
115 | n = 0; |
119 | n = 0; |
116 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
120 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
117 | } |
121 | } |
118 | else |
122 | else |
119 | { |
123 | { |
120 | n = 2; //keine gueltigen Daten vorhanden |
124 | n = 2; //keine gueltigen Daten vorhanden |
121 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
125 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
122 | } |
126 | } |
123 | return (n); |
127 | return (n); |
124 | } |
128 | } |
125 | 129 | ||
126 | // Daten aus aktuellen ublox Messages extrahieren |
130 | // Daten aus aktuellen ublox Messages extrahieren |
127 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
131 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
128 | short int Get_GPS_data(void) |
132 | short int Get_GPS_data(void) |
129 | { |
133 | { |
130 | short int n = 1; |
134 | short int n = 1; |
131 | 135 | ||
132 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
136 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
133 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
137 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
134 | { |
138 | { |
135 | cnt1++; //**** noch Rausschmeissen |
139 | cnt1++; //**** noch Rausschmeissen |
136 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
140 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
137 | { |
141 | { |
138 | gps_act_position.utm_east = actual_pos.utm_east/10; |
142 | gps_act_position.utm_east = actual_pos.utm_east/10; |
139 | gps_act_position.utm_north = actual_pos.utm_north/10; |
143 | gps_act_position.utm_north = actual_pos.utm_north/10; |
140 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
144 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
141 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
145 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
142 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
146 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
143 | gps_act_position.heading = actual_speed.heading/100000; |
147 | gps_act_position.heading = actual_speed.heading/100000; |
144 | gps_act_position.status = 1; |
148 | gps_act_position.status = 1; |
145 | n = 0; //Daten gueltig |
149 | n = 0; //Daten gueltig |
146 | } |
150 | } |
147 | else |
151 | else |
148 | { |
152 | { |
149 | gps_act_position.status = 0; //Keine gueltigen Daten |
153 | gps_act_position.status = 0; //Keine gueltigen Daten |
150 | n = 2; |
154 | n = 2; |
151 | } |
155 | } |
152 | actual_pos.status = 0; //neue ublox Messages anfordern |
156 | actual_pos.status = 0; //neue ublox Messages anfordern |
153 | actual_status.status = 0; |
157 | actual_status.status = 0; |
154 | actual_speed.status = 0; |
158 | actual_speed.status = 0; |
155 | } |
159 | } |
156 | return (n); |
160 | return (n); |
157 | } |
161 | } |
158 | 162 | ||
159 | 163 | ||
160 | /* |
164 | /* |
161 | Daten vom GPS im ublox MSG Format auswerten |
165 | Daten vom GPS im ublox MSG Format auswerten |
162 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
166 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
163 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
167 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
164 | */ |
168 | */ |
165 | void Get_Ublox_Msg(uint8_t rx) |
169 | void Get_Ublox_Msg(uint8_t rx) |
166 | { |
170 | { |
167 | 171 | ||
168 | switch (ublox_msg_state) |
172 | switch (ublox_msg_state) |
169 | { |
173 | { |
170 | 174 | ||
171 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
175 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
172 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
176 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
173 | else ublox_msg_state = UBLOX_IDLE; |
177 | else ublox_msg_state = UBLOX_IDLE; |
174 | break; |
178 | break; |
175 | 179 | ||
176 | case UBLOX_SYNC1: |
180 | case UBLOX_SYNC1: |
177 | 181 | ||
178 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
182 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
179 | else ublox_msg_state = UBLOX_IDLE; |
183 | else ublox_msg_state = UBLOX_IDLE; |
180 | chk_a = 0,chk_b = 0; |
184 | chk_a = 0,chk_b = 0; |
181 | break; |
185 | break; |
182 | 186 | ||
183 | case UBLOX_SYNC2: |
187 | case UBLOX_SYNC2: |
184 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
188 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
185 | else ublox_msg_state = UBLOX_IDLE; |
189 | else ublox_msg_state = UBLOX_IDLE; |
186 | break; |
190 | break; |
187 | 191 | ||
188 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
192 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
189 | switch (rx) |
193 | switch (rx) |
190 | { |
194 | { |
191 | case UBLOX_NAV_POSUTM: |
195 | case UBLOX_NAV_POSUTM: |
192 | ptr_pac_status = &actual_pos.status; |
196 | ptr_pac_status = &actual_pos.status; |
193 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
197 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
194 | else |
198 | else |
195 | { |
199 | { |
196 | ptr_payload_data = &actual_pos; |
200 | ptr_payload_data = &actual_pos; |
197 | ptr_payload_data_end = &actual_pos.status; |
201 | ptr_payload_data_end = &actual_pos.status; |
198 | ublox_msg_state = UBLOX_LEN1; |
202 | ublox_msg_state = UBLOX_LEN1; |
199 | } |
203 | } |
200 | break; |
204 | break; |
201 | 205 | ||
202 | case UBLOX_NAV_STATUS: |
206 | case UBLOX_NAV_STATUS: |
203 | ptr_pac_status = &actual_status.status; |
207 | ptr_pac_status = &actual_status.status; |
204 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
208 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
205 | else |
209 | else |
206 | { |
210 | { |
207 | ptr_payload_data = &actual_status; |
211 | ptr_payload_data = &actual_status; |
208 | ptr_payload_data_end = &actual_status.status; |
212 | ptr_payload_data_end = &actual_status.status; |
209 | ublox_msg_state = UBLOX_LEN1; |
213 | ublox_msg_state = UBLOX_LEN1; |
210 | } |
214 | } |
211 | break; |
215 | break; |
212 | 216 | ||
213 | case UBLOX_NAV_VELED: |
217 | case UBLOX_NAV_VELED: |
214 | ptr_pac_status = &actual_speed.status; |
218 | ptr_pac_status = &actual_speed.status; |
215 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
219 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
216 | else |
220 | else |
217 | { |
221 | { |
218 | ptr_payload_data = &actual_speed; |
222 | ptr_payload_data = &actual_speed; |
219 | ptr_payload_data_end = &actual_speed.status; |
223 | ptr_payload_data_end = &actual_speed.status; |
220 | ublox_msg_state = UBLOX_LEN1; |
224 | ublox_msg_state = UBLOX_LEN1; |
221 | } |
225 | } |
222 | break; |
226 | break; |
223 | 227 | ||
224 | default: |
228 | default: |
225 | ublox_msg_state = UBLOX_IDLE; |
229 | ublox_msg_state = UBLOX_IDLE; |
226 | break; |
230 | break; |
227 | } |
231 | } |
228 | chk_a = UBLOX_NAV_CLASS + rx; |
232 | chk_a = UBLOX_NAV_CLASS + rx; |
229 | chk_b = UBLOX_NAV_CLASS + chk_a; |
233 | chk_b = UBLOX_NAV_CLASS + chk_a; |
230 | break; |
234 | break; |
231 | 235 | ||
232 | case UBLOX_LEN1: // Laenge auswerten |
236 | case UBLOX_LEN1: // Laenge auswerten |
233 | rx_len = rx; |
237 | rx_len = rx; |
234 | chk_a += rx; |
238 | chk_a += rx; |
235 | chk_b += chk_a; |
239 | chk_b += chk_a; |
236 | ublox_msg_state = UBLOX_LEN2; |
240 | ublox_msg_state = UBLOX_LEN2; |
237 | break; |
241 | break; |
238 | 242 | ||
239 | 243 | ||
240 | case UBLOX_LEN2: // Laenge auswerten |
244 | case UBLOX_LEN2: // Laenge auswerten |
241 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
245 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
242 | chk_a += rx; |
246 | chk_a += rx; |
243 | chk_b += chk_a; |
247 | chk_b += chk_a; |
244 | ublox_msg_state = UBLOX_PAYLOAD; |
248 | ublox_msg_state = UBLOX_PAYLOAD; |
245 | break; |
249 | break; |
246 | 250 | ||
247 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
251 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
248 | if (rx_len > 0) |
252 | if (rx_len > 0) |
249 | { |
253 | { |
250 | *ptr_payload_data = rx; |
254 | *ptr_payload_data = rx; |
251 | chk_a += rx; |
255 | chk_a += rx; |
252 | chk_b += chk_a; |
256 | chk_b += chk_a; |
253 | --rx_len; |
257 | --rx_len; |
254 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
258 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
255 | { |
259 | { |
256 | ptr_payload_data++; |
260 | ptr_payload_data++; |
257 | ublox_msg_state = UBLOX_PAYLOAD; |
261 | ublox_msg_state = UBLOX_PAYLOAD; |
258 | } |
262 | } |
259 | else ublox_msg_state = UBLOX_CKA; |
263 | else ublox_msg_state = UBLOX_CKA; |
260 | } |
264 | } |
261 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
265 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
262 | break; |
266 | break; |
263 | 267 | ||
264 | case UBLOX_CKA: // Checksum pruefen |
268 | case UBLOX_CKA: // Checksum pruefen |
265 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
269 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
266 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
270 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
267 | break; |
271 | break; |
268 | 272 | ||
269 | case UBLOX_CKB: // Checksum pruefen |
273 | case UBLOX_CKB: // Checksum pruefen |
270 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
274 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
271 | ublox_msg_state = UBLOX_IDLE; |
275 | ublox_msg_state = UBLOX_IDLE; |
272 | break; |
276 | break; |
273 | 277 | ||
274 | default: |
278 | default: |
275 | ublox_msg_state = UBLOX_IDLE; |
279 | ublox_msg_state = UBLOX_IDLE; |
276 | break; |
280 | break; |
277 | } |
281 | } |
278 | } |
282 | } |
279 | 283 | ||
280 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
284 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
281 | short int GPS_CRTL(short int cmd) |
285 | short int GPS_CRTL(short int cmd) |
282 | { |
286 | { |
283 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
287 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
284 | 288 | ||
285 | switch (cmd) |
289 | switch (cmd) |
286 | { |
290 | { |
287 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
291 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
288 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
292 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
289 | { |
293 | { |
290 | cnt++; |
294 | cnt++; |
291 | if (cnt > 300) // erst nach Verzoegerung |
295 | if (cnt > 300) // erst nach Verzoegerung |
292 | { |
296 | { |
293 | cnt = 0; |
297 | cnt = 0; |
294 | // aktuelle positionsdaten abespeichern |
298 | // aktuelle positionsdaten abespeichern |
295 | if (gps_rel_act_position.status > 0) |
299 | if (gps_rel_act_position.status > 0) |
296 | { |
300 | { |
297 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
301 | gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
298 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
302 | gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
299 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
303 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
300 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
304 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
301 | return (GPS_STST_OK); |
305 | return (GPS_STST_OK); |
302 | } |
306 | } |
303 | else |
307 | else |
304 | { |
308 | { |
305 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
309 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
306 | gps_state = GPS_CRTL_IDLE; |
310 | gps_state = GPS_CRTL_IDLE; |
307 | return(GPS_STST_ERR); // Keine Daten da |
311 | return(GPS_STST_ERR); // Keine Daten da |
308 | } |
312 | } |
309 | } |
313 | } |
310 | else return(GPS_STST_PEND); // noch warten |
314 | else return(GPS_STST_PEND); // noch warten |
311 | } |
315 | } |
312 | break; |
316 | break; |
313 | 317 | ||
314 | case GPS_CMD_STOP_HOLD: // Lageregelung beenden |
318 | case GPS_CMD_STOP_HOLD: // Lageregelung beenden |
315 | cnt = 0; |
319 | cnt = 0; |
316 | GPS_Nick = 0; |
320 | GPS_Nick = 0; |
317 | GPS_Roll = 0; |
321 | GPS_Roll = 0; |
318 | gps_state = GPS_CRTL_IDLE; |
322 | gps_state = GPS_CRTL_IDLE; |
- | 323 | gps_int_x = 0; |
|
- | 324 | gps_int_y = 0; |
|
319 | return (GPS_STST_OK); |
325 | return (GPS_STST_OK); |
320 | break; |
326 | break; |
321 | 327 | ||
322 | default: |
328 | default: |
323 | return (GPS_STST_ERR); |
329 | return (GPS_STST_ERR); |
324 | break; |
330 | break; |
325 | } |
331 | } |
326 | 332 | ||
327 | switch (gps_state) |
333 | switch (gps_state) |
328 | { |
334 | { |
329 | case GPS_CRTL_IDLE: |
335 | case GPS_CRTL_IDLE: |
330 | cnt = 0; |
336 | cnt = 0; |
331 | return (GPS_STST_OK); |
337 | return (GPS_STST_OK); |
332 | break; |
338 | break; |
333 | 339 | ||
334 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
340 | case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
335 | if (gps_updte_flag = 1) //nur wenn neue GPS Daten vorliegen |
341 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
336 | { |
342 | { |
337 | gps_updte_flag = 0; |
343 | gps_updte_flag = 0; |
338 | // ab hier wird geregelt |
344 | // ab hier wird geregelt |
339 | // Richtung zum Ziel ermitteln |
- | |
340 | signed int dist_north,dist_east; |
345 | signed int dist_north,dist_east; |
341 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
346 | dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
342 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
347 | dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
- | 348 | ||
- | 349 | //PI Regler |
|
- | 350 | gps_int_x = gps_int_x + (dist_east * Parameter_UserParam1)/16; // Integrator |
|
- | 351 | gps_int_y = gps_int_y + (dist_north * Parameter_UserParam1)/16; |
|
- | 352 | if ((gps_int_x >= 4096) || (gps_int_y >= 4096) || (gps_int_x < - 4096) || (gps_int_y <= -4096)) |
|
- | 353 | { |
|
- | 354 | gps_int_x -= (dist_east * Parameter_UserParam1)/16; // Integrator stoppen |
|
- | 355 | gps_int_y -= (dist_north * Parameter_UserParam1)/16; |
|
- | 356 | } |
|
- | 357 | gps_reg_x = gps_int_x + (dist_east * Parameter_UserParam2)/16; // P Anteil dazu |
|
- | 358 | gps_reg_y = gps_int_y + (dist_north * Parameter_UserParam2)/16; |
|
- | 359 | ||
- | 360 | //Richtung bezogen auf Nordpol bestimmen |
|
343 | GPS_hdng_abs_2trgt = arctan_i((long)dist_east,(long)dist_north); |
361 | GPS_hdng_abs_2trgt = arctan_i((long)gps_reg_x,(long)gps_reg_y); |
- | 362 | ||
344 | //in Winkel 0..360 grad umrechnen |
363 | //in Winkel 0..360 grad umrechnen |
345 | if ((dist_east >= 0) && (dist_north < 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
364 | if ((dist_east >= 0) && (dist_north < 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
346 | else if ((dist_east < 0) ) GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
365 | else if ((dist_east < 0) ) GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
- | 366 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
|
- | 367 | int n,m; |
|
- | 368 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
|
- | 369 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
|
- | 370 | if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180))GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
|
- | 371 | else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
|
- | 372 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
|
347 | 373 | ||
348 | // Distanz zum Ziel ermitteln |
374 | // Distanz zum Ziel ermitteln |
349 | GPS_dist_2trgt = abs(dist_north) + abs(dist_east);//ACHTUNG: Noch Nicht korrekt |
375 | GPS_dist_2trgt = abs(dist_north) + abs(dist_east);//ACHTUNG: Noch Nicht korrekt |
350 | return (GPS_STST_OK); |
376 | return (GPS_STST_OK); |
351 | } |
377 | } |
352 | else return (GPS_STST_OK); |
378 | else return (GPS_STST_OK); |
353 | break; |
379 | break; |
354 | 380 | ||
355 | default: |
381 | default: |
356 | gps_state = GPS_CRTL_IDLE; |
382 | gps_state = GPS_CRTL_IDLE; |
357 | return (GPS_STST_ERR); |
383 | return (GPS_STST_ERR); |
358 | break; |
384 | break; |
359 | } |
385 | } |
360 | return (GPS_STST_ERR); |
386 | return (GPS_STST_ERR); |
361 | 387 | ||
362 | } |
388 | } |
363 | 389 | ||
364 | 390 |