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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <string.h> |
56 | #include <string.h> |
57 | #include "91x_lib.h" |
57 | #include "91x_lib.h" |
58 | #include "uart1.h" |
58 | #include "uart1.h" |
59 | #include "ubx.h" |
59 | #include "ubx.h" |
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "timer1.h" |
61 | #include "timer1.h" |
62 | 62 | ||
63 | // ------------------------------------------------------------------------------------------------ |
63 | // ------------------------------------------------------------------------------------------------ |
64 | // defines |
64 | // defines |
65 | 65 | ||
66 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
66 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
67 | #define DAYS_PER_YEAR 365 |
67 | #define DAYS_PER_YEAR 365 |
68 | #define DAYS_PER_LEAPYEAR 366 |
68 | #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 |
69 | #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 |
70 | #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 |
71 | #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
72 | #define SECONDS_PER_MINUTE 60 |
72 | #define SECONDS_PER_MINUTE 60 |
73 | #define MINUTES_PER_HOUR 60 |
73 | #define MINUTES_PER_HOUR 60 |
74 | #define HOURS_PER_DAY 24 |
74 | #define HOURS_PER_DAY 24 |
75 | #define DAYS_PER_WEEK 7 |
75 | #define DAYS_PER_WEEK 7 |
76 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
76 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
77 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
77 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
78 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
78 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
79 | 79 | ||
80 | // days per month in normal and leap years |
80 | // 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 }; |
81 | 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 }; |
82 | const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
83 | 83 | ||
84 | #define LEAP_SECONDS_FROM_1980 16 |
84 | #define LEAP_SECONDS_FROM_1980 16 |
85 | 85 | ||
86 | // message sync bytes |
86 | // message sync bytes |
87 | #define UBX_SYNC1_CHAR 0xB5 |
87 | #define UBX_SYNC1_CHAR 0xB5 |
88 | #define UBX_SYNC2_CHAR 0x62 |
88 | #define UBX_SYNC2_CHAR 0x62 |
89 | // protocoll identifiers |
89 | // protocoll identifiers |
90 | // navigation class |
90 | // navigation class |
91 | #define UBX_CLASS_NAV 0x01 |
91 | #define UBX_CLASS_NAV 0x01 |
92 | #define UBX_ID_POSLLH 0x02 |
92 | #define UBX_ID_POSLLH 0x02 |
93 | #define UBX_ID_SOL 0x06 |
93 | #define UBX_ID_SOL 0x06 |
94 | #define UBX_ID_VELNED 0x12 |
94 | #define UBX_ID_VELNED 0x12 |
95 | 95 | ||
96 | // ------------------------------------------------------------------------------------------------ |
96 | // ------------------------------------------------------------------------------------------------ |
97 | // typedefs |
97 | // typedefs |
98 | 98 | ||
99 | 99 | ||
100 | // ubx parser state |
100 | // ubx parser state |
101 | typedef enum |
101 | typedef enum |
102 | { |
102 | { |
103 | UBXSTATE_IDLE, |
103 | UBXSTATE_IDLE, |
104 | UBXSTATE_SYNC1, |
104 | UBXSTATE_SYNC1, |
105 | UBXSTATE_SYNC2, |
105 | UBXSTATE_SYNC2, |
106 | UBXSTATE_CLASS, |
106 | UBXSTATE_CLASS, |
107 | UBXSTATE_LEN1, |
107 | UBXSTATE_LEN1, |
108 | UBXSTATE_LEN2, |
108 | UBXSTATE_LEN2, |
109 | UBXSTATE_DATA, |
109 | UBXSTATE_DATA, |
110 | UBXSTATE_CKA, |
110 | UBXSTATE_CKA, |
111 | UBXSTATE_CKB |
111 | UBXSTATE_CKB |
112 | } ubxState_t; |
112 | } ubxState_t; |
113 | 113 | ||
114 | typedef struct |
114 | typedef struct |
115 | { |
115 | { |
116 | u32 itow; // ms GPS Millisecond Time of Week |
116 | u32 itow; // ms GPS Millisecond Time of Week |
117 | s32 frac; // ns remainder of rounded ms above |
117 | s32 frac; // ns remainder of rounded ms above |
118 | s16 week; // GPS week |
118 | s16 week; // GPS week |
119 | u8 GPSfix; // GPSfix Type, range 0..6 |
119 | u8 GPSfix; // GPSfix Type, range 0..6 |
120 | u8 Flags; // Navigation Status Flags |
120 | u8 Flags; // Navigation Status Flags |
121 | s32 ECEF_X; // cm ECEF X coordinate |
121 | s32 ECEF_X; // cm ECEF X coordinate |
122 | s32 ECEF_Y; // cm ECEF Y coordinate |
122 | s32 ECEF_Y; // cm ECEF Y coordinate |
123 | s32 ECEF_Z; // cm ECEF Z coordinate |
123 | s32 ECEF_Z; // cm ECEF Z coordinate |
124 | u32 PAcc; // cm 3D Position Accuracy Estimate |
124 | u32 PAcc; // cm 3D Position Accuracy Estimate |
125 | s32 ECEFVX; // cm/s ECEF X velocity |
125 | s32 ECEFVX; // cm/s ECEF X velocity |
126 | s32 ECEFVY; // cm/s ECEF Y velocity |
126 | s32 ECEFVY; // cm/s ECEF Y velocity |
127 | s32 ECEFVZ; // cm/s ECEF Z velocity |
127 | s32 ECEFVZ; // cm/s ECEF Z velocity |
128 | u32 SAcc; // cm/s Speed Accuracy Estimate |
128 | u32 SAcc; // cm/s Speed Accuracy Estimate |
129 | u16 PDOP; // 0.01 Position DOP |
129 | u16 PDOP; // 0.01 Position DOP |
130 | u8 res1; // reserved |
130 | u8 res1; // reserved |
131 | u8 numSV; // Number of SVs used in navigation solution |
131 | u8 numSV; // Number of SVs used in navigation solution |
132 | u32 res2; // reserved |
132 | u32 res2; // reserved |
133 | u8 Status; // invalid/newdata/processed |
133 | u8 Status; // invalid/newdata/processed |
134 | } __attribute__((packed)) ubx_nav_sol_t; |
134 | } __attribute__((packed)) ubx_nav_sol_t; |
135 | 135 | ||
136 | 136 | ||
137 | typedef struct |
137 | typedef struct |
138 | { |
138 | { |
139 | u32 itow; // ms GPS Millisecond Time of Week |
139 | u32 itow; // ms GPS Millisecond Time of Week |
140 | s32 VEL_N; // cm/s NED north velocity |
140 | s32 VEL_N; // cm/s NED north velocity |
141 | s32 VEL_E; // cm/s NED east velocity |
141 | s32 VEL_E; // cm/s NED east velocity |
142 | s32 VEL_D; // cm/s NED down velocity |
142 | s32 VEL_D; // cm/s NED down velocity |
143 | u32 Speed; // cm/s Speed (3-D) |
143 | u32 Speed; // cm/s Speed (3-D) |
144 | u32 GSpeed; // cm/s Ground Speed (2-D) |
144 | u32 GSpeed; // cm/s Ground Speed (2-D) |
145 | s32 Heading; // 1e-05 deg Heading 2-D |
145 | s32 Heading; // 1e-05 deg Heading 2-D |
146 | u32 SAcc; // cm/s Speed Accuracy Estimate |
146 | u32 SAcc; // cm/s Speed Accuracy Estimate |
147 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
147 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
148 | u8 Status; // invalid/newdata/processed |
148 | u8 Status; // invalid/newdata/processed |
149 | } __attribute__((packed)) ubx_nav_velned_t; |
149 | } __attribute__((packed)) ubx_nav_velned_t; |
150 | 150 | ||
151 | typedef struct |
151 | typedef struct |
152 | { |
152 | { |
153 | u32 itow; // ms GPS Millisecond Time of Week |
153 | u32 itow; // ms GPS Millisecond Time of Week |
154 | s32 LON; // 1e-07 deg Longitude |
154 | s32 LON; // 1e-07 deg Longitude |
155 | s32 LAT; // 1e-07 deg Latitude |
155 | s32 LAT; // 1e-07 deg Latitude |
156 | s32 HEIGHT; // mm Height above Ellipsoid |
156 | s32 HEIGHT; // mm Height above Ellipsoid |
157 | s32 HMSL; // mm Height above mean sea level |
157 | s32 HMSL; // mm Height above mean sea level |
158 | u32 Hacc; // mm Horizontal Accuracy Estimate |
158 | u32 Hacc; // mm Horizontal Accuracy Estimate |
159 | u32 Vacc; // mm Vertical Accuracy Estimate |
159 | u32 Vacc; // mm Vertical Accuracy Estimate |
160 | u8 Status; // invalid/newdata/processed |
160 | u8 Status; // invalid/newdata/processed |
161 | } __attribute__((packed)) ubx_nav_posllh_t; |
161 | } __attribute__((packed)) ubx_nav_posllh_t; |
162 | 162 | ||
163 | //------------------------------------------------------------------------------------ |
163 | //------------------------------------------------------------------------------------ |
164 | // global variables |
164 | // global variables |
165 | 165 | ||
166 | // local buffers for the incomming ubx messages |
166 | // local buffers for the incomming ubx messages |
167 | ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
167 | 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_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
168 | ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
169 | ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
169 | ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
170 | ubxmsg_t UbxMsg; |
170 | ubxmsg_t UbxMsg; |
171 | 171 | ||
172 | // shared buffer |
172 | // shared buffer |
173 | gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
173 | 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}; |
174 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
175 | 175 | ||
176 | #define UBX_TIMEOUT 500 // 500 ms |
176 | #define UBX_TIMEOUT 500 // 500 ms |
177 | u32 UBX_Timeout = 0; |
177 | u32 UBX_Timeout = 0; |
178 | 178 | ||
179 | //------------------------------------------------------------------------------------ |
179 | //------------------------------------------------------------------------------------ |
180 | // functions |
180 | // functions |
181 | 181 | ||
182 | u8 IsLeapYear(u16 year) |
182 | u8 IsLeapYear(u16 year) |
183 | { |
183 | { |
184 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
184 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
185 | else return 0; |
185 | else return 0; |
186 | } |
186 | } |
187 | /********************************************************/ |
187 | /********************************************************/ |
188 | /* Calculates the UTC Time from the GPS week and tow */ |
188 | /* Calculates the UTC Time from the GPS week and tow */ |
189 | /********************************************************/ |
189 | /********************************************************/ |
190 | void SetGPSTime(DateTime_t * pTimeStruct) |
190 | void SetGPSTime(DateTime_t * pTimeStruct) |
191 | { |
191 | { |
192 | u32 Days, Seconds, Week; |
192 | u32 Days, Seconds, Week; |
193 | u16 YearPart; |
193 | u16 YearPart; |
194 | u32 * MonthDayTab = 0; |
194 | u32 * MonthDayTab = 0; |
195 | u8 i; |
195 | u8 i; |
196 | 196 | ||
197 | 197 | ||
198 | // if GPS data show valid time data |
198 | // if GPS data show valid time data |
199 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
199 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
200 | { |
200 | { |
201 | Seconds = UbxSol.itow / 1000L; |
201 | Seconds = UbxSol.itow / 1000L; |
202 | Week = (u32)UbxSol.week; |
202 | Week = (u32)UbxSol.week; |
203 | // correct leap seconds since 1980 |
203 | // correct leap seconds since 1980 |
204 | if(Seconds < LEAP_SECONDS_FROM_1980) |
204 | if(Seconds < LEAP_SECONDS_FROM_1980) |
205 | { |
205 | { |
206 | Week--; |
206 | Week--; |
207 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
207 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
208 | } |
208 | } |
209 | else Seconds -= LEAP_SECONDS_FROM_1980; |
209 | else Seconds -= LEAP_SECONDS_FROM_1980; |
210 | 210 | ||
211 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
211 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
212 | Days += (Week * DAYS_PER_WEEK); |
212 | Days += (Week * DAYS_PER_WEEK); |
213 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
213 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
214 | 214 | ||
215 | pTimeStruct->Year = 1; |
215 | pTimeStruct->Year = 1; |
216 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
216 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
217 | pTimeStruct->Year += YearPart * 400; |
217 | pTimeStruct->Year += YearPart * 400; |
218 | Days = Days % DAYS_PER_400YEARS; |
218 | Days = Days % DAYS_PER_400YEARS; |
219 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
219 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
220 | pTimeStruct->Year += YearPart * 100; |
220 | pTimeStruct->Year += YearPart * 100; |
221 | Days = Days % DAYS_PER_100YEARS; |
221 | Days = Days % DAYS_PER_100YEARS; |
222 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
222 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
223 | pTimeStruct->Year += YearPart * 4; |
223 | pTimeStruct->Year += YearPart * 4; |
224 | Days = Days % DAYS_PER_4YEARS; |
224 | Days = Days % DAYS_PER_4YEARS; |
225 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
225 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
226 | else YearPart = 3; |
226 | else YearPart = 3; |
227 | pTimeStruct->Year += YearPart; |
227 | pTimeStruct->Year += YearPart; |
228 | // calculate remaining days of year |
228 | // calculate remaining days of year |
229 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
229 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
230 | Days += 1; |
230 | Days += 1; |
231 | // check if current year is a leap year |
231 | // check if current year is a leap year |
232 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
232 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
233 | else MonthDayTab = (u32*)Normal; |
233 | else MonthDayTab = (u32*)Normal; |
234 | // seperate month and day from days of year |
234 | // seperate month and day from days of year |
235 | for ( i = 0; i < 12; i++ ) |
235 | for ( i = 0; i < 12; i++ ) |
236 | { |
236 | { |
237 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
237 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
238 | { |
238 | { |
239 | pTimeStruct->Month = i+1; |
239 | pTimeStruct->Month = i+1; |
240 | pTimeStruct->Day = Days - MonthDayTab[i]; |
240 | pTimeStruct->Day = Days - MonthDayTab[i]; |
241 | i = 12; |
241 | i = 12; |
242 | } |
242 | } |
243 | } |
243 | } |
244 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
244 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
245 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
245 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
246 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
246 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
247 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
247 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
248 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
248 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
249 | pTimeStruct->Sec = (u8)(Seconds); |
249 | pTimeStruct->Sec = (u8)(Seconds); |
250 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
250 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
251 | pTimeStruct->Valid = 1; |
251 | pTimeStruct->Valid = 1; |
252 | } |
252 | } |
253 | else |
253 | else |
254 | { |
254 | { |
255 | pTimeStruct->Valid = 0; |
255 | pTimeStruct->Valid = 0; |
256 | } |
256 | } |
257 | } |
257 | } |
258 | 258 | ||
259 | 259 | ||
260 | 260 | ||
261 | /********************************************************/ |
261 | /********************************************************/ |
262 | /* Initialize UBX Parser */ |
262 | /* Initialize UBX Parser */ |
263 | /********************************************************/ |
263 | /********************************************************/ |
264 | void UBX_Init(void) |
264 | void UBX_Init(void) |
265 | { |
265 | { |
266 | // mark msg buffers invalid |
266 | // mark msg buffers invalid |
267 | UbxSol.Status = INVALID; |
267 | UbxSol.Status = INVALID; |
268 | UbxPosLlh.Status = INVALID; |
268 | UbxPosLlh.Status = INVALID; |
269 | UbxVelNed.Status = INVALID; |
269 | UbxVelNed.Status = INVALID; |
270 | UbxMsg.Status = INVALID; |
270 | UbxMsg.Status = INVALID; |
271 | GPSData.Status = INVALID; |
271 | GPSData.Status = INVALID; |
272 | 272 | ||
273 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
273 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
274 | } |
274 | } |
275 | 275 | ||
276 | /********************************************************/ |
276 | /********************************************************/ |
277 | /* Upate GPS data stcructure */ |
277 | /* Upate GPS data stcructure */ |
278 | /********************************************************/ |
278 | /********************************************************/ |
279 | void Update_GPSData(void) |
279 | void Update_GPSData(void) |
280 | { |
280 | { |
281 | static u32 last_itow = 0; |
281 | static u32 last_itow = 0; |
282 | 282 | ||
283 | // if a new set of ubx messages was collected |
283 | // if a new set of ubx messages was collected |
284 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
284 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
285 | { // and the itow is equal (same time base) |
285 | { // and the itow is equal (same time base) |
286 | UART_VersionInfo.Flags |= NC_VERSION_FLAG_GPS_PRESENT; |
286 | UART_VersionInfo.Flags |= NC_VERSION_FLAG_GPS_PRESENT; |
287 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
287 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
288 | { |
288 | { |
289 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
289 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
290 | DebugOut.Analog[9]++; |
290 | DebugOut.Analog[9]++; |
291 | // update GPS data only if the status is INVALID or PROCESSED |
291 | // update GPS data only if the status is INVALID or PROCESSED |
292 | if(GPSData.Status != NEWDATA) |
292 | if(GPSData.Status != NEWDATA) |
293 | { // wait for new data at all neccesary ubx messages |
293 | { // wait for new data at all neccesary ubx messages |
294 | GPSData.Status = INVALID; |
294 | GPSData.Status = INVALID; |
295 | // update message cycle time |
295 | // update message cycle time |
296 | GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
296 | GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
297 | last_itow = UbxSol.itow; // update last itow |
297 | last_itow = UbxSol.itow; // update last itow |
298 | // NAV SOL |
298 | // NAV SOL |
299 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
299 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
300 | GPSData.NumOfSats = UbxSol.numSV; |
300 | GPSData.NumOfSats = UbxSol.numSV; |
301 | GPSData.SatFix = UbxSol.GPSfix; |
301 | GPSData.SatFix = UbxSol.GPSfix; |
302 | GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
302 | GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
303 | GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
303 | GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
304 | SetGPSTime(&SystemTime); // update system time |
304 | SetGPSTime(&SystemTime); // update system time |
305 | // NAV POSLLH |
305 | // NAV POSLLH |
306 | GPSData.Position.Status = INVALID; |
306 | GPSData.Position.Status = INVALID; |
307 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
307 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
308 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
308 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
309 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
309 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
310 | GPSData.Position.Status = NEWDATA; |
310 | GPSData.Position.Status = NEWDATA; |
311 | // NAV VELNED |
311 | // NAV VELNED |
312 | GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
312 | GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
313 | GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
313 | GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
314 | GPSData.Speed_Top = -UbxVelNed.VEL_D; // in steps of 1cm/s |
314 | GPSData.Speed_Top = -UbxVelNed.VEL_D; // in steps of 1cm/s |
315 | GPSData.Speed_Ground = UbxVelNed.GSpeed; // in steps of 1cm/s |
315 | GPSData.Speed_Ground = UbxVelNed.GSpeed; // in steps of 1cm/s |
316 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
316 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
317 | 317 | ||
318 | GPSData.Status = NEWDATA; // new data available |
318 | GPSData.Status = NEWDATA; // new data available |
319 | } // EOF if(GPSData.Status != NEWDATA) |
319 | } // EOF if(GPSData.Status != NEWDATA) |
320 | // set state to collect new data |
320 | // set state to collect new data |
321 | UbxSol.Status = PROCESSED; // ready for new data |
321 | UbxSol.Status = PROCESSED; // ready for new data |
322 | UbxPosLlh.Status = PROCESSED; // ready for new data |
322 | UbxPosLlh.Status = PROCESSED; // ready for new data |
323 | UbxVelNed.Status = PROCESSED; // ready for new data |
323 | UbxVelNed.Status = PROCESSED; // ready for new data |
324 | } // EOF all itow are equal |
324 | } // EOF all itow are equal |
325 | } // EOF all ubx messages received |
325 | } // EOF all ubx messages received |
326 | 326 | ||
327 | 327 | ||
328 | //++++++++++++++++++++++++++++++++ |
328 | //++++++++++++++++++++++++++++++++ |
329 | // Please do not delete |
329 | // Please do not delete |
330 | // This helps me for testing |
330 | // This helps me for testing |
331 | //++++++++++++++++++++++++++++++++ |
331 | //++++++++++++++++++++++++++++++++ |
332 | //GPSData.Position.Longitude = 1517409123L; // Hamilton, Australia |
332 | //GPSData.Position.Longitude = 1517409123L; // Hamilton, Australia |
333 | //GPSData.Position.Latitude = -329294773L; // Hamilton, Australia |
333 | //GPSData.Position.Latitude = -329294773L; // Hamilton, Australia |
334 | //++++++++ |
334 | //++++++++ |
335 | //GPSData.Position.Longitude =-1556010020L; // Alaska |
335 | //GPSData.Position.Longitude =-1556010020L; // Alaska |
336 | //GPSData.Position.Latitude = 629581270L; // Alaska |
336 | //GPSData.Position.Latitude = 629581270L; // Alaska |
337 | //++++++++ |
337 | //++++++++ |
338 | //GPSData.Position.Longitude =-584343419L; // Buenos aires |
338 | //GPSData.Position.Longitude =-584343419L; // Buenos aires |
339 | //GPSData.Position.Latitude = -345464421L; // Buenos aires |
339 | //GPSData.Position.Latitude = -345464421L; // Buenos aires |
340 | //++++++++ |
340 | //++++++++ |
341 | //GPSData.Position.Longitude =1683362691L; // Neuseeland |
341 | //GPSData.Position.Longitude =1683362691L; // Neuseeland |
342 | //GPSData.Position.Latitude = -465945926L; // Neuseeland |
342 | //GPSData.Position.Latitude = -465945926L; // Neuseeland |
343 | //++++++++ |
343 | //++++++++ |
344 | //GPSData.Position.Longitude = 194140605L; // Afrika |
344 | //GPSData.Position.Longitude = 194140605L; // Afrika |
345 | //GPSData.Position.Latitude = -345384656L; // Afrika |
345 | //GPSData.Position.Latitude = -345384656L; // Afrika |
346 | //++++++++ |
346 | //++++++++ |
347 | //GPSData.Position.Longitude =-740443840L; // Liberty Staue davor |
347 | //GPSData.Position.Longitude =-740443840L; // Liberty Staue davor |
348 | //GPSData.Position.Latitude = 406888880L; // Liberty Staue |
348 | //GPSData.Position.Latitude = 406888880L; // Liberty Staue |
349 | 349 | ||
350 | //GPSData.Position.Longitude =-740451660L; // Liberty Staue daneben |
350 | //GPSData.Position.Longitude =-740451660L; // Liberty Staue daneben |
351 | //GPSData.Position.Latitude = 406891880L; // Liberty Staue |
351 | //GPSData.Position.Latitude = 406891880L; // Liberty Staue |
352 | 352 | ||
353 | //GPSData.Position.Longitude =-740446540L; // Liberty Staue direkt |
353 | //GPSData.Position.Longitude =-740446540L; // Liberty Staue direkt |
354 | //GPSData.Position.Latitude = 406891590L; // Liberty Staue 1 |
354 | //GPSData.Position.Latitude = 406891590L; // Liberty Staue 1 |
- | 355 | ||
- | 356 | //GPSData.Position.Longitude =-1142878694L; // Flori |
|
- | 357 | //GPSData.Position.Latitude = 483712102L; // |
|
- | 358 | ||
- | 359 | //GPSData.Position.Longitude =1251674613L; // Bubble |
|
- | 360 | //GPSData.Position.Latitude = 466058365L; // |
|
355 | 361 | ||
356 | } |
362 | } |
357 | 363 | ||
358 | 364 | ||
359 | /********************************************************/ |
365 | /********************************************************/ |
360 | /* UBX Parser */ |
366 | /* UBX Parser */ |
361 | /********************************************************/ |
367 | /********************************************************/ |
362 | void UBX_RxParser(u8 c) |
368 | void UBX_RxParser(u8 c) |
363 | { |
369 | { |
364 | static ubxState_t ubxState = UBXSTATE_IDLE; |
370 | static ubxState_t ubxState = UBXSTATE_IDLE; |
365 | static ubxmsghdr_t RxHdr; |
371 | static ubxmsghdr_t RxHdr; |
366 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
372 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
367 | static u16 RxBytes = 0; |
373 | static u16 RxBytes = 0; |
368 | static u8 cka, ckb; |
374 | static u8 cka, ckb; |
369 | 375 | ||
370 | 376 | ||
371 | //state machine |
377 | //state machine |
372 | switch (ubxState) // ubx message parser |
378 | switch (ubxState) // ubx message parser |
373 | { |
379 | { |
374 | case UBXSTATE_IDLE: // check 1st sync byte |
380 | case UBXSTATE_IDLE: // check 1st sync byte |
375 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
381 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
376 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
382 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
377 | break; |
383 | break; |
378 | 384 | ||
379 | case UBXSTATE_SYNC1: // check 2nd sync byte |
385 | case UBXSTATE_SYNC1: // check 2nd sync byte |
380 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
386 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
381 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
387 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
382 | break; |
388 | break; |
383 | 389 | ||
384 | case UBXSTATE_SYNC2: // check msg class to be NAV |
390 | case UBXSTATE_SYNC2: // check msg class to be NAV |
385 | RxHdr.Class = c; |
391 | RxHdr.Class = c; |
386 | ubxState = UBXSTATE_CLASS; |
392 | ubxState = UBXSTATE_CLASS; |
387 | break; |
393 | break; |
388 | 394 | ||
389 | case UBXSTATE_CLASS: // check message identifier |
395 | case UBXSTATE_CLASS: // check message identifier |
390 | RxHdr.Id = c; |
396 | RxHdr.Id = c; |
391 | ubxState = UBXSTATE_LEN1; |
397 | ubxState = UBXSTATE_LEN1; |
392 | cka = RxHdr.Class + RxHdr.Id; |
398 | cka = RxHdr.Class + RxHdr.Id; |
393 | ckb = RxHdr.Class + cka; |
399 | ckb = RxHdr.Class + cka; |
394 | break; |
400 | break; |
395 | 401 | ||
396 | case UBXSTATE_LEN1: // 1st message length byte |
402 | case UBXSTATE_LEN1: // 1st message length byte |
397 | RxHdr.Length = (u16)c; // lowbyte first |
403 | RxHdr.Length = (u16)c; // lowbyte first |
398 | cka += c; |
404 | cka += c; |
399 | ckb += cka; |
405 | ckb += cka; |
400 | ubxState = UBXSTATE_LEN2; |
406 | ubxState = UBXSTATE_LEN2; |
401 | break; |
407 | break; |
402 | 408 | ||
403 | case UBXSTATE_LEN2: // 2nd message length byte |
409 | case UBXSTATE_LEN2: // 2nd message length byte |
404 | RxHdr.Length += ((u16)c)<<8; // high byte last |
410 | RxHdr.Length += ((u16)c)<<8; // high byte last |
405 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
411 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
406 | { |
412 | { |
407 | ubxState = UBXSTATE_IDLE; |
413 | ubxState = UBXSTATE_IDLE; |
408 | } |
414 | } |
409 | else |
415 | else |
410 | { |
416 | { |
411 | cka += c; |
417 | cka += c; |
412 | ckb += cka; |
418 | ckb += cka; |
413 | RxBytes = 0; // reset data byte counter |
419 | RxBytes = 0; // reset data byte counter |
414 | ubxState = UBXSTATE_DATA; |
420 | ubxState = UBXSTATE_DATA; |
415 | } |
421 | } |
416 | break; |
422 | break; |
417 | 423 | ||
418 | case UBXSTATE_DATA: // collecting data |
424 | case UBXSTATE_DATA: // collecting data |
419 | if (RxBytes < UBX_MSG_DATA_SIZE) |
425 | if (RxBytes < UBX_MSG_DATA_SIZE) |
420 | { |
426 | { |
421 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
427 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
422 | cka += c; |
428 | cka += c; |
423 | ckb += cka; |
429 | ckb += cka; |
424 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
430 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
425 | } |
431 | } |
426 | else // rx buffer overrun |
432 | else // rx buffer overrun |
427 | { |
433 | { |
428 | ubxState = UBXSTATE_IDLE; |
434 | ubxState = UBXSTATE_IDLE; |
429 | } |
435 | } |
430 | break; |
436 | break; |
431 | 437 | ||
432 | case UBXSTATE_CKA: |
438 | case UBXSTATE_CKA: |
433 | if (c == cka) ubxState = UBXSTATE_CKB; |
439 | if (c == cka) ubxState = UBXSTATE_CKB; |
434 | else |
440 | else |
435 | { |
441 | { |
436 | ubxState = UBXSTATE_IDLE; |
442 | ubxState = UBXSTATE_IDLE; |
437 | } |
443 | } |
438 | break; |
444 | break; |
439 | 445 | ||
440 | case UBXSTATE_CKB: |
446 | case UBXSTATE_CKB: |
441 | if (c == ckb) |
447 | if (c == ckb) |
442 | { // checksum is ok |
448 | { // checksum is ok |
443 | 449 | ||
444 | switch(RxHdr.Class) |
450 | switch(RxHdr.Class) |
445 | { |
451 | { |
446 | case UBX_CLASS_NAV: |
452 | case UBX_CLASS_NAV: |
447 | switch(RxHdr.Id) |
453 | switch(RxHdr.Id) |
448 | { |
454 | { |
449 | case UBX_ID_POSLLH: // geodetic position |
455 | case UBX_ID_POSLLH: // geodetic position |
450 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
456 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
451 | UbxPosLlh.Status = NEWDATA; |
457 | UbxPosLlh.Status = NEWDATA; |
452 | break; |
458 | break; |
453 | 459 | ||
454 | case UBX_ID_VELNED: // velocity vector in tangent plane |
460 | case UBX_ID_VELNED: // velocity vector in tangent plane |
455 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
461 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
456 | UbxVelNed.Status = NEWDATA; |
462 | UbxVelNed.Status = NEWDATA; |
457 | break; |
463 | break; |
458 | 464 | ||
459 | case UBX_ID_SOL: // navigation solution |
465 | case UBX_ID_SOL: // navigation solution |
460 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
466 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
461 | UbxSol.Status = NEWDATA; |
467 | UbxSol.Status = NEWDATA; |
462 | break; |
468 | break; |
463 | 469 | ||
464 | default: |
470 | default: |
465 | break; |
471 | break; |
466 | } // EOF switch(Id) |
472 | } // EOF switch(Id) |
467 | Update_GPSData(); |
473 | Update_GPSData(); |
468 | break; |
474 | break; |
469 | 475 | ||
470 | default: |
476 | default: |
471 | break; |
477 | break; |
472 | } // EOF switch(class) |
478 | } // EOF switch(class) |
473 | 479 | ||
474 | // check generic msg filter |
480 | // check generic msg filter |
475 | if(UbxMsg.Status != NEWDATA) |
481 | if(UbxMsg.Status != NEWDATA) |
476 | { // msg buffer is free |
482 | { // msg buffer is free |
477 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
483 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
478 | { // msg matches to the filter criteria |
484 | { // msg matches to the filter criteria |
479 | UbxMsg.Status = INVALID; |
485 | UbxMsg.Status = INVALID; |
480 | UbxMsg.Hdr.Class = RxHdr.Class; |
486 | UbxMsg.Hdr.Class = RxHdr.Class; |
481 | UbxMsg.Hdr.Id = RxHdr.Id; |
487 | UbxMsg.Hdr.Id = RxHdr.Id; |
482 | UbxMsg.Hdr.Length = RxHdr.Length; |
488 | UbxMsg.Hdr.Length = RxHdr.Length; |
483 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
489 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
484 | { // copy data block |
490 | { // copy data block |
485 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
491 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
486 | UbxMsg.Status = NEWDATA; |
492 | UbxMsg.Status = NEWDATA; |
487 | } |
493 | } |
488 | } // EOF filter matches |
494 | } // EOF filter matches |
489 | } // EOF != INVALID |
495 | } // EOF != INVALID |
490 | }// EOF crc ok |
496 | }// EOF crc ok |
491 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
497 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
492 | break; |
498 | break; |
493 | 499 | ||
494 | default: // unknown ubx state |
500 | default: // unknown ubx state |
495 | ubxState = UBXSTATE_IDLE; |
501 | ubxState = UBXSTATE_IDLE; |
496 | break; |
502 | break; |
497 | 503 | ||
498 | } |
504 | } |
499 | } |
505 | } |
500 | 506 | ||
501 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
507 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
502 | { |
508 | { |
503 | u16 i; |
509 | u16 i; |
504 | u8 cka = 0, ckb = 0; |
510 | u8 cka = 0, ckb = 0; |
505 | // check if buffer is available |
511 | // check if buffer is available |
506 | if(pBuff->Locked == TRUE) return(0); |
512 | if(pBuff->Locked == TRUE) return(0); |
507 | // check if buffer size is sufficient |
513 | // check if buffer size is sufficient |
508 | if(pBuff->Size < 8 + Len) return(0); |
514 | if(pBuff->Size < 8 + Len) return(0); |
509 | // lock the buffer |
515 | // lock the buffer |
510 | pBuff->Locked = TRUE; |
516 | pBuff->Locked = TRUE; |
511 | // start at begin |
517 | // start at begin |
512 | pBuff->Position = 0; |
518 | pBuff->Position = 0; |
513 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
519 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
514 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
520 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
515 | for(i=0;i<Len;i++) |
521 | for(i=0;i<Len;i++) |
516 | { |
522 | { |
517 | pBuff->pData[pBuff->Position++] = pData[i]; |
523 | pBuff->pData[pBuff->Position++] = pData[i]; |
518 | } |
524 | } |
519 | // calculate checksum |
525 | // calculate checksum |
520 | for(i=2;i<pBuff->Position;i++) |
526 | for(i=2;i<pBuff->Position;i++) |
521 | { |
527 | { |
522 | cka += pBuff->pData[i]; |
528 | cka += pBuff->pData[i]; |
523 | ckb += cka; |
529 | ckb += cka; |
524 | } |
530 | } |
525 | pBuff->pData[pBuff->Position++] = cka; |
531 | pBuff->pData[pBuff->Position++] = cka; |
526 | pBuff->pData[pBuff->Position++] = ckb; |
532 | pBuff->pData[pBuff->Position++] = ckb; |
527 | pBuff->DataBytes = pBuff->Position; |
533 | pBuff->DataBytes = pBuff->Position; |
528 | pBuff->Position = 0; // reset buffer position for transmision |
534 | pBuff->Position = 0; // reset buffer position for transmision |
529 | return(1); |
535 | return(1); |
530 | } |
536 | } |
531 | /* |
537 | /* |
532 | switch(ubxclass) |
538 | switch(ubxclass) |
533 | { |
539 | { |
534 | case UBX_CLASS_NAV: |
540 | case UBX_CLASS_NAV: |
535 | switch(ubxid) |
541 | switch(ubxid) |
536 | { |
542 | { |
537 | case UBX_ID_POSLLH: // geodetic position |
543 | case UBX_ID_POSLLH: // geodetic position |
538 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
544 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
539 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
545 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
540 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
546 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
541 | break; |
547 | break; |
542 | |
548 | |
543 | case UBX_ID_SOL: // navigation solution |
549 | case UBX_ID_SOL: // navigation solution |
544 | ubxSp = (u8 *)&UbxSol; // data start pointer |
550 | ubxSp = (u8 *)&UbxSol; // data start pointer |
545 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
551 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
546 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
552 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
547 | break; |
553 | break; |
548 | |
554 | |
549 | case UBX_ID_VELNED: // velocity vector in tangent plane |
555 | case UBX_ID_VELNED: // velocity vector in tangent plane |
550 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
556 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
551 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
557 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
552 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
558 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
553 | break; |
559 | break; |
554 | |
560 | |
555 | default: // unsupported identifier |
561 | default: // unsupported identifier |
556 | ubxState = UBXSTATE_IDLE; |
562 | ubxState = UBXSTATE_IDLE; |
557 | return; |
563 | return; |
558 | } |
564 | } |
559 | break; |
565 | break; |
560 | 566 | ||
561 | default: // other classes |
567 | default: // other classes |
562 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
568 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
563 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
569 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
564 | { // buffer is free and message matches to filter criteria |
570 | { // buffer is free and message matches to filter criteria |
565 | UbxMsg.Status = INVALID; |
571 | UbxMsg.Status = INVALID; |
566 | UbxMsg.Hdr.Class = ubxclass; |
572 | UbxMsg.Hdr.Class = ubxclass; |
567 | UbxMsg.Hdr.Id = ubxid; |
573 | UbxMsg.Hdr.Id = ubxid; |
568 | UbxMsg.Hdr.Length = msglen; |
574 | UbxMsg.Hdr.Length = msglen; |
569 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
575 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
570 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
576 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
571 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
577 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
572 | } |
578 | } |
573 | else ubxState = UBXSTATE_IDLE; |
579 | else ubxState = UBXSTATE_IDLE; |
574 | break; |
580 | break; |
575 | } |
581 | } |
576 | */ |
582 | */ |
577 | 583 | ||
578 | 584 |