Rev 322 | Rev 392 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 322 | Rev 360 | ||
|---|---|---|---|
| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
- | |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
- | |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
- | |
| 8 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 7 | // + Software Nutzungsbedingungen (english version: see below) |
|
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
- | |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 22 | // + eindeutig als Ursprung verlinkt werden |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 25 | // + Benutzung auf eigene Gefahr |
22 | // + des Mitverschuldens offen. |
| - | 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. |
|
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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 |
|
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + mit unserer Zustimmung zulässig |
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // + Software LICENSING TERMS |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 34 | // + this list of conditions and the following disclaimer. |
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 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 36 | // + from this software without specific prior written permission. |
37 | // + The Software may only be used with the Licensor's products. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 38 | // + for non-commercial use (directly or indirectly) |
- | |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + with our written permission |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 42 | // + clearly linked as origin |
- | |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 44 | // |
- | |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + #### END OF LICENSING TERMS #### |
| - | 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
|
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <string.h> |
56 | #include <string.h> |
| 58 | #include "91x_lib.h" |
57 | #include "91x_lib.h" |
| 59 | #include "uart1.h" |
58 | #include "uart1.h" |
| 60 | #include "ubx.h" |
59 | #include "ubx.h" |
| 61 | #include "led.h" |
60 | #include "led.h" |
| 62 | #include "timer1.h" |
61 | #include "timer1.h" |
| 63 | 62 | ||
| 64 | // ------------------------------------------------------------------------------------------------ |
63 | // ------------------------------------------------------------------------------------------------ |
| 65 | // defines |
64 | // defines |
| 66 | 65 | ||
| 67 | #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! |
| 68 | #define DAYS_PER_YEAR 365 |
67 | #define DAYS_PER_YEAR 365 |
| 69 | #define DAYS_PER_LEAPYEAR 366 |
68 | #define DAYS_PER_LEAPYEAR 366 |
| 70 | #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 |
| 71 | #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 |
| 72 | #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 |
| 73 | #define SECONDS_PER_MINUTE 60 |
72 | #define SECONDS_PER_MINUTE 60 |
| 74 | #define MINUTES_PER_HOUR 60 |
73 | #define MINUTES_PER_HOUR 60 |
| 75 | #define HOURS_PER_DAY 24 |
74 | #define HOURS_PER_DAY 24 |
| 76 | #define DAYS_PER_WEEK 7 |
75 | #define DAYS_PER_WEEK 7 |
| 77 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
76 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
| 78 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
77 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
| 79 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
78 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
| 80 | 79 | ||
| 81 | // days per month in normal and leap years |
80 | // days per month in normal and leap years |
| 82 | 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 }; |
| 83 | 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 }; |
| 84 | 83 | ||
| 85 | #define LEAP_SECONDS_FROM_1980 15 |
84 | #define LEAP_SECONDS_FROM_1980 15 |
| 86 | 85 | ||
| 87 | // message sync bytes |
86 | // message sync bytes |
| 88 | #define UBX_SYNC1_CHAR 0xB5 |
87 | #define UBX_SYNC1_CHAR 0xB5 |
| 89 | #define UBX_SYNC2_CHAR 0x62 |
88 | #define UBX_SYNC2_CHAR 0x62 |
| 90 | // protocoll identifiers |
89 | // protocoll identifiers |
| 91 | // navigation class |
90 | // navigation class |
| 92 | #define UBX_CLASS_NAV 0x01 |
91 | #define UBX_CLASS_NAV 0x01 |
| 93 | #define UBX_ID_POSLLH 0x02 |
92 | #define UBX_ID_POSLLH 0x02 |
| 94 | #define UBX_ID_SOL 0x06 |
93 | #define UBX_ID_SOL 0x06 |
| 95 | #define UBX_ID_VELNED 0x12 |
94 | #define UBX_ID_VELNED 0x12 |
| 96 | 95 | ||
| 97 | // ------------------------------------------------------------------------------------------------ |
96 | // ------------------------------------------------------------------------------------------------ |
| 98 | // typedefs |
97 | // typedefs |
| 99 | 98 | ||
| 100 | 99 | ||
| 101 | // ubx parser state |
100 | // ubx parser state |
| 102 | typedef enum |
101 | typedef enum |
| 103 | { |
102 | { |
| 104 | UBXSTATE_IDLE, |
103 | UBXSTATE_IDLE, |
| 105 | UBXSTATE_SYNC1, |
104 | UBXSTATE_SYNC1, |
| 106 | UBXSTATE_SYNC2, |
105 | UBXSTATE_SYNC2, |
| 107 | UBXSTATE_CLASS, |
106 | UBXSTATE_CLASS, |
| 108 | UBXSTATE_LEN1, |
107 | UBXSTATE_LEN1, |
| 109 | UBXSTATE_LEN2, |
108 | UBXSTATE_LEN2, |
| 110 | UBXSTATE_DATA, |
109 | UBXSTATE_DATA, |
| 111 | UBXSTATE_CKA, |
110 | UBXSTATE_CKA, |
| 112 | UBXSTATE_CKB |
111 | UBXSTATE_CKB |
| 113 | } ubxState_t; |
112 | } ubxState_t; |
| 114 | 113 | ||
| 115 | typedef struct |
114 | typedef struct |
| 116 | { |
115 | { |
| 117 | u32 itow; // ms GPS Millisecond Time of Week |
116 | u32 itow; // ms GPS Millisecond Time of Week |
| 118 | s32 frac; // ns remainder of rounded ms above |
117 | s32 frac; // ns remainder of rounded ms above |
| 119 | s16 week; // GPS week |
118 | s16 week; // GPS week |
| 120 | u8 GPSfix; // GPSfix Type, range 0..6 |
119 | u8 GPSfix; // GPSfix Type, range 0..6 |
| 121 | u8 Flags; // Navigation Status Flags |
120 | u8 Flags; // Navigation Status Flags |
| 122 | s32 ECEF_X; // cm ECEF X coordinate |
121 | s32 ECEF_X; // cm ECEF X coordinate |
| 123 | s32 ECEF_Y; // cm ECEF Y coordinate |
122 | s32 ECEF_Y; // cm ECEF Y coordinate |
| 124 | s32 ECEF_Z; // cm ECEF Z coordinate |
123 | s32 ECEF_Z; // cm ECEF Z coordinate |
| 125 | u32 PAcc; // cm 3D Position Accuracy Estimate |
124 | u32 PAcc; // cm 3D Position Accuracy Estimate |
| 126 | s32 ECEFVX; // cm/s ECEF X velocity |
125 | s32 ECEFVX; // cm/s ECEF X velocity |
| 127 | s32 ECEFVY; // cm/s ECEF Y velocity |
126 | s32 ECEFVY; // cm/s ECEF Y velocity |
| 128 | s32 ECEFVZ; // cm/s ECEF Z velocity |
127 | s32 ECEFVZ; // cm/s ECEF Z velocity |
| 129 | u32 SAcc; // cm/s Speed Accuracy Estimate |
128 | u32 SAcc; // cm/s Speed Accuracy Estimate |
| 130 | u16 PDOP; // 0.01 Position DOP |
129 | u16 PDOP; // 0.01 Position DOP |
| 131 | u8 res1; // reserved |
130 | u8 res1; // reserved |
| 132 | u8 numSV; // Number of SVs used in navigation solution |
131 | u8 numSV; // Number of SVs used in navigation solution |
| 133 | u32 res2; // reserved |
132 | u32 res2; // reserved |
| 134 | u8 Status; // invalid/newdata/processed |
133 | u8 Status; // invalid/newdata/processed |
| 135 | } __attribute__((packed)) ubx_nav_sol_t; |
134 | } __attribute__((packed)) ubx_nav_sol_t; |
| 136 | 135 | ||
| 137 | 136 | ||
| 138 | typedef struct |
137 | typedef struct |
| 139 | { |
138 | { |
| 140 | u32 itow; // ms GPS Millisecond Time of Week |
139 | u32 itow; // ms GPS Millisecond Time of Week |
| 141 | s32 VEL_N; // cm/s NED north velocity |
140 | s32 VEL_N; // cm/s NED north velocity |
| 142 | s32 VEL_E; // cm/s NED east velocity |
141 | s32 VEL_E; // cm/s NED east velocity |
| 143 | s32 VEL_D; // cm/s NED down velocity |
142 | s32 VEL_D; // cm/s NED down velocity |
| 144 | u32 Speed; // cm/s Speed (3-D) |
143 | u32 Speed; // cm/s Speed (3-D) |
| 145 | u32 GSpeed; // cm/s Ground Speed (2-D) |
144 | u32 GSpeed; // cm/s Ground Speed (2-D) |
| 146 | s32 Heading; // 1e-05 deg Heading 2-D |
145 | s32 Heading; // 1e-05 deg Heading 2-D |
| 147 | u32 SAcc; // cm/s Speed Accuracy Estimate |
146 | u32 SAcc; // cm/s Speed Accuracy Estimate |
| 148 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
147 | u32 CAcc; // deg Course / Heading Accuracy Estimate |
| 149 | u8 Status; // invalid/newdata/processed |
148 | u8 Status; // invalid/newdata/processed |
| 150 | } __attribute__((packed)) ubx_nav_velned_t; |
149 | } __attribute__((packed)) ubx_nav_velned_t; |
| 151 | 150 | ||
| 152 | typedef struct |
151 | typedef struct |
| 153 | { |
152 | { |
| 154 | u32 itow; // ms GPS Millisecond Time of Week |
153 | u32 itow; // ms GPS Millisecond Time of Week |
| 155 | s32 LON; // 1e-07 deg Longitude |
154 | s32 LON; // 1e-07 deg Longitude |
| 156 | s32 LAT; // 1e-07 deg Latitude |
155 | s32 LAT; // 1e-07 deg Latitude |
| 157 | s32 HEIGHT; // mm Height above Ellipsoid |
156 | s32 HEIGHT; // mm Height above Ellipsoid |
| 158 | s32 HMSL; // mm Height above mean sea level |
157 | s32 HMSL; // mm Height above mean sea level |
| 159 | u32 Hacc; // mm Horizontal Accuracy Estimate |
158 | u32 Hacc; // mm Horizontal Accuracy Estimate |
| 160 | u32 Vacc; // mm Vertical Accuracy Estimate |
159 | u32 Vacc; // mm Vertical Accuracy Estimate |
| 161 | u8 Status; // invalid/newdata/processed |
160 | u8 Status; // invalid/newdata/processed |
| 162 | } __attribute__((packed)) ubx_nav_posllh_t; |
161 | } __attribute__((packed)) ubx_nav_posllh_t; |
| 163 | 162 | ||
| 164 | //------------------------------------------------------------------------------------ |
163 | //------------------------------------------------------------------------------------ |
| 165 | // global variables |
164 | // global variables |
| 166 | 165 | ||
| 167 | // local buffers for the incomming ubx messages |
166 | // local buffers for the incomming ubx messages |
| 168 | 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}; |
| 169 | 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}; |
| 170 | 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}; |
| 171 | ubxmsg_t UbxMsg; |
170 | ubxmsg_t UbxMsg; |
| 172 | 171 | ||
| 173 | // shared buffer |
172 | // shared buffer |
| 174 | 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}; |
| 175 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
174 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
| 176 | 175 | ||
| 177 | #define UBX_TIMEOUT 500 // 500 ms |
176 | #define UBX_TIMEOUT 500 // 500 ms |
| 178 | u32 UBX_Timeout = 0; |
177 | u32 UBX_Timeout = 0; |
| 179 | 178 | ||
| 180 | //------------------------------------------------------------------------------------ |
179 | //------------------------------------------------------------------------------------ |
| 181 | // functions |
180 | // functions |
| 182 | 181 | ||
| 183 | u8 IsLeapYear(u16 year) |
182 | u8 IsLeapYear(u16 year) |
| 184 | { |
183 | { |
| 185 | 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; |
| 186 | else return 0; |
185 | else return 0; |
| 187 | } |
186 | } |
| 188 | /********************************************************/ |
187 | /********************************************************/ |
| 189 | /* Calculates the UTC Time from the GPS week and tow */ |
188 | /* Calculates the UTC Time from the GPS week and tow */ |
| 190 | /********************************************************/ |
189 | /********************************************************/ |
| 191 | void SetGPSTime(DateTime_t * pTimeStruct) |
190 | void SetGPSTime(DateTime_t * pTimeStruct) |
| 192 | { |
191 | { |
| 193 | u32 Days, Seconds, Week; |
192 | u32 Days, Seconds, Week; |
| 194 | u16 YearPart; |
193 | u16 YearPart; |
| 195 | u32 * MonthDayTab = 0; |
194 | u32 * MonthDayTab = 0; |
| 196 | u8 i; |
195 | u8 i; |
| 197 | 196 | ||
| 198 | 197 | ||
| 199 | // if GPS data show valid time data |
198 | // if GPS data show valid time data |
| 200 | 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) ) |
| 201 | { |
200 | { |
| 202 | Seconds = UbxSol.itow / 1000L; |
201 | Seconds = UbxSol.itow / 1000L; |
| 203 | Week = (u32)UbxSol.week; |
202 | Week = (u32)UbxSol.week; |
| 204 | // correct leap seconds since 1980 |
203 | // correct leap seconds since 1980 |
| 205 | if(Seconds < LEAP_SECONDS_FROM_1980) |
204 | if(Seconds < LEAP_SECONDS_FROM_1980) |
| 206 | { |
205 | { |
| 207 | Week--; |
206 | Week--; |
| 208 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
207 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
| 209 | } |
208 | } |
| 210 | else Seconds -= LEAP_SECONDS_FROM_1980; |
209 | else Seconds -= LEAP_SECONDS_FROM_1980; |
| 211 | 210 | ||
| 212 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
211 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
| 213 | Days += (Week * DAYS_PER_WEEK); |
212 | Days += (Week * DAYS_PER_WEEK); |
| 214 | 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 |
| 215 | 214 | ||
| 216 | pTimeStruct->Year = 1; |
215 | pTimeStruct->Year = 1; |
| 217 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
216 | YearPart = (u16)(Days / DAYS_PER_400YEARS); |
| 218 | pTimeStruct->Year += YearPart * 400; |
217 | pTimeStruct->Year += YearPart * 400; |
| 219 | Days = Days % DAYS_PER_400YEARS; |
218 | Days = Days % DAYS_PER_400YEARS; |
| 220 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
219 | YearPart = (u16)(Days / DAYS_PER_100YEARS); |
| 221 | pTimeStruct->Year += YearPart * 100; |
220 | pTimeStruct->Year += YearPart * 100; |
| 222 | Days = Days % DAYS_PER_100YEARS; |
221 | Days = Days % DAYS_PER_100YEARS; |
| 223 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
222 | YearPart = (u16)(Days / DAYS_PER_4YEARS); |
| 224 | pTimeStruct->Year += YearPart * 4; |
223 | pTimeStruct->Year += YearPart * 4; |
| 225 | Days = Days % DAYS_PER_4YEARS; |
224 | Days = Days % DAYS_PER_4YEARS; |
| 226 | 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); |
| 227 | else YearPart = 3; |
226 | else YearPart = 3; |
| 228 | pTimeStruct->Year += YearPart; |
227 | pTimeStruct->Year += YearPart; |
| 229 | // calculate remaining days of year |
228 | // calculate remaining days of year |
| 230 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
229 | Days -= (u32)(YearPart * DAYS_PER_YEAR); |
| 231 | Days += 1; |
230 | Days += 1; |
| 232 | // check if current year is a leap year |
231 | // check if current year is a leap year |
| 233 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
232 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
| 234 | else MonthDayTab = (u32*)Normal; |
233 | else MonthDayTab = (u32*)Normal; |
| 235 | // seperate month and day from days of year |
234 | // seperate month and day from days of year |
| 236 | for ( i = 0; i < 12; i++ ) |
235 | for ( i = 0; i < 12; i++ ) |
| 237 | { |
236 | { |
| 238 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
237 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
| 239 | { |
238 | { |
| 240 | pTimeStruct->Month = i+1; |
239 | pTimeStruct->Month = i+1; |
| 241 | pTimeStruct->Day = Days - MonthDayTab[i]; |
240 | pTimeStruct->Day = Days - MonthDayTab[i]; |
| 242 | i = 12; |
241 | i = 12; |
| 243 | } |
242 | } |
| 244 | } |
243 | } |
| 245 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
244 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
| 246 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
245 | pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
| 247 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
246 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
| 248 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
247 | pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
| 249 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
248 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
| 250 | pTimeStruct->Sec = (u8)(Seconds); |
249 | pTimeStruct->Sec = (u8)(Seconds); |
| 251 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
250 | pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
| 252 | pTimeStruct->Valid = 1; |
251 | pTimeStruct->Valid = 1; |
| 253 | } |
252 | } |
| 254 | else |
253 | else |
| 255 | { |
254 | { |
| 256 | pTimeStruct->Valid = 0; |
255 | pTimeStruct->Valid = 0; |
| 257 | } |
256 | } |
| 258 | } |
257 | } |
| 259 | 258 | ||
| 260 | 259 | ||
| 261 | 260 | ||
| 262 | /********************************************************/ |
261 | /********************************************************/ |
| 263 | /* Initialize UBX Parser */ |
262 | /* Initialize UBX Parser */ |
| 264 | /********************************************************/ |
263 | /********************************************************/ |
| 265 | void UBX_Init(void) |
264 | void UBX_Init(void) |
| 266 | { |
265 | { |
| 267 | // mark msg buffers invalid |
266 | // mark msg buffers invalid |
| 268 | UbxSol.Status = INVALID; |
267 | UbxSol.Status = INVALID; |
| 269 | UbxPosLlh.Status = INVALID; |
268 | UbxPosLlh.Status = INVALID; |
| 270 | UbxVelNed.Status = INVALID; |
269 | UbxVelNed.Status = INVALID; |
| 271 | UbxMsg.Status = INVALID; |
270 | UbxMsg.Status = INVALID; |
| 272 | GPSData.Status = INVALID; |
271 | GPSData.Status = INVALID; |
| 273 | 272 | ||
| 274 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
273 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
| 275 | } |
274 | } |
| 276 | 275 | ||
| 277 | /********************************************************/ |
276 | /********************************************************/ |
| 278 | /* Upate GPS data stcructure */ |
277 | /* Upate GPS data stcructure */ |
| 279 | /********************************************************/ |
278 | /********************************************************/ |
| 280 | void Update_GPSData(void) |
279 | void Update_GPSData(void) |
| 281 | { |
280 | { |
| 282 | static u32 last_itow = 0; |
281 | static u32 last_itow = 0; |
| 283 | 282 | ||
| 284 | // if a new set of ubx messages was collected |
283 | // if a new set of ubx messages was collected |
| 285 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
284 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| 286 | { // and the itow is equal (same time base) |
285 | { // and the itow is equal (same time base) |
| 287 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
286 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
| 288 | { |
287 | { |
| 289 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
288 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
| 290 | DebugOut.Analog[9]++; |
289 | DebugOut.Analog[9]++; |
| 291 | // update GPS data only if the status is INVALID or PROCESSED |
290 | // update GPS data only if the status is INVALID or PROCESSED |
| 292 | if(GPSData.Status != NEWDATA) |
291 | if(GPSData.Status != NEWDATA) |
| 293 | { // wait for new data at all neccesary ubx messages |
292 | { // wait for new data at all neccesary ubx messages |
| 294 | GPSData.Status = INVALID; |
293 | GPSData.Status = INVALID; |
| 295 | // update message cycle time |
294 | // update message cycle time |
| 296 | GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
295 | GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
| 297 | last_itow = UbxSol.itow; // update last itow |
296 | last_itow = UbxSol.itow; // update last itow |
| 298 | // DebugOut.Analog[16] = GPSData.MsgCycleTime; |
297 | // DebugOut.Analog[16] = GPSData.MsgCycleTime; |
| 299 | // NAV SOL |
298 | // NAV SOL |
| 300 | 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 |
| 301 | GPSData.NumOfSats = UbxSol.numSV; |
300 | GPSData.NumOfSats = UbxSol.numSV; |
| 302 | GPSData.SatFix = UbxSol.GPSfix; |
301 | GPSData.SatFix = UbxSol.GPSfix; |
| 303 | GPSData.Position_Accuracy = UbxSol.PAcc; |
302 | GPSData.Position_Accuracy = UbxSol.PAcc; |
| 304 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
303 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
| 305 | SetGPSTime(&SystemTime); // update system time |
304 | SetGPSTime(&SystemTime); // update system time |
| 306 | // NAV POSLLH |
305 | // NAV POSLLH |
| 307 | GPSData.Position.Status = INVALID; |
306 | GPSData.Position.Status = INVALID; |
| 308 | GPSData.Position.Longitude = UbxPosLlh.LON; |
307 | GPSData.Position.Longitude = UbxPosLlh.LON; |
| 309 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
308 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
| 310 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
309 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
| 311 | GPSData.Position.Status = NEWDATA; |
310 | GPSData.Position.Status = NEWDATA; |
| 312 | // NAV VELNED |
311 | // NAV VELNED |
| 313 | GPSData.Speed_East = UbxVelNed.VEL_E; |
312 | GPSData.Speed_East = UbxVelNed.VEL_E; |
| 314 | GPSData.Speed_North = UbxVelNed.VEL_N; |
313 | GPSData.Speed_North = UbxVelNed.VEL_N; |
| 315 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
314 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
| 316 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
315 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
| 317 | GPSData.Heading = UbxVelNed.Heading; |
316 | GPSData.Heading = UbxVelNed.Heading; |
| 318 | 317 | ||
| 319 | GPSData.Status = NEWDATA; // new data available |
318 | GPSData.Status = NEWDATA; // new data available |
| 320 | } // EOF if(GPSData.Status != NEWDATA) |
319 | } // EOF if(GPSData.Status != NEWDATA) |
| 321 | // set state to collect new data |
320 | // set state to collect new data |
| 322 | UbxSol.Status = PROCESSED; // ready for new data |
321 | UbxSol.Status = PROCESSED; // ready for new data |
| 323 | UbxPosLlh.Status = PROCESSED; // ready for new data |
322 | UbxPosLlh.Status = PROCESSED; // ready for new data |
| 324 | UbxVelNed.Status = PROCESSED; // ready for new data |
323 | UbxVelNed.Status = PROCESSED; // ready for new data |
| 325 | } // EOF all itow are equal |
324 | } // EOF all itow are equal |
| 326 | } // EOF all ubx messages received |
325 | } // EOF all ubx messages received |
| 327 | } |
326 | } |
| 328 | 327 | ||
| 329 | 328 | ||
| 330 | /********************************************************/ |
329 | /********************************************************/ |
| 331 | /* UBX Parser */ |
330 | /* UBX Parser */ |
| 332 | /********************************************************/ |
331 | /********************************************************/ |
| 333 | void UBX_RxParser(u8 c) |
332 | void UBX_RxParser(u8 c) |
| 334 | { |
333 | { |
| 335 | static ubxState_t ubxState = UBXSTATE_IDLE; |
334 | static ubxState_t ubxState = UBXSTATE_IDLE; |
| 336 | static ubxmsghdr_t RxHdr; |
335 | static ubxmsghdr_t RxHdr; |
| 337 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
336 | static u8 RxData[UBX_MSG_DATA_SIZE]; |
| 338 | static u16 RxBytes = 0; |
337 | static u16 RxBytes = 0; |
| 339 | static u8 cka, ckb; |
338 | static u8 cka, ckb; |
| 340 | 339 | ||
| 341 | 340 | ||
| 342 | //state machine |
341 | //state machine |
| 343 | switch (ubxState) // ubx message parser |
342 | switch (ubxState) // ubx message parser |
| 344 | { |
343 | { |
| 345 | case UBXSTATE_IDLE: // check 1st sync byte |
344 | case UBXSTATE_IDLE: // check 1st sync byte |
| 346 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
345 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
| 347 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
346 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
| 348 | break; |
347 | break; |
| 349 | 348 | ||
| 350 | case UBXSTATE_SYNC1: // check 2nd sync byte |
349 | case UBXSTATE_SYNC1: // check 2nd sync byte |
| 351 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
350 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
| 352 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
351 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
| 353 | break; |
352 | break; |
| 354 | 353 | ||
| 355 | case UBXSTATE_SYNC2: // check msg class to be NAV |
354 | case UBXSTATE_SYNC2: // check msg class to be NAV |
| 356 | RxHdr.Class = c; |
355 | RxHdr.Class = c; |
| 357 | ubxState = UBXSTATE_CLASS; |
356 | ubxState = UBXSTATE_CLASS; |
| 358 | break; |
357 | break; |
| 359 | 358 | ||
| 360 | case UBXSTATE_CLASS: // check message identifier |
359 | case UBXSTATE_CLASS: // check message identifier |
| 361 | RxHdr.Id = c; |
360 | RxHdr.Id = c; |
| 362 | ubxState = UBXSTATE_LEN1; |
361 | ubxState = UBXSTATE_LEN1; |
| 363 | cka = RxHdr.Class + RxHdr.Id; |
362 | cka = RxHdr.Class + RxHdr.Id; |
| 364 | ckb = RxHdr.Class + cka; |
363 | ckb = RxHdr.Class + cka; |
| 365 | break; |
364 | break; |
| 366 | 365 | ||
| 367 | case UBXSTATE_LEN1: // 1st message length byte |
366 | case UBXSTATE_LEN1: // 1st message length byte |
| 368 | RxHdr.Length = (u16)c; // lowbyte first |
367 | RxHdr.Length = (u16)c; // lowbyte first |
| 369 | cka += c; |
368 | cka += c; |
| 370 | ckb += cka; |
369 | ckb += cka; |
| 371 | ubxState = UBXSTATE_LEN2; |
370 | ubxState = UBXSTATE_LEN2; |
| 372 | break; |
371 | break; |
| 373 | 372 | ||
| 374 | case UBXSTATE_LEN2: // 2nd message length byte |
373 | case UBXSTATE_LEN2: // 2nd message length byte |
| 375 | RxHdr.Length += ((u16)c)<<8; // high byte last |
374 | RxHdr.Length += ((u16)c)<<8; // high byte last |
| 376 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
375 | if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
| 377 | { |
376 | { |
| 378 | ubxState = UBXSTATE_IDLE; |
377 | ubxState = UBXSTATE_IDLE; |
| 379 | } |
378 | } |
| 380 | else |
379 | else |
| 381 | { |
380 | { |
| 382 | cka += c; |
381 | cka += c; |
| 383 | ckb += cka; |
382 | ckb += cka; |
| 384 | RxBytes = 0; // reset data byte counter |
383 | RxBytes = 0; // reset data byte counter |
| 385 | ubxState = UBXSTATE_DATA; |
384 | ubxState = UBXSTATE_DATA; |
| 386 | } |
385 | } |
| 387 | break; |
386 | break; |
| 388 | 387 | ||
| 389 | case UBXSTATE_DATA: // collecting data |
388 | case UBXSTATE_DATA: // collecting data |
| 390 | if (RxBytes < UBX_MSG_DATA_SIZE) |
389 | if (RxBytes < UBX_MSG_DATA_SIZE) |
| 391 | { |
390 | { |
| 392 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
391 | RxData[RxBytes++] = c; // copy curent data byte if any space is left |
| 393 | cka += c; |
392 | cka += c; |
| 394 | ckb += cka; |
393 | ckb += cka; |
| 395 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
394 | if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
| 396 | } |
395 | } |
| 397 | else // rx buffer overrun |
396 | else // rx buffer overrun |
| 398 | { |
397 | { |
| 399 | ubxState = UBXSTATE_IDLE; |
398 | ubxState = UBXSTATE_IDLE; |
| 400 | } |
399 | } |
| 401 | break; |
400 | break; |
| 402 | 401 | ||
| 403 | case UBXSTATE_CKA: |
402 | case UBXSTATE_CKA: |
| 404 | if (c == cka) ubxState = UBXSTATE_CKB; |
403 | if (c == cka) ubxState = UBXSTATE_CKB; |
| 405 | else |
404 | else |
| 406 | { |
405 | { |
| 407 | ubxState = UBXSTATE_IDLE; |
406 | ubxState = UBXSTATE_IDLE; |
| 408 | } |
407 | } |
| 409 | break; |
408 | break; |
| 410 | 409 | ||
| 411 | case UBXSTATE_CKB: |
410 | case UBXSTATE_CKB: |
| 412 | if (c == ckb) |
411 | if (c == ckb) |
| 413 | { // checksum is ok |
412 | { // checksum is ok |
| 414 | 413 | ||
| 415 | switch(RxHdr.Class) |
414 | switch(RxHdr.Class) |
| 416 | { |
415 | { |
| 417 | case UBX_CLASS_NAV: |
416 | case UBX_CLASS_NAV: |
| 418 | switch(RxHdr.Id) |
417 | switch(RxHdr.Id) |
| 419 | { |
418 | { |
| 420 | case UBX_ID_POSLLH: // geodetic position |
419 | case UBX_ID_POSLLH: // geodetic position |
| 421 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
420 | memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
| 422 | UbxPosLlh.Status = NEWDATA; |
421 | UbxPosLlh.Status = NEWDATA; |
| 423 | break; |
422 | break; |
| 424 | 423 | ||
| 425 | case UBX_ID_VELNED: // velocity vector in tangent plane |
424 | case UBX_ID_VELNED: // velocity vector in tangent plane |
| 426 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
425 | memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
| 427 | UbxVelNed.Status = NEWDATA; |
426 | UbxVelNed.Status = NEWDATA; |
| 428 | break; |
427 | break; |
| 429 | 428 | ||
| 430 | case UBX_ID_SOL: // navigation solution |
429 | case UBX_ID_SOL: // navigation solution |
| 431 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
430 | memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
| 432 | UbxSol.Status = NEWDATA; |
431 | UbxSol.Status = NEWDATA; |
| 433 | break; |
432 | break; |
| 434 | 433 | ||
| 435 | default: |
434 | default: |
| 436 | break; |
435 | break; |
| 437 | } // EOF switch(Id) |
436 | } // EOF switch(Id) |
| 438 | Update_GPSData(); |
437 | Update_GPSData(); |
| 439 | break; |
438 | break; |
| 440 | 439 | ||
| 441 | default: |
440 | default: |
| 442 | break; |
441 | break; |
| 443 | } // EOF switch(class) |
442 | } // EOF switch(class) |
| 444 | 443 | ||
| 445 | // check generic msg filter |
444 | // check generic msg filter |
| 446 | if(UbxMsg.Status != NEWDATA) |
445 | if(UbxMsg.Status != NEWDATA) |
| 447 | { // msg buffer is free |
446 | { // msg buffer is free |
| 448 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
447 | if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
| 449 | { // msg matches to the filter criteria |
448 | { // msg matches to the filter criteria |
| 450 | UbxMsg.Status = INVALID; |
449 | UbxMsg.Status = INVALID; |
| 451 | UbxMsg.Hdr.Class = RxHdr.Class; |
450 | UbxMsg.Hdr.Class = RxHdr.Class; |
| 452 | UbxMsg.Hdr.Id = RxHdr.Id; |
451 | UbxMsg.Hdr.Id = RxHdr.Id; |
| 453 | UbxMsg.Hdr.Length = RxHdr.Length; |
452 | UbxMsg.Hdr.Length = RxHdr.Length; |
| 454 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
453 | if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
| 455 | { // copy data block |
454 | { // copy data block |
| 456 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
455 | memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
| 457 | UbxMsg.Status = NEWDATA; |
456 | UbxMsg.Status = NEWDATA; |
| 458 | } |
457 | } |
| 459 | } // EOF filter matches |
458 | } // EOF filter matches |
| 460 | } // EOF != INVALID |
459 | } // EOF != INVALID |
| 461 | }// EOF crc ok |
460 | }// EOF crc ok |
| 462 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
461 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
| 463 | break; |
462 | break; |
| 464 | 463 | ||
| 465 | default: // unknown ubx state |
464 | default: // unknown ubx state |
| 466 | ubxState = UBXSTATE_IDLE; |
465 | ubxState = UBXSTATE_IDLE; |
| 467 | break; |
466 | break; |
| 468 | 467 | ||
| 469 | } |
468 | } |
| 470 | } |
469 | } |
| 471 | 470 | ||
| 472 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
471 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
| 473 | { |
472 | { |
| 474 | u16 i; |
473 | u16 i; |
| 475 | u8 cka = 0, ckb = 0; |
474 | u8 cka = 0, ckb = 0; |
| 476 | // check if buffer is available |
475 | // check if buffer is available |
| 477 | if(pBuff->Locked == TRUE) return(0); |
476 | if(pBuff->Locked == TRUE) return(0); |
| 478 | // check if buffer size is sufficient |
477 | // check if buffer size is sufficient |
| 479 | if(pBuff->Size < 8 + Len) return(0); |
478 | if(pBuff->Size < 8 + Len) return(0); |
| 480 | // lock the buffer |
479 | // lock the buffer |
| 481 | pBuff->Locked = TRUE; |
480 | pBuff->Locked = TRUE; |
| 482 | // start at begin |
481 | // start at begin |
| 483 | pBuff->Position = 0; |
482 | pBuff->Position = 0; |
| 484 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
483 | pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
| 485 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
484 | pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
| 486 | for(i=0;i<Len;i++) |
485 | for(i=0;i<Len;i++) |
| 487 | { |
486 | { |
| 488 | pBuff->pData[pBuff->Position++] = pData[i]; |
487 | pBuff->pData[pBuff->Position++] = pData[i]; |
| 489 | } |
488 | } |
| 490 | // calculate checksum |
489 | // calculate checksum |
| 491 | for(i=2;i<pBuff->Position;i++) |
490 | for(i=2;i<pBuff->Position;i++) |
| 492 | { |
491 | { |
| 493 | cka += pBuff->pData[i]; |
492 | cka += pBuff->pData[i]; |
| 494 | ckb += cka; |
493 | ckb += cka; |
| 495 | } |
494 | } |
| 496 | pBuff->pData[pBuff->Position++] = cka; |
495 | pBuff->pData[pBuff->Position++] = cka; |
| 497 | pBuff->pData[pBuff->Position++] = ckb; |
496 | pBuff->pData[pBuff->Position++] = ckb; |
| 498 | pBuff->DataBytes = pBuff->Position; |
497 | pBuff->DataBytes = pBuff->Position; |
| 499 | pBuff->Position = 0; // reset buffer position for transmision |
498 | pBuff->Position = 0; // reset buffer position for transmision |
| 500 | return(1); |
499 | return(1); |
| 501 | } |
500 | } |
| 502 | /* |
501 | /* |
| 503 | switch(ubxclass) |
502 | switch(ubxclass) |
| 504 | { |
503 | { |
| 505 | case UBX_CLASS_NAV: |
504 | case UBX_CLASS_NAV: |
| 506 | switch(ubxid) |
505 | switch(ubxid) |
| 507 | { |
506 | { |
| 508 | case UBX_ID_POSLLH: // geodetic position |
507 | case UBX_ID_POSLLH: // geodetic position |
| 509 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
508 | ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
| 510 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
509 | ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
| 511 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
510 | ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
| 512 | break; |
511 | break; |
| 513 | |
512 | |
| 514 | case UBX_ID_SOL: // navigation solution |
513 | case UBX_ID_SOL: // navigation solution |
| 515 | ubxSp = (u8 *)&UbxSol; // data start pointer |
514 | ubxSp = (u8 *)&UbxSol; // data start pointer |
| 516 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
515 | ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
| 517 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
516 | ubxStP = (u8 *)&UbxSol.Status; // status pointer |
| 518 | break; |
517 | break; |
| 519 | |
518 | |
| 520 | case UBX_ID_VELNED: // velocity vector in tangent plane |
519 | case UBX_ID_VELNED: // velocity vector in tangent plane |
| 521 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
520 | ubxSp = (u8 *)&UbxVelNed; // data start pointer |
| 522 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
521 | ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
| 523 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
522 | ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
| 524 | break; |
523 | break; |
| 525 | |
524 | |
| 526 | default: // unsupported identifier |
525 | default: // unsupported identifier |
| 527 | ubxState = UBXSTATE_IDLE; |
526 | ubxState = UBXSTATE_IDLE; |
| 528 | return; |
527 | return; |
| 529 | } |
528 | } |
| 530 | break; |
529 | break; |
| 531 | 530 | ||
| 532 | default: // other classes |
531 | default: // other classes |
| 533 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
532 | if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
| 534 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
533 | else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
| 535 | { // buffer is free and message matches to filter criteria |
534 | { // buffer is free and message matches to filter criteria |
| 536 | UbxMsg.Status = INVALID; |
535 | UbxMsg.Status = INVALID; |
| 537 | UbxMsg.Hdr.Class = ubxclass; |
536 | UbxMsg.Hdr.Class = ubxclass; |
| 538 | UbxMsg.Hdr.Id = ubxid; |
537 | UbxMsg.Hdr.Id = ubxid; |
| 539 | UbxMsg.Hdr.Length = msglen; |
538 | UbxMsg.Hdr.Length = msglen; |
| 540 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
539 | ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
| 541 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
540 | ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
| 542 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
541 | ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
| 543 | } |
542 | } |
| 544 | else ubxState = UBXSTATE_IDLE; |
543 | else ubxState = UBXSTATE_IDLE; |
| 545 | break; |
544 | break; |
| 546 | } |
545 | } |
| 547 | */ |
546 | */ |
| 548 | 547 | ||
| 549 | 548 | ||