2 * Copyright © 2013 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
22 #include "ao_gps_ublox.h"
24 __xdata uint8_t ao_gps_mutex;
25 __pdata uint16_t ao_gps_tick;
26 __xdata struct ao_telemetry_location ao_gps_data;
27 __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
29 static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1,57600,0*2d\r\n";
31 const char ao_gps_config[] = {
35 struct ao_ublox_cksum {
39 static __pdata struct ao_ublox_cksum ao_ublox_cksum;
40 static __pdata uint16_t ao_ublox_len;
42 #define ao_ublox_byte() ((uint8_t) ao_gps_getchar())
44 static inline void add_cksum(struct ao_ublox_cksum *cksum, uint8_t c)
50 static void ao_ublox_init_cksum(void)
52 ao_ublox_cksum.a = ao_ublox_cksum.b = 0;
55 static void ao_ublox_put_u8(uint8_t c)
57 add_cksum(&ao_ublox_cksum, c);
61 static void ao_ublox_put_i8(int8_t c)
63 ao_ublox_put_u8((uint8_t) c);
66 static void ao_ublox_put_u16(uint16_t c)
69 ao_ublox_put_u8(c>>8);
73 static void ao_ublox_put_i16(int16_t c)
75 ao_ublox_put_u16((uint16_t) c);
79 static void ao_ublox_put_u32(uint32_t c)
82 ao_ublox_put_u8(c>>8);
83 ao_ublox_put_u8(c>>16);
84 ao_ublox_put_u8(c>>24);
87 static void ao_ublox_put_i32(int32_t c)
89 ao_ublox_put_u32((uint32_t) c);
92 static uint8_t header_byte(void)
94 uint8_t c = ao_ublox_byte();
95 add_cksum(&ao_ublox_cksum, c);
99 static uint8_t data_byte(void)
102 return header_byte();
105 static char __xdata *ublox_target;
107 static void ublox_u16(uint8_t offset)
109 uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
113 val |= data_byte () << 8;
117 static void ublox_u8(uint8_t offset)
119 uint8_t __xdata *ptr = (uint8_t __xdata *) (ublox_target + offset);
126 static void ublox_u32(uint8_t offset) __reentrant
128 uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
131 val = ((uint32_t) data_byte ());
132 val |= ((uint32_t) data_byte ()) << 8;
133 val |= ((uint32_t) data_byte ()) << 16;
134 val |= ((uint32_t) data_byte ()) << 24;
138 static void ublox_discard(uint8_t len)
145 #define UBLOX_DISCARD 1
150 struct ublox_packet_parse {
156 ao_ublox_parse(void __xdata *target, const struct ublox_packet_parse *parse) __reentrant
160 ublox_target = target;
162 offset = parse[i].offset;
163 switch (parse[i].type) {
167 ublox_discard(offset);
183 * NAV-DOP message parsing
186 static struct nav_dop {
192 static const struct ublox_packet_parse nav_dop_packet[] = {
193 { UBLOX_DISCARD, 6 }, /* 0 GPS Millisecond Time of Week, gDOP */
194 { UBLOX_U16, offsetof(struct nav_dop, pdop) }, /* 6 pDOP */
195 { UBLOX_DISCARD, 2 }, /* 8 tDOP */
196 { UBLOX_U16, offsetof(struct nav_dop, vdop) }, /* 10 vDOP */
197 { UBLOX_U16, offsetof(struct nav_dop, hdop) }, /* 12 hDOP */
198 { UBLOX_DISCARD, 4 }, /* 14 nDOP, eDOP */
203 ao_ublox_parse_nav_dop(void)
205 ao_ublox_parse(&nav_dop, nav_dop_packet);
209 * NAV-POSLLH message parsing
211 static struct nav_posllh {
217 static const struct ublox_packet_parse nav_posllh_packet[] = {
218 { UBLOX_DISCARD, 4 }, /* 0 GPS Millisecond Time of Week */
219 { UBLOX_U32, offsetof(struct nav_posllh, lon) }, /* 4 Longitude */
220 { UBLOX_U32, offsetof(struct nav_posllh, lat) }, /* 8 Latitude */
221 { UBLOX_DISCARD, 4 }, /* 12 Height above Ellipsoid */
222 { UBLOX_U32, offsetof(struct nav_posllh, alt_msl) }, /* 16 Height above mean sea level */
223 { UBLOX_DISCARD, 8 }, /* 20 hAcc, vAcc */
224 { UBLOX_END, 0 }, /* 28 */
228 ao_ublox_parse_nav_posllh(void)
230 ao_ublox_parse(&nav_posllh, nav_posllh_packet);
234 * NAV-SOL message parsing
236 static struct nav_sol {
242 static const struct ublox_packet_parse nav_sol_packet[] = {
243 { UBLOX_DISCARD, 10 }, /* 0 iTOW, fTOW, week */
244 { UBLOX_U8, offsetof(struct nav_sol, gps_fix) }, /* 10 gpsFix */
245 { UBLOX_U8, offsetof(struct nav_sol, flags) }, /* 11 flags */
246 { UBLOX_DISCARD, 35 }, /* 12 ecefX, ecefY, ecefZ, pAcc, ecefVX, ecefVY, ecefVZ, sAcc, pDOP, reserved1 */
247 { UBLOX_U8, offsetof(struct nav_sol, nsat) }, /* 47 numSV */
248 { UBLOX_DISCARD, 4 }, /* 48 reserved2 */
252 #define NAV_SOL_FLAGS_GPSFIXOK 0
253 #define NAV_SOL_FLAGS_DIFFSOLN 1
254 #define NAV_SOL_FLAGS_WKNSET 2
255 #define NAV_SOL_FLAGS_TOWSET 3
258 ao_ublox_parse_nav_sol(void)
260 ao_ublox_parse(&nav_sol, nav_sol_packet);
264 * NAV-SVINFO message parsing
267 static struct nav_svinfo {
272 static const struct ublox_packet_parse nav_svinfo_packet[] = {
273 { UBLOX_DISCARD, 4 }, /* 0 iTOW */
274 { UBLOX_U8, offsetof(struct nav_svinfo, num_ch) }, /* 4 numCh */
275 { UBLOX_U8, offsetof(struct nav_svinfo, flags) }, /* 5 globalFlags */
276 { UBLOX_DISCARD, 2 }, /* 6 reserved2 */
280 #define NAV_SVINFO_MAX_SAT 16
282 static struct nav_svinfo_sat {
288 } nav_svinfo_sat[NAV_SVINFO_MAX_SAT];
290 static uint8_t nav_svinfo_nsat;
292 static const struct ublox_packet_parse nav_svinfo_sat_packet[] = {
293 { UBLOX_U8, offsetof(struct nav_svinfo_sat, chn) }, /* 8 + 12*N chn */
294 { UBLOX_U8, offsetof(struct nav_svinfo_sat, svid) }, /* 9 + 12*N svid */
295 { UBLOX_U8, offsetof(struct nav_svinfo_sat, flags) }, /* 10 + 12*N flags */
296 { UBLOX_U8, offsetof(struct nav_svinfo_sat, quality) }, /* 11 + 12*N quality */
297 { UBLOX_U8, offsetof(struct nav_svinfo_sat, cno) }, /* 12 + 12*N cno */
298 { UBLOX_DISCARD, 7 }, /* 13 + 12*N elev, azim, prRes */
302 #define NAV_SVINFO_SAT_FLAGS_SVUSED 0
303 #define NAV_SVINFO_SAT_FLAGS_DIFFCORR 1
304 #define NAV_SVINFO_SAT_FLAGS_ORBITAVAIL 2
305 #define NAV_SVINFO_SAT_FLAGS_ORBITEPH 3
306 #define NAV_SVINFO_SAT_FLAGS_UNHEALTHY 4
307 #define NAV_SVINFO_SAT_FLAGS_ORBITALM 5
308 #define NAV_SVINFO_SAT_FLAGS_ORBITAOP 6
309 #define NAV_SVINFO_SAT_FLAGS_SMOOTHED 7
311 #define NAV_SVINFO_SAT_QUALITY_IDLE 0
312 #define NAV_SVINFO_SAT_QUALITY_SEARCHING 1
313 #define NAV_SVINFO_SAT_QUALITY_ACQUIRED 2
314 #define NAV_SVINFO_SAT_QUALITY_UNUSABLE 3
315 #define NAV_SVINFO_SAT_QUALITY_LOCKED 4
316 #define NAV_SVINFO_SAT_QUALITY_RUNNING 5
319 ao_ublox_parse_nav_svinfo(void)
323 ao_ublox_parse(&nav_svinfo, nav_svinfo_packet);
324 for (nsat = 0; nsat < nav_svinfo.num_ch && ao_ublox_len >= 12; nsat++) {
325 if (nsat < NAV_SVINFO_MAX_SAT) {
326 ao_ublox_parse(&nav_svinfo_sat[nav_svinfo_nsat++], nav_svinfo_sat_packet);
334 * NAV-TIMEUTC message parsing
336 static struct nav_timeutc {
346 #define NAV_TIMEUTC_VALID_TOW 0
347 #define NAV_TIMEUTC_VALID_WKN 1
348 #define NAV_TIMEUTC_VALID_UTC 2
350 static const struct ublox_packet_parse nav_timeutc_packet[] = {
351 { UBLOX_DISCARD, 12 }, /* 0 iTOW, tAcc, nano */
352 { UBLOX_U16, offsetof(struct nav_timeutc, year) }, /* 12 year */
353 { UBLOX_U8, offsetof(struct nav_timeutc, month) }, /* 14 month */
354 { UBLOX_U8, offsetof(struct nav_timeutc, day) }, /* 15 day */
355 { UBLOX_U8, offsetof(struct nav_timeutc, hour) }, /* 16 hour */
356 { UBLOX_U8, offsetof(struct nav_timeutc, min) }, /* 17 min */
357 { UBLOX_U8, offsetof(struct nav_timeutc, sec) }, /* 18 sec */
358 { UBLOX_U8, offsetof(struct nav_timeutc, valid) }, /* 19 valid */
363 ao_ublox_parse_nav_timeutc(void)
365 ao_ublox_parse(&nav_timeutc, nav_timeutc_packet);
369 * NAV-VELNED message parsing
372 static struct nav_velned {
378 static const struct ublox_packet_parse nav_velned_packet[] = {
379 { UBLOX_DISCARD, 12 }, /* 0 iTOW, velN, velE */
380 { UBLOX_U32, offsetof(struct nav_velned, vel_d) }, /* 12 velD */
381 { UBLOX_DISCARD, 4 }, /* 16 speed */
382 { UBLOX_U32, offsetof(struct nav_velned, g_speed) }, /* 20 gSpeed */
383 { UBLOX_U32, offsetof(struct nav_velned, heading) }, /* 24 heading */
384 { UBLOX_DISCARD, 8 }, /* 28 sAcc, cAcc */
389 ao_ublox_parse_nav_velned(void)
391 ao_ublox_parse(&nav_velned, nav_velned_packet);
395 * Set the protocol mode and baud rate
403 ao_delay(AO_SEC_TO_TICKS(3));
405 ao_gps_set_speed(AO_SERIAL_SPEED_9600);
408 * A bunch of nulls so the start bit
411 for (i = 0; i < 64; i++)
412 ao_gps_putchar(0x00);
415 * Send the baud-rate setting and protocol-setting
416 * command three times
418 for (k = 0; k < 3; k++)
419 for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
420 ao_gps_putchar(ao_gps_set_nmea[i]);
423 * Increase the baud rate
425 ao_gps_set_speed(AO_SERIAL_SPEED_57600);
428 * Pad with nulls to give the chip
429 * time to see the baud rate switch
431 for (i = 0; i < 64; i++)
432 ao_gps_putchar(0x00);
436 ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
438 ao_ublox_init_cksum();
439 ao_gps_putchar(0xb5);
440 ao_gps_putchar(0x62);
441 ao_ublox_put_u8(class);
443 ao_ublox_put_u8(len);
444 ao_ublox_put_u8(len >> 8);
448 ao_ublox_putend(void)
450 ao_gps_putchar(ao_ublox_cksum.a);
451 ao_gps_putchar(ao_ublox_cksum.b);
455 ao_ublox_set_message_rate(uint8_t class, uint8_t msgid, uint8_t rate)
457 ao_ublox_putstart(0x06, 0x01, 3);
458 ao_ublox_put_u8(class);
459 ao_ublox_put_u8(msgid);
460 ao_ublox_put_u8(rate);
465 ao_ublox_set_navigation_settings(uint16_t mask,
469 uint32_t fixed_alt_var,
476 uint8_t static_hold_thresh,
477 uint8_t dgps_time_out)
479 ao_ublox_putstart(UBLOX_CFG, UBLOX_CFG_NAV5, 36);
480 ao_ublox_put_u16(mask);
481 ao_ublox_put_u8(dyn_model);
482 ao_ublox_put_u8(fix_mode);
483 ao_ublox_put_i32(fixed_alt);
484 ao_ublox_put_u32(fixed_alt_var);
485 ao_ublox_put_i8(min_elev);
486 ao_ublox_put_u8(dr_limit);
487 ao_ublox_put_u16(pdop);
488 ao_ublox_put_u16(tdop);
489 ao_ublox_put_u16(pacc);
490 ao_ublox_put_u16(tacc);
491 ao_ublox_put_u8(static_hold_thresh);
492 ao_ublox_put_u8(dgps_time_out);
501 * Disable all MON message
503 static const uint8_t ublox_disable_mon[] = {
504 0x0b, 0x09, 0x02, 0x06, 0x07, 0x21, 0x08, 0x04
508 * Disable all NAV messages. The desired
509 * ones will be explicitly re-enabled
512 static const uint8_t ublox_disable_nav[] = {
513 0x60, 0x22, 0x31, 0x04, 0x40, 0x01, 0x02, 0x32,
514 0x06, 0x03, 0x30, 0x20, 0x21, 0x11, 0x12
518 * Enable enough messages to get all of the data we want
520 static const uint8_t ublox_enable_nav[] = {
530 ao_gps(void) __reentrant
533 struct ao_ublox_cksum cksum;
538 /* Disable all messages */
539 for (i = 0; i < sizeof (ublox_disable_mon); i++)
540 ao_ublox_set_message_rate(0x0a, ublox_disable_mon[i], 0);
541 for (i = 0; i < sizeof (ublox_disable_nav); i++)
542 ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
544 /* Enable all of the messages we want */
545 for (i = 0; i < sizeof (ublox_enable_nav); i++)
546 ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
548 ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
549 UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
550 UBLOX_CFG_NAV5_FIXMODE_3D,
563 /* Locate the begining of the next record */
564 while (ao_ublox_byte() != (uint8_t) 0xb5)
566 if (ao_ublox_byte() != (uint8_t) 0x62)
569 ao_ublox_init_cksum();
571 class = header_byte();
575 ao_ublox_len = header_byte();
576 ao_ublox_len |= header_byte() << 8;
578 if (ao_ublox_len > 1023)
585 if (ao_ublox_len != 18)
587 ao_ublox_parse_nav_dop();
589 case UBLOX_NAV_POSLLH:
590 if (ao_ublox_len != 28)
592 ao_ublox_parse_nav_posllh();
595 if (ao_ublox_len != 52)
597 ao_ublox_parse_nav_sol();
599 case UBLOX_NAV_SVINFO:
600 if (ao_ublox_len < 8)
602 ao_ublox_parse_nav_svinfo();
604 case UBLOX_NAV_VELNED:
605 if (ao_ublox_len != 36)
607 ao_ublox_parse_nav_velned();
609 case UBLOX_NAV_TIMEUTC:
610 if (ao_ublox_len != 20)
612 ao_ublox_parse_nav_timeutc();
618 if (ao_ublox_len != 0)
621 /* verify checksum and end sequence */
622 cksum.a = ao_ublox_byte();
623 cksum.b = ao_ublox_byte();
624 if (ao_ublox_cksum.a != cksum.a || ao_ublox_cksum.b != cksum.b)
631 ao_mutex_get(&ao_gps_mutex);
632 ao_gps_tick = ao_time();
634 ao_gps_data.flags = 0;
635 ao_gps_data.flags |= AO_GPS_RUNNING;
636 if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
637 uint8_t nsat = nav_sol.nsat;
638 ao_gps_data.flags |= AO_GPS_VALID;
641 ao_gps_data.flags |= nsat;
643 if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
644 ao_gps_data.flags |= AO_GPS_DATE_VALID;
646 ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
647 ao_gps_data.latitude = nav_posllh.lat;
648 ao_gps_data.longitude = nav_posllh.lon;
650 ao_gps_data.year = nav_timeutc.year - 2000;
651 ao_gps_data.month = nav_timeutc.month;
652 ao_gps_data.day = nav_timeutc.day;
654 ao_gps_data.hour = nav_timeutc.hour;
655 ao_gps_data.minute = nav_timeutc.min;
656 ao_gps_data.second = nav_timeutc.sec;
658 ao_gps_data.pdop = nav_dop.pdop;
659 ao_gps_data.hdop = nav_dop.hdop;
660 ao_gps_data.vdop = nav_dop.vdop;
662 /* mode is not set */
664 ao_gps_data.ground_speed = nav_velned.g_speed;
665 ao_gps_data.climb_rate = -nav_velned.vel_d;
666 ao_gps_data.course = nav_velned.heading / 200000;
668 ao_gps_tracking_data.channels = 0;
670 struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
672 for (i = 0; i < nav_svinfo_nsat; i++) {
673 struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
675 if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
676 src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
678 dst->svid = src->svid;
679 dst->c_n_1 = src->cno;
681 ao_gps_tracking_data.channels++;
685 ao_mutex_put(&ao_gps_mutex);
686 ao_wakeup(&ao_gps_data);
687 ao_wakeup(&ao_gps_tracking_data);
695 __code struct ao_cmds ao_gps_cmds[] = {
696 { ao_gps_show, "g\0Display GPS" },
700 __xdata struct ao_task ao_gps_task;
705 ao_cmd_register(&ao_gps_cmds[0]);
706 ao_add_task(&ao_gps_task, ao_gps, "gps");