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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <inttypes.h>
#include "ubx.h"
#include <avr/io.h>
//#include "uart0.h"
// ubx protocol parser state machine
#define UBXSTATE_IDLE 0
#define UBXSTATE_SYNC1 1
#define UBXSTATE_SYNC2 2
#define UBXSTATE_CLASS 3
#define UBXSTATE_LEN1 4
#define UBXSTATE_LEN2 5
#define UBXSTATE_DATA 6
#define UBXSTATE_CKA 7
#define UBXSTATE_CKB 8
// ublox protocoll identifier
#define UBX_CLASS_NAV 0x01
#define UBX_ID_POSLLH 0x02
#define UBX_ID_SOL 0x06
#define UBX_ID_VELNED 0x12
#define UBX_SYNC1_CHAR 0xB5
#define UBX_SYNC2_CHAR 0x62
typedef struct {
uint32_t ITOW; // ms GPS Millisecond Time of Week
int32_t Frac; // ns remainder of rounded ms above
int16_t week; // GPS week
uint8_t GPSfix; // GPSfix Type, range 0..6
uint8_t Flags; // Navigation Status Flags
int32_t ECEF_X; // cm ECEF X coordinate
int32_t ECEF_Y; // cm ECEF Y coordinate
int32_t ECEF_Z; // cm ECEF Z coordinate
uint32_t PAcc; // cm 3D Position Accuracy Estimate
int32_t ECEFVX; // cm/s ECEF X velocity
int32_t ECEFVY; // cm/s ECEF Y velocity
int32_t ECEFVZ; // cm/s ECEF Z velocity
uint32_t SAcc; // cm/s Speed Accuracy Estimate
uint16_t PDOP; // 0.01 Position DOP
uint8_t res1; // reserved
uint8_t numSV; // Number of SVs used in navigation solution
uint32_t res2; // reserved
Status_t Status;
} UBX_SOL_t;
typedef struct {
uint32_t ITOW; // ms GPS Millisecond Time of Week
int32_t LON; // 1e-07 deg Longitude
int32_t LAT; // 1e-07 deg Latitude
int32_t HEIGHT; // mm Height above Ellipsoid
int32_t HMSL; // mm Height above mean sea level
uint32_t Hacc; // mm Horizontal Accuracy Estimate
uint32_t Vacc; // mm Vertical Accuracy Estimate
Status_t Status;
} UBX_POSLLH_t;
typedef struct {
uint32_t ITOW; // ms GPS Millisecond Time of Week
int32_t VEL_N; // cm/s NED north velocity
int32_t VEL_E; // cm/s NED east velocity
int32_t VEL_D; // cm/s NED down velocity
uint32_t Speed; // cm/s Speed (3-D)
uint32_t GSpeed; // cm/s Ground Speed (2-D)
int32_t Heading; // 1e-05 deg Heading 2-D
uint32_t SAcc; // cm/s Speed Accuracy Estimate
uint32_t CAcc; // deg Course / Heading Accuracy Estimate
Status_t Status;
} UBX_VELNED_t;
UBX_SOL_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID};
UBX_POSLLH_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID};
UBX_VELNED_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID};
GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID};
volatile uint8_t GPSTimeout = 0;
void UpdateGPSInfo (void)
{
if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA))
{
RED_FLASH;
if(GPSInfo.status != NEWDATA)
{
GPSInfo.status = INVALID;
// NAV SOL
GPSInfo.flags = UbxSol.Flags;
GPSInfo.satfix = UbxSol.GPSfix;
GPSInfo.satnum = UbxSol.numSV;
GPSInfo.PAcc = UbxSol.PAcc;
GPSInfo.VAcc = UbxSol.SAcc;
// NAV POSLLH
GPSInfo.longitude = UbxPosLlh.LON;
GPSInfo.latitude = UbxPosLlh.LAT;
GPSInfo.altitude = UbxPosLlh.HEIGHT;
GPSInfo.veleast = UbxVelNed.VEL_E;
GPSInfo.velnorth = UbxVelNed.VEL_N;
GPSInfo.veltop = -UbxVelNed.VEL_D;
GPSInfo.velground = UbxVelNed.GSpeed;
GPSInfo.status = NEWDATA;
}
// set state to collect new data
UbxSol.Status = PROCESSED; // never update old data
UbxPosLlh.Status = PROCESSED; // never update old data
UbxVelNed.Status = PROCESSED; // never update old data
}
}
// this function should be called within the UART RX ISR
void ubx_parser(uint8_t c)
{
static uint8_t ubxstate = UBXSTATE_IDLE;
static uint8_t cka, ckb;
static uint16_t msglen;
static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered
switch(ubxstate)
{
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
if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS;
else ubxstate = UBXSTATE_IDLE; // unsupported message class
break;
case UBXSTATE_CLASS: // check message identifier
switch(c)
{
case UBX_ID_POSLLH: // geodetic position
ubxP = (int8_t *)&UbxPosLlh; // data start pointer
ubxEp = (int8_t *)(&UbxPosLlh + 1); // data end pointer
ubxSp = (int8_t *)&UbxPosLlh.Status; // status pointer
break;
case UBX_ID_SOL: // navigation solution
ubxP = (int8_t *)&UbxSol; // data start pointer
ubxEp = (int8_t *)(&UbxSol + 1); // data end pointer
ubxSp = (int8_t *)&UbxSol.Status; // status pointer
break;
case UBX_ID_VELNED: // velocity vector in tangent plane
ubxP = (int8_t *)&UbxVelNed; // data start pointer
ubxEp = (int8_t *)(&UbxVelNed + 1); // data end pointer
ubxSp = (int8_t *)&UbxVelNed.Status; // status pointer
break;
default: // unsupported identifier
ubxstate = UBXSTATE_IDLE;
break;
}
if (ubxstate != UBXSTATE_IDLE)
{
ubxstate = UBXSTATE_LEN1;
cka = UBX_CLASS_NAV + c;
ckb = UBX_CLASS_NAV + cka;
}
break;
case UBXSTATE_LEN1: // 1st message length byte
msglen = c;
cka += c;
ckb += cka;
ubxstate = UBXSTATE_LEN2;
break;
case UBXSTATE_LEN2: // 2nd message length byte
msglen += ((uint16_t)c)<<8;
cka += c;
ckb += cka;
// if the old data are not processed so far then break parsing now
// to avoid writing new data in ISR during reading by another function
if ( *ubxSp == NEWDATA )
{
UpdateGPSInfo(); //update GPS info respectively
ubxstate = UBXSTATE_IDLE;
}
else // data invalid or allready processd
{
*ubxSp = INVALID;
ubxstate = UBXSTATE_DATA;
}
break;
case UBXSTATE_DATA:
if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left
cka += c;
ckb += cka;
if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read
break;
case UBXSTATE_CKA:
if (c == cka) ubxstate = UBXSTATE_CKB;
else
{
*ubxSp = INVALID;
ubxstate = UBXSTATE_IDLE;
}
break;
case UBXSTATE_CKB:
if (c == ckb)
{
*ubxSp = NEWDATA; // new data are valid
UpdateGPSInfo(); //update GPS info respectively
GPSTimeout = 255;
}
else
{ // if checksum not fit then set data invalid
*ubxSp = INVALID;
}
ubxstate = UBXSTATE_IDLE; // ready to parse new data
break;
default: // unknown ubx state
ubxstate = UBXSTATE_IDLE;
break;
}
}