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/*
This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.

Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de
*/
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Peter Muehlenbrock
Auswertung der Daten vom GPS im ublox Format
Hold Modus mit PID Regler
Stand 2.10.2007
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
#include "main.h"
//#include "gps.h"

// Defines fuer ublox Messageformat um Auswertung zu steuern
#define UBLOX_IDLE 0
#define UBLOX_SYNC1 1
#define UBLOX_SYNC2 2
#define UBLOX_CLASS 3
#define UBLOX_ID 4
#define UBLOX_LEN1 5
#define UBLOX_LEN2 6
#define UBLOX_CKA 7
#define UBLOX_CKB 8
#define UBLOX_PAYLOAD 9

// ublox Protokoll Identifier
#define UBLOX_NAV_POSUTM 0x08
#define UBLOX_NAV_STATUS 0x03
#define UBLOX_NAV_VELED 0x12
#define UBLOX_NAV_CLASS 0x01
#define UBLOX_SYNCH1_CHAR 0xB5
#define UBLOX_SYNCH2_CHAR 0x62

signed int GPS_Nick = 0;
signed int GPS_Roll = 0;
short int ublox_msg_state = UBLOX_IDLE;
static    uint8_t chk_a =0; //Checksum
static    uint8_t chk_b =0;
short int gps_state;
short int gps_updte_flag;
signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol
signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters
signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel
signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y;
static unsigned int rx_len;
static unsigned int ptr_payload_data_end;
unsigned int    gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt

static uint8_t *ptr_payload_data;
static uint8_t *ptr_pac_status;

short int Get_GPS_data(void);

NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
NAV_STATUS_t actual_status; // Aktueller Nav Status
NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten

GPS_ABS_POSITION_t    gps_act_position; // Alle wichtigen Daten zusammengefasst
GPS_ABS_POSITION_t    gps_home_position;    // Die Startposition, beim Kalibrieren ermittelt
GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode

// Initialisierung
void GPS_Neutral(void)
{
ublox_msg_state = UBLOX_IDLE;
gps_state = GPS_CRTL_IDLE;
actual_pos.status = 0;
actual_speed.status = 0;
actual_status.status = 0;
gps_home_position.status = 0; // Noch keine gueltige Home Position
gps_act_position.status = 0;
gps_rel_act_position.status = 0;
GPS_Nick = 0;
GPS_Roll = 0;
gps_updte_flag = 0;
gps_int_x = 0;
gps_int_y = 0;
gps_alive_cnt = 0;
}

// Home Position sichern falls Daten verfuegbar sind.
void GPS_Save_Home(void)
{
short int n;
n = Get_GPS_data();
if (n == 0) // Gueltige und aktuelle Daten ?
{
// Neue GPS Daten liegen vor
gps_home_position.utm_east = gps_act_position.utm_east;
gps_home_position.utm_north = gps_act_position.utm_north;
gps_home_position.utm_alt = gps_act_position.utm_alt;
gps_home_position.status = 1; // Home Position gueltig
}
}

// Relative Position zur Home Position bestimmen
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
short int Get_Rel_Position(void)
{
short int n = 0;
n = Get_GPS_data();
if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in MotorreglerRoutine ueberwacht und dekrementiert
if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
{
gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
gps_rel_act_position.status = 1; // gueltige Positionsdaten
n = 0;
gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
}
else
{
n = 2; //keine gueltigen Daten vorhanden
gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
}
return (n);
}

// Daten aus aktuellen ublox Messages extrahieren
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
short int Get_GPS_data(void)
{
short int n = 1;

if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
{
if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
{
gps_act_position.utm_east = actual_pos.utm_east/10;
gps_act_position.utm_north = actual_pos.utm_north/10;
gps_act_position.utm_alt = actual_pos.utm_alt/10;
gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
gps_act_position.heading = actual_speed.heading/100000;
gps_act_position.status = 1;
n = 0; //Daten gueltig
}
else
{
gps_act_position.status = 0; //Keine gueltigen Daten
n = 2;
}
actual_pos.status = 0; //neue ublox Messages anfordern
actual_status.status = 0;
actual_speed.status = 0;
}
return (n);
}

/*
Daten vom GPS im ublox MSG Format auswerten
Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
*/
void Get_Ublox_Msg(uint8_t rx)
{
switch (ublox_msg_state)
{

case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
else ublox_msg_state = UBLOX_IDLE;
break;

case UBLOX_SYNC1:

if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
else ublox_msg_state = UBLOX_IDLE;
chk_a = 0,chk_b = 0;
break;

case UBLOX_SYNC2:
if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
else ublox_msg_state = UBLOX_IDLE;
break;

case UBLOX_CLASS: // Nur NAV Meldungen auswerten
switch (rx)
{
case UBLOX_NAV_POSUTM:
ptr_pac_status = &actual_pos.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
else
{
ptr_payload_data = &actual_pos;
ptr_payload_data_end = &actual_pos.status;
ublox_msg_state = UBLOX_LEN1;
}
break;

case UBLOX_NAV_STATUS:
ptr_pac_status = &actual_status.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
else
{
ptr_payload_data = &actual_status;
ptr_payload_data_end = &actual_status.status;
ublox_msg_state = UBLOX_LEN1;
}
break;

case UBLOX_NAV_VELED:
ptr_pac_status = &actual_speed.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
else
{
ptr_payload_data = &actual_speed;
ptr_payload_data_end = &actual_speed.status;
ublox_msg_state = UBLOX_LEN1;
}
break;

default:
ublox_msg_state = UBLOX_IDLE;
break;
}
chk_a = UBLOX_NAV_CLASS + rx;
chk_b = UBLOX_NAV_CLASS + chk_a;
break;

case UBLOX_LEN1: // Laenge auswerten
rx_len = rx;
chk_a += rx;
chk_b += chk_a;
ublox_msg_state = UBLOX_LEN2;
break;

case UBLOX_LEN2: // Laenge auswerten
rx_len = rx_len + (rx *256); // Laenge ermitteln
chk_a += rx;
chk_b += chk_a;
ublox_msg_state = UBLOX_PAYLOAD;
break;

case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
if (rx_len > 0)
{
*ptr_payload_data = rx;
chk_a += rx;
chk_b += chk_a;
--rx_len;
if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
{
ptr_payload_data++;
ublox_msg_state = UBLOX_PAYLOAD;
}
else ublox_msg_state = UBLOX_CKA;
}
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
break;

case UBLOX_CKA: // Checksum pruefen
if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
break;

case UBLOX_CKB: // Checksum pruefen
if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
ublox_msg_state = UBLOX_IDLE;
break;

default:
ublox_msg_state = UBLOX_IDLE;
break;
}
}

//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
short int GPS_CRTL(short int cmd)
{
static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen
static signed int int_east,int_north; //Integrierer
static signed int dist_north,dist_east;
static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert)
static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert
signed int n,diff_v;
long signed int dev,n_l;
switch (cmd)
{

case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
// Noch einiges zu ueberlegen und zu tun
return(GPS_STST_PEND); // noch warten
break;
// ******************************

case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
if (gps_state != GPS_CRTL_HOLD_ACTIVE)
{
cnt++;
if (cnt > 500) // erst nach Verzoegerung
{
cnt = 0;
// aktuelle positionsdaten abespeichern
if (gps_rel_act_position.status > 0)
{
int_east = 0;
int_north = 0;
gps_reg_x = 0;
gps_reg_y = 0;
dist_east = 0;
dist_north = 0;
diff_east_f = 0;
diff_north_f = 0;
diff_east = 0;
diff_north = 0;
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
gps_rel_hold_position.status = 1; // gueltige Positionsdaten
gps_state = GPS_CRTL_HOLD_ACTIVE;
return (GPS_STST_OK);
}
else
{
gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
gps_state = GPS_CRTL_IDLE;
return(GPS_STST_ERR); // Keine Daten da
}
}
else return(GPS_STST_PEND); // noch warten
}
break;

case GPS_CMD_STOP: // Lageregelung beenden
cnt = 0;
GPS_Nick = 0;
GPS_Roll = 0;
gps_int_x = 0;
gps_int_y = 0;
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_OK);
break;

default:
return (GPS_STST_ERR);
break;
}

switch (gps_state)
{
case GPS_CRTL_IDLE:
cnt = 0;
return (GPS_STST_OK);
break;

case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
if (gps_updte_flag == 1) //nur wenn neue GPS Daten vorliegen
{
gps_updte_flag = 0;
// ab hier wird geregelt
diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen
diff_north = -dist_north;
dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east;
dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north;
int_east += dist_east;
int_north += dist_north;
diff_east += dist_east; // Differenz zur vorhergehenden East Position
diff_north += dist_north; // Differenz zur vorhergehenden North Position

diff_east_f = ((diff_east_f )/4) + (diff_east*3/4); //Differenzierer filtern
diff_north_f = ((diff_north_f)/4) + (diff_north*3/4); //Differenzierer filtern

#define GPSINT_MAX 2048 //neuer Wert ab 1.10.2007 Begrenzung
if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten
{
int_east -= dist_east;
int_north -= dist_north;
}
// Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind
// desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1
#define GPS_DIFF_MAX_V 20 //maximale Verstaerkung * 10
#define GPS_DIFF_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm
signed long dist;
int phi;
phi = arctan_i(abs(dist_north),abs(dist_east));
if (abs(dist_east) > abs(dist_north) ) //Zunaechst Entfernung zum Ziel ermitteln
{
dist = (long)dist_east; //Groesseren Wert wegen besserer Genauigkeit nehmen
dist = abs((dist *1000) / (long) sin_i(phi));
}
else
{
dist = (long)dist_north;
dist = abs((dist *1000) / (long) cos_i(phi));
}
diff_v = (int)((dist * (GPS_DIFF_MAX_V - 10)) / GPS_DIFF_MAX_D) +10; //Verstaerkung * 10
if (diff_v > GPS_DIFF_MAX_V) diff_v = GPS_DIFF_MAX_V; //begrenzen

//PID Regler Werte aufsummieren
gps_reg_x = ((int_east * Parameter_UserParam2)/32) + ((dist_east * Parameter_UserParam1)/8)+ ((diff_east_f * diff_v * Parameter_UserParam3)/10); // I + P +D Anteil X Achse
gps_reg_y = ((int_north * Parameter_UserParam2)/32) + ((dist_north * Parameter_UserParam1)/8)+ ((diff_north_f * diff_v * Parameter_UserParam3)/10); // I + P +D Anteil Y Achse

//Ziel-Richtung bezogen auf Nordpol bestimmen
GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y);

// in Winkel 0...360 Grad umrechnen
if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt);
else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt);

// Relative Richtung in bezug auf Nordachse des Kopters errechen
n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n;
if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360;
else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt;
else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt;

// Regelabweichung aus x,y zu Ziel in Distanz umrechnen
if (abs(gps_reg_x) > abs(gps_reg_y) )
{
dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen
dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt));
}
else
{
dev = (long)gps_reg_y;
dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt));
}
GPS_dist_2trgt = (int) dev;
// Winkel und Distanz in Nick und Rollgroessen umrechnen
GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000);
GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000);

#define GPS_V 8 // auf Maximalwert normieren. Teilerfaktor ist 8
if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V);
else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V);
if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V);
else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V);

//Kleine Werte verstaerken, Grosse abschwaechen
n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V));
n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
GPS_Roll = (int) n_l;
n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V));
n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
GPS_Nick = (int) n_l;

if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
{
GPS_Roll = 0;
GPS_Nick = 0;
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_ERR);
break;
}
}
else return (GPS_STST_OK);
break;

default:
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_ERR);
break;
}
return (GPS_STST_ERR);

}

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