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| 1 | #include <inttypes.h> |
1 | #include <inttypes.h> |
| 2 | #include "ubx.h" |
2 | #include "ubx.h" |
| 3 | #include "timer0.h" |
3 | #include "timer0.h" |
| - | 4 | #include "uart0.h" |
|
| 4 | 5 | ||
| 5 | 6 | ||
| 6 | // ------------------------------------------------------------------------------------------------ |
7 | // ------------------------------------------------------------------------------------------------ |
| 7 | // defines |
8 | // defines |
| 8 | 9 | ||
| 9 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
10 | #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
| 10 | #define DAYS_PER_YEAR 365 |
11 | #define DAYS_PER_YEAR 365 |
| 11 | #define DAYS_PER_LEAPYEAR 366 |
12 | #define DAYS_PER_LEAPYEAR 366 |
| 12 | #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
13 | #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
| 13 | #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
14 | #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
| 14 | #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
15 | #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
| 15 | #define SECONDS_PER_MINUTE 60 |
16 | #define SECONDS_PER_MINUTE 60 |
| 16 | #define MINUTES_PER_HOUR 60 |
17 | #define MINUTES_PER_HOUR 60 |
| 17 | #define HOURS_PER_DAY 24 |
18 | #define HOURS_PER_DAY 24 |
| 18 | #define DAYS_PER_WEEK 7 |
19 | #define DAYS_PER_WEEK 7 |
| 19 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
20 | #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
| 20 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
21 | #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
| 21 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
22 | #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
| 22 | 23 | ||
| 23 | // days per month in normal and leap years |
24 | // days per month in normal and leap years |
| 24 | const uint32_t Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
25 | const uint32_t Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
| 25 | const uint32_t Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
26 | const uint32_t Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
| 26 | 27 | ||
| 27 | #define LEAP_SECONDS_FROM_1980 15 // the last one was on the Dec 31th 2008 |
28 | #define LEAP_SECONDS_FROM_1980 15 // the last one was on the Dec 31th 2008 |
| 28 | 29 | ||
| 29 | // message sync bytes |
30 | // message sync bytes |
| 30 | #define UBX_SYNC1_CHAR 0xB5 |
31 | #define UBX_SYNC1_CHAR 0xB5 |
| 31 | #define UBX_SYNC2_CHAR 0x62 |
32 | #define UBX_SYNC2_CHAR 0x62 |
| 32 | // protocoll identifier |
33 | // protocoll identifier |
| 33 | #define UBX_CLASS_NAV 0x01 |
34 | #define UBX_CLASS_NAV 0x01 |
| 34 | // message id |
35 | // message id |
| 35 | #define UBX_ID_POSLLH 0x02 |
36 | #define UBX_ID_POSLLH 0x02 |
| 36 | #define UBX_ID_SOL 0x06 |
37 | #define UBX_ID_SOL 0x06 |
| 37 | #define UBX_ID_VELNED 0x12 |
38 | #define UBX_ID_VELNED 0x12 |
| 38 | 39 | ||
| 39 | // ------------------------------------------------------------------------------------------------ |
40 | // ------------------------------------------------------------------------------------------------ |
| 40 | // typedefs |
41 | // typedefs |
| 41 | 42 | ||
| 42 | 43 | ||
| 43 | // ubx parser state |
44 | // ubx parser state |
| 44 | typedef enum |
45 | typedef enum |
| 45 | { |
46 | { |
| 46 | UBXSTATE_IDLE, |
47 | UBXSTATE_IDLE, |
| 47 | UBXSTATE_SYNC1, |
48 | UBXSTATE_SYNC1, |
| 48 | UBXSTATE_SYNC2, |
49 | UBXSTATE_SYNC2, |
| 49 | UBXSTATE_CLASS, |
50 | UBXSTATE_CLASS, |
| 50 | UBXSTATE_LEN1, |
51 | UBXSTATE_LEN1, |
| 51 | UBXSTATE_LEN2, |
52 | UBXSTATE_LEN2, |
| 52 | UBXSTATE_DATA, |
53 | UBXSTATE_DATA, |
| 53 | UBXSTATE_CKA, |
54 | UBXSTATE_CKA, |
| 54 | UBXSTATE_CKB |
55 | UBXSTATE_CKB |
| 55 | } ubxState_t; |
56 | } ubxState_t; |
| 56 | 57 | ||
| 57 | typedef struct |
58 | typedef struct |
| 58 | { |
59 | { |
| 59 | uint32_t itow; // ms GPS Millisecond Time of Week |
60 | uint32_t itow; // ms GPS Millisecond Time of Week |
| 60 | int32_t frac; // ns remainder of rounded ms above |
61 | int32_t frac; // ns remainder of rounded ms above |
| 61 | int16_t week; // GPS week |
62 | int16_t week; // GPS week |
| 62 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
63 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
| 63 | uint8_t Flags; // Navigation Status Flags |
64 | uint8_t Flags; // Navigation Status Flags |
| 64 | int32_t ECEF_X; // cm ECEF X coordinate |
65 | int32_t ECEF_X; // cm ECEF X coordinate |
| 65 | int32_t ECEF_Y; // cm ECEF Y coordinate |
66 | int32_t ECEF_Y; // cm ECEF Y coordinate |
| 66 | int32_t ECEF_Z; // cm ECEF Z coordinate |
67 | int32_t ECEF_Z; // cm ECEF Z coordinate |
| 67 | int32_t PAcc; // cm 3D Position Accuracy Estimate |
68 | int32_t PAcc; // cm 3D Position Accuracy Estimate |
| 68 | int32_t ECEFVX; // cm/s ECEF X velocity |
69 | int32_t ECEFVX; // cm/s ECEF X velocity |
| 69 | int32_t ECEFVY; // cm/s ECEF Y velocity |
70 | int32_t ECEFVY; // cm/s ECEF Y velocity |
| 70 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
71 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
| 71 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
72 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| 72 | uint16_t PDOP; // 0.01 Position DOP |
73 | uint16_t PDOP; // 0.01 Position DOP |
| 73 | uint8_t res1; // reserved |
74 | uint8_t res1; // reserved |
| 74 | uint8_t numSV; // Number of SVs used in navigation solution |
75 | uint8_t numSV; // Number of SVs used in navigation solution |
| 75 | uint32_t res2; // reserved |
76 | uint32_t res2; // reserved |
| 76 | uint8_t Status; // invalid/newdata/processed |
77 | uint8_t Status; // invalid/newdata/processed |
| 77 | } __attribute__((packed)) ubx_nav_sol_t; |
78 | } __attribute__((packed)) ubx_nav_sol_t; |
| 78 | 79 | ||
| 79 | 80 | ||
| 80 | typedef struct |
81 | typedef struct |
| 81 | { |
82 | { |
| 82 | uint32_t itow; // ms GPS Millisecond Time of Week |
83 | uint32_t itow; // ms GPS Millisecond Time of Week |
| 83 | int32_t VEL_N; // cm/s NED north velocity |
84 | int32_t VEL_N; // cm/s NED north velocity |
| 84 | int32_t VEL_E; // cm/s NED east velocity |
85 | int32_t VEL_E; // cm/s NED east velocity |
| 85 | int32_t VEL_D; // cm/s NED down velocity |
86 | int32_t VEL_D; // cm/s NED down velocity |
| 86 | int32_t Speed; // cm/s Speed (3-D) |
87 | int32_t Speed; // cm/s Speed (3-D) |
| 87 | int32_t GSpeed; // cm/s Ground Speed (2-D) |
88 | int32_t GSpeed; // cm/s Ground Speed (2-D) |
| 88 | int32_t Heading; // 1e-05 deg Heading 2-D |
89 | int32_t Heading; // 1e-05 deg Heading 2-D |
| 89 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
90 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| 90 | uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
91 | uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
| 91 | uint8_t Status; // invalid/newdata/processed |
92 | uint8_t Status; // invalid/newdata/processed |
| 92 | } __attribute__((packed)) ubx_nav_velned_t; |
93 | } __attribute__((packed)) ubx_nav_velned_t; |
| 93 | 94 | ||
| 94 | typedef struct |
95 | typedef struct |
| 95 | { |
96 | { |
| 96 | uint32_t itow; // ms GPS Millisecond Time of Week |
97 | uint32_t itow; // ms GPS Millisecond Time of Week |
| 97 | int32_t LON; // 1e-07 deg Longitude |
98 | int32_t LON; // 1e-07 deg Longitude |
| 98 | int32_t LAT; // 1e-07 deg Latitude |
99 | int32_t LAT; // 1e-07 deg Latitude |
| 99 | int32_t HEIGHT; // mm Height above Ellipsoid |
100 | int32_t HEIGHT; // mm Height above Ellipsoid |
| 100 | int32_t HMSL; // mm Height above mean sea level |
101 | int32_t HMSL; // mm Height above mean sea level |
| 101 | uint32_t Hacc; // mm Horizontal Accuracy Estimate |
102 | uint32_t Hacc; // mm Horizontal Accuracy Estimate |
| 102 | uint32_t Vacc; // mm Vertical Accuracy Estimate |
103 | uint32_t Vacc; // mm Vertical Accuracy Estimate |
| 103 | uint8_t Status; // invalid/newdata/processed |
104 | uint8_t Status; // invalid/newdata/processed |
| 104 | } __attribute__((packed)) ubx_nav_posllh_t; |
105 | } __attribute__((packed)) ubx_nav_posllh_t; |
| 105 | 106 | ||
| 106 | 107 | ||
| 107 | 108 | ||
| 108 | //------------------------------------------------------------------------------------ |
109 | //------------------------------------------------------------------------------------ |
| 109 | // global variables |
110 | // global variables |
| 110 | 111 | ||
| 111 | // local buffers for the incomming ubx messages |
112 | // local buffers for the incomming ubx messages |
| 112 | volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
113 | volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| 113 | volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
114 | volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| 114 | volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
115 | volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| 115 | 116 | ||
| 116 | uint16_t CheckGPSOkay = 0; |
117 | uint16_t CheckGPSOkay = 0; |
| 117 | 118 | ||
| 118 | // shared buffer |
119 | // shared buffer |
| 119 | gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
120 | gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
| 120 | 121 | ||
| 121 | //------------------------------------------------------------------------------------ |
122 | //------------------------------------------------------------------------------------ |
| 122 | // functions |
123 | // functions |
| 123 | 124 | ||
| 124 | uint8_t IsLeapYear(uint16_t year) |
125 | uint8_t IsLeapYear(uint16_t year) |
| 125 | { |
126 | { |
| 126 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
127 | if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
| 127 | else return 0; |
128 | else return 0; |
| 128 | } |
129 | } |
| 129 | 130 | ||
| 130 | /********************************************************/ |
131 | /********************************************************/ |
| 131 | /* Calculates the UTC Time from the GPS week and tow */ |
132 | /* Calculates the UTC Time from the GPS week and tow */ |
| 132 | /********************************************************/ |
133 | /********************************************************/ |
| 133 | void SetGPSTime(DateTime_t * pTimeStruct) |
134 | void SetGPSTime(DateTime_t * pTimeStruct) |
| 134 | { |
135 | { |
| 135 | uint32_t Days, Seconds, Week; |
136 | uint32_t Days, Seconds, Week; |
| 136 | uint16_t YearPart; |
137 | uint16_t YearPart; |
| 137 | uint32_t * MonthDayTab = 0; |
138 | uint32_t * MonthDayTab = 0; |
| 138 | uint8_t i; |
139 | uint8_t i; |
| 139 | 140 | ||
| 140 | 141 | ||
| 141 | 142 | ||
| 142 | // if GPS data show valid time data |
143 | // if GPS data show valid time data |
| 143 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
144 | if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
| 144 | { |
145 | { |
| 145 | Seconds = UbxSol.itow / 1000L; |
146 | Seconds = UbxSol.itow / 1000L; |
| 146 | Week = (uint32_t)UbxSol.week; |
147 | Week = (uint32_t)UbxSol.week; |
| 147 | // correct leap seconds since 1980 |
148 | // correct leap seconds since 1980 |
| 148 | if(Seconds < LEAP_SECONDS_FROM_1980) |
149 | if(Seconds < LEAP_SECONDS_FROM_1980) |
| 149 | { |
150 | { |
| 150 | Week--; |
151 | Week--; |
| 151 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
152 | Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
| 152 | } |
153 | } |
| 153 | else Seconds -= LEAP_SECONDS_FROM_1980; |
154 | else Seconds -= LEAP_SECONDS_FROM_1980; |
| 154 | 155 | ||
| 155 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
156 | Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
| 156 | Days += (Week * DAYS_PER_WEEK); |
157 | Days += (Week * DAYS_PER_WEEK); |
| 157 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
158 | Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
| 158 | 159 | ||
| 159 | pTimeStruct->Year = 1; |
160 | pTimeStruct->Year = 1; |
| 160 | YearPart = (uint16_t)(Days / DAYS_PER_400YEARS); |
161 | YearPart = (uint16_t)(Days / DAYS_PER_400YEARS); |
| 161 | pTimeStruct->Year += YearPart * 400; |
162 | pTimeStruct->Year += YearPart * 400; |
| 162 | Days = Days % DAYS_PER_400YEARS; |
163 | Days = Days % DAYS_PER_400YEARS; |
| 163 | YearPart = (uint16_t)(Days / DAYS_PER_100YEARS); |
164 | YearPart = (uint16_t)(Days / DAYS_PER_100YEARS); |
| 164 | pTimeStruct->Year += YearPart * 100; |
165 | pTimeStruct->Year += YearPart * 100; |
| 165 | Days = Days % DAYS_PER_100YEARS; |
166 | Days = Days % DAYS_PER_100YEARS; |
| 166 | YearPart = (uint16_t)(Days / DAYS_PER_4YEARS); |
167 | YearPart = (uint16_t)(Days / DAYS_PER_4YEARS); |
| 167 | pTimeStruct->Year += YearPart * 4; |
168 | pTimeStruct->Year += YearPart * 4; |
| 168 | Days = Days % DAYS_PER_4YEARS; |
169 | Days = Days % DAYS_PER_4YEARS; |
| 169 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (uint16_t)(Days / DAYS_PER_YEAR); |
170 | if(Days < (3* DAYS_PER_YEAR)) YearPart = (uint16_t)(Days / DAYS_PER_YEAR); |
| 170 | else YearPart = 3; |
171 | else YearPart = 3; |
| 171 | pTimeStruct->Year += YearPart; |
172 | pTimeStruct->Year += YearPart; |
| 172 | // calculate remaining days of year |
173 | // calculate remaining days of year |
| 173 | Days -= (uint32_t)(YearPart * DAYS_PER_YEAR); |
174 | Days -= (uint32_t)(YearPart * DAYS_PER_YEAR); |
| 174 | Days += 1; |
175 | Days += 1; |
| 175 | // check if current year is a leap year |
176 | // check if current year is a leap year |
| 176 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (uint32_t*)Leap; |
177 | if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (uint32_t*)Leap; |
| 177 | else MonthDayTab = (uint32_t*)Normal; |
178 | else MonthDayTab = (uint32_t*)Normal; |
| 178 | // seperate month and day from days of year |
179 | // seperate month and day from days of year |
| 179 | for ( i = 0; i < 12; i++ ) |
180 | for ( i = 0; i < 12; i++ ) |
| 180 | { |
181 | { |
| 181 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
182 | if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
| 182 | { |
183 | { |
| 183 | pTimeStruct->Month = i+1; |
184 | pTimeStruct->Month = i+1; |
| 184 | pTimeStruct->Day = Days - MonthDayTab[i]; |
185 | pTimeStruct->Day = Days - MonthDayTab[i]; |
| 185 | i = 12; |
186 | i = 12; |
| 186 | } |
187 | } |
| 187 | } |
188 | } |
| 188 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
189 | Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
| 189 | pTimeStruct->Hour = (uint8_t)(Seconds / SECONDS_PER_HOUR); |
190 | pTimeStruct->Hour = (uint8_t)(Seconds / SECONDS_PER_HOUR); |
| 190 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
191 | Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
| 191 | pTimeStruct->Min = (uint8_t)(Seconds / SECONDS_PER_MINUTE); |
192 | pTimeStruct->Min = (uint8_t)(Seconds / SECONDS_PER_MINUTE); |
| 192 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
193 | Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
| 193 | pTimeStruct->Sec = (uint8_t)(Seconds); |
194 | pTimeStruct->Sec = (uint8_t)(Seconds); |
| 194 | pTimeStruct->mSec = (uint16_t)(UbxSol.itow % 1000L); |
195 | pTimeStruct->mSec = (uint16_t)(UbxSol.itow % 1000L); |
| 195 | pTimeStruct->Valid = 1; |
196 | pTimeStruct->Valid = 1; |
| 196 | } |
197 | } |
| 197 | else |
198 | else |
| 198 | { |
199 | { |
| 199 | pTimeStruct->Valid = 0; |
200 | pTimeStruct->Valid = 0; |
| 200 | } |
201 | } |
| 201 | } |
202 | } |
| 202 | 203 | ||
| 203 | 204 | ||
| 204 | 205 | ||
| 205 | /********************************************************/ |
206 | /********************************************************/ |
| 206 | /* Initialize UBX Parser */ |
207 | /* Initialize UBX Parser */ |
| 207 | /********************************************************/ |
208 | /********************************************************/ |
| 208 | void UBX_Init(void) |
209 | void UBX_Init(void) |
| 209 | { |
210 | { |
| 210 | // mark msg buffers invalid |
211 | // mark msg buffers invalid |
| 211 | UbxSol.Status = INVALID; |
212 | UbxSol.Status = INVALID; |
| 212 | UbxPosLlh.Status = INVALID; |
213 | UbxPosLlh.Status = INVALID; |
| 213 | UbxVelNed.Status = INVALID; |
214 | UbxVelNed.Status = INVALID; |
| 214 | GPSData.Status = INVALID; |
215 | GPSData.Status = INVALID; |
| 215 | } |
216 | } |
| 216 | 217 | ||
| 217 | /********************************************************/ |
218 | /********************************************************/ |
| 218 | /* Upate GPS data stcructure */ |
219 | /* Upate GPS data stcructure */ |
| 219 | /********************************************************/ |
220 | /********************************************************/ |
| 220 | void Update_GPSData (void) |
221 | void Update_GPSData (void) |
| 221 | { |
222 | { |
| 222 | static uint16_t Ubx_Timeout = 0; |
223 | static uint16_t Ubx_Timeout = 0; |
| 223 | static uint8_t Msg_Count = 0; |
224 | static uint8_t Msg_Count = 0; |
| 224 | 225 | ||
| 225 | // the timeout is used to detect the delay between two message sets |
226 | // the timeout is used to detect the delay between two message sets |
| 226 | // and is used for synchronisation so that always a set is collected |
227 | // and is used for synchronisation so that always a set is collected |
| 227 | // that belongs together |
228 | // that belongs together |
| 228 | // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
229 | // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
| 229 | // | 8ms | 8ms | 184 ms | | | |
230 | // | 8ms | 8ms | 184 ms | | | |
| 230 | // msg_count: 0 1 2 0 1 2 |
231 | // msg_count: 0 1 2 0 1 2 |
| 231 | 232 | ||
| 232 | if(CheckDelay(Ubx_Timeout)) Msg_Count = 0; |
233 | if(CheckDelay(Ubx_Timeout)) Msg_Count = 0; |
| 233 | else Msg_Count++; |
234 | else Msg_Count++; |
| 234 | Ubx_Timeout = SetDelay(100); // reset ubx msg timeout |
235 | Ubx_Timeout = SetDelay(100); // reset ubx msg timeout |
| 235 | 236 | ||
| 236 | // if a new set of ubx messages was collected |
237 | // if a new set of ubx messages was collected |
| 237 | if((Msg_Count >= 2)) |
238 | if((Msg_Count >= 2)) |
| 238 | { // if set is complete |
239 | { // if set is complete |
| 239 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
240 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| 240 | { |
241 | { |
| 241 | CheckGPSOkay++; |
242 | CheckGPSOkay++; |
| 242 | // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
243 | // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
| 243 | if(GPSData.Status != NEWDATA) // if last data were processed |
244 | if(GPSData.Status != NEWDATA) // if last data were processed |
| 244 | { // wait for new data at all neccesary ubx messages |
245 | { // wait for new data at all neccesary ubx messages |
| 245 | GPSData.Status = INVALID; |
246 | GPSData.Status = INVALID; |
| 246 | // NAV SOL |
247 | // NAV SOL |
| 247 | GPSData.Flags = UbxSol.Flags; |
248 | GPSData.Flags = UbxSol.Flags; |
| 248 | GPSData.NumOfSats = UbxSol.numSV; |
249 | GPSData.NumOfSats = UbxSol.numSV; |
| 249 | GPSData.SatFix = UbxSol.GPSfix; |
250 | GPSData.SatFix = UbxSol.GPSfix; |
| 250 | GPSData.Position_Accuracy = UbxSol.PAcc; |
251 | GPSData.Position_Accuracy = UbxSol.PAcc; |
| 251 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
252 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
| 252 | SetGPSTime(&SystemTime); // update system time |
253 | SetGPSTime(&SystemTime); // update system time |
| 253 | // NAV POSLLH |
254 | // NAV POSLLH |
| 254 | GPSData.Position.Status = INVALID; |
255 | GPSData.Position.Status = INVALID; |
| 255 | GPSData.Position.Longitude = UbxPosLlh.LON; |
256 | GPSData.Position.Longitude = UbxPosLlh.LON; |
| 256 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
257 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
| 257 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
258 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
| 258 | GPSData.Position.Status = NEWDATA; |
259 | GPSData.Position.Status = NEWDATA; |
| 259 | // NAV VELNED |
260 | // NAV VELNED |
| 260 | GPSData.Speed_East = UbxVelNed.VEL_E; |
261 | GPSData.Speed_East = UbxVelNed.VEL_E; |
| 261 | GPSData.Speed_North = UbxVelNed.VEL_N; |
262 | GPSData.Speed_North = UbxVelNed.VEL_N; |
| 262 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
263 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
| 263 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
264 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
| 264 | GPSData.Heading = UbxVelNed.Heading; |
265 | GPSData.Heading = UbxVelNed.Heading; |
| 265 | 266 | ||
| 266 | GPSData.Status = NEWDATA; // new data available |
267 | GPSData.Status = NEWDATA; // new data available |
| 267 | } // EOF if(GPSData.Status != NEWDATA) |
268 | } // EOF if(GPSData.Status != NEWDATA) |
| 268 | } // EOF all ubx messages received |
269 | } // EOF all ubx messages received |
| 269 | // set state to collect new data |
270 | // set state to collect new data |
| 270 | UbxSol.Status = PROCESSED; // ready for new data |
271 | UbxSol.Status = PROCESSED; // ready for new data |
| 271 | UbxPosLlh.Status = PROCESSED; // ready for new data |
272 | UbxPosLlh.Status = PROCESSED; // ready for new data |
| 272 | UbxVelNed.Status = PROCESSED; // ready for new data |
273 | UbxVelNed.Status = PROCESSED; // ready for new data |
| 273 | } |
274 | } |
| 274 | } |
275 | } |
| 275 | 276 | ||
| 276 | 277 | ||
| 277 | /********************************************************/ |
278 | /********************************************************/ |
| 278 | /* UBX Parser */ |
279 | /* UBX Parser */ |
| 279 | /********************************************************/ |
280 | /********************************************************/ |
| 280 | void UBX_Parser(uint8_t c) |
281 | void UBX_Parser(uint8_t c) |
| 281 | { |
282 | { |
| 282 | static ubxState_t ubxState = UBXSTATE_IDLE; |
283 | static ubxState_t ubxState = UBXSTATE_IDLE; |
| 283 | static uint16_t msglen; |
284 | static uint16_t msglen; |
| 284 | static uint8_t cka, ckb; |
285 | static uint8_t cka, ckb; |
| 285 | static uint8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
286 | static uint8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
| 286 | 287 | ||
| 287 | 288 | ||
| 288 | //state machine |
289 | //state machine |
| 289 | switch (ubxState) // ubx message parser |
290 | switch (ubxState) // ubx message parser |
| 290 | { |
291 | { |
| 291 | case UBXSTATE_IDLE: // check 1st sync byte |
292 | case UBXSTATE_IDLE: // check 1st sync byte |
| 292 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
293 | if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
| 293 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
294 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
| 294 | break; |
295 | break; |
| 295 | 296 | ||
| 296 | case UBXSTATE_SYNC1: // check 2nd sync byte |
297 | case UBXSTATE_SYNC1: // check 2nd sync byte |
| 297 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
298 | if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
| 298 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
299 | else ubxState = UBXSTATE_IDLE; // out of synchronization |
| 299 | break; |
300 | break; |
| 300 | 301 | ||
| 301 | case UBXSTATE_SYNC2: // check msg class to be NAV |
302 | case UBXSTATE_SYNC2: // check msg class to be NAV |
| 302 | if (c == UBX_CLASS_NAV) ubxState = UBXSTATE_CLASS; |
303 | if (c == UBX_CLASS_NAV) ubxState = UBXSTATE_CLASS; |
| 303 | else ubxState = UBXSTATE_IDLE; // unsupported message class |
304 | else ubxState = UBXSTATE_IDLE; // unsupported message class |
| 304 | break; |
305 | break; |
| 305 | 306 | ||
| 306 | case UBXSTATE_CLASS: // check message identifier |
307 | case UBXSTATE_CLASS: // check message identifier |
| 307 | switch(c) |
308 | switch(c) |
| 308 | { |
309 | { |
| 309 | case UBX_ID_POSLLH: // geodetic position |
310 | case UBX_ID_POSLLH: // geodetic position |
| 310 | ubxP = (uint8_t *)&UbxPosLlh; // data start pointer |
311 | ubxP = (uint8_t *)&UbxPosLlh; // data start pointer |
| 311 | ubxEp = (uint8_t *)(&UbxPosLlh + 1); // data end pointer |
312 | ubxEp = (uint8_t *)(&UbxPosLlh + 1); // data end pointer |
| 312 | ubxSp = (uint8_t *)&UbxPosLlh.Status; // status pointer |
313 | ubxSp = (uint8_t *)&UbxPosLlh.Status; // status pointer |
| 313 | break; |
314 | break; |
| 314 | 315 | ||
| 315 | case UBX_ID_SOL: // navigation solution |
316 | case UBX_ID_SOL: // navigation solution |
| 316 | ubxP = (uint8_t *)&UbxSol; // data start pointer |
317 | ubxP = (uint8_t *)&UbxSol; // data start pointer |
| 317 | ubxEp = (uint8_t *)(&UbxSol + 1); // data end pointer |
318 | ubxEp = (uint8_t *)(&UbxSol + 1); // data end pointer |
| 318 | ubxSp = (uint8_t *)&UbxSol.Status; // status pointer |
319 | ubxSp = (uint8_t *)&UbxSol.Status; // status pointer |
| 319 | break; |
320 | break; |
| 320 | 321 | ||
| 321 | case UBX_ID_VELNED: // velocity vector in tangent plane |
322 | case UBX_ID_VELNED: // velocity vector in tangent plane |
| 322 | ubxP = (uint8_t *)&UbxVelNed; // data start pointer |
323 | ubxP = (uint8_t *)&UbxVelNed; // data start pointer |
| 323 | ubxEp = (uint8_t *)(&UbxVelNed + 1); // data end pointer |
324 | ubxEp = (uint8_t *)(&UbxVelNed + 1); // data end pointer |
| 324 | ubxSp = (uint8_t *)&UbxVelNed.Status; // status pointer |
325 | ubxSp = (uint8_t *)&UbxVelNed.Status; // status pointer |
| 325 | break; |
326 | break; |
| 326 | 327 | ||
| 327 | default: // unsupported identifier |
328 | default: // unsupported identifier |
| 328 | ubxState = UBXSTATE_IDLE; |
329 | ubxState = UBXSTATE_IDLE; |
| 329 | break; |
330 | break; |
| 330 | } |
331 | } |
| 331 | if (ubxState != UBXSTATE_IDLE) |
332 | if (ubxState != UBXSTATE_IDLE) |
| 332 | { |
333 | { |
| 333 | ubxState = UBXSTATE_LEN1; |
334 | ubxState = UBXSTATE_LEN1; |
| 334 | cka = UBX_CLASS_NAV + c; |
335 | cka = UBX_CLASS_NAV + c; |
| 335 | ckb = UBX_CLASS_NAV + cka; |
336 | ckb = UBX_CLASS_NAV + cka; |
| 336 | } |
337 | } |
| 337 | break; |
338 | break; |
| 338 | 339 | ||
| 339 | case UBXSTATE_LEN1: // 1st message length byte |
340 | case UBXSTATE_LEN1: // 1st message length byte |
| 340 | msglen = (uint16_t)c; // lowbyte first |
341 | msglen = (uint16_t)c; // lowbyte first |
| 341 | cka += c; |
342 | cka += c; |
| 342 | ckb += cka; |
343 | ckb += cka; |
| 343 | ubxState = UBXSTATE_LEN2; |
344 | ubxState = UBXSTATE_LEN2; |
| 344 | break; |
345 | break; |
| 345 | 346 | ||
| 346 | case UBXSTATE_LEN2: // 2nd message length byte |
347 | case UBXSTATE_LEN2: // 2nd message length byte |
| 347 | msglen += ((uint16_t)c)<<8; // high byte last |
348 | msglen += ((uint16_t)c)<<8; // high byte last |
| 348 | cka += c; |
349 | cka += c; |
| 349 | ckb += cka; |
350 | ckb += cka; |
| 350 | // if the old data are not processed so far then break parsing now |
351 | // if the old data are not processed so far then break parsing now |
| 351 | // to avoid writing new data in ISR during reading by another function |
352 | // to avoid writing new data in ISR during reading by another function |
| 352 | if ( *ubxSp == NEWDATA ) |
353 | if ( *ubxSp == NEWDATA ) |
| 353 | { |
354 | { |
| 354 | ubxState = UBXSTATE_IDLE; |
355 | ubxState = UBXSTATE_IDLE; |
| 355 | Update_GPSData(); //update GPS info respectively |
356 | Update_GPSData(); //update GPS info respectively |
| 356 | } |
357 | } |
| 357 | else // data invalid or allready processd |
358 | else // data invalid or allready processd |
| 358 | { |
359 | { |
| 359 | *ubxSp = INVALID; // mark invalid during buffer filling |
360 | *ubxSp = INVALID; // mark invalid during buffer filling |
| 360 | ubxState = UBXSTATE_DATA; |
361 | ubxState = UBXSTATE_DATA; |
| 361 | } |
362 | } |
| 362 | break; |
363 | break; |
| 363 | 364 | ||
| 364 | case UBXSTATE_DATA: // collecting data |
365 | case UBXSTATE_DATA: // collecting data |
| 365 | if (ubxP < ubxEp) |
366 | if (ubxP < ubxEp) |
| 366 | { |
367 | { |
| 367 | *ubxP++ = c; // copy curent data byte if any space is left |
368 | *ubxP++ = c; // copy curent data byte if any space is left |
| 368 | cka += c; |
369 | cka += c; |
| 369 | ckb += cka; |
370 | ckb += cka; |
| 370 | if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read |
371 | if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read |
| 371 | } |
372 | } |
| 372 | else // rx buffer overrun |
373 | else // rx buffer overrun |
| 373 | { |
374 | { |
| 374 | ubxState = UBXSTATE_IDLE; |
375 | ubxState = UBXSTATE_IDLE; |
| 375 | } |
376 | } |
| 376 | break; |
377 | break; |
| 377 | 378 | ||
| 378 | case UBXSTATE_CKA: |
379 | case UBXSTATE_CKA: |
| 379 | if (c == cka) ubxState = UBXSTATE_CKB; |
380 | if (c == cka) ubxState = UBXSTATE_CKB; |
| 380 | else |
381 | else |
| 381 | { |
382 | { |
| 382 | *ubxSp = INVALID; |
383 | *ubxSp = INVALID; |
| 383 | ubxState = UBXSTATE_IDLE; |
384 | ubxState = UBXSTATE_IDLE; |
| 384 | } |
385 | } |
| 385 | break; |
386 | break; |
| 386 | 387 | ||
| 387 | case UBXSTATE_CKB: |
388 | case UBXSTATE_CKB: |
| 388 | if (c == ckb) |
389 | if (c == ckb) |
| 389 | { |
390 | { |
| 390 | *ubxSp = NEWDATA; // new data are valid |
391 | *ubxSp = NEWDATA; // new data are valid |
| 391 | Update_GPSData(); //update GPS info respectively |
392 | Update_GPSData(); //update GPS info respectively |
| 392 | } |
393 | } |
| 393 | else |
394 | else |
| 394 | { // if checksum not match then set data invalid |
395 | { // if checksum not match then set data invalid |
| 395 | *ubxSp = INVALID; |
396 | *ubxSp = INVALID; |
| 396 | } |
397 | } |
| 397 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
398 | ubxState = UBXSTATE_IDLE; // ready to parse new data |
| 398 | break; |
399 | break; |
| 399 | 400 | ||
| 400 | default: // unknown ubx state |
401 | default: // unknown ubx state |
| 401 | ubxState = UBXSTATE_IDLE; |
402 | ubxState = UBXSTATE_IDLE; |
| 402 | break; |
403 | break; |
| 403 | 404 | ||
| 404 | } |
405 | } |
| - | 406 | DebugOut.Analog[9] = GPSData.Speed_North; |
|
| - | 407 | DebugOut.Analog[10] = GPSData.Speed_East; |
|
| - | 408 | DebugOut.Analog[11] = GPSData.Speed_Top; |
|
| - | 409 | DebugOut.Analog[12] = GPSData.NumOfSats; |
|
| - | 410 | DebugOut.Analog[13] = GPSData.Position.Longitude; |
|
| - | 411 | DebugOut.Analog[14] = GPSData.Position.Latitude; |
|
| - | 412 | DebugOut.Analog[15] = GPSData.Position.Altitude; |
|
| 405 | } |
413 | } |
| 406 | 414 | ||