]> git.droids-corp.org - fpv.git/commitdiff
add support of new gps (ubx)
authorOlivier Matz <zer0@droids-corp.org>
Tue, 5 May 2015 17:19:05 +0000 (19:19 +0200)
committerOlivier Matz <zer0@droids-corp.org>
Tue, 5 May 2015 17:19:05 +0000 (19:19 +0200)
imuboard/Makefile
imuboard/gps_ubx.c [new file with mode: 0644]
imuboard/gps_ubx.h [new file with mode: 0644]
imuboard/imu.c
imuboard/main.c
imuboard/uart_config.h

index cdc49134d98208c8e9d6f0dcd971f7564f5f76a0..ad4d2559f20530ec96b4c86d6739f947ced3e498 100644 (file)
@@ -2,6 +2,9 @@ TARGET = main
 
 AVERSIVE_DIR ?= ../..
 
+#GPS_VENUS=1
+GPS_UBX=1
+
 # List C source files here. (C dependencies are automatically generated.)
 SRC = $(TARGET).c
 SRC += commands.c
@@ -18,7 +21,14 @@ SRC += sd_main.c
 SRC += partition.c
 SRC += sd_raw.c
 SRC += gps.c
+ifeq ($(GPS_VENUS), 1)
 SRC += gps_venus.c
+CFLAGS += -DGPS_VENUS
+endif
+ifeq ($(GPS_UBX), 1)
+SRC += gps_ubx.c
+CFLAGS += -DGPS_UBX
+endif
 SRC += sd_log.c
 SRC += i2c_protocol.c
 
diff --git a/imuboard/gps_ubx.c b/imuboard/gps_ubx.c
new file mode 100644 (file)
index 0000000..379e2f3
--- /dev/null
@@ -0,0 +1,838 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <inttypes.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/endian.h>
+#include <aversive/wait.h>
+#include <callout.h>
+#include <uart.h>
+
+#include "main.h"
+#include "gps.h"
+#include "gps_ubx.h"
+
+#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
+#define letoh16(x) (x)
+#define letoh32(x) (x)
+#define letoh64(x) (x)
+#define htole16(x) (x)
+#define htole32(x) (x)
+#define htole64(x) (x)
+#else
+#error todo
+#endif
+
+/* 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(fmt, ##__VA_ARGS__)
+
+#define GPS_UART 0
+#define GPS_PERIOD_MS 2
+
+#define START1 0xB5
+#define START2 0x62
+
+struct gps_ubx_cksum {
+       uint8_t ck_a;
+       uint8_t ck_b;
+};
+
+#define MAX_LEN 0x200
+struct gps_frame {
+       uint8_t class;
+       uint8_t id;
+       uint16_t len;
+       uint16_t cur_len;
+       uint8_t data[MAX_LEN];
+};
+
+static struct gps_frame rxframe;
+static struct gps_ubx_cksum rxcksum;
+static struct callout gps_timer;
+
+/* Navigation Results: Position, Speed, Time, Acc, Heading, DOP, SVs
+ * used */
+#define GPS_UBX_CLASS_NAV  0x01
+
+#define GPS_UBX_ID_NAV_POSECEF   0x01
+#define GPS_UBX_ID_NAV_POSLLH    0x02
+#define GPS_UBX_ID_NAV_STATUS    0x03
+#define GPS_UBX_ID_NAV_DOP       0x04
+#define GPS_UBX_ID_NAV_SOL       0x06
+#define GPS_UBX_ID_NAV_VELECEF   0x11
+#define GPS_UBX_ID_NAV_VELNED    0x12
+#define GPS_UBX_ID_NAV_TIMEGPS   0x20
+#define GPS_UBX_ID_NAV_TIMEUTC   0x21
+#define GPS_UBX_ID_NAV_CLOCK     0x22
+#define GPS_UBX_ID_NAV_SVINFO    0x30
+#define GPS_UBX_ID_NAV_DGPS      0x31
+#define GPS_UBX_ID_NAV_SBAS      0x32
+#define GPS_UBX_ID_NAV_EKFSTATUS 0x40
+#define GPS_UBX_ID_NAV_AOPSTATUS 0x60
+
+/* Receiver Manager Messages: Satellite Status, RTC Status */
+#define GPS_UBX_CLASS_RXM 0x02
+
+#define GPS_UBX_ID_RXM_ALM    0x30
+#define GPS_UBX_ID_RXM_EPH    0x31
+#define GPS_UBX_ID_RXM_PMREQ  0x41
+#define GPS_UBX_ID_RXM_RAW    0x10
+#define GPS_UBX_ID_RXM_SFRB   0x11
+#define GPS_UBX_ID_RXM_SVSI   0x20
+
+/* Information Messages: Printf-Style Messages, with IDs such as Error, Warning,
+ * Notice */
+#define GPS_UBX_CLASS_INF 0x04
+
+/* Ack/Nack Messages: as replies to CFG Input Messages */
+#define GPS_UBX_CLASS_ACK 0x05
+
+/* Configuration Input Messages: Set Dynamic Model, Set DOP Mask, Set
+ * Baud Rate, etc. */
+#define GPS_UBX_CLASS_CFG 0x06
+
+#define GPS_UBX_ID_CFG_MSG  0x01
+#define GPS_UBX_ID_CFG_RATE 0x08
+#define GPS_UBX_ID_CFG_SBAS 0x16
+
+/* Monitoring Messages: Comunication Status, CPU Load, Stack Usage, Task
+ * Status */
+#define GPS_UBX_CLASS_MON 0x0A
+
+/* AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data
+ * input */
+#define GPS_UBX_CLASS_AID 0x0B
+
+/* Timing Messages: Timepulse Output, Timemark Results */
+#define GPS_UBX_CLASS_TIM 0x0D
+
+#define GPS_UBX_CLASS_NMEA_STD 0xF0
+#define GPS_UBX_CLASS_NMEA_UBX 0xF1
+
+#define GPS_UBX_ID_NMEA_GGA 0x00
+#define GPS_UBX_ID_NMEA_GLL 0x01
+#define GPS_UBX_ID_NMEA_GSA 0x02
+#define GPS_UBX_ID_NMEA_GSV 0x03
+#define GPS_UBX_ID_NMEA_RMC 0x04
+#define GPS_UBX_ID_NMEA_VTG 0x05
+
+/********************* NAV class */
+
+/* Position Solution in ECEF */
+struct gps_ubx_posecef {
+       uint32_t iTOW; /* ms - GPS Millisecond Time of Week */
+       int32_t ecefX; /* cm - ECEF X coordinate */
+       int32_t ecefY; /* cm - ECEF Y coordinate */
+       int32_t ecefZ; /* cm - ECEF Z coordinate */
+       uint32_t pAcc; /* cm - Position Accuracy Estimate */
+};
+
+/* Geodetic Position Solution */
+struct gps_ubx_posllh {
+       uint32_t iTOW; /* ms - GPS Millisecond Time of Week */
+       int32_t lon; /* 1e-7 deg - Longitude */
+       int32_t lat; /* 1e-7 deg - Latitude */
+       int32_t height; /* mm - Height above ellipsoid */
+       int32_t heightMSL; /* mm - Height above mean sea level */
+       uint32_t hAcc; /* mm - Horizontal Accuracy Estimate */
+       uint32_t vAcc; /* mm - Vertical Accuracy Estimate */
+};
+
+/* Velocity solution in NED */
+struct gps_ubx_velned {
+       uint32_t iTOW; /* GPS Millisecond Time of Week */
+       int32_t velN; /* NED north velocity */
+       int32_t velE; /* NED east velocity */
+       int32_t velD; /* NED down velocity */
+       uint32_t speed; /* Speed (3-D) */
+       uint32_t gSpeed; /* Ground Speed (2-D) */
+       int32_t  heading; /* eading of motion 2-D */
+       uint32_t sAcc; /* Speed Accuracy Estimate */
+       uint32_t cAcc; /* Course / Heading Accuracy Estimate */
+};
+
+/* This message combines Position, velocity and time solution in ECEF, including
+ * accuracy figures */
+struct gps_ubx_nav_sol {
+       uint32_t iTOW;
+       int32_t fTOW;   /* Fractional Nanoseconds remainder of rounded ms above,
+                        * range -500000 .. 500000 */
+       int16_t week;   /* GPS week (GPS time) */
+       uint8_t gpsFix; /* GPSfix Type, 0x00 = No Fix, 0x01 = Dead Reckoning only,
+                        * 0x02 = 2D-Fix 0x03 = 3D-Fix, 0x04 = GPS + dead reckoning
+                        * combined, 0x05 = Time only fix, 0x06..0xff: reserved */
+       uint8_t flags;  /* Fix Status Flags (see graphic below) */
+       int32_t ecefX;  /* cm - ECEF X coordinate */
+       int32_t ecefY;  /* cm - ECEF Y coordinate */
+       int32_t ecefZ;  /* cm - ECEF Z coordinate */
+       uint32_t pAcc;  /* cm - 3D Position Accuracy Estimate */
+       int32_t ecefVX; /* cm/s - ECEF X velocity */
+       int32_t ecefVY; /* cm/s - ECEF Y velocity */
+       int32_t ecefVZ; /* cm/s - ECEF Z velocity */
+       uint32_t sAcc;  /* cm/s - Speed Accuracy Estimate */
+       uint16_t pDOP;  /* Position DOP */
+       uint8_t reserved1;
+       uint8_t numSV; /*  Number of SVs used in Nav Solution */
+       uint32_t reserved2;
+};
+
+/********************* CFG class */
+
+/* Get/Set Port Configuration for UART
+ * Several configurations can be concatenated to one input message. In
+ * this case the payload length can be a multiple of the normal length
+ * (see the other versions of CFG-PRT). Output messages from the module
+ * contain only one configuration unit. */
+struct gps_ubx_prt {
+       uint8_t portID; /* Port Identifier Number (= 1 or 2 for UART ports) */
+       uint8_t reserved0;
+#define GPS_UBX_PRT_TXREADY_EN_MASK    0x0001
+#define GPS_UBX_PRT_TXREADY_POL_MASK   0x0002
+#define GPS_UBX_PRT_TXREADY_PIN_MASK   0x007c
+#define GPS_UBX_PRT_TXREADY_THRES_MASK 0xff80
+       uint16_t txReady; /* reserved (Alwyas set to zero) up to Firmware 7.
+                          * TX ready PIN configuration (since Firmware 7). */
+#define GPS_UBX_PRT_MODE_RESERVED1_MASK 0x00000010
+#define GPS_UBX_PRT_MODE_CHARLEN_MASK   0x000000c0
+#define GPS_UBX_PRT_MODE_CHARLEN_5BITS  0x00000000
+#define GPS_UBX_PRT_MODE_CHARLEN_6BITS  0x00000040
+#define GPS_UBX_PRT_MODE_CHARLEN_7BITS  0x00000080
+#define GPS_UBX_PRT_MODE_CHARLEN_8BITS  0x000000c0
+#define GPS_UBX_PRT_MODE_PARITY_MASK    0x00000e00
+#define GPS_UBX_PRT_MODE_PARITY_EVEN    0x00000000
+#define GPS_UBX_PRT_MODE_PARITY_ODD     0x00000200
+#define GPS_UBX_PRT_MODE_PARITY_NONE    0x00000800
+#define GPS_UBX_PRT_MODE_NSTOP_MASK     0x00003000
+#define GPS_UBX_PRT_MODE_NSTOP_1        0x00000000
+#define GPS_UBX_PRT_MODE_NSTOP_1_5      0x00001000
+#define GPS_UBX_PRT_MODE_NSTOP_2        0x00002000
+#define GPS_UBX_PRT_MODE_NSTOP_0_5      0x00003000
+       uint32_t mode; /* A bit mask describing the UART mode */
+
+#define GPS_UBX_PRT_PROTOMASK_UBX  0x0001
+#define GPS_UBX_PRT_PROTOMASK_NMEA 0x0002
+       /* A mask describing which input protocols are active.  Each bit
+        * of this mask is used for a protocol.  Through that, multiple
+        * protocols can be defined on a single port. */
+       uint16_t inProtoMask;
+       /* A mask describing which output protocols are active */
+       uint16_t outProtoMask;
+};
+
+
+/* Set/Get message rate configuration to/from the receiver. */
+struct gps_ubx_msg {
+       uint8_t class;
+       uint8_t id;
+       uint8_t rate; /* Send rate */
+
+};
+
+/* Configure the SBAS (Satellite-based augmentation systems) receiver subsystem
+ * (i.e. WAAS, EGNOS, MSAS). */
+struct gps_ubx_sbas {
+#define GPS_UBX_SBAS_MODE_ENABLED 0x01 /* SBAS Enabled */
+#define GPS_UBX_SBAS_MODE_TEST    0x02 /* SBAS Testbed: Use data anyhow */
+       uint8_t mode; /* bitfield */
+#define GPS_UBX_SBAS_USAGE_RANGE     0x01 /* Use SBAS GEOs as a ranging source */
+#define GPS_UBX_SBAS_USAGE_DIFFCORR  0x02 /* Use SBAS Differential Corrections */
+#define GPS_UBX_SBAS_USAGE_INTEGRITY 0x04 /* Use SBAS Integrity Information */
+       uint8_t usage; /* bitfield */
+       uint8_t maxSBAS;  /* Maximum Number of SBAS prioritized tracking
+                          * channels (valid range: 0 - 3) to use */
+       uint8_t scanmode2; /* PRN152 -> PRN156 (bit 0 to 6) */
+       uint32_t scanmode1; /* PRN120 -> PRN151 (bit 0 to 31) */
+};
+
+/* The u-blox positioning technology supports navigation update rates higher or
+ * lower than 1 update per second. The calculation of the navigation solution
+ * will always be aligned to the top of a second.
+ *
+ * • The update rate has a direct influence on the power consumption. The more
+ *   fixes that are required, the more CPU power and communication resources
+ *   are required.
+ * • For most applications a 1 Hz update rate would be sufficient. */
+struct gps_ubx_rate {
+       uint16_t measRate; /* ms - Measurement Rate */
+       uint16_t navRate;  /* cycles - Navigation Rate, in number of measurement
+                             cycles. On u-blox 5 and u-blox 6, this parameter
+                             cannot be changed, and is always equals 1. */
+       uint16_t timeRef;  /* Alignment to reference time: 0 = UTC time,
+                           * 1 = GPS time */
+};
+
+
+
+/********************* ACK class */
+
+/* When messages from the Class CFG are sent to the receiver, the
+* receiver will send an Acknowledge (ACK-ACK) or a Not Acknowledge
+* (ACK-NAK) message back to the sender, depending on whether or not the
+* message was processed correctly.  There is no ACK/NAK mechanism for
+* message poll requests outside Class CFG. */
+
+#define GPS_UBX_ID_NACK 0x00
+#define GPS_UBX_ID_ACK  0x01
+
+struct gps_ubx_ack {
+       uint8_t class; /* GPS_UBX_CLASS_ACK */
+       uint8_t id;    /* GPS_UBX_ID_ACK or GPS_UBX_ID_NACK */
+       uint8_t ack_class;
+       uint8_t ack_id;
+};
+
+/********************* RXM class */
+
+struct gps_ubx_rxm_svsi {
+       int32_t iTOW;    /* Measurement integer millisecond GPS time of week */
+       int16_t week;    /* Measurement GPS week number. */
+       uint8_t numVis;  /* Number of visible satellites */
+       uint8_t numSV;   /* Number of per-SV data blocks following */
+       struct {
+               uint8_t svid;    /* Satellite ID */
+               uint8_t svFlag;  /* Information Flags */
+               int16_t azim;    /* Azimuth */
+               int8_t elev;     /* Elevation */
+               uint8_t age;     /* Age of Almanach and Ephemeris */
+       } sv[]; /* reapeated numSV times */
+};
+
+
+
+static void gps_ubx_cksum_update(struct gps_ubx_cksum *cksum, uint8_t byte)
+{
+       cksum->ck_a = cksum->ck_a + byte;
+       cksum->ck_b = cksum->ck_b + cksum->ck_a;
+}
+
+static void serial1_tx_cout(uint8_t c)
+{
+       debug_printf("%.2X ", c);
+       uart_send(GPS_UART, c);
+}
+
+
+void gps_ubx_send(uint8_t class, uint8_t id, void *payload, uint16_t len)
+{
+       struct gps_ubx_cksum cksum = { 0, 0 };
+       uint16_t n;
+       uint8_t byte;
+
+       debug_printf("SEND ");
+
+       serial1_tx_cout(START1);
+       serial1_tx_cout(START2);
+       serial1_tx_cout(class);
+       gps_ubx_cksum_update(&cksum, class);
+       serial1_tx_cout(id);
+       gps_ubx_cksum_update(&cksum, id);
+       serial1_tx_cout(len & 0xff);
+       gps_ubx_cksum_update(&cksum, len & 0xff);
+       serial1_tx_cout((len >> 8) & 0xff);
+       gps_ubx_cksum_update(&cksum, (len >> 8) & 0xff);
+       /* payload */
+       for (n = 0; n < len; n++) {
+               byte = *(uint8_t *)payload;
+               serial1_tx_cout(byte);
+               gps_ubx_cksum_update(&cksum, byte);
+               payload++;
+       }
+       /* checksum and tail */
+       serial1_tx_cout(cksum.ck_a);
+       serial1_tx_cout(cksum.ck_b);
+
+       debug_printf("\n");
+}
+
+/* frequency of messages */
+void gps_ubx_set_msg_rate(uint8_t class, uint8_t id, uint8_t rate)
+{
+       struct gps_ubx_msg msg_rate;
+
+       memset(&msg_rate, 0, sizeof(msg_rate));
+       msg_rate.class = class;
+       msg_rate.id = id;
+       msg_rate.rate = rate;
+
+       gps_ubx_send(GPS_UBX_CLASS_CFG, GPS_UBX_ID_CFG_MSG,
+               &msg_rate, sizeof(msg_rate));
+}
+
+/* update rate */
+void gps_ubx_set_rate(uint16_t measRate, uint16_t navRate, uint16_t timeRef)
+{
+       struct gps_ubx_rate rate;
+
+       memset(&rate, 0, sizeof(rate));
+       rate.measRate = htole16(measRate);
+       rate.navRate = htole16(navRate);
+       rate.timeRef = htole16(timeRef);
+
+       gps_ubx_send(GPS_UBX_CLASS_CFG, GPS_UBX_ID_CFG_RATE,
+               &rate, sizeof(rate));
+}
+
+/* set satellite-based augmentation system (differential gps) */
+void gps_ubx_set_sbas(uint8_t mode, uint8_t usage, uint8_t maxSBAS,
+       uint8_t scanmode2, uint32_t scanmode1)
+{
+       struct gps_ubx_sbas msg_sbas;
+
+       memset(&msg_sbas, 0, sizeof(msg_sbas));
+       msg_sbas.mode = mode;
+       msg_sbas.usage = usage;
+       msg_sbas.maxSBAS = maxSBAS;
+       msg_sbas.scanmode2 = scanmode2;
+       msg_sbas.scanmode1 = htole32(scanmode1);
+
+       gps_ubx_send(GPS_UBX_CLASS_CFG, GPS_UBX_ID_CFG_SBAS,
+               &msg_sbas, sizeof(msg_sbas));
+}
+
+int8_t recv_cb(uint8_t byte)
+{
+       uint16_t i;
+
+       /* bytes 0 and 1 are start bytes */
+       if (rxframe.cur_len == 0) {
+               debug_printf("start1 %x\n", byte);
+               if (byte != START1) {
+                       debug_printf("bad start1 %.2X\n", byte);
+                       goto reset_buf;
+               }
+       }
+       else if (rxframe.cur_len == 1) {
+               debug_printf("start2 %x\n", byte);
+               if (byte != START2) {
+                       debug_printf("bad start2 %.2X\n", byte);
+                       goto reset_buf;
+               }
+       }
+       /* bytes 2 and 3 are the class and id */
+       else if (rxframe.cur_len == 2) {
+               debug_printf("class %x\n", byte);
+               rxframe.class = byte;
+       }
+       else if (rxframe.cur_len == 3) {
+               debug_printf("id %x\n", byte);
+               rxframe.id = byte;
+       }
+       /* bytes 4 and 5 are the length of frame in little endian order */
+       else if (rxframe.cur_len == 4) {
+               debug_printf("len_l %x\n", byte);
+               rxframe.len = (uint16_t)byte;
+       }
+       else if (rxframe.cur_len == 5) {
+               debug_printf("len_h %x\n", byte);
+               rxframe.len |= (uint16_t)byte << 8;
+               if (rxframe.len > MAX_LEN) {
+                       debug_printf("bad len %d\n", rxframe.len);
+                       goto reset_buf;
+               }
+       }
+       /* next bytes are data (the 6 below is the size of header) */
+       else if ((rxframe.cur_len - 6) < rxframe.len) {
+               debug_printf("data %x\n", byte);
+               rxframe.data[rxframe.cur_len - 6] = byte;
+       }
+       /* then it's the cksum */
+       else if ((rxframe.cur_len - 6) == rxframe.len) {
+               debug_printf("ck_a %x\n", byte);
+               rxcksum.ck_a = byte;
+       }
+       else if ((rxframe.cur_len - 6) == rxframe.len + 1) {
+               struct gps_ubx_cksum cksum = { 0, 0 };
+
+               debug_printf("ck_b %x\n", byte);
+               rxcksum.ck_b = byte;
+
+               /* check crc */
+               gps_ubx_cksum_update(&cksum, rxframe.class);
+               gps_ubx_cksum_update(&cksum, rxframe.id);
+               gps_ubx_cksum_update(&cksum, rxframe.len & 0xff);
+               gps_ubx_cksum_update(&cksum, rxframe.len >> 8);
+               for (i = 0; i < rxframe.len; i++)
+                       gps_ubx_cksum_update(&cksum, rxframe.data[i]);
+               if (cksum.ck_a != rxcksum.ck_a ||
+                       cksum.ck_b != rxcksum.ck_b) {
+                       debug_printf("invalid checksum %2.2x%2.2x != %2.2x%2.2x\n",
+                               cksum.ck_a, cksum.ck_b,
+                               rxcksum.ck_a, rxcksum.ck_a);
+                       goto reset_buf;
+               }
+
+               debug_printf("valid frame received\n");
+               rxframe.cur_len = 0;
+               return 0;
+       }
+       else /* should not happen */
+               goto reset_buf;
+
+       rxframe.cur_len ++;
+       return 1;
+
+ reset_buf:
+       rxframe.cur_len = 0;
+       return 1;
+}
+
+int recv_msg(void)
+{
+       int ret;
+       uint8_t irq_flags;
+       int16_t c;
+       uint16_t t1, t2, diff;
+
+       IRQ_LOCK(irq_flags);
+       t1 = global_ms;
+       IRQ_UNLOCK(irq_flags);
+
+       while (1) {
+               IRQ_LOCK(irq_flags);
+               t2 = global_ms;
+               IRQ_UNLOCK(irq_flags);
+               diff = t2 - t1;
+               if (diff > 1000) {
+                       printf_P(PSTR("recv_msg timeout\n"));
+                       return -1;
+               }
+
+               c = uart_recv_nowait(GPS_UART);
+               if (c < 0)
+                       continue;
+
+               debug_printf("%2.2x\n", c);
+
+               ret = recv_cb(c);
+               if (ret == 0)
+                       return 0;
+       }
+}
+
+int wait_ack(int msg_type)
+{
+       uint8_t irq_flags;
+       int ret;
+       uint16_t t1, t2, diff;
+
+       IRQ_LOCK(irq_flags);
+       t1 = global_ms;
+       IRQ_UNLOCK(irq_flags);
+
+
+       while (1) {
+               ret = recv_msg();
+               if (ret < 0)
+                       return -1;
+
+               IRQ_LOCK(irq_flags);
+               t2 = global_ms;
+               IRQ_UNLOCK(irq_flags);
+               diff = t2 - t1;
+               if (diff > 1000) {
+                       printf_P(PSTR("wait_ack timeout\n"));
+                       return -1;
+               }
+
+               /* retry if it's not the expected message */
+               if (rxframe.data[0] != 0x83 && rxframe.data[0] != 0x84)
+                       continue;
+               if (rxframe.data[1] != msg_type)
+                       continue;
+
+               if (rxframe.data[0] == 0x83)
+                       printf_P(PSTR("ACK\n"));
+               else if (rxframe.data[0] == 0x84)
+                       printf_P(PSTR("NACK\n"));
+               else
+                       printf_P(PSTR("ZARB\n"));
+               break;
+       }
+
+       return 0;
+}
+
+static int decode_gps_posllh(const struct gps_frame *frame)
+{
+       const struct gps_ubx_posllh *posllh =
+               (const struct gps_ubx_posllh *)&frame->data;
+       int32_t height, heightMSL;
+       uint8_t irq_flags;
+
+       //printf("%s\n", __FUNCTION__);
+       /* pos struct is in cm, convert */
+       height = letoh32(posllh->height) / 10;
+       heightMSL = letoh32(posllh->heightMSL) / 10;
+
+       IRQ_LOCK(irq_flags);
+       gps_pos.tow = letoh32(posllh->iTOW);
+       gps_pos.longitude = letoh32(posllh->lon);
+       gps_pos.latitude = letoh32(posllh->lat);
+       gps_pos.altitude = height;
+       gps_pos.sea_altitude = heightMSL;
+       IRQ_UNLOCK(irq_flags);
+
+       return 0;
+}
+
+static int decode_gps_posecef(const struct gps_frame *frame)
+{
+       const struct gps_ubx_posecef *posecef =
+               (const struct gps_ubx_posecef *)&frame->data;
+       uint8_t irq_flags;
+
+       //printf("%s\n", __FUNCTION__);
+       IRQ_LOCK(irq_flags);
+       gps_pos.tow = letoh32(posecef->iTOW);
+       gps_pos.ecef_x = letoh32(posecef->ecefX);
+       gps_pos.ecef_y = letoh32(posecef->ecefY);
+       gps_pos.ecef_z = letoh32(posecef->ecefZ);
+       IRQ_UNLOCK(irq_flags);
+
+       return 0;
+}
+
+static int decode_gps_velned(const struct gps_frame *frame)
+{
+       const struct gps_ubx_velned *velned =
+               (const struct gps_ubx_velned *)&frame->data;
+       uint8_t irq_flags;
+
+       //printf("%s\n", __FUNCTION__);
+       IRQ_LOCK(irq_flags);
+       gps_pos.tow = letoh32(velned->iTOW);
+       //gps_pos.speed = letoh32(velned->speed); //XXX add speed ?
+       IRQ_UNLOCK(irq_flags);
+
+       return 0;
+}
+
+static int decode_gps_nav_sol(const struct gps_frame *frame)
+{
+       const struct gps_ubx_nav_sol *nav_sol =
+               (const struct gps_ubx_nav_sol *)&frame->data;
+       uint8_t irq_flags;
+
+       //printf("%s\n", __FUNCTION__);
+       IRQ_LOCK(irq_flags);
+       gps_pos.tow = letoh32(nav_sol->iTOW);
+       gps_pos.gps_week = letoh16(nav_sol->week);
+       gps_pos.mode = nav_sol->gpsFix;
+       gps_pos.sv_num = nav_sol->numSV;
+       gps_pos.ecef_x = letoh32(nav_sol->ecefX);
+       gps_pos.ecef_y = letoh32(nav_sol->ecefY);
+       gps_pos.ecef_z = letoh32(nav_sol->ecefZ);
+       gps_pos.ecef_vx = letoh32(nav_sol->ecefVX);
+       gps_pos.ecef_vy = letoh32(nav_sol->ecefVY);
+       gps_pos.ecef_vz = letoh32(nav_sol->ecefVZ);
+       IRQ_UNLOCK(irq_flags);
+
+       return 0;
+}
+
+static int decode_gps_rxm_svsi(const struct gps_frame *frame)
+{
+       const struct gps_ubx_rxm_svsi *rxm_svsi =
+               (const struct gps_ubx_rxm_svsi *)&frame->data;
+       uint8_t irq_flags;
+
+       //printf("%s\n", __FUNCTION__);
+       IRQ_LOCK(irq_flags);
+       gps_pos.tow = letoh32(rxm_svsi->iTOW);
+       gps_pos.gps_week = letoh16(rxm_svsi->week);
+       gps_pos.sv_num = rxm_svsi->numVis;
+       IRQ_UNLOCK(irq_flags);
+
+       return 0;
+}
+
+static int decode_gps(const struct gps_frame *frame)
+{
+       int ret = -1;
+
+       switch (frame->class) {
+       case GPS_UBX_CLASS_NAV:
+               switch (frame->id) {
+               case GPS_UBX_ID_NAV_POSLLH:
+                       ret = decode_gps_posllh(frame);
+                       break;
+               case GPS_UBX_ID_NAV_POSECEF:
+                       ret = decode_gps_posecef(frame);
+                       break;
+               case GPS_UBX_ID_NAV_VELNED:
+                       ret = decode_gps_velned(frame);
+                       break;
+               case GPS_UBX_ID_NAV_SOL:
+                       ret = decode_gps_nav_sol(frame);
+                       break;
+               default:
+                       break;
+               }
+               break;
+       case GPS_UBX_CLASS_RXM:
+               switch (frame->id) {
+               case GPS_UBX_ID_RXM_SVSI:
+                       ret = decode_gps_rxm_svsi(frame);
+                       break;
+               default:
+                       break;
+               }
+       default:
+               break;
+       }
+
+       if (ret < 0)
+               debug_printf("error processing message class=%x id=%x\n",
+                       frame->class, frame->id);
+
+       return ret;
+#if 0
+       /* fix endianness inside the frame */
+       pos->gps_week = ntohs(pos->gps_week);
+       pos->tow = ntohl(pos->tow);
+
+       pos->latitude = ntohl(pos->latitude);
+       pos->longitude = ntohl(pos->longitude);
+       pos->altitude = ntohl(pos->altitude);
+
+       pos->sea_altitude = ntohl(pos->sea_altitude);
+
+       pos->gdop = ntohs(pos->gdop);
+       pos->pdop = ntohs(pos->pdop);
+       pos->hdop = ntohs(pos->hdop);
+       pos->vdop = ntohs(pos->vdop);
+       pos->tdop = ntohs(pos->tdop);
+
+       pos->ecef_vx = ntohl(pos->ecef_vx);
+       pos->ecef_vy = ntohl(pos->ecef_vy);
+       pos->ecef_vz = ntohl(pos->ecef_vz);
+
+       /* update global structure */
+       IRQ_LOCK(irq_flags);
+       memcpy(&gps_pos, pos, sizeof(gps_pos));
+       IRQ_UNLOCK(irq_flags);
+#endif
+
+       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_ubx_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
+{
+       static int16_t last_valid = 0;
+       static uint8_t is_valid = 0;
+       int16_t ms, diff;
+       int16_t c;
+       int8_t ret;
+       uint8_t irq_flags;
+
+       (void)cm;
+       (void)tim;
+       (void)arg;
+
+       IRQ_LOCK(irq_flags);
+       ms = global_ms;
+       IRQ_UNLOCK(irq_flags);
+
+       while (1) {
+               c = uart_recv_nowait(GPS_UART);
+               if (c < 0) /* no more char */
+                       break;
+
+               ret = recv_cb(c);
+               if (ret == 0) {
+                       decode_gps(&rxframe);
+                       if (0)
+                               display_gps();
+
+                       last_valid = ms;
+                       is_valid = 1;
+               }
+       }
+
+       diff = ms - last_valid;
+       if (is_valid == 1 && diff > 500) {
+
+               is_valid = 0;
+               /* update global structure */
+               IRQ_LOCK(irq_flags);
+               memset(&gps_pos, 0, sizeof(gps_pos));
+               gps_pos.latitude = 0xffffffff;
+               IRQ_UNLOCK(irq_flags);
+       }
+
+       callout_schedule(cm, tim, GPS_PERIOD_MS);
+}
+
+int gps_ubx_init(void)
+{
+       printf_P(PSTR("gps_ubx_init\n"));
+
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NMEA_STD, GPS_UBX_ID_NMEA_GGA, 0);
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NMEA_STD, GPS_UBX_ID_NMEA_GLL, 0);
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NMEA_STD, GPS_UBX_ID_NMEA_GSA, 0);
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NMEA_STD, GPS_UBX_ID_NMEA_GSV, 0);
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NMEA_STD, GPS_UBX_ID_NMEA_RMC, 0);
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NMEA_STD, GPS_UBX_ID_NMEA_VTG, 0);
+
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NAV, GPS_UBX_ID_NAV_POSLLH, 1);
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NAV, GPS_UBX_ID_NAV_STATUS, 1);
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NAV, GPS_UBX_ID_NAV_SOL, 1);
+       gps_ubx_set_msg_rate(GPS_UBX_CLASS_NAV, GPS_UBX_ID_NAV_VELNED, 1);
+       //gps_ubx_set_msg_rate(GPS_UBX_CLASS_RXM, GPS_UBX_ID_RXM_SVSI, 1);
+
+       /* use EGNOS */
+       gps_ubx_set_sbas(GPS_UBX_SBAS_MODE_ENABLED,
+               GPS_UBX_SBAS_USAGE_RANGE | GPS_UBX_SBAS_USAGE_DIFFCORR |
+               GPS_UBX_SBAS_USAGE_INTEGRITY, 3, 0x0, 0x851);
+
+       gps_ubx_set_rate(500, 1, 1); /* 2hz */
+
+       printf_P(PSTR("GPS configuration done !\n"));
+
+       callout_init(&gps_timer, gps_ubx_cb, NULL, GPS_PRIO);
+       callout_schedule(&imuboard.intr_cm, &gps_timer, GPS_PERIOD_MS); /* every 2ms */
+
+       return 0;
+}
diff --git a/imuboard/gps_ubx.h b/imuboard/gps_ubx.h
new file mode 100644 (file)
index 0000000..f6e4fd9
--- /dev/null
@@ -0,0 +1,6 @@
+#ifndef _GPS_UBX_H
+#define _GPS_UBX_H
+
+int gps_ubx_init(void);
+
+#endif
index 00a61dd898bca8975ce57af9e052d3c30a9b707b..1e8f3cc9e89af08f4dcd2140aff7e95a9ca791f1 100644 (file)
@@ -86,6 +86,7 @@ static void imu_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
 
 void imu_init(void)
 {
+       printf_P(PSTR("imu_init\n"));
        mpu6050_init();
 
        callout_init(&imu_timer, imu_cb, NULL, IMU_PRIO);
index 25a1662f287ca45f2a335305613e35f9bfd60382..2de634a646a3c6c07a504b5b90839a4b40074060 100644 (file)
 
 #include "eeprom_config.h"
 #include "gps.h"
+#ifdef GPS_VENUS
 #include "gps_venus.h"
+#endif
+#ifdef GPS_UBX
+#include "gps_ubx.h"
+#endif
 #include "sd_log.h"
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
@@ -154,6 +159,17 @@ int main(void)
 
        callout_mgr_init(&imuboard.intr_cm, get_time_ms);
 
+#if 0
+       sei(); //XXX
+       printf_P(PSTR("starting...\r\n"));
+       while (1) {
+               int16_t c;
+               c = uart_recv_nowait(0);
+               if (c >= 0)
+                       printf("%x\n", (uint8_t)c);
+       }
+#endif
+
        cmdline_init();
        /* LOGS */
        error_register_emerg(mylog);
@@ -181,7 +197,12 @@ int main(void)
        rdline_newline(&imuboard.rdl, imuboard.prompt);
 
        imu_init();
+#ifdef GPS_VENUS
        gps_venus_init();
+#endif
+#ifdef GPS_UBX
+       gps_ubx_init();
+#endif
 
        imuboard.flags |= IMUBOARD_F_BOOT_OK;
 
index 3785e574a42bf354e5272662b7017e3a39d2b163..34ecd1c2f2a052686347b0828bc9e53709c88207 100644 (file)
@@ -39,7 +39,7 @@
 /* enable uart0 interrupts if == 1, disable if == 0 */\r
 #define UART0_INTERRUPT_ENABLED  1\r
 \r
-#define UART0_BAUDRATE 57600\r
+#define UART0_BAUDRATE 38400\r
 \r
 /*\r
  * if you enable this, the maximum baudrate you can reach is\r