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Merge remote-tracking branch 'revo/D-Lite/ubx-parser' into sim
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James Cotton
commit
59da9deffb
@ -1,42 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup GSPModule GPS Module
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* @brief Process GPS information
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* @{
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*
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* @file NMEA.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GPS module, handles GPS and NMEA stream
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef NMEA_H
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#define NMEA_H
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#include <stdbool.h>
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#include <stdint.h>
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#define NMEA_MAX_PACKET_LENGTH 96
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extern bool NMEA_update_position(char *nmea_sentence);
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extern bool NMEA_checksum(char *nmea_sentence);
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#endif /* NMEA_H */
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@ -35,10 +35,6 @@
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#include <stdbool.h>
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#include "NMEA.h"
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#include "UBX.h"
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#include "gpsposition.h"
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#include "homelocation.h"
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#include "gpstime.h"
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@ -48,6 +44,9 @@
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#include "CoordinateConversions.h"
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#include "hwsettings.h"
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#include "NMEA.h"
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#include "UBX.h"
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// ****************
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// Private functions
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@ -202,6 +201,8 @@ static void gpsTask(void *parameters)
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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GPSPositionGet(&GpsData);
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// Loop forever
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while (1)
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{
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@ -345,7 +346,7 @@ static void gpsTask(void *parameters)
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}
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else
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{ // Valid checksum, use this packet to update the GPS position
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if (!NMEA_update_position(&gps_rx_buffer[1])) {
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if (!NMEA_update_position(&gps_rx_buffer[1],&GpsData)) {
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//PIOS_DEBUG_PinHigh(2);
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++numParsingErrors;
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//PIOS_DEBUG_PinLow(2);
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@ -366,7 +367,6 @@ static void gpsTask(void *parameters)
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{ // we have not received any valid GPS sentences for a while.
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// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
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GPSPositionGet(&GpsData);
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GpsData.Status = GPSPOSITION_STATUS_NOGPS;
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GPSPositionSet(&GpsData);
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AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
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@ -375,8 +375,6 @@ static void gpsTask(void *parameters)
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else
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{ // we appear to be receiving GPS sentences OK, we've had an update
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GPSPositionGet(&GpsData);
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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HomeLocationData home;
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HomeLocationGet(&home);
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@ -30,8 +30,8 @@
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#include "openpilot.h"
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#include "pios.h"
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#include "NMEA.h"
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#include "gpsposition.h"
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#include "NMEA.h"
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#include "gpstime.h"
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#include "gpssatellites.h"
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@ -285,7 +285,7 @@ static bool NMEA_latlon_to_fixed_point(int32_t * latlon, char *nmea_latlon, bool
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* \return true if the sentence was successfully parsed
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* \return false if any errors were encountered with the parsing
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*/
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bool NMEA_update_position(char *nmea_sentence)
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bool NMEA_update_position(char *nmea_sentence, GPSPositionData *GpsData)
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{
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char* p = nmea_sentence;
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char* params[MAX_NB_PARAMS];
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@ -340,11 +340,9 @@ bool NMEA_update_position(char *nmea_sentence)
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DEBUG_MSG("%s %d ", params[0], parser->cnt);
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#endif
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// Send the message to then parser and get it update the GpsData
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GPSPositionData GpsData;
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GPSPositionGet(&GpsData);
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bool gpsDataUpdated;
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bool gpsDataUpdated = false;
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if (!parser->handler(&GpsData, &gpsDataUpdated, params, nbParams)) {
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if (!parser->handler(GpsData, &gpsDataUpdated, params, nbParams)) {
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// Parse failed
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DEBUG_MSG("PARSE FAILED (\"%s\")\n", params[0]);
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return false;
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@ -356,7 +354,7 @@ bool NMEA_update_position(char *nmea_sentence)
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#ifdef DEBUG_MGSID_IN
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DEBUG_MSG("U");
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#endif
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GPSPositionSet(&GpsData);
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GPSPositionSet(GpsData);
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}
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#ifdef DEBUG_MGSID_IN
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@ -431,7 +429,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
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DEBUG_MSG(" DateOfFix=%s\n\n", param[9]);
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#endif
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*gpsDataUpdated = true;
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*gpsDataUpdated = false;
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#if !defined(PIOS_GPS_MINIMAL)
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GPSTimeData gpst;
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@ -489,7 +487,7 @@ static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
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DEBUG_MSG(" GroundSpeed=%s %s\n", param[5], param[6]);
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#endif
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*gpsDataUpdated = true;
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*gpsDataUpdated = false;
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GpsData->Heading = NMEA_real_to_float(param[1]);
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GpsData->Groundspeed = NMEA_real_to_float(param[5]) * 0.51444f; // to m/s
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@ -555,7 +553,7 @@ static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
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uint8_t nbSentences = atoi(param[1]);
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uint8_t currSentence = atoi(param[2]);
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*gpsDataUpdated = true;
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*gpsDataUpdated = false;
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if (nbSentences < 1 || nbSentences > 8 || currSentence < 1 || currSentence > nbSentences)
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return false;
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@ -639,7 +637,7 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
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DEBUG_MSG(" VDOP=%s\n", param[17]);
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#endif
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*gpsDataUpdated = true;
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*gpsDataUpdated = false;
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switch (atoi(param[2])) {
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case 1:
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@ -73,9 +73,9 @@ void parse_ubx_nav_velned (UBXPayload payload)
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GPSVelocityData GpsVelocity;
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GPSVelocityGet(&GpsVelocity);
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GpsVelocity.North = (float)payload.nav_velned.velN/100.0;
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GpsVelocity.East = (float)payload.nav_velned.velE/100.0;
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GpsVelocity.Down = (float)payload.nav_velned.velD/100.0;
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GpsVelocity.North = (float)payload.nav_velned.velN/100.0f;
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GpsVelocity.East = (float)payload.nav_velned.velE/100.0f;
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GpsVelocity.Down = (float)payload.nav_velned.velD/100.0f;
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GPSVelocitySet(&GpsVelocity);
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}
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@ -34,7 +34,7 @@
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#include <stdbool.h>
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#include <stdint.h>
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extern bool NMEA_update_position(char *nmea_sentence);
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extern bool NMEA_update_position(char *nmea_sentence, GPSPositionData *GpsData);
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extern bool NMEA_checksum(char *nmea_sentence);
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#endif /* NMEA_H */
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