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Experimental u-blox binary data format parser. See "u-blox 6

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Receiver Description" for reference. Currently supports NAV-VELNED
message only and populates it to the GPSVelocity UAVObject.
This commit is contained in:
Werner Backes 2012-04-09 23:14:34 +02:00
parent 422944ce29
commit 4ede7a8af6
2 changed files with 177 additions and 0 deletions
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97
flight/Modules/GPS/UBX.c Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information (UBX binary format)
* @{
*
* @file UBX.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief GPS module, handles GPS and NMEA stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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; either version 3 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 MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "pios.h"
#include "UBX.h"
#include "gpsvelocity.h"
bool checksum_ubx_message (UBXPacket *ubx)
{
int i;
uint8_t ck_a, ck_b;
ck_a = ubx->header.class;
ck_b = ck_a;
ck_a += ubx->header.id;
ck_b += ck_a;
ck_a += ubx->header.len & 0xff;
ck_b += ck_a;
ck_a += ubx->header.len >> 8;
ck_b += ck_a;
for (i = 0; i < ubx->header.len; i++)
{
ck_a += ubx->payload.payload[i];
ck_b += ck_a;
}
if (ubx->header.ck_a == ck_a &&
ubx->header.ck_b == ck_b)
{
return true;
}
else
return false;
}
void parse_ubx_nav_velned (UBXPayload payload)
{
GPSVelocityData GpsVelocity;
GPSVelocityGet(&GpsVelocity);
GpsVelocity.North = (float)payload.nav_velned.velN/100.0;
GpsVelocity.East = (float)payload.nav_velned.velE/100.0;
GpsVelocity.Down = (float)payload.nav_velned.velD/100.0;
GPSVelocitySet(&GpsVelocity);
}
void parse_ubx_message (UBXPacket *ubx)
{
switch (ubx->header.class)
{
case UBX_CLASS_NAV:
switch (ubx->header.id)
{
case UBX_ID_VELNED:
parse_ubx_nav_velned (ubx->payload);
}
break;
}
}

80
flight/Modules/GPS/inc/UBX.h Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information
* @{
*
* @file UBX.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GPS module, handles GPS and NMEA stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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; either version 3 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 MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UBX_H
#define UBX_H
#include "openpilot.h"
#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
#define UBX_SYNC2 0x62
// From u-blox6 receiver protocol specification
// Messages classes
#define UBX_CLASS_NAV 0x01
// Message IDs
#define UBX_ID_VELNED 0x12
// private structures
typedef struct {
uint32_t iTOW; // ms GPS Millisecond Time of Week
int32_t velN; // cm/s NED north velocity
int32_t velE; // cm/s NED east velocity
int32_t velD; // cm/s NED down velocity
uint32_t speed; // cm/s Speed (3-D)
uint32_t gSpeed; // cm/s Ground Speed (2-D)
int32_t heading; // 1e-5 *deg Heading of motion 2-D
uint32_t sAcc; // cm/s Speed Accuracy Estimate
uint32_t cAcc; // 1e-5 *deg Course / Heading Accuracy Estimate
} UBX_NAV_VELNED;
typedef union { // add more message types later
uint8_t payload[0];
UBX_NAV_VELNED nav_velned;
} UBXPayload;
typedef struct {
uint8_t class;
uint8_t id;
uint16_t len;
uint8_t ck_a;
uint8_t ck_b;
} UBXHeader;
typedef struct {
UBXHeader header;
UBXPayload payload;
} UBXPacket;
bool checksum_ubx_message(UBXPacket *);
void parse_ubx_message(UBXPacket *);
#endif /* UBX_H */