#define AO_UBLOX_DEBUG 0
+#ifndef AO_UBLOX_VERSION
+#define AO_UBLOX_VERSION 8
+#endif
+
#include <stdarg.h>
uint8_t ao_gps_new;
#define DBG_CHAR 2
#define DBG_INIT 4
-static uint8_t ao_gps_dbg_enable = DBG_PROTO|DBG_CHAR|DBG_INIT;
+static uint8_t ao_gps_dbg_enable = 0;
static void ao_gps_dbg(int level, char *format, ...) {
va_list a;
*ptr = val;
}
-static void ublox_u32(uint8_t offset)
+static void ublox_u32(uint8_t offset)
{
uint32_t *ptr = (uint32_t *) (void *) (ublox_target + offset);
uint32_t val;
};
static void
-ao_ublox_parse(void *target, const struct ublox_packet_parse *parse)
+ao_ublox_parse(void *target, const struct ublox_packet_parse *parse)
{
uint8_t i, offset;
ao_ublox_parse(&nav_dop, nav_dop_packet);
}
+static const struct ublox_packet_parse ack_ack_packet[] = {
+ { UBLOX_DISCARD, 2 }, /* 0 class ID, msg ID */
+ { UBLOX_END, 0 },
+};
+
+static void
+ao_ublox_parse_ack_ack(void)
+{
+ ao_ublox_parse(NULL, ack_ack_packet);
+}
+
+static struct ack_nak {
+ uint8_t class_id;
+ uint8_t msg_id;
+} ack_nak;
+
+static const struct ublox_packet_parse ack_nak_packet[] = {
+ { UBLOX_U8, offsetof(struct ack_nak, class_id) }, /* 0 class ID */
+ { UBLOX_U8, offsetof(struct ack_nak, msg_id) }, /* 1 msg ID */
+ { UBLOX_END, 0 },
+};
+
+static void
+ao_ublox_parse_ack_nak(void)
+{
+ ao_ublox_parse(&ack_nak, ack_nak_packet);
+#if AO_UBLOX_DEBUG
+ ao_gps_dbg(DBG_PROTO, "NAK class 0x%02x msg 0x%02x\n",
+ ack_nak.class_id, ack_nak.msg_id);
+#endif
+}
+
+#if AO_UBLOX_VERSION < 10
/*
* NAV-POSLLH message parsing
*/
ao_ublox_parse(&nav_velned, nav_velned_packet);
}
+#else /* AO_UBLOX_VERSION < 10 */
+
+/*
+ * NAV-PVT message parsing
+ */
+
+static struct nav_pvt {
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+ uint8_t hour;
+ uint8_t min;
+ uint8_t sec;
+ uint8_t valid;
+ int32_t nano;
+ uint8_t flags;
+ uint8_t num_sv;
+ int32_t lat;
+ int32_t lon;
+ int32_t alt_msl;
+ int32_t vel_d;
+ int32_t g_speed;
+ int32_t heading;
+} nav_pvt;
+
+static const struct ublox_packet_parse nav_pvt_packet[] = {
+ { UBLOX_DISCARD, 4 }, /* 0 iTOW */
+ { UBLOX_U16, offsetof(struct nav_pvt, year) }, /* 4 year */
+ { UBLOX_U8, offsetof(struct nav_pvt, month) }, /* 6 month */
+ { UBLOX_U8, offsetof(struct nav_pvt, day) }, /* 7 day */
+ { UBLOX_U8, offsetof(struct nav_pvt, hour) }, /* 8 hour */
+ { UBLOX_U8, offsetof(struct nav_pvt, min) }, /* 9 min */
+ { UBLOX_U8, offsetof(struct nav_pvt, sec) }, /* 10 sec */
+ { UBLOX_U8, offsetof(struct nav_pvt, valid) }, /* 11 valid */
+ { UBLOX_DISCARD, 4 }, /* 12 tAcc */
+ { UBLOX_U32, offsetof(struct nav_pvt, nano) }, /* 16 nano */
+ { UBLOX_DISCARD, 1 }, /* 20 fixType */
+ { UBLOX_U8, offsetof(struct nav_pvt, flags) }, /* 21 gpsFix */
+ { UBLOX_DISCARD, 1 }, /* 22 flags2 */
+ { UBLOX_U8, offsetof(struct nav_pvt, num_sv) }, /* 23 numSV */
+ { UBLOX_U32, offsetof(struct nav_pvt, lon) }, /* 24 Longitude */
+ { UBLOX_U32, offsetof(struct nav_pvt, lat) }, /* 28 Latitude */
+ { UBLOX_DISCARD, 4 }, /* 32 height above ellipsoid */
+ { UBLOX_U32, offsetof(struct nav_pvt, alt_msl) }, /* 36 Height above mean sea level */
+ { UBLOX_DISCARD, 16 }, /* 40 hAcc, vAcc, velN, velE */
+ { UBLOX_U32, offsetof(struct nav_pvt, vel_d) }, /* 56 velD */
+ { UBLOX_U32, offsetof(struct nav_pvt, g_speed) }, /* 60 gSpeed */
+ { UBLOX_U32, offsetof(struct nav_pvt, heading) }, /* 64 headMot */
+ { UBLOX_DISCARD, 92 - 68 }, /* 68 sAcc .. magAcc */
+ { UBLOX_END, 0 }
+};
+
+#define NAV_PVT_VALID_DATE 0
+#define NAV_PVT_VALID_TIME 1
+#define NAV_PVT_VALID_FULLY_RESOLVED 2
+#define NAV_PVT_VALID_MAG 3
+
+#define NAV_PVT_FLAGS_GNSSFIXOK 0
+#define NAV_PVT_FLAGS_DIFFSOLN 1
+#define NAV_PVT_FLAGS_PSM_STATE 2
+#define NAV_PVT_FLAGS_HEAD_VEH_VALID 5
+#define NAV_PVT_FLAGS_CARR_SOLN 6
+
+static void
+ao_ublox_parse_nav_pvt(void)
+{
+ ao_ublox_parse(&nav_pvt, nav_pvt_packet);
+#if AO_UBLOX_DEBUG
+ ao_gps_dbg(DBG_PROTO, "\t%d-%d-%d %02d:%02d:%02d %ld (%02x)\n",
+ nav_pvt.year, nav_pvt.month, nav_pvt.day,
+ nav_pvt.hour, nav_pvt.min, nav_pvt.sec,
+ (long) nav_pvt.nano, nav_pvt.valid);
+ ao_gps_dbg(DBG_PROTO, "\tflags %02x numSV %d lon %ld lat %ld alt %ld\n",
+ nav_pvt.flags, nav_pvt.num_sv,
+ (long) nav_pvt.lon, (long) nav_pvt.lat, (long) nav_pvt.alt_msl);
+#endif
+}
+
+/*
+ * NAV-SAT message parsing
+ */
+
+static struct nav_sat {
+ uint8_t num_svs;
+} nav_sat;
+
+static const struct ublox_packet_parse nav_sat_packet[] = {
+ { UBLOX_DISCARD, 4 }, /* 0 iTOW */
+ { UBLOX_DISCARD, 1 }, /* 4 version */
+ { UBLOX_U8, offsetof(struct nav_sat, num_svs) }, /* 4 numSvs */
+ { UBLOX_DISCARD, 2 }, /* 6 reserved0 */
+ { UBLOX_END, 0 }
+};
+
+#define NAV_SAT_MAX_SAT AO_TELEMETRY_SATELLITE_MAX_SAT
+
+static struct nav_sat_sat {
+ uint8_t svid;
+ uint8_t cno;
+} nav_sat_sat[NAV_SAT_MAX_SAT];
+
+static uint8_t nav_sat_nsat;
+
+static struct nav_sat_real_sat {
+ uint8_t svid;
+ uint8_t cno;
+ uint32_t flags;
+} nav_sat_real_sat;
+
+static const struct ublox_packet_parse nav_sat_sat_packet[] = {
+ { UBLOX_DISCARD, 1 }, /* 8 + 12*N gnssid */
+ { UBLOX_U8, offsetof(struct nav_sat_real_sat, svid) }, /* 9 + 12*N svid */
+ { UBLOX_U8, offsetof(struct nav_sat_real_sat, cno) }, /* 10 + 12*N cno */
+ { UBLOX_DISCARD, 5 }, /* 11 + 12*N elev, azim, prRes */
+ { UBLOX_U32, offsetof(struct nav_sat_real_sat, flags) }, /* 16 + 12*N flags */
+ { UBLOX_END, 0 }
+};
+
+static uint32_t
+ao_ublox_sat_quality(struct nav_sat_real_sat *sat)
+{
+ return (sat->flags >> UBLOX_NAV_SAT_FLAGS_QUALITY) & UBLOX_NAV_SAT_FLAGS_QUALITY_MASK;
+}
+
+static uint32_t
+ao_ublox_sat_health(struct nav_sat_real_sat *sat)
+{
+ return (sat->flags >> UBLOX_NAV_SAT_FLAGS_SV_HEALTH) & UBLOX_NAV_SAT_FLAGS_SV_HEALTH_MASK;
+}
+
+static void
+ao_ublox_parse_nav_sat(void)
+{
+ uint8_t nsat;
+ nav_sat_nsat = 0;
+
+ ao_ublox_parse(&nav_sat, nav_sat_packet);
+ for (nsat = 0; nsat < nav_sat.num_svs && ao_ublox_len >= 12; nsat++) {
+ ao_ublox_parse(&nav_sat_real_sat, nav_sat_sat_packet);
+ if (nav_sat_nsat < NAV_SAT_MAX_SAT &&
+ ao_ublox_sat_health(&nav_sat_real_sat) == UBLOX_NAV_SAT_FLAGS_SV_HEALTH_HEALTHY &&
+ ao_ublox_sat_quality(&nav_sat_real_sat) >= UBLOX_NAV_SAT_FLAGS_QUALITY_ACQUIRED)
+ {
+ nav_sat_sat[nav_sat_nsat].svid = nav_sat_real_sat.svid;
+ nav_sat_sat[nav_sat_nsat].cno = nav_sat_real_sat.cno;
+ nav_sat_nsat++;
+ }
+ }
+#if AO_UBLOX_DEBUG
+ ao_gps_dbg(DBG_PROTO, "sat num_svs %d\n", nav_sat.num_svs);
+ for (nsat = 0; nsat < nav_sat.num_svs; nsat++) {
+ if (nsat < NAV_SAT_MAX_SAT) {
+ ao_gps_dbg(DBG_PROTO, "\t%d: svid %d cno %d\n",
+ nsat,
+ nav_sat_sat[nsat].svid,
+ nav_sat_sat[nsat].cno);
+ } else {
+ ao_gps_dbg(DBG_PROTO, "\t%d: skipped\n", nsat);
+ }
+ }
+#endif
+}
+
+#endif /* else AO_UBLOX_VERSION < 10 */
+
/*
* Set the protocol mode and baud rate
*/
static void
ao_ublox_set_message_rate(uint8_t class, uint8_t msgid, uint8_t rate)
{
- ao_ublox_putstart(0x06, 0x01, 3);
+ ao_ublox_putstart(UBLOX_CFG, UBLOX_CFG_MSG, 3);
ao_ublox_put_u8(class);
ao_ublox_put_u8(msgid);
ao_ublox_put_u8(rate);
ao_ublox_putend();
}
-
/*
* Disable all MON message
*/
* Enable enough messages to get all of the data we want
*/
static const uint8_t ublox_enable_nav[] = {
- UBLOX_NAV_DOP,
- UBLOX_NAV_POSLLH,
- UBLOX_NAV_SOL,
- UBLOX_NAV_SVINFO,
- UBLOX_NAV_VELNED,
- UBLOX_NAV_TIMEUTC
+ UBLOX_NAV_DOP, /* both */
+#if AO_UBLOX_VERSION >= 10
+ UBLOX_NAV_PVT, /* new */
+ UBLOX_NAV_SAT, /* new */
+#else
+ UBLOX_NAV_POSLLH, /* both, but redundant with PVT */
+ UBLOX_NAV_SOL, /* old */
+ UBLOX_NAV_SVINFO, /* old */
+ UBLOX_NAV_VELNED, /* both, but redundant with PVT */
+ UBLOX_NAV_TIMEUTC /* both, but redundant with PVT */
+#endif
};
void
}
void
-ao_gps(void)
+ao_gps(void)
{
uint8_t class, id;
struct ao_ublox_cksum cksum;
if (ao_ublox_len > 1023)
continue;
+ bool gps_ready = false;
+
switch (class) {
case UBLOX_NAV:
switch (id) {
if (ao_ublox_len != 18)
break;
ao_ublox_parse_nav_dop();
+#if AO_UBLOX_VERSION >= 10
+ gps_ready = true;
+#endif
+ break;
+#if AO_UBLOX_VERSION >= 10
+ case UBLOX_NAV_PVT:
+ if (ao_ublox_len != 92)
+ break;
+ ao_ublox_parse_nav_pvt();
+ solution_tick = packet_start_tick;
break;
+ case UBLOX_NAV_SAT:
+ if (ao_ublox_len < 8)
+ break;
+ ao_ublox_parse_nav_sat();
+ break;
+#else
case UBLOX_NAV_POSLLH:
if (ao_ublox_len != 28)
break;
if (ao_ublox_len != 20)
break;
ao_ublox_parse_nav_timeutc();
+ gps_ready = true;
break;
+#endif
}
break;
+ case UBLOX_ACK:
+ switch (id) {
+ case UBLOX_ACK_ACK:
+ if (ao_ublox_len != 2)
+ break;
+ ao_ublox_parse_ack_ack();
+ break;
+ case UBLOX_ACK_NAK:
+ if (ao_ublox_len != 2)
+ break;
+ ao_ublox_parse_ack_nak();
+ break;
+ }
}
if (ao_ublox_len != 0) {
if (ao_ublox_cksum.a != cksum.a || ao_ublox_cksum.b != cksum.b)
continue;
- switch (class) {
- case UBLOX_NAV:
- switch (id) {
- case UBLOX_NAV_TIMEUTC:
- ao_mutex_get(&ao_gps_mutex);
- 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_COURSE_VALID;
- if (nsat > 15)
- nsat = 15;
- ao_gps_data.flags |= nsat;
- }
- if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
- ao_gps_data.flags |= AO_GPS_DATE_VALID;
-
- 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 = (uint8_t) (nav_timeutc.year - 2000);
- ao_gps_data.month = nav_timeutc.month;
- ao_gps_data.day = nav_timeutc.day;
-
- ao_gps_data.hour = nav_timeutc.hour;
- ao_gps_data.minute = nav_timeutc.min;
- ao_gps_data.second = nav_timeutc.sec;
-
- /* 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);
-
- 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++) {
- if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
- src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
- {
- 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++;
- }
+ if (!gps_ready)
+ continue;
- ao_mutex_put(&ao_gps_mutex);
- ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
- ao_wakeup(&ao_gps_new);
- break;
+ ao_mutex_get(&ao_gps_mutex);
+ ao_gps_data.flags = 0;
+ ao_gps_data.flags |= AO_GPS_RUNNING;
+ ao_gps_tick = solution_tick;
+
+ /* 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);
+
+#if AO_UBLOX_VERSION >= 10
+ ao_gps_utc_tick = packet_start_tick + (AO_TICK_TYPE) AO_NS_TO_TICKS(nav_pvt.nano);
+ if (nav_pvt.flags & (1 << NAV_PVT_FLAGS_GNSSFIXOK)) {
+ uint8_t nsat = nav_pvt.num_sv;
+ ao_gps_data.flags |= AO_GPS_VALID | AO_GPS_COURSE_VALID;
+ if (nsat > 15)
+ nsat = 15;
+ ao_gps_data.flags |= nsat;
+ }
+ if (nav_pvt.valid & (1 << NAV_PVT_VALID_DATE))
+ ao_gps_data.flags |= AO_GPS_DATE_VALID;
+ AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_pvt.alt_msl / 1000);
+ ao_gps_data.latitude = nav_pvt.lat;
+ ao_gps_data.longitude = nav_pvt.lon;
+
+ ao_gps_data.year = (uint8_t) (nav_pvt.year - 2000);
+ ao_gps_data.month = nav_pvt.month;
+ ao_gps_data.day = nav_pvt.day;
+
+ ao_gps_data.hour = nav_pvt.hour;
+ ao_gps_data.minute = nav_pvt.min;
+ ao_gps_data.second = nav_pvt.sec;
+
+ /* ublox speeds are mm/s */
+ ao_gps_data.ground_speed = (uint16_t) (nav_pvt.g_speed / 10);
+ ao_gps_data.climb_rate = -(int16_t) (nav_pvt.vel_d / 10);
+ ao_gps_data.course = (uint8_t) (nav_pvt.heading / 200000);
+#else
+ ao_gps_utc_tick = packet_start_tick + (AO_TICK_TYPE) AO_NS_TO_TICKS(nav_timeutc.nano);
+ 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_COURSE_VALID;
+ if (nsat > 15)
+ nsat = 15;
+ ao_gps_data.flags |= nsat;
+ }
+ if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
+ ao_gps_data.flags |= AO_GPS_DATE_VALID;
+
+ 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 = (uint8_t) (nav_timeutc.year - 2000);
+ ao_gps_data.month = nav_timeutc.month;
+ ao_gps_data.day = nav_timeutc.day;
+
+ ao_gps_data.hour = nav_timeutc.hour;
+ ao_gps_data.minute = nav_timeutc.min;
+ ao_gps_data.second = nav_timeutc.sec;
+
+ /* ublox speeds are cm/s */
+ 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);
+#endif
+
+ ao_gps_tracking_data.channels = 0;
+
+ struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
+#if AO_UBLOX_VERSION >= 10
+ struct nav_sat_sat *src = &nav_sat_sat[0];
+
+ for (i = 0; i < nav_sat_nsat; i++) {
+ 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++;
}
- break;
+ src++;
+ }
+#else
+ struct nav_svinfo_sat *src = &nav_svinfo_sat[0];
+
+ for (i = 0; i < nav_svinfo_nsat; i++) {
+ if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
+ src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
+ {
+ 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++;
}
+#endif
+ ao_mutex_put(&ao_gps_mutex);
+ ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+ ao_wakeup(&ao_gps_new);
}
}
projects / fw / altos / blobdiff