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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 | signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
| 53 | signed int ; |
53 | signed int ; |
| 54 | static unsigned int rx_len; |
54 | static unsigned int rx_len; |
| 55 | unsigned int cnt0,cnt1,cnt2; //******Provisorisch |
55 | unsigned int cnt0,cnt1,cnt2; //******Provisorisch |
| 56 | static unsigned int ptr_payload_data_end; |
56 | static unsigned int ptr_payload_data_end; |
| 57 | 57 | ||
| 58 | static uint8_t *ptr_payload_data; |
58 | static uint8_t *ptr_payload_data; |
| 59 | static uint8_t *ptr_pac_status; |
59 | static uint8_t *ptr_pac_status; |
| 60 | 60 | ||
| 61 | short int Get_GPS_data(void); |
61 | short int Get_GPS_data(void); |
| 62 | 62 | ||
| 63 | 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 |
| 64 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
64 | NAV_STATUS_t actual_status; // Aktueller Nav Status |
| 65 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
65 | NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
| 66 | 66 | ||
| 67 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
67 | GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| 68 | 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 |
| 69 | 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 |
| 70 | 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 |
| 71 | 71 | ||
| 72 | // Initialisierung |
72 | // Initialisierung |
| 73 | void GPS_Neutral(void) |
73 | void GPS_Neutral(void) |
| 74 | { |
74 | { |
| 75 | short int n; |
- | |
| 76 | ublox_msg_state = UBLOX_IDLE; |
75 | ublox_msg_state = UBLOX_IDLE; |
| 77 | gps_state = GPS_CRTL_IDLE; |
76 | gps_state = GPS_CRTL_IDLE; |
| 78 | actual_pos.status = 0; |
77 | actual_pos.status = 0; |
| 79 | actual_speed.status = 0; |
78 | actual_speed.status = 0; |
| 80 | actual_status.status = 0; |
79 | actual_status.status = 0; |
| 81 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
80 | gps_home_position.status = 0; // Noch keine gueltige Home Position |
| 82 | gps_act_position.status = 0; |
81 | gps_act_position.status = 0; |
| 83 | gps_rel_act_position.status = 0; |
82 | gps_rel_act_position.status = 0; |
| 84 | GPS_Nick = 0; |
83 | GPS_Nick = 0; |
| 85 | GPS_Roll = 0; |
84 | GPS_Roll = 0; |
| 86 | gps_updte_flag = 0; |
85 | gps_updte_flag = 0; |
| 87 | gps_int_x = 0; |
86 | gps_int_x = 0; |
| 88 | gps_int_y = 0; |
87 | gps_int_y = 0; |
| 89 | 88 | ||
| 90 | } |
89 | } |
| 91 | 90 | ||
| 92 | // Home Position sichern falls Daten verfuegbar sind. |
91 | // Home Position sichern falls Daten verfuegbar sind. |
| 93 | void GPS_Save_Home(void) |
92 | void GPS_Save_Home(void) |
| 94 | { |
93 | { |
| 95 | short int n; |
94 | short int n; |
| 96 | n = Get_GPS_data(); |
95 | n = Get_GPS_data(); |
| 97 | if (n == 0) // Gueltige und aktuelle Daten ? |
96 | if (n == 0) // Gueltige und aktuelle Daten ? |
| 98 | { |
97 | { |
| 99 | // Neue GPS Daten liegen vor |
98 | // Neue GPS Daten liegen vor |
| 100 | gps_home_position.utm_east = gps_act_position.utm_east; |
99 | gps_home_position.utm_east = gps_act_position.utm_east; |
| 101 | gps_home_position.utm_north = gps_act_position.utm_north; |
100 | gps_home_position.utm_north = gps_act_position.utm_north; |
| 102 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
101 | gps_home_position.utm_alt = gps_act_position.utm_alt; |
| 103 | gps_home_position.status = 1; // Home Position gueltig |
102 | gps_home_position.status = 1; // Home Position gueltig |
| 104 | } |
103 | } |
| 105 | } |
104 | } |
| 106 | 105 | ||
| 107 | // Relative Position zur Home Position bestimmen |
106 | // Relative Position zur Home Position bestimmen |
| 108 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
107 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| 109 | short int Get_Rel_Position(void) |
108 | short int Get_Rel_Position(void) |
| 110 | { |
109 | { |
| 111 | short int n = 0; |
110 | short int n = 0; |
| 112 | n = Get_GPS_data(); |
111 | n = Get_GPS_data(); |
| 113 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
112 | if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
| 114 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
113 | if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
| 115 | { |
114 | { |
| 116 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
115 | gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
| 117 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
116 | gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
| 118 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
117 | gps_rel_act_position.status = 1; // gueltige Positionsdaten |
| 119 | n = 0; |
118 | n = 0; |
| 120 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
119 | gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
| 121 | } |
120 | } |
| 122 | else |
121 | else |
| 123 | { |
122 | { |
| 124 | n = 2; //keine gueltigen Daten vorhanden |
123 | n = 2; //keine gueltigen Daten vorhanden |
| 125 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
124 | gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
| 126 | } |
125 | } |
| 127 | return (n); |
126 | return (n); |
| 128 | } |
127 | } |
| 129 | 128 | ||
| 130 | // Daten aus aktuellen ublox Messages extrahieren |
129 | // Daten aus aktuellen ublox Messages extrahieren |
| 131 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
130 | // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| 132 | short int Get_GPS_data(void) |
131 | short int Get_GPS_data(void) |
| 133 | { |
132 | { |
| 134 | short int n = 1; |
133 | short int n = 1; |
| 135 | 134 | ||
| 136 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
135 | if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
| 137 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
136 | if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
| 138 | { |
137 | { |
| 139 | cnt1++; //**** noch Rausschmeissen |
138 | cnt1++; //**** noch Rausschmeissen |
| 140 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
139 | if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
| 141 | { |
140 | { |
| 142 | gps_act_position.utm_east = actual_pos.utm_east/10; |
141 | gps_act_position.utm_east = actual_pos.utm_east/10; |
| 143 | gps_act_position.utm_north = actual_pos.utm_north/10; |
142 | gps_act_position.utm_north = actual_pos.utm_north/10; |
| 144 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
143 | gps_act_position.utm_alt = actual_pos.utm_alt/10; |
| 145 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
144 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| 146 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
145 | gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| 147 | gps_act_position.heading = actual_speed.heading/100000; |
146 | gps_act_position.heading = actual_speed.heading/100000; |
| 148 | gps_act_position.status = 1; |
147 | gps_act_position.status = 1; |
| 149 | n = 0; //Daten gueltig |
148 | n = 0; //Daten gueltig |
| 150 | } |
149 | } |
| 151 | else |
150 | else |
| 152 | { |
151 | { |
| 153 | gps_act_position.status = 0; //Keine gueltigen Daten |
152 | gps_act_position.status = 0; //Keine gueltigen Daten |
| 154 | n = 2; |
153 | n = 2; |
| 155 | } |
154 | } |
| 156 | actual_pos.status = 0; //neue ublox Messages anfordern |
155 | actual_pos.status = 0; //neue ublox Messages anfordern |
| 157 | actual_status.status = 0; |
156 | actual_status.status = 0; |
| 158 | actual_speed.status = 0; |
157 | actual_speed.status = 0; |
| 159 | } |
158 | } |
| 160 | return (n); |
159 | return (n); |
| 161 | } |
160 | } |
| 162 | 161 | ||
| 163 | 162 | ||
| 164 | /* |
163 | /* |
| 165 | Daten vom GPS im ublox MSG Format auswerten |
164 | Daten vom GPS im ublox MSG Format auswerten |
| 166 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
165 | Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
| 167 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
166 | // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
| 168 | */ |
167 | */ |
| 169 | void Get_Ublox_Msg(uint8_t rx) |
168 | void Get_Ublox_Msg(uint8_t rx) |
| 170 | { |
169 | { |
| 171 | 170 | ||
| 172 | switch (ublox_msg_state) |
171 | switch (ublox_msg_state) |
| 173 | { |
172 | { |
| 174 | 173 | ||
| 175 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
174 | case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
| 176 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
175 | if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
| 177 | else ublox_msg_state = UBLOX_IDLE; |
176 | else ublox_msg_state = UBLOX_IDLE; |
| 178 | break; |
177 | break; |
| 179 | 178 | ||
| 180 | case UBLOX_SYNC1: |
179 | case UBLOX_SYNC1: |
| 181 | 180 | ||
| 182 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
181 | if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
| 183 | else ublox_msg_state = UBLOX_IDLE; |
182 | else ublox_msg_state = UBLOX_IDLE; |
| 184 | chk_a = 0,chk_b = 0; |
183 | chk_a = 0,chk_b = 0; |
| 185 | break; |
184 | break; |
| 186 | 185 | ||
| 187 | case UBLOX_SYNC2: |
186 | case UBLOX_SYNC2: |
| 188 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
187 | if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
| 189 | else ublox_msg_state = UBLOX_IDLE; |
188 | else ublox_msg_state = UBLOX_IDLE; |
| 190 | break; |
189 | break; |
| 191 | 190 | ||
| 192 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
191 | case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
| 193 | switch (rx) |
192 | switch (rx) |
| 194 | { |
193 | { |
| 195 | case UBLOX_NAV_POSUTM: |
194 | case UBLOX_NAV_POSUTM: |
| 196 | ptr_pac_status = &actual_pos.status; |
195 | ptr_pac_status = &actual_pos.status; |
| 197 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
196 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
| 198 | else |
197 | else |
| 199 | { |
198 | { |
| 200 | ptr_payload_data = &actual_pos; |
199 | ptr_payload_data = &actual_pos; |
| 201 | ptr_payload_data_end = &actual_pos.status; |
200 | ptr_payload_data_end = &actual_pos.status; |
| 202 | ublox_msg_state = UBLOX_LEN1; |
201 | ublox_msg_state = UBLOX_LEN1; |
| 203 | } |
202 | } |
| 204 | break; |
203 | break; |
| 205 | 204 | ||
| 206 | case UBLOX_NAV_STATUS: |
205 | case UBLOX_NAV_STATUS: |
| 207 | ptr_pac_status = &actual_status.status; |
206 | ptr_pac_status = &actual_status.status; |
| 208 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
207 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| 209 | else |
208 | else |
| 210 | { |
209 | { |
| 211 | ptr_payload_data = &actual_status; |
210 | ptr_payload_data = &actual_status; |
| 212 | ptr_payload_data_end = &actual_status.status; |
211 | ptr_payload_data_end = &actual_status.status; |
| 213 | ublox_msg_state = UBLOX_LEN1; |
212 | ublox_msg_state = UBLOX_LEN1; |
| 214 | } |
213 | } |
| 215 | break; |
214 | break; |
| 216 | 215 | ||
| 217 | case UBLOX_NAV_VELED: |
216 | case UBLOX_NAV_VELED: |
| 218 | ptr_pac_status = &actual_speed.status; |
217 | ptr_pac_status = &actual_speed.status; |
| 219 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
218 | if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| 220 | else |
219 | else |
| 221 | { |
220 | { |
| 222 | ptr_payload_data = &actual_speed; |
221 | ptr_payload_data = &actual_speed; |
| 223 | ptr_payload_data_end = &actual_speed.status; |
222 | ptr_payload_data_end = &actual_speed.status; |
| 224 | ublox_msg_state = UBLOX_LEN1; |
223 | ublox_msg_state = UBLOX_LEN1; |
| 225 | } |
224 | } |
| 226 | break; |
225 | break; |
| 227 | 226 | ||
| 228 | default: |
227 | default: |
| 229 | ublox_msg_state = UBLOX_IDLE; |
228 | ublox_msg_state = UBLOX_IDLE; |
| 230 | break; |
229 | break; |
| 231 | } |
230 | } |
| 232 | chk_a = UBLOX_NAV_CLASS + rx; |
231 | chk_a = UBLOX_NAV_CLASS + rx; |
| 233 | chk_b = UBLOX_NAV_CLASS + chk_a; |
232 | chk_b = UBLOX_NAV_CLASS + chk_a; |
| 234 | break; |
233 | break; |
| 235 | 234 | ||
| 236 | case UBLOX_LEN1: // Laenge auswerten |
235 | case UBLOX_LEN1: // Laenge auswerten |
| 237 | rx_len = rx; |
236 | rx_len = rx; |
| 238 | chk_a += rx; |
237 | chk_a += rx; |
| 239 | chk_b += chk_a; |
238 | chk_b += chk_a; |
| 240 | ublox_msg_state = UBLOX_LEN2; |
239 | ublox_msg_state = UBLOX_LEN2; |
| 241 | break; |
240 | break; |
| 242 | 241 | ||
| 243 | 242 | ||
| 244 | case UBLOX_LEN2: // Laenge auswerten |
243 | case UBLOX_LEN2: // Laenge auswerten |
| 245 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
244 | rx_len = rx_len + (rx *256); // Laenge ermitteln |
| 246 | chk_a += rx; |
245 | chk_a += rx; |
| 247 | chk_b += chk_a; |
246 | chk_b += chk_a; |
| 248 | ublox_msg_state = UBLOX_PAYLOAD; |
247 | ublox_msg_state = UBLOX_PAYLOAD; |
| 249 | break; |
248 | break; |
| 250 | 249 | ||
| 251 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
250 | case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
| 252 | if (rx_len > 0) |
251 | if (rx_len > 0) |
| 253 | { |
252 | { |
| 254 | *ptr_payload_data = rx; |
253 | *ptr_payload_data = rx; |
| 255 | chk_a += rx; |
254 | chk_a += rx; |
| 256 | chk_b += chk_a; |
255 | chk_b += chk_a; |
| 257 | --rx_len; |
256 | --rx_len; |
| 258 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
257 | if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
| 259 | { |
258 | { |
| 260 | ptr_payload_data++; |
259 | ptr_payload_data++; |
| 261 | ublox_msg_state = UBLOX_PAYLOAD; |
260 | ublox_msg_state = UBLOX_PAYLOAD; |
| 262 | } |
261 | } |
| 263 | else ublox_msg_state = UBLOX_CKA; |
262 | else ublox_msg_state = UBLOX_CKA; |
| 264 | } |
263 | } |
| 265 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
264 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| 266 | break; |
265 | break; |
| 267 | 266 | ||
| 268 | case UBLOX_CKA: // Checksum pruefen |
267 | case UBLOX_CKA: // Checksum pruefen |
| 269 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
268 | if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
| 270 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
269 | else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| 271 | break; |
270 | break; |
| 272 | 271 | ||
| 273 | case UBLOX_CKB: // Checksum pruefen |
272 | case UBLOX_CKB: // Checksum pruefen |
| 274 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
273 | if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
| 275 | ublox_msg_state = UBLOX_IDLE; |
274 | ublox_msg_state = UBLOX_IDLE; |
| 276 | break; |
275 | break; |
| 277 | 276 | ||
| 278 | default: |
277 | default: |
| 279 | ublox_msg_state = UBLOX_IDLE; |
278 | ublox_msg_state = UBLOX_IDLE; |
| 280 | break; |
279 | break; |
| 281 | } |
280 | } |
| 282 | } |
281 | } |
| 283 | 282 | ||
| 284 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
283 | //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| 285 | short int GPS_CRTL(short int cmd) |
284 | short int GPS_CRTL(short int cmd) |
| 286 | { |
285 | { |
| 287 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
286 | static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| 288 | 287 | int n; |
|
| - | 288 | long int dist; |
|
| 289 | switch (cmd) |
289 | switch (cmd) |
| 290 | { |
290 | { |
| 291 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
291 | case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
| 292 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
292 | if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
| 293 | { |
293 | { |
| 294 | cnt++; |
294 | cnt++; |
| 295 | if (cnt > 300) // erst nach Verzoegerung |
295 | if (cnt > 500) // erst nach Verzoegerung |
| 296 | { |
296 | { |
| 297 | cnt = 0; |
297 | cnt = 0; |
| 298 | // aktuelle positionsdaten abespeichern |
298 | // aktuelle positionsdaten abespeichern |
| 299 | if (gps_rel_act_position.status > 0) |
299 | if (gps_rel_act_position.status > 0) |
| 300 | { |
300 | { |
| 301 | 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; |
| 302 | 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; |
| 303 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
303 | gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| 304 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
304 | gps_state = GPS_CRTL_HOLD_ACTIVE; |
| 305 | return (GPS_STST_OK); |
305 | return (GPS_STST_OK); |
| 306 | } |
306 | } |
| 307 | else |
307 | else |
| 308 | { |
308 | { |
| 309 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
309 | gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
| 310 | gps_state = GPS_CRTL_IDLE; |
310 | gps_state = GPS_CRTL_IDLE; |
| 311 | return(GPS_STST_ERR); // Keine Daten da |
311 | return(GPS_STST_ERR); // Keine Daten da |
| 312 | } |
312 | } |
| 313 | } |
313 | } |
| 314 | else return(GPS_STST_PEND); // noch warten |
314 | else return(GPS_STST_PEND); // noch warten |
| 315 | } |
315 | } |
| 316 | break; |
316 | break; |
| 317 | 317 | ||
| 318 | case GPS_CMD_STOP_HOLD: // Lageregelung beenden |
318 | case GPS_CMD_STOP_HOLD: // Lageregelung beenden |
| 319 | cnt = 0; |
319 | cnt = 0; |
| 320 | GPS_Nick = 0; |
320 | GPS_Nick = 0; |
| 321 | GPS_Roll = 0; |
321 | GPS_Roll = 0; |
| 322 | gps_state = GPS_CRTL_IDLE; |
322 | gps_state = GPS_CRTL_IDLE; |
| 323 | gps_int_x = 0; |
323 | gps_int_x = 0; |
| 324 | gps_int_y = 0; |
324 | gps_int_y = 0; |
| 325 | return (GPS_STST_OK); |
325 | return (GPS_STST_OK); |
| 326 | break; |
326 | break; |
| 327 | 327 | ||
| 328 | default: |
328 | default: |
| 329 | return (GPS_STST_ERR); |
329 | return (GPS_STST_ERR); |
| 330 | break; |
330 | break; |
| 331 | } |
331 | } |
| 332 | 332 | ||
| 333 | switch (gps_state) |
333 | switch (gps_state) |
| 334 | { |
334 | { |
| 335 | case GPS_CRTL_IDLE: |
335 | case GPS_CRTL_IDLE: |
| 336 | cnt = 0; |
336 | cnt = 0; |
| 337 | return (GPS_STST_OK); |
337 | return (GPS_STST_OK); |
| 338 | break; |
338 | break; |
| 339 | 339 | ||
| 340 | 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 |
| 341 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
341 | if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen |
| 342 | { |
342 | { |
| 343 | gps_updte_flag = 0; |
343 | gps_updte_flag = 0; |
| 344 | // ab hier wird geregelt |
344 | // ab hier wird geregelt |
| 345 | signed int dist_north,dist_east; |
345 | signed int dist_north,dist_east; |
| 346 | 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; |
| 347 | 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 | 348 | ||
| 349 | //PI Regler |
349 | //PI Regler |
| 350 | gps_int_x = gps_int_x + (dist_east * Parameter_UserParam1)/16; // Integrator |
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; |
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)) |
352 | if ((gps_int_x >= 4096) || (gps_int_y >= 4096) || (gps_int_x < - 4096) || (gps_int_y <= -4096)) |
| 353 | { |
353 | { |
| 354 | gps_int_x -= (dist_east * Parameter_UserParam1)/16; // Integrator stoppen |
354 | gps_int_x -= (dist_east * Parameter_UserParam1)/16; // Integrator stoppen |
| 355 | gps_int_y -= (dist_north * Parameter_UserParam1)/16; |
355 | gps_int_y -= (dist_north * Parameter_UserParam1)/16; |
| 356 | } |
356 | } |
| 357 | gps_reg_x = gps_int_x + (dist_east * Parameter_UserParam2)/16; // P Anteil dazu |
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; |
358 | gps_reg_y = gps_int_y + (dist_north * Parameter_UserParam2)/16; |
| 359 | 359 | ||
| 360 | //Richtung bezogen auf Nordpol bestimmen |
360 | //Richtung bezogen auf Nordpol bestimmen |
| 361 | GPS_hdng_abs_2trgt = arctan_i((long)gps_reg_x,(long)gps_reg_y); |
361 | GPS_hdng_abs_2trgt = arctan_i((long)gps_reg_x,(long)gps_reg_y); |
| 362 | 362 | ||
| 363 | //in Winkel 0..360 grad umrechnen |
363 | //in Winkel 0..360 grad umrechnen |
| 364 | if ((dist_east >= 0) && (dist_north < 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
364 | if ((gps_reg_x >= 0) && (gps_reg_y < 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
| 365 | else if ((dist_east < 0) ) GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
365 | else if ((gps_reg_x < 0) ) GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
| 366 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
366 | // Relative Richtung in bezug auf Nordachse des Kopters errechen |
| 367 | int n,m; |
- | |
| 368 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
367 | n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| 369 | GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
368 | 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; |
369 | 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; |
370 | 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; |
371 | else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
| - | 372 | ||
| - | 373 | // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
|
| - | 374 | ||
| - | 375 | if (abs(gps_reg_x) > abs(gps_reg_y) ) |
|
| - | 376 | { |
|
| - | 377 | dist = (long)gps_reg_x; //Groesseren Wert wegen besserer genauigkeit nehmen |
|
| - | 378 | dist = abs((dist *1000) / (long) cos_i(GPS_hdng_rel_2trgt)); |
|
| - | 379 | } |
|
| - | 380 | else |
|
| - | 381 | { |
|
| - | 382 | dist = (long)gps_reg_y; |
|
| - | 383 | dist = abs((dist *1000) / (long) sin_i(GPS_hdng_rel_2trgt)); |
|
| - | 384 | } |
|
| 373 | 385 | if (dist > 30000) dist = 30000; |
|
| - | 386 | GPS_dist_2trgt = (int )dist; |
|
| - | 387 | ||
| - | 388 | // Winkel und Distanz in Nick und Roll groessen umrechnen |
|
| - | 389 | long int a,b; |
|
| 374 | // Distanz zum Ziel ermitteln |
390 | GPS_Roll = (int) -((dist * sin_i(GPS_hdng_rel_2trgt))/(1000*4)); |
| - | 391 | GPS_Nick = (int) -((dist * cos_i(GPS_hdng_rel_2trgt))/(1000*4)); |
|
| - | 392 | ||
| - | 393 | if (GPS_Roll > GPS_ROLL_MAX) GPS_Roll = GPS_ROLL_MAX; //Auf Maxwerte begrenzen |
|
| - | 394 | else if (GPS_Roll < -GPS_ROLL_MAX) GPS_Roll = - GPS_ROLL_MAX; |
|
| - | 395 | if (GPS_Nick > GPS_NICK_MAX) GPS_Nick = GPS_NICK_MAX; |
|
| - | 396 | else if (GPS_Nick < -GPS_NICK_MAX) GPS_Nick = - GPS_NICK_MAX; |
|
| 375 | GPS_dist_2trgt = abs(dist_north) + abs(dist_east);//ACHTUNG: Noch Nicht korrekt |
397 | |
| 376 | return (GPS_STST_OK); |
398 | return (GPS_STST_OK); |
| 377 | } |
399 | } |
| 378 | else return (GPS_STST_OK); |
400 | else return (GPS_STST_OK); |
| 379 | break; |
401 | break; |
| 380 | 402 | ||
| 381 | default: |
403 | default: |
| 382 | gps_state = GPS_CRTL_IDLE; |
404 | gps_state = GPS_CRTL_IDLE; |
| 383 | return (GPS_STST_ERR); |
405 | return (GPS_STST_ERR); |
| 384 | break; |
406 | break; |
| 385 | } |
407 | } |
| 386 | return (GPS_STST_ERR); |
408 | return (GPS_STST_ERR); |
| 387 | 409 | ||
| 388 | } |
410 | } |
| 389 | 411 | ||
| 390 | 412 | ||