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 #ifndef AO_SERIAL_SPEED_UBLOX
30 #define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_57600
33 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_57600
34 #define SERIAL_SPEED_STRING "57600"
36 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_19200
37 #define SERIAL_SPEED_STRING "19200"
39 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_9600
40 #define SERIAL_SPEED_STRING "9600"
43 static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1," SERIAL_SPEED_STRING ",0*2d\r\n";
45 struct ao_ublox_cksum {
49 static __pdata struct ao_ublox_cksum ao_ublox_cksum;
50 static __pdata uint16_t ao_ublox_len;
52 #define ao_ublox_byte() ((uint8_t) ao_gps_getchar())
54 static inline void add_cksum(struct ao_ublox_cksum *cksum, uint8_t c)
60 static void ao_ublox_init_cksum(void)
62 ao_ublox_cksum.a = ao_ublox_cksum.b = 0;
65 static void ao_ublox_put_u8(uint8_t c)
67 add_cksum(&ao_ublox_cksum, c);
71 static void ao_ublox_put_i8(int8_t c)
73 ao_ublox_put_u8((uint8_t) c);
76 static void ao_ublox_put_u16(uint16_t c)
79 ao_ublox_put_u8(c>>8);
83 static void ao_ublox_put_i16(int16_t c)
85 ao_ublox_put_u16((uint16_t) c);
89 static void ao_ublox_put_u32(uint32_t c)
92 ao_ublox_put_u8(c>>8);
93 ao_ublox_put_u8(c>>16);
94 ao_ublox_put_u8(c>>24);
97 static void ao_ublox_put_i32(int32_t c)
99 ao_ublox_put_u32((uint32_t) c);
102 static uint8_t header_byte(void)
104 uint8_t c = ao_ublox_byte();
105 add_cksum(&ao_ublox_cksum, c);
109 static uint8_t data_byte(void)
112 return header_byte();
115 static char __xdata *ublox_target;
117 static void ublox_u16(uint8_t offset)
119 uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
123 val |= data_byte () << 8;
127 static void ublox_u8(uint8_t offset)
129 uint8_t __xdata *ptr = (uint8_t __xdata *) (ublox_target + offset);
136 static void ublox_u32(uint8_t offset) __reentrant
138 uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
141 val = ((uint32_t) data_byte ());
142 val |= ((uint32_t) data_byte ()) << 8;
143 val |= ((uint32_t) data_byte ()) << 16;
144 val |= ((uint32_t) data_byte ()) << 24;
148 static void ublox_discard(uint8_t len)
155 #define UBLOX_DISCARD 1
160 struct ublox_packet_parse {
166 ao_ublox_parse(void __xdata *target, const struct ublox_packet_parse *parse) __reentrant
170 ublox_target = target;
172 offset = parse[i].offset;
173 switch (parse[i].type) {
177 ublox_discard(offset);
193 * NAV-DOP message parsing
196 static struct nav_dop {
202 static const struct ublox_packet_parse nav_dop_packet[] = {
203 { UBLOX_DISCARD, 6 }, /* 0 GPS Millisecond Time of Week, gDOP */
204 { UBLOX_U16, offsetof(struct nav_dop, pdop) }, /* 6 pDOP */
205 { UBLOX_DISCARD, 2 }, /* 8 tDOP */
206 { UBLOX_U16, offsetof(struct nav_dop, vdop) }, /* 10 vDOP */
207 { UBLOX_U16, offsetof(struct nav_dop, hdop) }, /* 12 hDOP */
208 { UBLOX_DISCARD, 4 }, /* 14 nDOP, eDOP */
213 ao_ublox_parse_nav_dop(void)
215 ao_ublox_parse(&nav_dop, nav_dop_packet);
219 * NAV-POSLLH message parsing
221 static struct nav_posllh {
227 static const struct ublox_packet_parse nav_posllh_packet[] = {
228 { UBLOX_DISCARD, 4 }, /* 0 GPS Millisecond Time of Week */
229 { UBLOX_U32, offsetof(struct nav_posllh, lon) }, /* 4 Longitude */
230 { UBLOX_U32, offsetof(struct nav_posllh, lat) }, /* 8 Latitude */
231 { UBLOX_DISCARD, 4 }, /* 12 Height above Ellipsoid */
232 { UBLOX_U32, offsetof(struct nav_posllh, alt_msl) }, /* 16 Height above mean sea level */
233 { UBLOX_DISCARD, 8 }, /* 20 hAcc, vAcc */
234 { UBLOX_END, 0 }, /* 28 */
238 ao_ublox_parse_nav_posllh(void)
240 ao_ublox_parse(&nav_posllh, nav_posllh_packet);
244 * NAV-SOL message parsing
246 static struct nav_sol {
252 static const struct ublox_packet_parse nav_sol_packet[] = {
253 { UBLOX_DISCARD, 10 }, /* 0 iTOW, fTOW, week */
254 { UBLOX_U8, offsetof(struct nav_sol, gps_fix) }, /* 10 gpsFix */
255 { UBLOX_U8, offsetof(struct nav_sol, flags) }, /* 11 flags */
256 { UBLOX_DISCARD, 35 }, /* 12 ecefX, ecefY, ecefZ, pAcc, ecefVX, ecefVY, ecefVZ, sAcc, pDOP, reserved1 */
257 { UBLOX_U8, offsetof(struct nav_sol, nsat) }, /* 47 numSV */
258 { UBLOX_DISCARD, 4 }, /* 48 reserved2 */
262 #define NAV_SOL_FLAGS_GPSFIXOK 0
263 #define NAV_SOL_FLAGS_DIFFSOLN 1
264 #define NAV_SOL_FLAGS_WKNSET 2
265 #define NAV_SOL_FLAGS_TOWSET 3
268 ao_ublox_parse_nav_sol(void)
270 ao_ublox_parse(&nav_sol, nav_sol_packet);
274 * NAV-SVINFO message parsing
277 static struct nav_svinfo {
282 static const struct ublox_packet_parse nav_svinfo_packet[] = {
283 { UBLOX_DISCARD, 4 }, /* 0 iTOW */
284 { UBLOX_U8, offsetof(struct nav_svinfo, num_ch) }, /* 4 numCh */
285 { UBLOX_U8, offsetof(struct nav_svinfo, flags) }, /* 5 globalFlags */
286 { UBLOX_DISCARD, 2 }, /* 6 reserved2 */
290 #define NAV_SVINFO_MAX_SAT 16
292 static struct nav_svinfo_sat {
298 } nav_svinfo_sat[NAV_SVINFO_MAX_SAT];
300 static uint8_t nav_svinfo_nsat;
302 static const struct ublox_packet_parse nav_svinfo_sat_packet[] = {
303 { UBLOX_U8, offsetof(struct nav_svinfo_sat, chn) }, /* 8 + 12*N chn */
304 { UBLOX_U8, offsetof(struct nav_svinfo_sat, svid) }, /* 9 + 12*N svid */
305 { UBLOX_U8, offsetof(struct nav_svinfo_sat, flags) }, /* 10 + 12*N flags */
306 { UBLOX_U8, offsetof(struct nav_svinfo_sat, quality) }, /* 11 + 12*N quality */
307 { UBLOX_U8, offsetof(struct nav_svinfo_sat, cno) }, /* 12 + 12*N cno */
308 { UBLOX_DISCARD, 7 }, /* 13 + 12*N elev, azim, prRes */
312 #define NAV_SVINFO_SAT_FLAGS_SVUSED 0
313 #define NAV_SVINFO_SAT_FLAGS_DIFFCORR 1
314 #define NAV_SVINFO_SAT_FLAGS_ORBITAVAIL 2
315 #define NAV_SVINFO_SAT_FLAGS_ORBITEPH 3
316 #define NAV_SVINFO_SAT_FLAGS_UNHEALTHY 4
317 #define NAV_SVINFO_SAT_FLAGS_ORBITALM 5
318 #define NAV_SVINFO_SAT_FLAGS_ORBITAOP 6
319 #define NAV_SVINFO_SAT_FLAGS_SMOOTHED 7
321 #define NAV_SVINFO_SAT_QUALITY_IDLE 0
322 #define NAV_SVINFO_SAT_QUALITY_SEARCHING 1
323 #define NAV_SVINFO_SAT_QUALITY_ACQUIRED 2
324 #define NAV_SVINFO_SAT_QUALITY_UNUSABLE 3
325 #define NAV_SVINFO_SAT_QUALITY_LOCKED 4
326 #define NAV_SVINFO_SAT_QUALITY_RUNNING 5
329 ao_ublox_parse_nav_svinfo(void)
333 ao_ublox_parse(&nav_svinfo, nav_svinfo_packet);
334 for (nsat = 0; nsat < nav_svinfo.num_ch && ao_ublox_len >= 12; nsat++) {
335 if (nsat < NAV_SVINFO_MAX_SAT) {
336 ao_ublox_parse(&nav_svinfo_sat[nav_svinfo_nsat++], nav_svinfo_sat_packet);
344 * NAV-TIMEUTC message parsing
346 static struct nav_timeutc {
356 #define NAV_TIMEUTC_VALID_TOW 0
357 #define NAV_TIMEUTC_VALID_WKN 1
358 #define NAV_TIMEUTC_VALID_UTC 2
360 static const struct ublox_packet_parse nav_timeutc_packet[] = {
361 { UBLOX_DISCARD, 12 }, /* 0 iTOW, tAcc, nano */
362 { UBLOX_U16, offsetof(struct nav_timeutc, year) }, /* 12 year */
363 { UBLOX_U8, offsetof(struct nav_timeutc, month) }, /* 14 month */
364 { UBLOX_U8, offsetof(struct nav_timeutc, day) }, /* 15 day */
365 { UBLOX_U8, offsetof(struct nav_timeutc, hour) }, /* 16 hour */
366 { UBLOX_U8, offsetof(struct nav_timeutc, min) }, /* 17 min */
367 { UBLOX_U8, offsetof(struct nav_timeutc, sec) }, /* 18 sec */
368 { UBLOX_U8, offsetof(struct nav_timeutc, valid) }, /* 19 valid */
373 ao_ublox_parse_nav_timeutc(void)
375 ao_ublox_parse(&nav_timeutc, nav_timeutc_packet);
379 * NAV-VELNED message parsing
382 static struct nav_velned {
388 static const struct ublox_packet_parse nav_velned_packet[] = {
389 { UBLOX_DISCARD, 12 }, /* 0 iTOW, velN, velE */
390 { UBLOX_U32, offsetof(struct nav_velned, vel_d) }, /* 12 velD */
391 { UBLOX_DISCARD, 4 }, /* 16 speed */
392 { UBLOX_U32, offsetof(struct nav_velned, g_speed) }, /* 20 gSpeed */
393 { UBLOX_U32, offsetof(struct nav_velned, heading) }, /* 24 heading */
394 { UBLOX_DISCARD, 8 }, /* 28 sAcc, cAcc */
399 ao_ublox_parse_nav_velned(void)
401 ao_ublox_parse(&nav_velned, nav_velned_packet);
405 * Set the protocol mode and baud rate
413 ao_delay(AO_SEC_TO_TICKS(3));
415 ao_gps_set_speed(AO_SERIAL_SPEED_9600);
418 * A bunch of nulls so the start bit
421 for (i = 0; i < 64; i++)
422 ao_gps_putchar(0x00);
425 * Send the baud-rate setting and protocol-setting
426 * command three times
428 for (k = 0; k < 3; k++)
429 for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
430 ao_gps_putchar(ao_gps_set_nmea[i]);
432 #if AO_SERIAL_SPEED_UBLOX != AO_SERIAL_SPEED_9600
434 * Increase the baud rate
436 ao_gps_set_speed(AO_SERIAL_SPEED_UBLOX);
440 * Pad with nulls to give the chip
441 * time to see the baud rate switch
443 for (i = 0; i < 64; i++)
444 ao_gps_putchar(0x00);
448 ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
450 ao_ublox_init_cksum();
451 ao_gps_putchar(0xb5);
452 ao_gps_putchar(0x62);
453 ao_ublox_put_u8(class);
455 ao_ublox_put_u8(len);
456 ao_ublox_put_u8(len >> 8);
460 ao_ublox_putend(void)
462 ao_gps_putchar(ao_ublox_cksum.a);
463 ao_gps_putchar(ao_ublox_cksum.b);
467 ao_ublox_set_message_rate(uint8_t class, uint8_t msgid, uint8_t rate)
469 ao_ublox_putstart(0x06, 0x01, 3);
470 ao_ublox_put_u8(class);
471 ao_ublox_put_u8(msgid);
472 ao_ublox_put_u8(rate);
477 ao_ublox_set_navigation_settings(uint16_t mask,
481 uint32_t fixed_alt_var,
488 uint8_t static_hold_thresh,
489 uint8_t dgps_time_out)
491 ao_ublox_putstart(UBLOX_CFG, UBLOX_CFG_NAV5, 36);
492 ao_ublox_put_u16(mask);
493 ao_ublox_put_u8(dyn_model);
494 ao_ublox_put_u8(fix_mode);
495 ao_ublox_put_i32(fixed_alt);
496 ao_ublox_put_u32(fixed_alt_var);
497 ao_ublox_put_i8(min_elev);
498 ao_ublox_put_u8(dr_limit);
499 ao_ublox_put_u16(pdop);
500 ao_ublox_put_u16(tdop);
501 ao_ublox_put_u16(pacc);
502 ao_ublox_put_u16(tacc);
503 ao_ublox_put_u8(static_hold_thresh);
504 ao_ublox_put_u8(dgps_time_out);
513 * Disable all MON message
515 static const uint8_t ublox_disable_mon[] = {
516 0x0b, 0x09, 0x02, 0x06, 0x07, 0x21, 0x08, 0x04
520 * Disable all NAV messages. The desired
521 * ones will be explicitly re-enabled
524 static const uint8_t ublox_disable_nav[] = {
525 0x60, 0x22, 0x31, 0x04, 0x40, 0x01, 0x02, 0x32,
526 0x06, 0x03, 0x30, 0x20, 0x21, 0x11, 0x12
530 * Enable enough messages to get all of the data we want
532 static const uint8_t ublox_enable_nav[] = {
542 ao_gps(void) __reentrant
545 struct ao_ublox_cksum cksum;
550 /* Disable all messages */
551 for (i = 0; i < sizeof (ublox_disable_mon); i++)
552 ao_ublox_set_message_rate(0x0a, ublox_disable_mon[i], 0);
553 for (i = 0; i < sizeof (ublox_disable_nav); i++)
554 ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
556 /* Enable all of the messages we want */
557 for (i = 0; i < sizeof (ublox_enable_nav); i++)
558 ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
560 ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
561 UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
562 UBLOX_CFG_NAV5_FIXMODE_3D,
575 /* Locate the begining of the next record */
576 while (ao_ublox_byte() != (uint8_t) 0xb5)
578 if (ao_ublox_byte() != (uint8_t) 0x62)
581 ao_ublox_init_cksum();
583 class = header_byte();
587 ao_ublox_len = header_byte();
588 ao_ublox_len |= header_byte() << 8;
590 if (ao_ublox_len > 1023)
597 if (ao_ublox_len != 18)
599 ao_ublox_parse_nav_dop();
601 case UBLOX_NAV_POSLLH:
602 if (ao_ublox_len != 28)
604 ao_ublox_parse_nav_posllh();
607 if (ao_ublox_len != 52)
609 ao_ublox_parse_nav_sol();
611 case UBLOX_NAV_SVINFO:
612 if (ao_ublox_len < 8)
614 ao_ublox_parse_nav_svinfo();
616 case UBLOX_NAV_VELNED:
617 if (ao_ublox_len != 36)
619 ao_ublox_parse_nav_velned();
621 case UBLOX_NAV_TIMEUTC:
622 if (ao_ublox_len != 20)
624 ao_ublox_parse_nav_timeutc();
630 if (ao_ublox_len != 0)
633 /* verify checksum and end sequence */
634 cksum.a = ao_ublox_byte();
635 cksum.b = ao_ublox_byte();
636 if (ao_ublox_cksum.a != cksum.a || ao_ublox_cksum.b != cksum.b)
643 ao_mutex_get(&ao_gps_mutex);
644 ao_gps_tick = ao_time();
646 ao_gps_data.flags = 0;
647 ao_gps_data.flags |= AO_GPS_RUNNING;
648 if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
649 uint8_t nsat = nav_sol.nsat;
650 ao_gps_data.flags |= AO_GPS_VALID;
653 ao_gps_data.flags |= nsat;
655 if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
656 ao_gps_data.flags |= AO_GPS_DATE_VALID;
658 ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
659 ao_gps_data.latitude = nav_posllh.lat;
660 ao_gps_data.longitude = nav_posllh.lon;
662 ao_gps_data.year = nav_timeutc.year - 2000;
663 ao_gps_data.month = nav_timeutc.month;
664 ao_gps_data.day = nav_timeutc.day;
666 ao_gps_data.hour = nav_timeutc.hour;
667 ao_gps_data.minute = nav_timeutc.min;
668 ao_gps_data.second = nav_timeutc.sec;
670 ao_gps_data.pdop = nav_dop.pdop;
671 ao_gps_data.hdop = nav_dop.hdop;
672 ao_gps_data.vdop = nav_dop.vdop;
674 /* mode is not set */
676 ao_gps_data.ground_speed = nav_velned.g_speed;
677 ao_gps_data.climb_rate = -nav_velned.vel_d;
678 ao_gps_data.course = nav_velned.heading / 200000;
680 ao_gps_tracking_data.channels = 0;
682 struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
684 for (i = 0; i < nav_svinfo_nsat; i++) {
685 struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
687 if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
688 src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
690 dst->svid = src->svid;
691 dst->c_n_1 = src->cno;
693 ao_gps_tracking_data.channels++;
697 ao_mutex_put(&ao_gps_mutex);
698 ao_wakeup(&ao_gps_data);
699 ao_wakeup(&ao_gps_tracking_data);
707 __code struct ao_cmds ao_gps_cmds[] = {
708 { ao_gps_show, "g\0Display GPS" },
712 __xdata struct ao_task ao_gps_task;
717 ao_cmd_register(&ao_gps_cmds[0]);
718 ao_add_task(&ao_gps_task, ao_gps, "gps");