X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=3d615e9c933f14b260f3cd0fb75faeec68073a3c;hb=05aacbd4a37d8bbe5b89664fc3630ffc4096ec69;hp=a11ca3f731657f7351b3759ac85bdd09d7a4f32b;hpb=61163980f096d555a843e25cd9fe1aec93bbbbba;p=fw%2Faltos diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c index a11ca3f7..3d615e9c 100644 --- a/src/drivers/ao_gps_ublox.c +++ b/src/drivers/ao_gps_ublox.c @@ -3,7 +3,8 @@ * * This program 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; version 2 of the License. + * the Free Software Foundation; either version 2 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 @@ -21,46 +22,55 @@ #include "ao_gps_ublox.h" -#define AO_UBLOX_DEBUG 1 +#define AO_UBLOX_DEBUG 0 #include -__xdata uint8_t ao_gps_mutex; -__pdata uint16_t ao_gps_tick; -__xdata struct ao_telemetry_location ao_gps_data; -__xdata struct ao_telemetry_satellite ao_gps_tracking_data; +uint8_t ao_gps_new; +uint8_t ao_gps_mutex; +AO_TICK_TYPE ao_gps_tick; +AO_TICK_TYPE ao_gps_utc_tick; +struct ao_telemetry_location ao_gps_data; +struct ao_telemetry_satellite ao_gps_tracking_data; + +#undef AO_SERIAL_SPEED_UBLOX #ifndef AO_SERIAL_SPEED_UBLOX -#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_57600 +#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_9600 #endif #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_57600 #define SERIAL_SPEED_STRING "57600" +#define SERIAL_SPEED_CHECKSUM "2d" #endif #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_19200 #define SERIAL_SPEED_STRING "19200" +#define SERIAL_SPEED_CHECKSUM "23" #endif #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_9600 #define SERIAL_SPEED_STRING "9600" +#define SERIAL_SPEED_CHECKSUM "16" #endif -static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1," SERIAL_SPEED_STRING ",0*2d\r\n"; +static const char ao_gps_set_nmea[] = + "\r\n$PUBX,41,1,3,1," SERIAL_SPEED_STRING ",0*" SERIAL_SPEED_CHECKSUM "\r\n"; struct ao_ublox_cksum { uint8_t a, b; }; -static __pdata struct ao_ublox_cksum ao_ublox_cksum; -static __pdata uint16_t ao_ublox_len; +static struct ao_ublox_cksum ao_ublox_cksum; +static uint16_t ao_ublox_len; #if AO_UBLOX_DEBUG -static uint8_t ao_gps_dbg_enable; #define DBG_PROTO 1 #define DBG_CHAR 2 #define DBG_INIT 4 +static uint8_t ao_gps_dbg_enable = DBG_PROTO|DBG_CHAR|DBG_INIT; + static void ao_gps_dbg(int level, char *format, ...) { va_list a; @@ -107,8 +117,8 @@ static void ao_ublox_put_i8(int8_t c) static void ao_ublox_put_u16(uint16_t c) { - ao_ublox_put_u8(c); - ao_ublox_put_u8(c>>8); + ao_ublox_put_u8((uint8_t) c); + ao_ublox_put_u8((uint8_t) (c>>8)); } #if 0 @@ -120,10 +130,10 @@ static void ao_ublox_put_i16(int16_t c) static void ao_ublox_put_u32(uint32_t c) { - ao_ublox_put_u8(c); - ao_ublox_put_u8(c>>8); - ao_ublox_put_u8(c>>16); - ao_ublox_put_u8(c>>24); + ao_ublox_put_u8((uint8_t) c); + ao_ublox_put_u8((uint8_t) (c>>8)); + ao_ublox_put_u8((uint8_t) (c>>16)); + ao_ublox_put_u8((uint8_t) (c>>24)); } static void ao_ublox_put_i32(int32_t c) @@ -144,30 +154,30 @@ static uint8_t data_byte(void) return header_byte(); } -static char __xdata *ublox_target; +static char *ublox_target; static void ublox_u16(uint8_t offset) { - uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset); + uint16_t *ptr = (uint16_t *) (void *) (ublox_target + offset); uint16_t val; val = data_byte(); - val |= data_byte () << 8; + val |= (uint16_t) ((uint16_t) data_byte () << 8); *ptr = val; } static void ublox_u8(uint8_t offset) { - uint8_t __xdata *ptr = (uint8_t __xdata *) (ublox_target + offset); + uint8_t *ptr = (uint8_t *) (ublox_target + offset); uint8_t val; val = data_byte (); *ptr = val; } -static void ublox_u32(uint8_t offset) __reentrant +static void ublox_u32(uint8_t offset) { - uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset); + uint32_t *ptr = (uint32_t *) (void *) (ublox_target + offset); uint32_t val; val = ((uint32_t) data_byte ()); @@ -195,7 +205,7 @@ struct ublox_packet_parse { }; static void -ao_ublox_parse(void __xdata *target, const struct ublox_packet_parse *parse) __reentrant +ao_ublox_parse(void *target, const struct ublox_packet_parse *parse) { uint8_t i, offset; @@ -389,6 +399,7 @@ ao_ublox_parse_nav_svinfo(void) * NAV-TIMEUTC message parsing */ static struct nav_timeutc { + int32_t nano; uint16_t year; uint8_t month; uint8_t day; @@ -403,7 +414,8 @@ static struct nav_timeutc { #define NAV_TIMEUTC_VALID_UTC 2 static const struct ublox_packet_parse nav_timeutc_packet[] = { - { UBLOX_DISCARD, 12 }, /* 0 iTOW, tAcc, nano */ + { UBLOX_DISCARD, 8 }, /* 0 iTOW, tAcc */ + { UBLOX_U32, offsetof(struct nav_timeutc, nano) }, /* 8 nano */ { UBLOX_U16, offsetof(struct nav_timeutc, year) }, /* 12 year */ { UBLOX_U8, offsetof(struct nav_timeutc, month) }, /* 14 month */ { UBLOX_U8, offsetof(struct nav_timeutc, day) }, /* 15 day */ @@ -507,8 +519,8 @@ ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len) ao_gps_putchar(0x62); ao_ublox_put_u8(class); ao_ublox_put_u8(id); - ao_ublox_put_u8(len); - ao_ublox_put_u8(len >> 8); + ao_ublox_put_u8((uint8_t) len); + ao_ublox_put_u8((uint8_t) (len >> 8)); } static void @@ -594,11 +606,21 @@ static const uint8_t ublox_enable_nav[] = { }; void -ao_gps(void) __reentrant +ao_gps_set_rate(uint8_t rate) +{ + uint8_t i; + for (i = 0; i < sizeof (ublox_enable_nav); i++) + ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate); +} + +void +ao_gps(void) { uint8_t class, id; struct ao_ublox_cksum cksum; uint8_t i; + AO_TICK_TYPE packet_start_tick; + AO_TICK_TYPE solution_tick = 0; ao_gps_setup(); @@ -609,8 +631,7 @@ ao_gps(void) __reentrant ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0); /* Enable all of the messages we want */ - for (i = 0; i < sizeof (ublox_enable_nav); i++) - ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1); + ao_gps_set_rate(1); ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE), UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G, @@ -630,6 +651,8 @@ ao_gps(void) __reentrant /* Locate the begining of the next record */ while (ao_ublox_byte() != (uint8_t) 0xb5) ; + packet_start_tick = ao_tick_count; + if (ao_ublox_byte() != (uint8_t) 0x62) continue; @@ -640,9 +663,9 @@ ao_gps(void) __reentrant /* Length */ ao_ublox_len = header_byte(); - ao_ublox_len |= header_byte() << 8; + ao_ublox_len |= (uint16_t) ((uint16_t) header_byte() << 8); - ao_gps_dbg(DBG_PROTO, "class %02x id %02x len %d\n", class, id, ao_ublox_len); + ao_gps_dbg(DBG_PROTO, "%6u class %02x id %02x len %d\n", packet_start_tick, class, id, ao_ublox_len); if (ao_ublox_len > 1023) continue; @@ -664,6 +687,7 @@ ao_gps(void) __reentrant if (ao_ublox_len != 52) break; ao_ublox_parse_nav_sol(); + solution_tick = packet_start_tick; break; case UBLOX_NAV_SVINFO: if (ao_ublox_len < 8) @@ -696,17 +720,17 @@ ao_gps(void) __reentrant continue; switch (class) { - case 0x01: + case UBLOX_NAV: switch (id) { - case 0x21: + case UBLOX_NAV_TIMEUTC: ao_mutex_get(&ao_gps_mutex); - ao_gps_tick = ao_time(); - + ao_gps_tick = solution_tick; + ao_gps_utc_tick = packet_start_tick + (AO_TICK_TYPE) AO_NS_TO_TICKS(nav_timeutc.nano); ao_gps_data.flags = 0; ao_gps_data.flags |= AO_GPS_RUNNING; if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) { uint8_t nsat = nav_sol.nsat; - ao_gps_data.flags |= AO_GPS_VALID; + ao_gps_data.flags |= AO_GPS_VALID | AO_GPS_COURSE_VALID; if (nsat > 15) nsat = 15; ao_gps_data.flags |= nsat; @@ -714,11 +738,11 @@ ao_gps(void) __reentrant if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC)) ao_gps_data.flags |= AO_GPS_DATE_VALID; - ao_gps_data.altitude = nav_posllh.alt_msl / 1000; + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000); ao_gps_data.latitude = nav_posllh.lat; ao_gps_data.longitude = nav_posllh.lon; - ao_gps_data.year = nav_timeutc.year - 2000; + ao_gps_data.year = (uint8_t) (nav_timeutc.year - 2000); ao_gps_data.month = nav_timeutc.month; ao_gps_data.day = nav_timeutc.day; @@ -726,36 +750,38 @@ ao_gps(void) __reentrant ao_gps_data.minute = nav_timeutc.min; ao_gps_data.second = nav_timeutc.sec; - ao_gps_data.pdop = nav_dop.pdop; - ao_gps_data.hdop = nav_dop.hdop; - ao_gps_data.vdop = nav_dop.vdop; + /* we report dop scaled by 10, but ublox provides dop scaled by 100 + */ + ao_gps_data.pdop = (uint8_t) (nav_dop.pdop / 10); + ao_gps_data.hdop = (uint8_t) (nav_dop.hdop / 10); + ao_gps_data.vdop = (uint8_t) (nav_dop.vdop / 10); - /* mode is not set */ - - ao_gps_data.ground_speed = nav_velned.g_speed; - ao_gps_data.climb_rate = -nav_velned.vel_d; - ao_gps_data.course = nav_velned.heading / 200000; + ao_gps_data.ground_speed = (uint16_t) nav_velned.g_speed; + ao_gps_data.climb_rate = -(int16_t) nav_velned.vel_d; + ao_gps_data.course = (uint8_t) (nav_velned.heading / 200000); ao_gps_tracking_data.channels = 0; struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0]; + struct nav_svinfo_sat *src = &nav_svinfo_sat[0]; for (i = 0; i < nav_svinfo_nsat; i++) { - struct nav_svinfo_sat *src = &nav_svinfo_sat[i]; - if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) && src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED) { - dst->svid = src->svid; - dst->c_n_1 = src->cno; - dst++; - ao_gps_tracking_data.channels++; + if (ao_gps_tracking_data.channels < AO_TELEMETRY_SATELLITE_MAX_SAT) { + dst->svid = src->svid; + dst->c_n_1 = src->cno; + dst++; + ao_gps_tracking_data.channels++; + } } + src++; } ao_mutex_put(&ao_gps_mutex); - ao_wakeup(&ao_gps_data); - ao_wakeup(&ao_gps_tracking_data); + ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING; + ao_wakeup(&ao_gps_new); break; } break; @@ -766,12 +792,12 @@ ao_gps(void) __reentrant #if AO_UBLOX_DEBUG static void ao_gps_option(void) { - ao_cmd_hex(); + uint8_t r = (uint8_t) ao_cmd_hex(); if (ao_cmd_status != ao_cmd_success) { ao_cmd_status = ao_cmd_success; ao_gps_show(); } else { - ao_gps_dbg_enable = ao_cmd_lex_i; + ao_gps_dbg_enable = r; printf ("gps debug set to %d\n", ao_gps_dbg_enable); } } @@ -779,12 +805,12 @@ static void ao_gps_option(void) #define ao_gps_option ao_gps_show #endif -__code struct ao_cmds ao_gps_cmds[] = { +const struct ao_cmds ao_gps_cmds[] = { { ao_gps_option, "g\0Display GPS" }, { 0, NULL }, }; -__xdata struct ao_task ao_gps_task; +struct ao_task ao_gps_task; void ao_gps_init(void)