gps: split gps_venus

Add a new generic interface, prepare for addition of gps_ubx

diff --git a/imuboard/Makefile b/imuboard/Makefile
index 4ab55ad401da5dd917e5d481c686df78e817dd92..cdc49134d98208c8e9d6f0dcd971f7564f5f76a0 100644 (file)
--- a/imuboard/Makefile
+++ b/imuboard/Makefile
@@ -17,6 +17,7 @@ SRC += fat.c
 SRC += sd_main.c
 SRC += partition.c
 SRC += sd_raw.c
+SRC += gps.c
 SRC += gps_venus.c
 SRC += sd_log.c
 SRC += i2c_protocol.c

diff --git a/imuboard/commands.c b/imuboard/commands.c
index ab4132e67e9b8acd20f4475cd0fa980e39ca9771..447e3994a3f4bf043bb2005e6f81995b45f7da78 100644 (file)
--- a/imuboard/commands.c
+++ b/imuboard/commands.c
@@ -41,7 +41,7 @@
 #include "main.h"
 #include "cmdline.h"
 #include "eeprom_config.h"
-#include "gps_venus.h"
+#include "gps.h"
 #include "imu.h"
 
 /* commands_gen.c */

diff --git a/imuboard/gps.c b/imuboard/gps.c
new file mode 100644 (file)
index 0000000..65b4c28
--- /dev/null
+++ b/imuboard/gps.c
@@ -0,0 +1,110 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/endian.h>
+#include <aversive/wait.h>
+#include <callout.h>
+
+#include "main.h"
+#include "gps.h"
+#include "fat.h"
+#include "fat_config.h"
+#include "partition.h"
+#include "sd_raw.h"
+#include "sd_raw_config.h"
+#include "sd_log.h"
+
+/* global gps position */
+struct gps_pos gps_pos;
+
+/* note: enabling debug will make the code fail due to rx queue full */
+#define debug_printf(fmt, a...) do { } while (0)
+/* #define debug_printf(fmt, ...) printf_P(PSTR(fmt), ##__VA_ARGS__) */
+
+/* display current GPS position stored in the global variable */
+void display_gps_pos(void)
+{
+       /* no need to call ntohs/ntohl because the frame is already fixed by
+        * decode_gps_pos() */
+       printf_P(PSTR("id %.2X mode %.2X svnum %.2X gpsw %.4X "
+                       "tow %.10"PRIu32"\t"),
+               gps_pos.msg_id,
+               gps_pos.mode,
+               gps_pos.sv_num,
+               gps_pos.gps_week,
+               gps_pos.tow);
+
+       printf_P(PSTR("lat %.8"PRIx32" long %.8"PRIx32" alt %.8"PRIx32"\n"),
+               gps_pos.latitude,
+               gps_pos.longitude,
+               gps_pos.altitude);
+
+       printf_P(PSTR("gdop %3.3f pdop %3.3f hdop %3.3f vdop %3.3f "
+                       "tdop %3.3f\n"),
+               (double)gps_pos.gdop/100.,
+               (double)gps_pos.pdop/100.,
+               (double)gps_pos.hdop/100.,
+               (double)gps_pos.vdop/100.,
+               (double)gps_pos.tdop/100.);
+
+       printf_P(PSTR("lat %3.5f long %3.5f alt %3.5f sea_alt %3.5f\n"),
+               (double)gps_pos.latitude/10000000.,
+               (double)gps_pos.longitude/10000000.,
+               (double)gps_pos.altitude/100.,
+               (double)gps_pos.sea_altitude/100.);
+
+       printf_P(PSTR("vx %3.3f vy %3.3f vz %3.3f\n"),
+               (double)gps_pos.ecef_vx/100.,
+               (double)gps_pos.ecef_vy/100.,
+               (double)gps_pos.ecef_vz/100.);
+}
+
+void gps_get_pos(struct gps_pos *pos)
+{
+       memcpy(pos, &gps_pos, sizeof(*pos));
+}
+
+int gps_log(uint8_t to_stdout)
+{
+       uint32_t ms;
+       uint8_t flags, prio;
+       int16_t len;
+       char buf[128];
+       struct gps_pos pos;
+
+       IRQ_LOCK(flags);
+       ms = global_ms;
+       IRQ_UNLOCK(flags);
+
+       /* get position (prevent modification of gps pos during copy) */
+       prio = callout_mgr_set_prio(&imuboard.intr_cm, GPS_PRIO);
+       gps_get_pos(&pos);
+       callout_mgr_restore_prio(&imuboard.intr_cm, prio);
+
+       /* XXX copy */
+       len = snprintf(buf, sizeof(buf),
+               "%"PRIu32" "
+               "svnum %.2X lat %3.5f long %3.5f "
+               "alt %3.5f sea_alt %3.5f\n",
+               ms, gps_pos.sv_num,
+               (double)gps_pos.latitude / 10000000.,
+               (double)gps_pos.longitude / 10000000.,
+               (double)gps_pos.altitude / 100.,
+               (double)gps_pos.sea_altitude / 100.);
+
+
+       if (!to_stdout && sd_log_enabled()) {
+               if (sd_log_write(buf, len) != len) {
+                       printf_P(PSTR("error writing to file\n"));
+                       return -1;
+               }
+       }
+       else if (to_stdout) {
+               printf_P(PSTR("%s"), buf);
+       }
+
+       return 0;
+}

diff --git a/imuboard/gps.h b/imuboard/gps.h
new file mode 100644 (file)
index 0000000..539d8de
--- /dev/null
+++ b/imuboard/gps.h
@@ -0,0 +1,59 @@
+#ifndef _GPS_H
+#define _GPS_H
+
+#include <stdint.h>
+
+/* A GPS position structure. It also contains some information about the number
+ * of seen satellites, the message ID, the date, ...
+ * inspired by venus gps, but tries to be quite generic */
+struct gps_pos {
+       uint8_t msg_id; /* should be A8 */
+       uint8_t mode;   /* Quality of fix 0: none, 1: 2D, 2: 3D, 3: 3D+DGNSS */
+       uint8_t sv_num; /* number of SV in fix (0-12) */
+
+       uint16_t gps_week; /* GNSS week number */
+       uint32_t tow;      /* GNSS time of week */
+
+       int32_t latitude;  /* between -90e7 and 90e7, in 1/1e-7 degrees,
+                           * positive means north hemisphere */
+       int32_t longitude; /* between -180e7 and 180e7, in 1/1e-7 degrees,
+                           * positive means east */
+       uint32_t altitude; /* altitude from elipsoid, in 1/100 meters */
+       uint32_t sea_altitude; /* altitude from sea level, in 1/100 meters */
+
+       uint16_t gdop; /* Geometric dilution of precision */
+       uint16_t pdop; /* Position dilution of precision */
+       uint16_t hdop; /* Horizontal dilution of precision */
+       uint16_t vdop; /* Vertical dilution of precision */
+       uint16_t tdop; /* Timec dilution of precision */
+
+       int32_t ecef_x; /* Earth-Centered, Earth-Fixed X pos, 1/100 meters */
+       int32_t ecef_y; /* Earth-Centered, Earth-Fixed Y pos, 1/100 meters */
+       int32_t ecef_z; /* Earth-Centered, Earth-Fixed Z pos, 1/100 meters */
+
+       int32_t ecef_vx; /* Earth-Centered, Earth-Fixed X speed, 1/100 m/s */
+       int32_t ecef_vy; /* Earth-Centered, Earth-Fixed Y speed, 1/100 m/s */
+       int32_t ecef_vz; /* Earth-Centered, Earth-Fixed Z speed, 1/100 m/s */
+
+} __attribute__ ((packed));
+
+/* display global gps position */
+void display_gps_pos(void);
+
+/* log gps position stdout (if stdout is 1) or on sdcard (if 0) */
+int gps_log(uint8_t to_stdout);
+
+/* does not lock intr, must be done by user */
+void gps_get_pos(struct gps_pos *pos);
+
+static inline int8_t gps_pos_valid(struct gps_pos *pos)
+{
+       /* XXX when a GPS position is valid ? */
+       return (pos->mode >= 2 && pos->sv_num >= 5);
+}
+
+/* global gps position, use gps_get_pos() to copy it */
+extern struct gps_pos gps_pos;
+
+
+#endif

diff --git a/imuboard/gps_venus.c b/imuboard/gps_venus.c
index 0580fa7d1572d92352bd68bf6628a3d93ab635ad..5d8f62b88b15335a95131fffd971b50e85752a2a 100644 (file)
--- a/imuboard/gps_venus.c
+++ b/imuboard/gps_venus.c
@@ -10,13 +10,8 @@
 #include <uart.h>
 
 #include "main.h"
+#include "gps.h"
 #include "gps_venus.h"
-#include "fat.h"
-#include "fat_config.h"
-#include "partition.h"
-#include "sd_raw.h"
-#include "sd_raw_config.h"
-#include "sd_log.h"
 
 /* note: enabling debug will make the code fail due to rx queue full */
 #define debug_printf(fmt, a...) do { } while (0)
@@ -59,8 +54,6 @@ struct gps_frame {
 
 static struct gps_frame rxframe;
 
-static struct gps_pos gps_pos;
-
 static struct callout gps_timer;
 
 /* INPUT FORMATS */
@@ -535,44 +528,6 @@ static int decode_gps_pos(uint8_t *buf, uint16_t len)
        return 0;
 }
 
-/* display current GPS position stored in the global variable */
-static void display_gps(void)
-{
-       /* no need to call ntohs/ntohl because the frame is already fixed by
-        * decode_gps_pos() */
-       printf_P(PSTR("id %.2X mode %.2X svnum %.2X gpsw %.4X "
-                       "tow %.10"PRIu32"\t"),
-               gps_pos.msg_id,
-               gps_pos.mode,
-               gps_pos.sv_num,
-               gps_pos.gps_week,
-               gps_pos.tow);
-
-       printf_P(PSTR("lat %.8"PRIx32" long %.8"PRIx32" alt %.8"PRIx32"\n"),
-               gps_pos.latitude,
-               gps_pos.longitude,
-               gps_pos.altitude);
-
-       printf_P(PSTR("gdop %3.3f pdop %3.3f hdop %3.3f vdop %3.3f "
-                       "tdop %3.3f\n"),
-               (double)gps_pos.gdop/100.,
-               (double)gps_pos.pdop/100.,
-               (double)gps_pos.hdop/100.,
-               (double)gps_pos.vdop/100.,
-               (double)gps_pos.tdop/100.);
-
-       printf_P(PSTR("lat %3.5f long %3.5f alt %3.5f sea_alt %3.5f\n"),
-               (double)gps_pos.latitude/10000000.,
-               (double)gps_pos.longitude/10000000.,
-               (double)gps_pos.altitude/100.,
-               (double)gps_pos.sea_altitude/100.);
-
-       printf_P(PSTR("vx %3.3f vy %3.3f vz %3.3f\n"),
-               (double)gps_pos.ecef_vx/100.,
-               (double)gps_pos.ecef_vy/100.,
-               (double)gps_pos.ecef_vz/100.);
-}
-
 /* called on timer event */
 static void gps_venus_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
 {
@@ -600,7 +555,7 @@ static void gps_venus_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
                if (ret == 0) {
                        decode_gps_pos(rxframe.data, rxframe.len);
                        if (0)
-                               display_gps();
+                               display_gps_pos();
 
                        last_valid = ms;
                        is_valid = 1;
@@ -664,50 +619,3 @@ int gps_venus_init(void)
 
        return 0;
 }
-
-void gps_get_pos(struct gps_pos *pos)
-{
-       memcpy(pos, &gps_pos, sizeof(*pos));
-}
-
-int gps_log(uint8_t to_stdout)
-{
-       uint32_t ms;
-       uint8_t flags, prio;
-       int16_t len;
-       char buf[128];
-       struct gps_pos pos;
-
-       IRQ_LOCK(flags);
-       ms = global_ms;
-       IRQ_UNLOCK(flags);
-
-       /* get position (prevent modification of gps pos during copy) */
-       prio = callout_mgr_set_prio(&imuboard.intr_cm, GPS_PRIO);
-       gps_get_pos(&pos);
-       callout_mgr_restore_prio(&imuboard.intr_cm, prio);
-
-       /* XXX copy */
-       len = snprintf(buf, sizeof(buf),
-               "%"PRIu32" "
-               "svnum %.2X lat %3.5f long %3.5f "
-               "alt %3.5f sea_alt %3.5f\n",
-               ms, gps_pos.sv_num,
-               (double)gps_pos.latitude / 10000000.,
-               (double)gps_pos.longitude / 10000000.,
-               (double)gps_pos.altitude / 100.,
-               (double)gps_pos.sea_altitude / 100.);
-
-
-       if (!to_stdout && sd_log_enabled()) {
-               if (sd_log_write(buf, len) != len) {
-                       printf_P(PSTR("error writing to file\n"));
-                       return -1;
-               }
-       }
-       else if (to_stdout) {
-               printf_P(PSTR("%s"), buf);
-       }
-
-       return 0;
-}

diff --git a/imuboard/gps_venus.h b/imuboard/gps_venus.h
index 7397cbc773205349713e027dd2119e5ee065d6cc..26b4e0c9eefc1bd1b6f66cbf1fe910e323a736f1 100644 (file)
--- a/imuboard/gps_venus.h
+++ b/imuboard/gps_venus.h
@@ -1,54 +1,6 @@
 #ifndef _GPS_VENUS_H
 #define _GPS_VENUS_H
 
-#include <stdint.h>
-
-/* A GPS position structure. It also contains some information about the number
- * of seen satellites, the message ID, the date, ...
- * See App Notes AN0028 p68 */
-struct gps_pos {
-       uint8_t msg_id; /* should be A8 */
-       uint8_t mode;   /* Quality of fix 0: none, 1: 2D, 2: 3D, 3: 3D+DGNSS */
-       uint8_t sv_num; /* number of SV in fix (0-12) */
-
-       uint16_t gps_week; /* GNSS week number */
-       uint32_t tow;      /* GNSS time of week */
-
-       int32_t latitude;  /* between -90e7 and 90e7, in 1/1e-7 degrees,
-                           * positive means north hemisphere */
-       int32_t longitude; /* between -180e7 and 180e7, in 1/1e-7 degrees,
-                           * positive means east */
-       uint32_t altitude; /* altitude from elipsoid, in 1/100 meters */
-       uint32_t sea_altitude; /* altitude from sea level, in 1/100 meters */
-
-       uint16_t gdop; /* Geometric dilution of precision */
-       uint16_t pdop; /* Position dilution of precision */
-       uint16_t hdop; /* Horizontal dilution of precision */
-       uint16_t vdop; /* Vertical dilution of precision */
-       uint16_t tdop; /* Timec dilution of precision */
-
-       int32_t ecef_x; /* Earth-Centered, Earth-Fixed X pos, 1/100 meters */
-       int32_t ecef_y; /* Earth-Centered, Earth-Fixed Y pos, 1/100 meters */
-       int32_t ecef_z; /* Earth-Centered, Earth-Fixed Z pos, 1/100 meters */
-
-       int32_t ecef_vx; /* Earth-Centered, Earth-Fixed X speed, 1/100 m/s */
-       int32_t ecef_vy; /* Earth-Centered, Earth-Fixed Y speed, 1/100 m/s */
-       int32_t ecef_vz; /* Earth-Centered, Earth-Fixed Z speed, 1/100 m/s */
-
-} __attribute__ ((packed));
-
 int gps_venus_init(void);
 
-/* log gps position stdout (if stdout is 1) or on sdcard (if 0) */
-int gps_log(uint8_t to_stdout);
-
-/* does not lock intr, must be done by user */
-void gps_get_pos(struct gps_pos *pos);
-
-static inline int8_t gps_pos_valid(struct gps_pos *pos)
-{
-       /* XXX when a GPS position is valid ? */
-       return (pos->mode >= 2 && pos->sv_num >= 5);
-}
-
 #endif

diff --git a/imuboard/i2c_protocol.c b/imuboard/i2c_protocol.c
index 3edb9b48e3534820596ef9e0facfa7db26bb06be..7d5a45997b69a67ac9b1045e14d571851a687449 100644 (file)
--- a/imuboard/i2c_protocol.c
+++ b/imuboard/i2c_protocol.c
@@ -33,7 +33,7 @@
 #include <i2c.h>
 
 #include "../common/i2c_commands.h"
-#include "gps_venus.h"
+#include "gps.h"
 #include "imu.h"
 #include "main.h"
 

diff --git a/imuboard/main.c b/imuboard/main.c
index 37be46cdf6b72b1a654e4333f58a784300be7805..b257c656e0645504769ce7fcaa1535294d6a5bcd 100644 (file)
--- a/imuboard/main.c
+++ b/imuboard/main.c
@@ -54,6 +54,7 @@
 #include <i2c.h>
 
 #include "eeprom_config.h"
+#include "gps.h"
 #include "gps_venus.h"
 #include "sd_log.h"
 #include "../common/i2c_commands.h"