WebSVN - NaviCtrl - Diff - Rev 503 and 504


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <string.h>
#include "91x_lib.h"
#include "uart1.h"
#include "ubx.h"
#include "led.h"
#include "timer1.h"
 
// ------------------------------------------------------------------------------------------------
// defines
 
#define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist!
#define DAYS_PER_YEAR           365
#define DAYS_PER_LEAPYEAR       366
#define DAYS_PER_4YEARS         1461    //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years
#define DAYS_PER_100YEARS       36524   //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years
#define DAYS_PER_400YEARS       146097  //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years
#define SECONDS_PER_MINUTE      60
#define MINUTES_PER_HOUR        60
#define HOURS_PER_DAY           24
#define DAYS_PER_WEEK           7
#define SECONDS_PER_HOUR        3600    //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR)
#define SECONDS_PER_DAY         86400   //(SECONDS_PER_HOUR * HOURS_PER_DAY)
#define SECONDS_PER_WEEK        604800  //(SECONDS_PER_DAY * DAYS_PER_WEEK)
 
// days per month in normal and leap years
const u32       Leap[ 13 ]      = { 0,  31,  60,  91, 121, 152, 182, 213, 244, 274, 305, 335, 366 };
const u32 Normal[ 13 ]  = { 0,  31,  59,  90, 120, 151, 181, 212, 243, 273, 304, 334, 365 };
 
#define LEAP_SECONDS_FROM_1980  16
 
// message sync bytes
#define UBX_SYNC1_CHAR  0xB5
#define UBX_SYNC2_CHAR  0x62
// protocoll identifiers
// navigation class
#define UBX_CLASS_NAV   0x01
#define UBX_ID_POSLLH   0x02
#define UBX_ID_SOL              0x06
#define UBX_ID_VELNED   0x12
 
// ------------------------------------------------------------------------------------------------
// typedefs
 
 
// ubx parser state
typedef enum
{
        UBXSTATE_IDLE,
        UBXSTATE_SYNC1,
        UBXSTATE_SYNC2,
        UBXSTATE_CLASS,
        UBXSTATE_LEN1,
        UBXSTATE_LEN2,
        UBXSTATE_DATA,
        UBXSTATE_CKA,
        UBXSTATE_CKB
} ubxState_t;
 
typedef struct
{
        u32                     itow;           // ms GPS Millisecond Time of Week
        s32                     frac;           // ns remainder of rounded ms above
        s16                     week;           // GPS week
        u8                      GPSfix;         // GPSfix Type, range 0..6
        u8                      Flags;          // Navigation Status Flags
        s32                     ECEF_X;         // cm ECEF X coordinate
        s32                     ECEF_Y;         // cm ECEF Y coordinate
        s32                     ECEF_Z;         // cm ECEF Z coordinate
        u32                     PAcc;           // cm 3D Position Accuracy Estimate
        s32                     ECEFVX;         // cm/s ECEF X velocity
        s32                     ECEFVY;         // cm/s ECEF Y velocity
        s32                     ECEFVZ;         // cm/s ECEF Z velocity
        u32                     SAcc;           // cm/s Speed Accuracy Estimate
        u16                     PDOP;           // 0.01 Position DOP
        u8                      res1;           // reserved
        u8                      numSV;          // Number of SVs used in navigation solution
        u32                     res2;           // reserved
        u8                      Status;     // invalid/newdata/processed
} __attribute__((packed)) ubx_nav_sol_t;
 
 
typedef struct
{
        u32                     itow;           // ms  GPS Millisecond Time of Week
        s32                     VEL_N;          // cm/s  NED north velocity
        s32                     VEL_E;          // cm/s  NED east velocity
        s32                     VEL_D;          // cm/s  NED down velocity
        u32                     Speed;          // cm/s  Speed (3-D)
        u32                     GSpeed;         // cm/s  Ground Speed (2-D)
        s32                     Heading;        // 1e-05 deg  Heading 2-D
        u32                     SAcc;           // cm/s  Speed Accuracy Estimate
        u32                     CAcc;           // deg  Course / Heading Accuracy Estimate
        u8                      Status;         // invalid/newdata/processed
} __attribute__((packed)) ubx_nav_velned_t;
 
typedef struct
{
        u32                     itow;           // ms GPS Millisecond Time of Week
        s32                     LON;            // 1e-07 deg Longitude
        s32                     LAT;            // 1e-07 deg Latitude
        s32                     HEIGHT;         // mm Height above Ellipsoid
        s32                     HMSL;           // mm Height above mean sea level
        u32                     Hacc;           // mm Horizontal Accuracy Estimate
        u32                     Vacc;           // mm Vertical Accuracy Estimate
        u8                      Status;         // invalid/newdata/processed
} __attribute__((packed)) ubx_nav_posllh_t;
 
//------------------------------------------------------------------------------------
// global variables
 
// local buffers for the incomming ubx messages
ubx_nav_sol_t           UbxSol    = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID};
ubx_nav_posllh_t        UbxPosLlh = {0,0,0,0,0,0,0, INVALID};
ubx_nav_velned_t        UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID};
ubxmsg_t                        UbxMsg;
 
// shared buffer
gps_data_t              GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID};
DateTime_t                      GPSDateTime = {0,0,0,0,0,0,0, INVALID};
 
#define UBX_TIMEOUT 500 // 500 ms
u32 UBX_Timeout = 0;
 
//------------------------------------------------------------------------------------
// functions
 
u8 IsLeapYear(u16 year)
{
        if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1;
        else return 0;
}
/********************************************************/
/*  Calculates the UTC Time from the GPS week and tow   */
/********************************************************/
void SetGPSTime(DateTime_t * pTimeStruct)
{
        u32 Days, Seconds, Week;
        u16 YearPart;
        u32 * MonthDayTab = 0;
        u8 i;
 
 
        // if GPS data show valid time data
        if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) )
        {
                Seconds = UbxSol.itow / 1000L;
                Week = (u32)UbxSol.week;
                // correct leap seconds since 1980
                if(Seconds < LEAP_SECONDS_FROM_1980)
                {
                        Week--;
                        Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds;
                }
                else Seconds -= LEAP_SECONDS_FROM_1980;
 
                Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980;
                Days += (Week * DAYS_PER_WEEK);
                Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week
 
                pTimeStruct->Year = 1;
                YearPart = (u16)(Days / DAYS_PER_400YEARS);
                pTimeStruct->Year += YearPart * 400;
                Days = Days % DAYS_PER_400YEARS;
                YearPart = (u16)(Days / DAYS_PER_100YEARS);
                pTimeStruct->Year += YearPart * 100;
                Days = Days % DAYS_PER_100YEARS;
                YearPart = (u16)(Days / DAYS_PER_4YEARS);
                pTimeStruct->Year += YearPart * 4;
                Days = Days % DAYS_PER_4YEARS;
                if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR);
                else YearPart = 3;
                pTimeStruct->Year += YearPart;
                // calculate remaining days of year
                Days -= (u32)(YearPart *  DAYS_PER_YEAR);
                Days += 1;
                // check if current year is a leap year
                if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap;
                else MonthDayTab = (u32*)Normal;
            // seperate month and day from days of year
                for ( i = 0; i < 12; i++ )
                {
                        if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) )
                        {
                                pTimeStruct->Month = i+1;
                                pTimeStruct->Day = Days - MonthDayTab[i];
                                i = 12;
                        }
                }
                Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day
                pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR);
                Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour
                pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE);
                Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute
                pTimeStruct->Sec = (u8)(Seconds);
                pTimeStruct->mSec  = (u16)(UbxSol.itow % 1000L);
                pTimeStruct->Valid = 1;
        }
        else
        {
                pTimeStruct->Valid = 0;
        }
}
 
 
 
/********************************************************/
/*                  Initialize UBX Parser               */
/********************************************************/
void UBX_Init(void)
{
        // mark msg buffers invalid
        UbxSol.Status = INVALID;
        UbxPosLlh.Status = INVALID;
        UbxVelNed.Status = INVALID;
        UbxMsg.Status = INVALID;
        GPSData.Status = INVALID;
 
        UBX_Timeout = SetDelay(2 * UBX_Timeout);
}
 
/********************************************************/
/*            Upate GPS data stcructure                 */
/********************************************************/
void Update_GPSData(void)
{
        static u32 last_itow = 0;
 
        // if a new set of ubx messages was collected
        if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA))
        {       // and the itow is equal (same time base)
                UART_VersionInfo.Flags |= NC_VERSION_FLAG_GPS_PRESENT;
                if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow))
                {
                        UBX_Timeout = SetDelay(UBX_TIMEOUT);
                        DebugOut.Analog[9]++;
                        // update GPS data only if the status is INVALID or PROCESSED
                        if(GPSData.Status != NEWDATA)  
                        { // wait for new data at all neccesary ubx messages
                                GPSData.Status = INVALID;
                                // update message cycle time
                                GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow);
                                last_itow = UbxSol.itow; // update last itow
                                // NAV SOL
                                GPSData.Flags =         (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits
                                GPSData.NumOfSats =                     UbxSol.numSV;
                                GPSData.SatFix =                                UbxSol.GPSfix;
                                GPSData.Position_Accuracy =             UbxSol.PAcc;    // in steps of 1cm
                                GPSData.Speed_Accuracy =                UbxSol.SAcc;    // in steps of 1cm/s
                                SetGPSTime(&SystemTime); // update system time
                                // NAV POSLLH
                                GPSData.Position.Status =               INVALID;
                                GPSData.Position.Longitude =    UbxPosLlh.LON;  // in steps of 1E-7 deg
                                GPSData.Position.Latitude =     UbxPosLlh.LAT;  // in steps of 1E-7 deg
                                GPSData.Position.Altitude =     UbxPosLlh.HMSL; // in steps of 1 mm
                                GPSData.Position.Status =               NEWDATA;
                                // NAV VELNED
                                GPSData.Speed_East =                    UbxVelNed.VEL_E;        // in steps of 1cm/s
                                GPSData.Speed_North =                   UbxVelNed.VEL_N;    // in steps of 1cm/s
                                GPSData.Speed_Top       =                       -UbxVelNed.VEL_D;   // in steps of 1cm/s
                                GPSData.Speed_Ground =                  UbxVelNed.GSpeed;       // in steps of 1cm/s
                                GPSData.Heading =                               UbxVelNed.Heading; //in steps of 1E-5 deg
               
                                GPSData.Status = NEWDATA; // new data available
                        } // EOF if(GPSData.Status != NEWDATA)
                        // set state to collect new data
                        UbxSol.Status =                                 PROCESSED;      // ready for new data
                        UbxPosLlh.Status =                              PROCESSED;      // ready for new data
                        UbxVelNed.Status =                              PROCESSED;      // ready for new data
                } // EOF all itow are equal
        } // EOF all ubx messages received
 
 
//++++++++++++++++++++++++++++++++
// Please do not delete
// This helps me for testing 
//++++++++++++++++++++++++++++++++
//GPSData.Position.Longitude = 1517409123L;  // Hamilton, Australia
//GPSData.Position.Latitude = -329294773L;       // Hamilton, Australia
//++++++++
//GPSData.Position.Longitude =-1556010020L;  // Alaska
//GPSData.Position.Latitude = 629581270L;        // Alaska
//++++++++
//GPSData.Position.Longitude =-584343419L;   // Buenos aires
//GPSData.Position.Latitude = -345464421L;   // Buenos aires
//++++++++
//GPSData.Position.Longitude =1683362691L;   // Neuseeland
//GPSData.Position.Latitude = -465945926L;   // Neuseeland
//++++++++
//GPSData.Position.Longitude =-740443840L;  // Liberty Staue davor
//GPSData.Position.Latitude = 406888880L;        // Liberty Staue 
 
//GPSData.Position.Longitude =-740451660L;  // Liberty Staue daneben
//GPSData.Position.Latitude = 406891880L;        // Liberty Staue 
 
//GPSData.Position.Longitude =-740446540L;  // Liberty Staue direkt
//GPSData.Position.Latitude = 406891590L;        // Liberty Staue 1
 
}
 
 
/********************************************************/
/*                   UBX Parser                         */
/********************************************************/
void UBX_RxParser(u8 c)
{
        static ubxState_t ubxState = UBXSTATE_IDLE;
        static ubxmsghdr_t RxHdr;
        static u8 RxData[UBX_MSG_DATA_SIZE];
        static u16 RxBytes = 0;
        static u8 cka, ckb;
 
 
        //state machine
        switch (ubxState)       // ubx message parser
        {
                case UBXSTATE_IDLE: // check 1st sync byte
                        if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1;
                        else ubxState = UBXSTATE_IDLE; // out of synchronization
                        break;
 
                case UBXSTATE_SYNC1: // check 2nd sync byte
                        if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2;
                        else ubxState = UBXSTATE_IDLE; // out of synchronization
                        break;
 
                case UBXSTATE_SYNC2: // check msg class to be NAV
                        RxHdr.Class = c;
                        ubxState = UBXSTATE_CLASS;
                        break;
 
                case UBXSTATE_CLASS: // check message identifier
                        RxHdr.Id = c;
                        ubxState = UBXSTATE_LEN1;
                        cka = RxHdr.Class + RxHdr.Id;
                        ckb = RxHdr.Class + cka;
                        break;
 
                case UBXSTATE_LEN1: // 1st message length byte
                        RxHdr.Length = (u16)c; // lowbyte first
                        cka += c;
                        ckb += cka;
                        ubxState = UBXSTATE_LEN2;
                        break;
 
                case UBXSTATE_LEN2: // 2nd message length byte
                        RxHdr.Length += ((u16)c)<<8; // high byte last
                        if (RxHdr.Length >= UBX_MSG_DATA_SIZE)
                        {
                                ubxState = UBXSTATE_IDLE;
                        }
                        else
                        {
                                cka += c;
                                ckb += cka;
                                RxBytes = 0;    // reset data byte counter
                                ubxState = UBXSTATE_DATA;
                        }
                        break;
 
                case UBXSTATE_DATA: // collecting data
                        if (RxBytes < UBX_MSG_DATA_SIZE)
                        {
                                RxData[RxBytes++] = c; // copy curent data byte if any space is left
                                cka += c;
                                ckb += cka;
                                if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received
                        }
                        else // rx buffer overrun
                        {
                                ubxState = UBXSTATE_IDLE;
                        }
                        break;
 
                case UBXSTATE_CKA:
                        if (c == cka) ubxState = UBXSTATE_CKB;
                        else
                        {
                                ubxState = UBXSTATE_IDLE;
                        }
                        break;
 
                case UBXSTATE_CKB:
                        if (c == ckb)
                        {       // checksum is ok
 
                                switch(RxHdr.Class)
                                {
                                        case UBX_CLASS_NAV:
                                                switch(RxHdr.Id)
                                                {
                                                        case UBX_ID_POSLLH: // geodetic position
                                                                memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length);
                                                                UbxPosLlh.Status = NEWDATA;
                                                                break;
 
                                                        case UBX_ID_VELNED: // velocity vector in tangent plane 
                                                                memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length);
                                                                UbxVelNed.Status = NEWDATA;
                                                                break;
 
                                                        case UBX_ID_SOL: // navigation solution
                                                                memcpy((u8*)&UbxSol, RxData, RxHdr.Length);
                                                                UbxSol.Status = NEWDATA;
                                                                break;
 
                                                        default:
                                                                break;
                                                } // EOF switch(Id)
                                                Update_GPSData();
                                                break;
                                       
                                        default:
                                                break;
                                } // EOF switch(class)
 
                                // check generic msg filter
                                if(UbxMsg.Status != NEWDATA)
                                {       // msg buffer is free
                                        if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask)))
                                        {       // msg matches to the filter criteria
                                                UbxMsg.Status = INVALID;
                                                UbxMsg.Hdr.Class = RxHdr.Class;
                                                UbxMsg.Hdr.Id = RxHdr.Id;
                                                UbxMsg.Hdr.Length = RxHdr.Length;
                                                if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE)
                                                {       // copy data block
                                                        memcpy(UbxMsg.Data, RxData, RxHdr.Length);
                                                        UbxMsg.Status = NEWDATA;
                                                }      
                                        } // EOF filter matches
                                } // EOF != INVALID
                        }// EOF crc ok
                        ubxState = UBXSTATE_IDLE; // ready to parse new data
                        break;
 
                default: // unknown ubx state
                        ubxState = UBXSTATE_IDLE;
                        break;
 
        }
}
 
u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len)
{
        u16 i;
        u8 cka = 0, ckb = 0;
        // check if buffer is available
        if(pBuff->Locked == TRUE) return(0);
        // check if buffer size is sufficient
        if(pBuff->Size < 8 + Len) return(0);
        // lock the buffer
        pBuff->Locked = TRUE;
        // start at begin 
        pBuff->Position = 0;
        pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR;
        pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR;
        for(i=0;i<Len;i++)
        {
                pBuff->pData[pBuff->Position++] = pData[i];
        }
        // calculate checksum
        for(i=2;i<pBuff->Position;i++)
        {
                cka += pBuff->pData[i];
                ckb += cka;
        }
        pBuff->pData[pBuff->Position++] = cka;
        pBuff->pData[pBuff->Position++] = ckb;
        pBuff->DataBytes = pBuff->Position;
        pBuff->Position = 0;  // reset buffer position for transmision
        return(1);
}
/*
switch(ubxclass)
                        {
                                case UBX_CLASS_NAV:
                                        switch(ubxid)
                                        {
                                                case UBX_ID_POSLLH: // geodetic position
                                                        ubxSp =  (u8 *)&UbxPosLlh; // data start pointer
                                                        ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer
                                                        ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer
                                                        break;
               
                                                case UBX_ID_SOL: // navigation solution
                                                        ubxSp =  (u8 *)&UbxSol; // data start pointer
                                                        ubxEp = (u8 *)(&UbxSol + 1); // data end pointer
                                                        ubxStP = (u8 *)&UbxSol.Status; // status pointer
                                                        break;
               
                                                case UBX_ID_VELNED: // velocity vector in tangent plane
                                                        ubxSp =  (u8 *)&UbxVelNed; // data start pointer
                                                        ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer
                                                        ubxStP = (u8 *)&UbxVelNed.Status; // status pointer
                                                        break;
               
                                                default:                        // unsupported identifier
                                                        ubxState = UBXSTATE_IDLE;
                                                        return;
                                        }
                                        break;
 
                                default: // other  classes
                                        if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE;
                                        else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask)))
                                        {       // buffer is free and message matches to filter criteria
                                                UbxMsg.Status = INVALID;
                                                UbxMsg.Hdr.Class = ubxclass;
                                                UbxMsg.Hdr.Id = ubxid;
                                                UbxMsg.Hdr.Length = msglen;
                                                ubxSp =  (u8 *)&(UbxMsg.Data);   // data start pointer
                                                ubxEp = (u8 *)(&UbxMsg + 1);    // data end pointer
                                                ubxStP = (u8 *)&UbxMsg.Status;  // status pointer      
                                        }
                                        else ubxState = UBXSTATE_IDLE;
                                        break;
                        }
*/
 
 

Rev 503	Rev 504
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	//++++++++
-		344	//GPSData.Position.Longitude =-740443840L; // Liberty Staue davor
-		345	//GPSData.Position.Latitude = 406888880L; // Liberty Staue
-		346
-		347	//GPSData.Position.Longitude =-740451660L; // Liberty Staue daneben
-		348	//GPSData.Position.Latitude = 406891880L; // Liberty Staue
-		349
-		350	//GPSData.Position.Longitude =-740446540L; // Liberty Staue direkt
-		351	//GPSData.Position.Latitude = 406891590L; // Liberty Staue 1
-		352
343	}	353	}
344		354
345		355
346	/********************************************************/	356	/********************************************************/
347	/* UBX Parser */	357	/* UBX Parser */
348	/********************************************************/	358	/********************************************************/
349	void UBX_RxParser(u8 c)	359	void UBX_RxParser(u8 c)
350	{	360	{
351	static ubxState_t ubxState = UBXSTATE_IDLE;	361	static ubxState_t ubxState = UBXSTATE_IDLE;
352	static ubxmsghdr_t RxHdr;	362	static ubxmsghdr_t RxHdr;
353	static u8 RxData[UBX_MSG_DATA_SIZE];	363	static u8 RxData[UBX_MSG_DATA_SIZE];
354	static u16 RxBytes = 0;	364	static u16 RxBytes = 0;
355	static u8 cka, ckb;	365	static u8 cka, ckb;
356		366
357		367
358	//state machine	368	//state machine
359	switch (ubxState) // ubx message parser	369	switch (ubxState) // ubx message parser
360	{	370	{
361	case UBXSTATE_IDLE: // check 1st sync byte	371	case UBXSTATE_IDLE: // check 1st sync byte
362	if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1;	372	if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1;
363	else ubxState = UBXSTATE_IDLE; // out of synchronization	373	else ubxState = UBXSTATE_IDLE; // out of synchronization
364	break;	374	break;
365		375
366	case UBXSTATE_SYNC1: // check 2nd sync byte	376	case UBXSTATE_SYNC1: // check 2nd sync byte
367	if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2;	377	if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2;
368	else ubxState = UBXSTATE_IDLE; // out of synchronization	378	else ubxState = UBXSTATE_IDLE; // out of synchronization
369	break;	379	break;
370		380
371	case UBXSTATE_SYNC2: // check msg class to be NAV	381	case UBXSTATE_SYNC2: // check msg class to be NAV
372	RxHdr.Class = c;	382	RxHdr.Class = c;
373	ubxState = UBXSTATE_CLASS;	383	ubxState = UBXSTATE_CLASS;
374	break;	384	break;
375		385
376	case UBXSTATE_CLASS: // check message identifier	386	case UBXSTATE_CLASS: // check message identifier
377	RxHdr.Id = c;	387	RxHdr.Id = c;
378	ubxState = UBXSTATE_LEN1;	388	ubxState = UBXSTATE_LEN1;
379	cka = RxHdr.Class + RxHdr.Id;	389	cka = RxHdr.Class + RxHdr.Id;
380	ckb = RxHdr.Class + cka;	390	ckb = RxHdr.Class + cka;
381	break;	391	break;
382		392
383	case UBXSTATE_LEN1: // 1st message length byte	393	case UBXSTATE_LEN1: // 1st message length byte
384	RxHdr.Length = (u16)c; // lowbyte first	394	RxHdr.Length = (u16)c; // lowbyte first
385	cka += c;	395	cka += c;
386	ckb += cka;	396	ckb += cka;
387	ubxState = UBXSTATE_LEN2;	397	ubxState = UBXSTATE_LEN2;
388	break;	398	break;
389		399
390	case UBXSTATE_LEN2: // 2nd message length byte	400	case UBXSTATE_LEN2: // 2nd message length byte
391	RxHdr.Length += ((u16)c)<<8; // high byte last	401	RxHdr.Length += ((u16)c)<<8; // high byte last
392	if (RxHdr.Length >= UBX_MSG_DATA_SIZE)	402	if (RxHdr.Length >= UBX_MSG_DATA_SIZE)
393	{	403	{
394	ubxState = UBXSTATE_IDLE;	404	ubxState = UBXSTATE_IDLE;
395	}	405	}
396	else	406	else
397	{	407	{
398	cka += c;	408	cka += c;
399	ckb += cka;	409	ckb += cka;
400	RxBytes = 0; // reset data byte counter	410	RxBytes = 0; // reset data byte counter
401	ubxState = UBXSTATE_DATA;	411	ubxState = UBXSTATE_DATA;
402	}	412	}
403	break;	413	break;
404		414
405	case UBXSTATE_DATA: // collecting data	415	case UBXSTATE_DATA: // collecting data
406	if (RxBytes < UBX_MSG_DATA_SIZE)	416	if (RxBytes < UBX_MSG_DATA_SIZE)
407	{	417	{
408	RxData[RxBytes++] = c; // copy curent data byte if any space is left	418	RxData[RxBytes++] = c; // copy curent data byte if any space is left
409	cka += c;	419	cka += c;
410	ckb += cka;	420	ckb += cka;
411	if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received	421	if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received
412	}	422	}
413	else // rx buffer overrun	423	else // rx buffer overrun
414	{	424	{
415	ubxState = UBXSTATE_IDLE;	425	ubxState = UBXSTATE_IDLE;
416	}	426	}
417	break;	427	break;
418		428
419	case UBXSTATE_CKA:	429	case UBXSTATE_CKA:
420	if (c == cka) ubxState = UBXSTATE_CKB;	430	if (c == cka) ubxState = UBXSTATE_CKB;
421	else	431	else
422	{	432	{
423	ubxState = UBXSTATE_IDLE;	433	ubxState = UBXSTATE_IDLE;
424	}	434	}
425	break;	435	break;
426		436
427	case UBXSTATE_CKB:	437	case UBXSTATE_CKB:
428	if (c == ckb)	438	if (c == ckb)
429	{ // checksum is ok	439	{ // checksum is ok
430		440
431	switch(RxHdr.Class)	441	switch(RxHdr.Class)
432	{	442	{
433	case UBX_CLASS_NAV:	443	case UBX_CLASS_NAV:
434	switch(RxHdr.Id)	444	switch(RxHdr.Id)
435	{	445	{
436	case UBX_ID_POSLLH: // geodetic position	446	case UBX_ID_POSLLH: // geodetic position
437	memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length);	447	memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length);
438	UbxPosLlh.Status = NEWDATA;	448	UbxPosLlh.Status = NEWDATA;
439	break;	449	break;
440		450
441	case UBX_ID_VELNED: // velocity vector in tangent plane	451	case UBX_ID_VELNED: // velocity vector in tangent plane
442	memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length);	452	memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length);
443	UbxVelNed.Status = NEWDATA;	453	UbxVelNed.Status = NEWDATA;
444	break;	454	break;
445		455
446	case UBX_ID_SOL: // navigation solution	456	case UBX_ID_SOL: // navigation solution
447	memcpy((u8*)&UbxSol, RxData, RxHdr.Length);	457	memcpy((u8*)&UbxSol, RxData, RxHdr.Length);
448	UbxSol.Status = NEWDATA;	458	UbxSol.Status = NEWDATA;
449	break;	459	break;
450		460
451	default:	461	default:
452	break;	462	break;
453	} // EOF switch(Id)	463	} // EOF switch(Id)
454	Update_GPSData();	464	Update_GPSData();
455	break;	465	break;
456		466
457	default:	467	default:
458	break;	468	break;
459	} // EOF switch(class)	469	} // EOF switch(class)
460		470
461	// check generic msg filter	471	// check generic msg filter
462	if(UbxMsg.Status != NEWDATA)	472	if(UbxMsg.Status != NEWDATA)
463	{ // msg buffer is free	473	{ // msg buffer is free
464	if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask)))	474	if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask)))
465	{ // msg matches to the filter criteria	475	{ // msg matches to the filter criteria
466	UbxMsg.Status = INVALID;	476	UbxMsg.Status = INVALID;
467	UbxMsg.Hdr.Class = RxHdr.Class;	477	UbxMsg.Hdr.Class = RxHdr.Class;
468	UbxMsg.Hdr.Id = RxHdr.Id;	478	UbxMsg.Hdr.Id = RxHdr.Id;
469	UbxMsg.Hdr.Length = RxHdr.Length;	479	UbxMsg.Hdr.Length = RxHdr.Length;
470	if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE)	480	if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE)
471	{ // copy data block	481	{ // copy data block
472	memcpy(UbxMsg.Data, RxData, RxHdr.Length);	482	memcpy(UbxMsg.Data, RxData, RxHdr.Length);
473	UbxMsg.Status = NEWDATA;	483	UbxMsg.Status = NEWDATA;
474	}	484	}
475	} // EOF filter matches	485	} // EOF filter matches
476	} // EOF != INVALID	486	} // EOF != INVALID
477	}// EOF crc ok	487	}// EOF crc ok
478	ubxState = UBXSTATE_IDLE; // ready to parse new data	488	ubxState = UBXSTATE_IDLE; // ready to parse new data
479	break;	489	break;
480		490
481	default: // unknown ubx state	491	default: // unknown ubx state
482	ubxState = UBXSTATE_IDLE;	492	ubxState = UBXSTATE_IDLE;
483	break;	493	break;
484		494
485	}	495	}
486	}	496	}
487		497
488	u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len)	498	u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len)
489	{	499	{
490	u16 i;	500	u16 i;

Subversion Repositories NaviCtrl

(root)/tags/V2.14e/ubx.c @ 753 - Rev 503 → 504