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 #define AO_UBLOX_DEBUG 1
28 __xdata uint8_t ao_gps_mutex;
29 __pdata uint16_t ao_gps_tick;
30 __xdata struct ao_telemetry_location ao_gps_data;
31 __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
33 #ifndef AO_SERIAL_SPEED_UBLOX
34 #define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_57600
37 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_57600
38 #define SERIAL_SPEED_STRING "57600"
40 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_19200
41 #define SERIAL_SPEED_STRING "19200"
43 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_9600
44 #define SERIAL_SPEED_STRING "9600"
47 static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1," SERIAL_SPEED_STRING ",0*2d\r\n";
49 struct ao_ublox_cksum {
53 static __pdata struct ao_ublox_cksum ao_ublox_cksum;
54 static __pdata uint16_t ao_ublox_len;
58 static uint8_t ao_gps_dbg_enable;
64 static void ao_gps_dbg(int level, char *format, ...) {
67 if (level & ao_gps_dbg_enable) {
76 #define ao_gps_dbg(fmt, ...)
79 static inline uint8_t ao_ublox_byte(void) {
80 uint8_t c = (uint8_t) ao_gps_getchar();
81 ao_gps_dbg(DBG_CHAR, " %02x", c);
85 static inline void add_cksum(struct ao_ublox_cksum *cksum, uint8_t c)
91 static void ao_ublox_init_cksum(void)
93 ao_ublox_cksum.a = ao_ublox_cksum.b = 0;
96 static void ao_ublox_put_u8(uint8_t c)
98 add_cksum(&ao_ublox_cksum, c);
99 ao_gps_dbg(DBG_CHAR, " (%02x)", c);
103 static void ao_ublox_put_i8(int8_t c)
105 ao_ublox_put_u8((uint8_t) c);
108 static void ao_ublox_put_u16(uint16_t c)
111 ao_ublox_put_u8(c>>8);
115 static void ao_ublox_put_i16(int16_t c)
117 ao_ublox_put_u16((uint16_t) c);
121 static void ao_ublox_put_u32(uint32_t c)
124 ao_ublox_put_u8(c>>8);
125 ao_ublox_put_u8(c>>16);
126 ao_ublox_put_u8(c>>24);
129 static void ao_ublox_put_i32(int32_t c)
131 ao_ublox_put_u32((uint32_t) c);
134 static uint8_t header_byte(void)
136 uint8_t c = ao_ublox_byte();
137 add_cksum(&ao_ublox_cksum, c);
141 static uint8_t data_byte(void)
144 return header_byte();
147 static char __xdata *ublox_target;
149 static void ublox_u16(uint8_t offset)
151 uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
155 val |= data_byte () << 8;
159 static void ublox_u8(uint8_t offset)
161 uint8_t __xdata *ptr = (uint8_t __xdata *) (ublox_target + offset);
168 static void ublox_u32(uint8_t offset) __reentrant
170 uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
173 val = ((uint32_t) data_byte ());
174 val |= ((uint32_t) data_byte ()) << 8;
175 val |= ((uint32_t) data_byte ()) << 16;
176 val |= ((uint32_t) data_byte ()) << 24;
180 static void ublox_discard(uint8_t len)
187 #define UBLOX_DISCARD 1
192 struct ublox_packet_parse {
198 ao_ublox_parse(void __xdata *target, const struct ublox_packet_parse *parse) __reentrant
202 ublox_target = target;
204 offset = parse[i].offset;
205 switch (parse[i].type) {
209 ublox_discard(offset);
222 ao_gps_dbg(DBG_PROTO, "\n");
226 * NAV-DOP message parsing
229 static struct nav_dop {
235 static const struct ublox_packet_parse nav_dop_packet[] = {
236 { UBLOX_DISCARD, 6 }, /* 0 GPS Millisecond Time of Week, gDOP */
237 { UBLOX_U16, offsetof(struct nav_dop, pdop) }, /* 6 pDOP */
238 { UBLOX_DISCARD, 2 }, /* 8 tDOP */
239 { UBLOX_U16, offsetof(struct nav_dop, vdop) }, /* 10 vDOP */
240 { UBLOX_U16, offsetof(struct nav_dop, hdop) }, /* 12 hDOP */
241 { UBLOX_DISCARD, 4 }, /* 14 nDOP, eDOP */
246 ao_ublox_parse_nav_dop(void)
248 ao_ublox_parse(&nav_dop, nav_dop_packet);
252 * NAV-POSLLH message parsing
254 static struct nav_posllh {
260 static const struct ublox_packet_parse nav_posllh_packet[] = {
261 { UBLOX_DISCARD, 4 }, /* 0 GPS Millisecond Time of Week */
262 { UBLOX_U32, offsetof(struct nav_posllh, lon) }, /* 4 Longitude */
263 { UBLOX_U32, offsetof(struct nav_posllh, lat) }, /* 8 Latitude */
264 { UBLOX_DISCARD, 4 }, /* 12 Height above Ellipsoid */
265 { UBLOX_U32, offsetof(struct nav_posllh, alt_msl) }, /* 16 Height above mean sea level */
266 { UBLOX_DISCARD, 8 }, /* 20 hAcc, vAcc */
267 { UBLOX_END, 0 }, /* 28 */
271 ao_ublox_parse_nav_posllh(void)
273 ao_ublox_parse(&nav_posllh, nav_posllh_packet);
277 * NAV-SOL message parsing
279 static struct nav_sol {
285 static const struct ublox_packet_parse nav_sol_packet[] = {
286 { UBLOX_DISCARD, 10 }, /* 0 iTOW, fTOW, week */
287 { UBLOX_U8, offsetof(struct nav_sol, gps_fix) }, /* 10 gpsFix */
288 { UBLOX_U8, offsetof(struct nav_sol, flags) }, /* 11 flags */
289 { UBLOX_DISCARD, 35 }, /* 12 ecefX, ecefY, ecefZ, pAcc, ecefVX, ecefVY, ecefVZ, sAcc, pDOP, reserved1 */
290 { UBLOX_U8, offsetof(struct nav_sol, nsat) }, /* 47 numSV */
291 { UBLOX_DISCARD, 4 }, /* 48 reserved2 */
295 #define NAV_SOL_FLAGS_GPSFIXOK 0
296 #define NAV_SOL_FLAGS_DIFFSOLN 1
297 #define NAV_SOL_FLAGS_WKNSET 2
298 #define NAV_SOL_FLAGS_TOWSET 3
301 ao_ublox_parse_nav_sol(void)
303 ao_ublox_parse(&nav_sol, nav_sol_packet);
307 * NAV-SVINFO message parsing
310 static struct nav_svinfo {
315 static const struct ublox_packet_parse nav_svinfo_packet[] = {
316 { UBLOX_DISCARD, 4 }, /* 0 iTOW */
317 { UBLOX_U8, offsetof(struct nav_svinfo, num_ch) }, /* 4 numCh */
318 { UBLOX_U8, offsetof(struct nav_svinfo, flags) }, /* 5 globalFlags */
319 { UBLOX_DISCARD, 2 }, /* 6 reserved2 */
323 #define NAV_SVINFO_MAX_SAT 16
325 static struct nav_svinfo_sat {
331 } nav_svinfo_sat[NAV_SVINFO_MAX_SAT];
333 static uint8_t nav_svinfo_nsat;
335 static const struct ublox_packet_parse nav_svinfo_sat_packet[] = {
336 { UBLOX_U8, offsetof(struct nav_svinfo_sat, chn) }, /* 8 + 12*N chn */
337 { UBLOX_U8, offsetof(struct nav_svinfo_sat, svid) }, /* 9 + 12*N svid */
338 { UBLOX_U8, offsetof(struct nav_svinfo_sat, flags) }, /* 10 + 12*N flags */
339 { UBLOX_U8, offsetof(struct nav_svinfo_sat, quality) }, /* 11 + 12*N quality */
340 { UBLOX_U8, offsetof(struct nav_svinfo_sat, cno) }, /* 12 + 12*N cno */
341 { UBLOX_DISCARD, 7 }, /* 13 + 12*N elev, azim, prRes */
345 #define NAV_SVINFO_SAT_FLAGS_SVUSED 0
346 #define NAV_SVINFO_SAT_FLAGS_DIFFCORR 1
347 #define NAV_SVINFO_SAT_FLAGS_ORBITAVAIL 2
348 #define NAV_SVINFO_SAT_FLAGS_ORBITEPH 3
349 #define NAV_SVINFO_SAT_FLAGS_UNHEALTHY 4
350 #define NAV_SVINFO_SAT_FLAGS_ORBITALM 5
351 #define NAV_SVINFO_SAT_FLAGS_ORBITAOP 6
352 #define NAV_SVINFO_SAT_FLAGS_SMOOTHED 7
354 #define NAV_SVINFO_SAT_QUALITY_IDLE 0
355 #define NAV_SVINFO_SAT_QUALITY_SEARCHING 1
356 #define NAV_SVINFO_SAT_QUALITY_ACQUIRED 2
357 #define NAV_SVINFO_SAT_QUALITY_UNUSABLE 3
358 #define NAV_SVINFO_SAT_QUALITY_LOCKED 4
359 #define NAV_SVINFO_SAT_QUALITY_RUNNING 5
362 ao_ublox_parse_nav_svinfo(void)
367 ao_ublox_parse(&nav_svinfo, nav_svinfo_packet);
368 for (nsat = 0; nsat < nav_svinfo.num_ch && ao_ublox_len >= 12; nsat++) {
369 if (nsat < NAV_SVINFO_MAX_SAT) {
370 ao_ublox_parse(&nav_svinfo_sat[nav_svinfo_nsat++], nav_svinfo_sat_packet);
376 ao_gps_dbg(DBG_PROTO, "svinfo num_ch %d flags %02x\n", nav_svinfo.num_ch, nav_svinfo.flags);
377 for (nsat = 0; nsat < nav_svinfo.num_ch; nsat++)
378 ao_gps_dbg(DBG_PROTO, "\t%d: chn %d svid %d flags %02x quality %d cno %d\n",
380 nav_svinfo_sat[nsat].chn,
381 nav_svinfo_sat[nsat].svid,
382 nav_svinfo_sat[nsat].flags,
383 nav_svinfo_sat[nsat].quality,
384 nav_svinfo_sat[nsat].cno);
389 * NAV-TIMEUTC message parsing
391 static struct nav_timeutc {
401 #define NAV_TIMEUTC_VALID_TOW 0
402 #define NAV_TIMEUTC_VALID_WKN 1
403 #define NAV_TIMEUTC_VALID_UTC 2
405 static const struct ublox_packet_parse nav_timeutc_packet[] = {
406 { UBLOX_DISCARD, 12 }, /* 0 iTOW, tAcc, nano */
407 { UBLOX_U16, offsetof(struct nav_timeutc, year) }, /* 12 year */
408 { UBLOX_U8, offsetof(struct nav_timeutc, month) }, /* 14 month */
409 { UBLOX_U8, offsetof(struct nav_timeutc, day) }, /* 15 day */
410 { UBLOX_U8, offsetof(struct nav_timeutc, hour) }, /* 16 hour */
411 { UBLOX_U8, offsetof(struct nav_timeutc, min) }, /* 17 min */
412 { UBLOX_U8, offsetof(struct nav_timeutc, sec) }, /* 18 sec */
413 { UBLOX_U8, offsetof(struct nav_timeutc, valid) }, /* 19 valid */
418 ao_ublox_parse_nav_timeutc(void)
420 ao_ublox_parse(&nav_timeutc, nav_timeutc_packet);
424 * NAV-VELNED message parsing
427 static struct nav_velned {
433 static const struct ublox_packet_parse nav_velned_packet[] = {
434 { UBLOX_DISCARD, 12 }, /* 0 iTOW, velN, velE */
435 { UBLOX_U32, offsetof(struct nav_velned, vel_d) }, /* 12 velD */
436 { UBLOX_DISCARD, 4 }, /* 16 speed */
437 { UBLOX_U32, offsetof(struct nav_velned, g_speed) }, /* 20 gSpeed */
438 { UBLOX_U32, offsetof(struct nav_velned, heading) }, /* 24 heading */
439 { UBLOX_DISCARD, 8 }, /* 28 sAcc, cAcc */
444 ao_ublox_parse_nav_velned(void)
446 ao_ublox_parse(&nav_velned, nav_velned_packet);
450 * Set the protocol mode and baud rate
459 * A bunch of nulls so the start bit
463 for (i = 0; i < 64; i++)
464 ao_gps_putchar(0x00);
472 ao_delay(AO_SEC_TO_TICKS(3));
474 ao_gps_dbg(DBG_INIT, "Set speed 9600\n");
475 ao_gps_set_speed(AO_SERIAL_SPEED_9600);
478 * Send the baud-rate setting and protocol-setting
479 * command three times
481 for (k = 0; k < 3; k++) {
484 ao_gps_dbg(DBG_INIT, "Send initial setting\n");
485 for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
486 ao_gps_putchar(ao_gps_set_nmea[i]);
491 #if AO_SERIAL_SPEED_UBLOX != AO_SERIAL_SPEED_9600
492 ao_gps_dbg(DBG_INIT, "Set speed high\n");
494 * Increase the baud rate
496 ao_gps_set_speed(AO_SERIAL_SPEED_UBLOX);
503 ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
505 ao_ublox_init_cksum();
506 ao_gps_putchar(0xb5);
507 ao_gps_putchar(0x62);
508 ao_ublox_put_u8(class);
510 ao_ublox_put_u8(len);
511 ao_ublox_put_u8(len >> 8);
515 ao_ublox_putend(void)
517 ao_gps_putchar(ao_ublox_cksum.a);
518 ao_gps_putchar(ao_ublox_cksum.b);
522 ao_ublox_set_message_rate(uint8_t class, uint8_t msgid, uint8_t rate)
524 ao_ublox_putstart(0x06, 0x01, 3);
525 ao_ublox_put_u8(class);
526 ao_ublox_put_u8(msgid);
527 ao_ublox_put_u8(rate);
532 ao_ublox_set_navigation_settings(uint16_t mask,
536 uint32_t fixed_alt_var,
543 uint8_t static_hold_thresh,
544 uint8_t dgps_time_out)
546 ao_ublox_putstart(UBLOX_CFG, UBLOX_CFG_NAV5, 36);
547 ao_ublox_put_u16(mask);
548 ao_ublox_put_u8(dyn_model);
549 ao_ublox_put_u8(fix_mode);
550 ao_ublox_put_i32(fixed_alt);
551 ao_ublox_put_u32(fixed_alt_var);
552 ao_ublox_put_i8(min_elev);
553 ao_ublox_put_u8(dr_limit);
554 ao_ublox_put_u16(pdop);
555 ao_ublox_put_u16(tdop);
556 ao_ublox_put_u16(pacc);
557 ao_ublox_put_u16(tacc);
558 ao_ublox_put_u8(static_hold_thresh);
559 ao_ublox_put_u8(dgps_time_out);
568 * Disable all MON message
570 static const uint8_t ublox_disable_mon[] = {
571 0x0b, 0x09, 0x02, 0x06, 0x07, 0x21, 0x08, 0x04
575 * Disable all NAV messages. The desired
576 * ones will be explicitly re-enabled
579 static const uint8_t ublox_disable_nav[] = {
580 0x60, 0x22, 0x31, 0x04, 0x40, 0x01, 0x02, 0x32,
581 0x06, 0x03, 0x30, 0x20, 0x21, 0x11, 0x12
585 * Enable enough messages to get all of the data we want
587 static const uint8_t ublox_enable_nav[] = {
597 ao_gps(void) __reentrant
600 struct ao_ublox_cksum cksum;
605 /* Disable all messages */
606 for (i = 0; i < sizeof (ublox_disable_mon); i++)
607 ao_ublox_set_message_rate(0x0a, ublox_disable_mon[i], 0);
608 for (i = 0; i < sizeof (ublox_disable_nav); i++)
609 ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
611 /* Enable all of the messages we want */
612 for (i = 0; i < sizeof (ublox_enable_nav); i++)
613 ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
615 ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
616 UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
617 UBLOX_CFG_NAV5_FIXMODE_3D,
630 /* Locate the begining of the next record */
631 while (ao_ublox_byte() != (uint8_t) 0xb5)
633 if (ao_ublox_byte() != (uint8_t) 0x62)
636 ao_ublox_init_cksum();
638 class = header_byte();
642 ao_ublox_len = header_byte();
643 ao_ublox_len |= header_byte() << 8;
645 ao_gps_dbg(DBG_PROTO, "class %02x id %02x len %d\n", class, id, ao_ublox_len);
647 if (ao_ublox_len > 1023)
654 if (ao_ublox_len != 18)
656 ao_ublox_parse_nav_dop();
658 case UBLOX_NAV_POSLLH:
659 if (ao_ublox_len != 28)
661 ao_ublox_parse_nav_posllh();
664 if (ao_ublox_len != 52)
666 ao_ublox_parse_nav_sol();
668 case UBLOX_NAV_SVINFO:
669 if (ao_ublox_len < 8)
671 ao_ublox_parse_nav_svinfo();
673 case UBLOX_NAV_VELNED:
674 if (ao_ublox_len != 36)
676 ao_ublox_parse_nav_velned();
678 case UBLOX_NAV_TIMEUTC:
679 if (ao_ublox_len != 20)
681 ao_ublox_parse_nav_timeutc();
687 if (ao_ublox_len != 0) {
688 ao_gps_dbg(DBG_PROTO, "len left %d\n", ao_ublox_len);
692 /* verify checksum and end sequence */
693 cksum.a = ao_ublox_byte();
694 cksum.b = ao_ublox_byte();
695 if (ao_ublox_cksum.a != cksum.a || ao_ublox_cksum.b != cksum.b)
702 ao_mutex_get(&ao_gps_mutex);
703 ao_gps_tick = ao_time();
705 ao_gps_data.flags = 0;
706 ao_gps_data.flags |= AO_GPS_RUNNING;
707 if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
708 uint8_t nsat = nav_sol.nsat;
709 ao_gps_data.flags |= AO_GPS_VALID;
712 ao_gps_data.flags |= nsat;
714 if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
715 ao_gps_data.flags |= AO_GPS_DATE_VALID;
717 ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
718 ao_gps_data.latitude = nav_posllh.lat;
719 ao_gps_data.longitude = nav_posllh.lon;
721 ao_gps_data.year = nav_timeutc.year - 2000;
722 ao_gps_data.month = nav_timeutc.month;
723 ao_gps_data.day = nav_timeutc.day;
725 ao_gps_data.hour = nav_timeutc.hour;
726 ao_gps_data.minute = nav_timeutc.min;
727 ao_gps_data.second = nav_timeutc.sec;
729 ao_gps_data.pdop = nav_dop.pdop;
730 ao_gps_data.hdop = nav_dop.hdop;
731 ao_gps_data.vdop = nav_dop.vdop;
733 /* mode is not set */
735 ao_gps_data.ground_speed = nav_velned.g_speed;
736 ao_gps_data.climb_rate = -nav_velned.vel_d;
737 ao_gps_data.course = nav_velned.heading / 200000;
739 ao_gps_tracking_data.channels = 0;
741 struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
743 for (i = 0; i < nav_svinfo_nsat; i++) {
744 struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
746 if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
747 src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
749 dst->svid = src->svid;
750 dst->c_n_1 = src->cno;
752 ao_gps_tracking_data.channels++;
756 ao_mutex_put(&ao_gps_mutex);
757 ao_wakeup(&ao_gps_data);
758 ao_wakeup(&ao_gps_tracking_data);
767 static void ao_gps_option(void)
770 if (ao_cmd_status != ao_cmd_success) {
771 ao_cmd_status = ao_cmd_success;
774 ao_gps_dbg_enable = ao_cmd_lex_i;
775 printf ("gps debug set to %d\n", ao_gps_dbg_enable);
779 #define ao_gps_option ao_gps_show
782 __code struct ao_cmds ao_gps_cmds[] = {
783 { ao_gps_option, "g\0Display GPS" },
787 __xdata struct ao_task ao_gps_task;
792 ao_cmd_register(&ao_gps_cmds[0]);
793 ao_add_task(&ao_gps_task, ao_gps, "gps");