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LP-212 changes from code review
This commit is contained in:
Cliff Geerdes
parent
fad0e9f24c
commit
baeb379a82
@ -33,47 +33,47 @@
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#include "pios_math.h"
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#include <pios_helpers.h>
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#include <pios_delay.h>
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// dji parser is required for sensorType
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#if (defined(PIOS_INCLUDE_GPS_DJI_PARSER) && defined(PIOS_INCLUDE_GPS_DJI_PARSER))
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#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
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#include "inc/DJI.h"
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#include "inc/GPS.h"
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#include <string.h>
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#include <auxmagsupport.h>
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bool useMag = false;
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// this is defined in DJI.c
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extern GPSPositionSensorSensorTypeOptions sensorType;
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// parsing functions, roughly ordered by reception rate (higher rate messages on top)
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static void parse_dji_mag(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition);
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static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition);
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static void parse_dji_ver(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition);
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static void parse_dji_mag(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
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static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
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static void parse_dji_ver(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
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static bool checksum_dji_message(struct DJIPacket *dji);
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static uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
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// parse table item
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typedef struct {
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uint8_t msgID;
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void (*handler)(struct DJIPacket *, GPSPositionSensorData *GpsPosition);
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} dji_message_handler;
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uint8_t msgId;
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void (*handler)(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
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} djiMessageHandler;
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const dji_message_handler dji_handler_table[] = {
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{ .msgID = DJI_ID_GPS, .handler = &parse_dji_gps },
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{ .msgID = DJI_ID_MAG, .handler = &parse_dji_mag },
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{ .msgID = DJI_ID_VER, .handler = &parse_dji_ver },
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const djiMessageHandler djiHandlerTable[] = {
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{ .msgId = DJI_ID_GPS, .handler = &parse_dji_gps },
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{ .msgId = DJI_ID_MAG, .handler = &parse_dji_mag },
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{ .msgId = DJI_ID_VER, .handler = &parse_dji_ver },
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};
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#define DJI_HANDLER_TABLE_SIZE NELEMENTS(dji_handler_table)
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#define DJI_HANDLER_TABLE_SIZE NELEMENTS(djiHandlerTable)
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static bool useMag = false;
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// detected hw version
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uint32_t djiHwVersion = -1;
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uint32_t djiSwVersion = -1;
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// parse incoming character stream for messages in DJI binary format
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int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats)
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#define djiPacket ((struct DJIPacket *)parsedDjiStruct)
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int parse_dji_stream(uint8_t *inputBuffer, uint16_t inputBufferLength, char *parsedDjiStruct, GPSPositionSensorData *gpsPosition, struct GPS_RX_STATS *gpsRxStats)
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{
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int ret = PARSER_INCOMPLETE; // message not (yet) complete
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enum proto_states {
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enum ProtocolStates {
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START,
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DJI_SY2,
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DJI_ID,
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@ -83,105 +83,104 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
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DJI_CHK2,
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FINISHED
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};
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enum restart_states {
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enum RestartStates {
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RESTART_WITH_ERROR,
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RESTART_NO_ERROR
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};
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uint8_t c;
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static enum proto_states proto_state = START;
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static uint16_t rx_count = 0;
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struct DJIPacket *dji = (struct DJIPacket *)gps_rx_buffer;
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uint16_t i = 0;
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uint16_t restart_index = 0;
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enum restart_states restart_state;
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static bool previous_packet_good = true;
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bool current_packet_good;
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static uint16_t payloadCount = 0;
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static enum ProtocolStates protocolState = START;
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static bool previousPacketGood = true;
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int ret = PARSER_INCOMPLETE; // message not (yet) complete
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uint16_t inputBufferIndex = 0;
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uint16_t restartIndex = 0; // input buffer location to restart from
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enum RestartStates restartState;
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uint8_t inputByte;
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bool currentPacketGood;
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// switch continue is the normal condition and comes back to here for another byte
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// switch break is the error state that branches to the end and restarts the scan at the byte after the first sync byte
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while (i < len) {
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c = rx[i++];
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switch (proto_state) {
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while (inputBufferIndex < inputBufferLength) {
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inputByte = inputBuffer[inputBufferIndex++];
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switch (protocolState) {
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case START: // detect protocol
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if (c == DJI_SYNC1) { // first DJI sync char found
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proto_state = DJI_SY2;
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if (inputByte == DJI_SYNC1) { // first DJI sync char found
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protocolState = DJI_SY2;
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// restart here, at byte after SYNC1, if we fail to parse
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restart_index = i;
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restartIndex = inputBufferIndex;
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}
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continue;
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case DJI_SY2:
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if (c == DJI_SYNC2) { // second DJI sync char found
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proto_state = DJI_ID;
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if (inputByte == DJI_SYNC2) { // second DJI sync char found
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protocolState = DJI_ID;
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} else {
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restart_state = RESTART_NO_ERROR;
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restartState = RESTART_NO_ERROR;
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break;
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}
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continue;
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case DJI_ID:
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dji->header.id = c;
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proto_state = DJI_LEN;
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djiPacket->header.id = inputByte;
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protocolState = DJI_LEN;
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continue;
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case DJI_LEN:
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if (c > sizeof(DJIPayload)) {
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if (inputByte > sizeof(DJIPayload)) {
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gpsRxStats->gpsRxOverflow++;
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#if defined(PIOS_GPS_MINIMAL)
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restart_state = RESTART_NO_ERROR;
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break;
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restartState = RESTART_NO_ERROR;
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#else
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restart_state = RESTART_WITH_ERROR;
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break;
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restartState = RESTART_WITH_ERROR;
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#endif
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break;
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} else {
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dji->header.len = c;
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if (c == 0) {
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proto_state = DJI_CHK1;
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djiPacket->header.len = inputByte;
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if (inputByte == 0) {
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protocolState = DJI_CHK1;
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} else {
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rx_count = 0;
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proto_state = DJI_PAYLOAD;
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payloadCount = 0;
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protocolState = DJI_PAYLOAD;
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}
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}
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continue;
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case DJI_PAYLOAD:
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if (rx_count < dji->header.len) {
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dji->payload.payload[rx_count] = c;
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if (++rx_count == dji->header.len) {
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proto_state = DJI_CHK1;
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if (payloadCount < djiPacket->header.len) {
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djiPacket->payload.payload[payloadCount] = inputByte;
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if (++payloadCount == djiPacket->header.len) {
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protocolState = DJI_CHK1;
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}
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}
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continue;
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case DJI_CHK1:
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dji->header.ck_a = c;
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proto_state = DJI_CHK2;
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djiPacket->header.checksumA = inputByte;
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protocolState = DJI_CHK2;
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continue;
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case DJI_CHK2:
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dji->header.ck_b = c;
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djiPacket->header.checksumB = inputByte;
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// ignore checksum errors on correct mag packets that nonetheless have checksum errors
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// these checksum errors happen very often on clone DJI GPS (never on real DJI GPS)
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// and are caused by a clone DJI GPS firmware error
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// the errors happen when it is time to send a non-mag packet (4 or 5 per second)
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// instead of a mag packet (30 per second)
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current_packet_good = checksum_dji_message(dji);
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currentPacketGood = checksum_dji_message(djiPacket);
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// message complete and valid or (it's a mag packet and the previous "any" packet was good)
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if (current_packet_good || (dji->header.id == DJI_ID_MAG && previous_packet_good)) {
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parse_dji_message(dji, GpsData);
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if (currentPacketGood || (djiPacket->header.id == DJI_ID_MAG && previousPacketGood)) {
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parse_dji_message(djiPacket, gpsPosition);
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gpsRxStats->gpsRxReceived++;
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proto_state = START;
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protocolState = START;
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// overwrite PARSER_INCOMPLETE with PARSER_COMPLETE
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// but don't overwrite PARSER_ERROR with PARSER_COMPLETE
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// pass PARSER_ERROR to caller if it happens even once
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// only pass PARSER_COMPLETE back to caller if we parsed a full set of GPS data
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// that allows the caller to know if we are parsing GPS data
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// or just other packets for some reason (DJI clone firmware bug that happens sometimes)
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if (dji->header.id == DJI_ID_GPS && ret == PARSER_INCOMPLETE) {
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if (djiPacket->header.id == DJI_ID_GPS && ret == PARSER_INCOMPLETE) {
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ret = PARSER_COMPLETE; // message complete & processed
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}
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} else {
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gpsRxStats->gpsRxChkSumError++;
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restart_state = RESTART_WITH_ERROR;
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previous_packet_good = false;
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restartState = RESTART_WITH_ERROR;
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previousPacketGood = false;
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break;
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}
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previous_packet_good = current_packet_good;
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previousPacketGood = currentPacketGood;
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continue;
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default:
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continue;
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@ -192,13 +191,13 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
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// and it does the expected thing across calls
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// if restarting due to error detected in 2nd call to this function (on split packet)
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// then we just restart at index 0, which is mid-packet, not the second byte
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if (restart_state == RESTART_WITH_ERROR) {
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if (restartState == RESTART_WITH_ERROR) {
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ret = PARSER_ERROR; // inform caller that we found at least one error (along with 0 or more good packets)
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}
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rx += restart_index; // restart parsing just past the most recent SYNC1
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len -= restart_index;
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i = 0;
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proto_state = START;
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inputBuffer += restartIndex; // restart parsing just past the most recent SYNC1
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inputBufferLength -= restartIndex;
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inputBufferIndex = 0;
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protocolState = START;
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}
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return ret;
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@ -208,21 +207,21 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
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bool checksum_dji_message(struct DJIPacket *dji)
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{
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int i;
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uint8_t ck_a, ck_b;
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uint8_t checksumA, checksumB;
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ck_a = dji->header.id;
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ck_b = ck_a;
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checksumA = dji->header.id;
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checksumB = checksumA;
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ck_a += dji->header.len;
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ck_b += ck_a;
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checksumA += dji->header.len;
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checksumB += checksumA;
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for (i = 0; i < dji->header.len; i++) {
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ck_a += dji->payload.payload[i];
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ck_b += ck_a;
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checksumA += dji->payload.payload[i];
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checksumB += checksumA;
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}
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if (dji->header.ck_a == ck_a &&
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dji->header.ck_b == ck_b) {
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if (dji->header.checksumA == checksumA &&
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dji->header.checksumB == checksumB) {
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return true;
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} else {
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return false;
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@ -230,53 +229,59 @@ bool checksum_dji_message(struct DJIPacket *dji)
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}
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static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition)
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static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition)
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{
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static bool inited = false;
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if (!inited) {
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inited = true;
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// Is there a model calculation we can do to get a reasonable value for geoid separation?
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}
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GPSVelocitySensorData GpsVelocity;
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struct DJI_GPS *gps = &dji->payload.gps;
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GPSVelocitySensorData gpsVelocity;
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struct DjiGps *djiGps = &dji->payload.gps;
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// decode with xor mask
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uint8_t mask = gps->unused5;
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// for (uint8_t i=0; i<dji->header->len; ++i) {
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for (uint8_t i = 0; i < 56; ++i) {
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// if (i!=48 && i!=49 && i<=55) {
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if (i != 48 && i != 49) {
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uint8_t mask = djiGps->unused5;
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// some bytes at the end are not xored
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// some bytes in the middle are not xored
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for (uint8_t i = 0; i < GPS_DECODED_LENGTH; ++i) {
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if (i != GPS_NOT_XORED_BYTE_1 && i != GPS_NOT_XORED_BYTE_2) {
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dji->payload.payload[i] ^= mask;
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}
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}
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GpsVelocity.North = (float)gps->velN * 0.01f;
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GpsVelocity.East = (float)gps->velE * 0.01f;
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GpsVelocity.Down = (float)gps->velD * 0.01f;
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GPSVelocitySensorSet(&GpsVelocity);
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gpsVelocity.North = (float)djiGps->velN * 0.01f;
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gpsVelocity.East = (float)djiGps->velE * 0.01f;
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gpsVelocity.Down = (float)djiGps->velD * 0.01f;
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GPSVelocitySensorSet(&gpsVelocity);
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GpsPosition->Groundspeed = sqrtf(GpsVelocity.North * GpsVelocity.North + GpsVelocity.East * GpsVelocity.East);
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GpsPosition->Heading = RAD2DEG(atan2f(-GpsVelocity.East, -GpsVelocity.North)) + 180.0f;
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GpsPosition->Altitude = (float)gps->hMSL * 0.001f;
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gpsPosition->Groundspeed = sqrtf(gpsVelocity.North * gpsVelocity.North + gpsVelocity.East * gpsVelocity.East);
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// don't allow a funny number like 4.87416e-06 to show up in Uavo Browser for Heading
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// smallest groundspeed is 0.01f from (int)1 * (float)0.01
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// so this is saying if groundspeed is zero
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if (gpsPosition->Groundspeed < 0.009f) {
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gpsPosition->Heading = 0.0f;
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} else {
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gpsPosition->Heading = RAD2DEG(atan2f(-gpsVelocity.East, -gpsVelocity.North)) + 180.0f;
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}
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gpsPosition->Altitude = (float)djiGps->hMSL * 0.001f;
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// there is no source of geoid separation data in the DJI protocol
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GpsPosition->GeoidSeparation = 0.0f;
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GpsPosition->Latitude = gps->lat;
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GpsPosition->Longitude = gps->lon;
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GpsPosition->Satellites = gps->numSV;
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GpsPosition->PDOP = gps->pDOP * 0.01f;
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GpsPosition->HDOP = sqrtf((float)gps->nDOP * (float)gps->nDOP + (float)gps->eDOP * (float)gps->eDOP) * 0.01f;
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GpsPosition->VDOP = gps->vDOP * 0.01f;
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if (gps->flags & FLAGS_GPSFIX_OK) {
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GpsPosition->Status = gps->fixType == FIXTYPE_3D ?
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// Is there a reasonable world model calculation we can do to get a value for geoid separation?
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gpsPosition->GeoidSeparation = 0.0f;
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gpsPosition->Latitude = djiGps->lat;
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gpsPosition->Longitude = djiGps->lon;
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gpsPosition->Satellites = djiGps->numSV;
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gpsPosition->PDOP = djiGps->pDOP * 0.01f;
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gpsPosition->HDOP = sqrtf((float)djiGps->nDOP * (float)djiGps->nDOP + (float)djiGps->eDOP * (float)djiGps->eDOP) * 0.01f;
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if (gpsPosition->HDOP > 99.99f) {
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gpsPosition->HDOP = 99.99f;
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}
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gpsPosition->VDOP = djiGps->vDOP * 0.01f;
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if (djiGps->flags & FLAGS_GPSFIX_OK) {
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gpsPosition->Status = djiGps->fixType == FIXTYPE_3D ?
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GPSPOSITIONSENSOR_STATUS_FIX3D : GPSPOSITIONSENSOR_STATUS_FIX2D;
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} else {
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GpsPosition->Status = GPSPOSITIONSENSOR_STATUS_NOFIX;
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gpsPosition->Status = GPSPOSITIONSENSOR_STATUS_NOFIX;
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}
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GpsPosition->SensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
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GpsPosition->AutoConfigStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED;
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GPSPositionSensorSet(GpsPosition);
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gpsPosition->SensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
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gpsPosition->AutoConfigStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED;
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// gpsPosition->BaudRate = GPSPOSITIONSENSOR_BAUDRATE_115200;
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GPSPositionSensorSet(gpsPosition);
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// Time is valid, set GpsTime
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GPSTimeData GpsTime;
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@ -287,22 +292,22 @@ static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosit
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// and maybe make the assumption that most people will fly at 5pm, not 1am
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// this is part of the DJI protocol
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// see DJI.h for further info
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GpsTime.Year = (int16_t)gps->year + 2000;
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GpsTime.Month = gps->month;
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GpsTime.Day = gps->day;
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GpsTime.Hour = gps->hour;
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GpsTime.Minute = gps->min;
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GpsTime.Second = gps->sec;
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GpsTime.Year = (int16_t)djiGps->year + 2000;
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GpsTime.Month = djiGps->month;
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GpsTime.Day = djiGps->day;
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GpsTime.Hour = djiGps->hour;
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GpsTime.Minute = djiGps->min;
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GpsTime.Second = djiGps->sec;
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GPSTimeSet(&GpsTime);
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}
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|
||||
static void parse_dji_mag(struct DJIPacket *dji, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
|
||||
static void parse_dji_mag(struct DJIPacket *dji, __attribute__((unused)) GPSPositionSensorData *gpsPosition)
|
||||
{
|
||||
if (!useMag) {
|
||||
return;
|
||||
}
|
||||
struct DJI_MAG *mag = &dji->payload.mag;
|
||||
struct DjiMag *mag = &dji->payload.mag;
|
||||
union {
|
||||
struct {
|
||||
int8_t mask;
|
||||
@ -318,45 +323,49 @@ static void parse_dji_mag(struct DJIPacket *dji, __attribute__((unused)) GPSPosi
|
||||
}
|
||||
|
||||
|
||||
static void parse_dji_ver(struct DJIPacket *dji, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
|
||||
static void parse_dji_ver(struct DJIPacket *dji, __attribute__((unused)) GPSPositionSensorData *gpsPosition)
|
||||
{
|
||||
struct DJI_VER *ver = &dji->payload.ver;
|
||||
{
|
||||
struct DjiVer *ver = &dji->payload.ver;
|
||||
// decode with xor mask
|
||||
uint8_t mask = (uint8_t)(ver->unused1);
|
||||
|
||||
// decode with xor mask
|
||||
uint8_t mask = (uint8_t)(ver->unused1);
|
||||
// first 4 bytes are unused and 0 before the encryption
|
||||
// so any one of them can be used for the decrypting xor mask
|
||||
for (uint8_t i = VER_FIRST_DECODED_BYTE; i < sizeof(struct DjiVer); ++i) {
|
||||
dji->payload.payload[i] ^= mask;
|
||||
}
|
||||
|
||||
// for (uint8_t i=0; i<dji->header->len; ++i) {
|
||||
for (uint8_t i = 4; i < 12; ++i) {
|
||||
dji->payload.payload[i] ^= mask;
|
||||
djiHwVersion = ver->hwVersion;
|
||||
djiSwVersion = ver->swVersion;
|
||||
}
|
||||
{
|
||||
GPSPositionSensorSensorTypeOptions sensorType;
|
||||
sensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
|
||||
GPSPositionSensorSensorTypeSet((uint8_t *)&sensorType);
|
||||
}
|
||||
|
||||
djiHwVersion = ver->hwVersion;
|
||||
djiSwVersion = ver->swVersion;
|
||||
sensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
|
||||
GPSPositionSensorSensorTypeSet((uint8_t *)&sensorType);
|
||||
}
|
||||
|
||||
|
||||
// DJI message parser
|
||||
// returns UAVObjectID if a UAVObject structure is ready for further processing
|
||||
|
||||
uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition)
|
||||
uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition)
|
||||
{
|
||||
uint32_t id = 0;
|
||||
static bool djiInitialized = false;
|
||||
uint32_t id = 0;
|
||||
|
||||
if (!djiInitialized) {
|
||||
// initialize dop values. If no DOP sentence is received it is safer to initialize them to a high value rather than 0.
|
||||
GpsPosition->HDOP = 99.99f;
|
||||
GpsPosition->PDOP = 99.99f;
|
||||
GpsPosition->VDOP = 99.99f;
|
||||
gpsPosition->HDOP = 99.99f;
|
||||
gpsPosition->PDOP = 99.99f;
|
||||
gpsPosition->VDOP = 99.99f;
|
||||
djiInitialized = true;
|
||||
}
|
||||
|
||||
for (uint8_t i = 0; i < DJI_HANDLER_TABLE_SIZE; i++) {
|
||||
const dji_message_handler *handler = &dji_handler_table[i];
|
||||
if (handler->msgID == dji->header.id) {
|
||||
handler->handler(dji, GpsPosition);
|
||||
const djiMessageHandler *handler = &djiHandlerTable[i];
|
||||
if (handler->msgId == dji->header.id) {
|
||||
handler->handler(dji, gpsPosition);
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -374,6 +383,7 @@ uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *GpsPosi
|
||||
return id;
|
||||
}
|
||||
|
||||
|
||||
void dji_load_mag_settings()
|
||||
{
|
||||
if (auxmagsupport_get_type() == AUXMAGSETTINGS_TYPE_DJI) {
|
||||
|
||||
@ -574,6 +574,7 @@ static void updateHwSettings(UAVObjEvent __attribute__((unused)) *ev)
|
||||
if (gpsPort && gpsEnabled) {
|
||||
// if we have ubx auto config then sometimes we don't set the baud rate
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
// just for UBX, because it has autoconfig
|
||||
// if in startup, or not configured to do ubx and ubx auto config
|
||||
//
|
||||
// on first use of this port (previousGpsPort != gpsPort) we must set the Revo port baud rate
|
||||
@ -588,6 +589,7 @@ static void updateHwSettings(UAVObjEvent __attribute__((unused)) *ev)
|
||||
// always set the baud rate
|
||||
gps_set_fc_baud_from_settings();
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
// just for UBX, because it has subtypes UBX(6), UBX7 and UBX8
|
||||
// changing anything in HwSettings will make it re-verify the sensor type (including auto-baud if not completely disabled)
|
||||
// for auto baud disabled, the user can just try some baud rates and when the baud rate is correct, the sensor type becomes valid
|
||||
gps_ubx_reset_sensor_type();
|
||||
|
||||
@ -34,22 +34,25 @@
|
||||
#include "pios_math.h"
|
||||
#include <pios_helpers.h>
|
||||
#include <pios_delay.h>
|
||||
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
|
||||
|
||||
#include "inc/UBX.h"
|
||||
#include "inc/GPS.h"
|
||||
#include <string.h>
|
||||
|
||||
#ifndef PIOS_GPS_MINIMAL
|
||||
#if !defined(PIOS_GPS_MINIMAL)
|
||||
#include <auxmagsupport.h>
|
||||
|
||||
static bool useMag = false;
|
||||
#endif
|
||||
GPSPositionSensorSensorTypeOptions sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
#endif /* !defined(PIOS_GPS_MINIMAL) */
|
||||
|
||||
// this is set and used by this low level ubx code
|
||||
// it is also reset by the ubx configuration code (UBX6 vs. UBX7) in ubx_autoconfig.c
|
||||
GPSPositionSensorSensorTypeOptions ubxSensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
|
||||
static bool usePvt = false;
|
||||
static uint32_t lastPvtTime = 0;
|
||||
|
||||
|
||||
// parse table item
|
||||
typedef struct {
|
||||
uint8_t msgClass;
|
||||
@ -58,31 +61,27 @@ typedef struct {
|
||||
} ubx_message_handler;
|
||||
|
||||
// parsing functions, roughly ordered by reception rate (higher rate messages on top)
|
||||
|
||||
static void parse_ubx_nav_posllh(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
static void parse_ubx_nav_velned(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
static void parse_ubx_nav_sol(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
static void parse_ubx_nav_dop(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
#ifndef PIOS_GPS_MINIMAL
|
||||
#if !defined(PIOS_GPS_MINIMAL)
|
||||
static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
|
||||
static void parse_ubx_op_sys(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
static void parse_ubx_op_mag(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
|
||||
static void parse_ubx_ack_ack(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
static void parse_ubx_ack_nak(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
|
||||
static void parse_ubx_mon_ver(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
|
||||
#endif
|
||||
#endif /* !defined(PIOS_GPS_MINIMAL) */
|
||||
|
||||
const ubx_message_handler ubx_handler_table[] = {
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .handler = &parse_ubx_nav_posllh },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .handler = &parse_ubx_nav_velned },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .handler = &parse_ubx_nav_sol },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .handler = &parse_ubx_nav_dop },
|
||||
#ifndef PIOS_GPS_MINIMAL
|
||||
#if !defined(PIOS_GPS_MINIMAL)
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .handler = &parse_ubx_nav_pvt },
|
||||
{ .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_MAG, .handler = &parse_ubx_op_mag },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .handler = &parse_ubx_nav_svinfo },
|
||||
@ -93,7 +92,7 @@ const ubx_message_handler ubx_handler_table[] = {
|
||||
{ .msgClass = UBX_CLASS_ACK, .msgID = UBX_ID_ACK_NAK, .handler = &parse_ubx_ack_nak },
|
||||
|
||||
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_VER, .handler = &parse_ubx_mon_ver },
|
||||
#endif
|
||||
#endif /* !defined(PIOS_GPS_MINIMAL) */
|
||||
};
|
||||
#define UBX_HANDLER_TABLE_SIZE NELEMENTS(ubx_handler_table)
|
||||
|
||||
@ -106,11 +105,10 @@ struct UBX_ACK_NAK ubxLastNak;
|
||||
|
||||
// If a PVT sentence is received in the last UBX_PVT_TIMEOUT (ms) timeframe it disables VELNED/POSLLH/SOL/TIMEUTC
|
||||
#define UBX_PVT_TIMEOUT (1000)
|
||||
// parse incoming character stream for messages in UBX binary format
|
||||
|
||||
// parse incoming character stream for messages in UBX binary format
|
||||
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats)
|
||||
{
|
||||
int ret = PARSER_INCOMPLETE; // message not (yet) complete
|
||||
enum proto_states {
|
||||
START,
|
||||
UBX_SY2,
|
||||
@ -127,13 +125,14 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
RESTART_WITH_ERROR,
|
||||
RESTART_NO_ERROR
|
||||
};
|
||||
uint8_t c;
|
||||
static enum proto_states proto_state = START;
|
||||
static uint16_t rx_count = 0;
|
||||
static enum proto_states proto_state = START;
|
||||
struct UBXPacket *ubx = (struct UBXPacket *)gps_rx_buffer;
|
||||
int ret = PARSER_INCOMPLETE; // message not (yet) complete
|
||||
uint16_t i = 0;
|
||||
uint16_t restart_index = 0;
|
||||
enum restart_states restart_state;
|
||||
uint8_t c;
|
||||
|
||||
// switch continue is the normal condition and comes back to here for another byte
|
||||
// switch break is the error state that branches to the end and restarts the scan at the byte after the first sync byte
|
||||
@ -173,11 +172,10 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
gpsRxStats->gpsRxOverflow++;
|
||||
#if defined(PIOS_GPS_MINIMAL)
|
||||
restart_state = RESTART_NO_ERROR;
|
||||
break;
|
||||
#else
|
||||
restart_state = RESTART_WITH_ERROR;
|
||||
break;
|
||||
#endif
|
||||
break;
|
||||
} else {
|
||||
if (ubx->header.len == 0) {
|
||||
proto_state = UBX_CHK1;
|
||||
@ -247,10 +245,8 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
// Keep track of various GPS messages needed to make up a single UAVO update
|
||||
// time-of-week timestamp is used to correlate matching messages
|
||||
|
||||
#define POSLLH_RECEIVED (1 << 0)
|
||||
#define STATUS_RECEIVED (1 << 1)
|
||||
#define DOP_RECEIVED (1 << 2)
|
||||
@ -380,6 +376,7 @@ static void parse_ubx_nav_velned(struct UBXPacket *ubx, GPSPositionSensorData *G
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if !defined(PIOS_GPS_MINIMAL)
|
||||
static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition)
|
||||
{
|
||||
@ -509,12 +506,12 @@ static void parse_ubx_mon_ver(struct UBXPacket *ubx, __attribute__((unused)) GPS
|
||||
{
|
||||
struct UBX_MON_VER *mon_ver = &ubx->payload.mon_ver;
|
||||
|
||||
ubxHwVersion = atoi(mon_ver->hwVersion);
|
||||
sensorType = (ubxHwVersion >= 80000) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX8 :
|
||||
((ubxHwVersion >= 70000) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX7 : GPSPOSITIONSENSOR_SENSORTYPE_UBX);
|
||||
ubxHwVersion = atoi(mon_ver->hwVersion);
|
||||
ubxSensorType = (ubxHwVersion >= UBX_HW_VERSION_8) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX8 :
|
||||
((ubxHwVersion >= UBX_HW_VERSION_7) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX7 : GPSPOSITIONSENSOR_SENSORTYPE_UBX);
|
||||
// send sensor type right now because on UBX NEMA we don't get a full set of messages
|
||||
// and we want to be able to see sensor type even on UBX NEMA GPS's
|
||||
GPSPositionSensorSensorTypeSet((uint8_t *)&sensorType);
|
||||
GPSPositionSensorSensorTypeSet((uint8_t *)&ubxSensorType);
|
||||
}
|
||||
|
||||
static void parse_ubx_op_sys(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
|
||||
@ -543,10 +540,8 @@ static void parse_ubx_op_mag(struct UBXPacket *ubx, __attribute__((unused)) GPSP
|
||||
}
|
||||
#endif /* if !defined(PIOS_GPS_MINIMAL) */
|
||||
|
||||
|
||||
// UBX message parser
|
||||
// returns UAVObjectID if a UAVObject structure is ready for further processing
|
||||
|
||||
uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition)
|
||||
{
|
||||
uint32_t id = 0;
|
||||
@ -569,7 +564,7 @@ uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosi
|
||||
}
|
||||
}
|
||||
|
||||
GpsPosition->SensorType = sensorType;
|
||||
GpsPosition->SensorType = ubxSensorType;
|
||||
|
||||
if (msgtracker.msg_received == ALL_RECEIVED) {
|
||||
// leave BaudRate field alone!
|
||||
@ -602,5 +597,5 @@ void op_gpsv9_load_mag_settings()
|
||||
useMag = false;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
#endif // PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
#endif // !defined(PIOS_GPS_MINIMAL)
|
||||
#endif // defined(PIOS_INCLUDE_GPS_UBX_PARSER)
|
||||
|
||||
@ -169,7 +169,7 @@ typedef enum {
|
||||
*/
|
||||
|
||||
// DJI GPS packet
|
||||
struct DJI_GPS { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
struct DjiGps { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
struct { // YYYYYYYMMMMDDDDDHHHHMMMMMMSSSSSS
|
||||
uint32_t sec : 6;
|
||||
uint32_t min : 6;
|
||||
@ -178,29 +178,29 @@ struct DJI_GPS { // byte offset from beginning of packet, subtract 5 for struct
|
||||
uint32_t month : 4;
|
||||
uint32_t year : 7;
|
||||
}; // BYTE 5-8 (DT): date and time, see details above
|
||||
int32_t lon; // BYTE 9-12 (LO): longitude (x10^7, degree decimal)
|
||||
int32_t lat; // BYTE 13-16 (LA): latitude (x10^7, degree decimal)
|
||||
int32_t hMSL; // BYTE 17-20 (AL): altitude (in millimeters) (is this MSL or geoid?)
|
||||
int32_t lon; // BYTE 9-12 (LO): longitude (x10^7, degree decimal)
|
||||
int32_t lat; // BYTE 13-16 (LA): latitude (x10^7, degree decimal)
|
||||
int32_t hMSL; // BYTE 17-20 (AL): altitude (in millimeters) (is this MSL or geoid?)
|
||||
uint32_t hAcc; // BYTE 21-24 (HA): horizontal accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
uint32_t vAcc; // BYTE 25-28 (VA): vertical accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
uint32_t unused1; // BYTE 29-32: ??? (seems to be always 0)
|
||||
int32_t velN; // BYTE 33-36 (NV): NED north velocity (see uBlox NAV-VELNED message for details)
|
||||
int32_t velE; // BYTE 37-40 (EV): NED east velocity (see uBlox NAV-VELNED message for details)
|
||||
int32_t velD; // BYTE 41-44 (DV): NED down velocity (see uBlox NAV-VELNED message for details)
|
||||
int32_t velN; // BYTE 33-36 (NV): NED north velocity (see uBlox NAV-VELNED message for details)
|
||||
int32_t velE; // BYTE 37-40 (EV): NED east velocity (see uBlox NAV-VELNED message for details)
|
||||
int32_t velD; // BYTE 41-44 (DV): NED down velocity (see uBlox NAV-VELNED message for details)
|
||||
uint16_t pDOP; // BYTE 45-46 (PD): position DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t vDOP; // BYTE 47-48 (VD): vertical DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t nDOP; // BYTE 49-50 (ND): northing DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t eDOP; // BYTE 51-52 (ED): easting DOP (see uBlox NAV-DOP message for details)
|
||||
uint8_t numSV; // BYTE 53 (NS): number of satellites (not XORed)
|
||||
uint8_t unused2; // BYTE 54: ??? (not XORed, seems to be always 0)
|
||||
uint8_t fixType; // BYTE 55 (FT): fix type (0 - no lock, 2 - 2D lock, 3 - 3D lock, not sure if other values can be expected
|
||||
// see uBlox NAV-SOL message for details)
|
||||
uint8_t unused3; // BYTE 56: ??? (seems to be always 0)
|
||||
uint8_t flags; // BYTE 57 (SF): fix status flags (see uBlox NAV-SOL message for details)
|
||||
uint8_t numSV; // BYTE 53 (NS): number of satellites (not XORed)
|
||||
uint8_t unused2; // BYTE 54: ??? (not XORed, seems to be always 0)
|
||||
uint8_t fixType; // BYTE 55 (FT): fix type (0 - no lock, 2 - 2D lock, 3 - 3D lock, not sure if other values can be expected
|
||||
// see uBlox NAV-SOL message for details)
|
||||
uint8_t unused3; // BYTE 56: ??? (seems to be always 0)
|
||||
uint8_t flags; // BYTE 57 (SF): fix status flags (see uBlox NAV-SOL message for details)
|
||||
uint16_t unused4; // BYTE 58-59: ??? (seems to be always 0)
|
||||
uint8_t unused5; // BYTE 60 (XM): not sure yet, but I use it as the XOR mask
|
||||
uint8_t unused5; // BYTE 60 (XM): not sure yet, but I use it as the XOR mask
|
||||
uint16_t seqNo; // BYTE 61-62 (SN): sequence number (not XORed), once there is a lock
|
||||
// increases with every message. When the lock is lost later LSB and MSB are swapped with every message.
|
||||
// increases with every message. When the lock is lost later LSB and MSB are swapped (in all messages where lock is lost).
|
||||
} __attribute__((packed));
|
||||
|
||||
#define FLAGS_GPSFIX_OK (1 << 0)
|
||||
@ -208,12 +208,16 @@ struct DJI_GPS { // byte offset from beginning of packet, subtract 5 for struct
|
||||
#define FLAGS_WKNSET (1 << 2)
|
||||
#define FLAGS_TOWSET (1 << 3)
|
||||
|
||||
#define FIXTYPE_NO_FIX 0
|
||||
#define FIXTYPE_DEAD_RECKON 0x01 // Dead Reckoning only
|
||||
#define FIXTYPE_2D 0x02 // 2D-Fix
|
||||
#define FIXTYPE_3D 0x03 // 3D-Fix
|
||||
#define FIXTYPE_GNSS_DEAD_RECKON 0x04 // GNSS + dead reckoning combined
|
||||
#define FIXTYPE_TIME_ONLY 0x05 // Time only fix
|
||||
#define FIXTYPE_NO_FIX 0x00 /* No Fix */
|
||||
#define FIXTYPE_DEAD_RECKON 0x01 /* Dead Reckoning only */
|
||||
#define FIXTYPE_2D 0x02 /* 2D-Fix */
|
||||
#define FIXTYPE_3D 0x03 /* 3D-Fix */
|
||||
#define FIXTYPE_GNSS_DEAD_RECKON 0x04 /* GNSS + dead reckoning combined */
|
||||
#define FIXTYPE_TIME_ONLY 0x05 /* Time only fix */
|
||||
|
||||
#define GPS_DECODED_LENGTH offsetof(struct DjiGps, seqNo)
|
||||
#define GPS_NOT_XORED_BYTE_1 offsetof(struct DjiGps, numSV)
|
||||
#define GPS_NOT_XORED_BYTE_2 offsetof(struct DjiGps, unused2)
|
||||
|
||||
|
||||
/*
|
||||
@ -260,7 +264,7 @@ struct DJI_GPS { // byte offset from beginning of packet, subtract 5 for struct
|
||||
y any a (y and x?) values, convert radians to degrees and add 360 if the result is negative.
|
||||
*/
|
||||
|
||||
struct DJI_MAG { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
struct DjiMag { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
int16_t x; // BYTE 5-6 (CX): compass X axis data (signed) - see comments below
|
||||
int16_t y; // BYTE 7-8 (CY): compass Y axis data (signed) - see comments below
|
||||
int16_t z; // BYTE 9-10 (CZ): compass Z axis data (signed) - see comments below
|
||||
@ -294,26 +298,27 @@ struct DJI_MAG { // byte offset from beginning of packet, subtract 5 for struct
|
||||
BYTE 17-18 (CS): checksum, calculated the same way as for uBlox binary messages
|
||||
*/
|
||||
|
||||
struct DJI_VER { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
struct DjiVer { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
uint32_t unused1; // BYTE 5-8" ??? (seems to be always 0)
|
||||
uint32_t swVersion; // BYTE 9-12 (FW): firmware version
|
||||
uint32_t hwVersion; // BYTE 13-16 (HW): hardware id
|
||||
} __attribute__((packed));
|
||||
#define VER_FIRST_DECODED_BYTE offsetof(struct DjiVer, swVersion)
|
||||
|
||||
|
||||
typedef union {
|
||||
uint8_t payload[0];
|
||||
// Nav Class
|
||||
struct DJI_GPS gps;
|
||||
struct DJI_MAG mag;
|
||||
struct DJI_VER ver;
|
||||
struct DjiGps gps;
|
||||
struct DjiMag mag;
|
||||
struct DjiVer ver;
|
||||
} DJIPayload;
|
||||
|
||||
struct DJIHeader {
|
||||
uint8_t id;
|
||||
uint8_t len;
|
||||
uint8_t ck_a; // these are not part of the dji header, they are actually in the trailer
|
||||
uint8_t ck_b; // but they are kept here for parsing ease
|
||||
uint8_t checksumA; // these are not part of the dji header, they are actually in the trailer
|
||||
uint8_t checksumB; // but they are kept here for parsing ease
|
||||
} __attribute__((packed));
|
||||
|
||||
struct DJIPacket {
|
||||
@ -321,12 +326,7 @@ struct DJIPacket {
|
||||
DJIPayload payload;
|
||||
} __attribute__((packed));
|
||||
|
||||
extern GPSPositionSensorSensorTypeOptions sensorType;
|
||||
|
||||
bool checksum_dji_message(struct DJIPacket *);
|
||||
uint32_t parse_dji_message(struct DJIPacket *, GPSPositionSensorData *);
|
||||
|
||||
int parse_dji_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
|
||||
int parse_dji_stream(uint8_t *inputBuffer, uint16_t inputBufferLength, char *parsedDjiStruct, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *GpsRxStats);
|
||||
void dji_load_mag_settings();
|
||||
|
||||
#endif /* DJI_H */
|
||||
|
||||
@ -613,7 +613,7 @@ union UBXSENTPACKET {
|
||||
|
||||
// Used by AutoConfig code
|
||||
extern int32_t ubxHwVersion;
|
||||
extern GPSPositionSensorSensorTypeOptions sensorType;
|
||||
extern GPSPositionSensorSensorTypeOptions ubxSensorType;
|
||||
extern struct UBX_ACK_ACK ubxLastAck;
|
||||
extern struct UBX_ACK_NAK ubxLastNak;
|
||||
|
||||
|
||||
@ -239,10 +239,10 @@ void gps_ubx_reset_sensor_type()
|
||||
// is this needed?
|
||||
// what happens if two tasks / threads try to do an XyzSet() at the same time?
|
||||
if (__sync_fetch_and_add(&mutex, 1) == 0) {
|
||||
ubxHwVersion = -1;
|
||||
ubxHwVersion = -1;
|
||||
baud_to_try_index -= 1; // undo postincrement and start with the one that was most recently successful
|
||||
sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
GPSPositionSensorSensorTypeSet(&sensorType);
|
||||
ubxSensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
GPSPositionSensorSensorTypeSet(&ubxSensorType);
|
||||
// make the sensor type / autobaud code time out immediately to send the request immediately
|
||||
status->lastStepTimestampRaw += 0x8000000UL;
|
||||
}
|
||||
|
||||
@ -195,7 +195,7 @@ static uint8_t baro_temp_calibration_count = 0;
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
// Allow AuxMag to be disabled without reboot
|
||||
// because the other mags are that way
|
||||
static bool useMag = false;
|
||||
static bool useAuxMag = false;
|
||||
#endif
|
||||
|
||||
/**
|
||||
@ -497,7 +497,7 @@ static void handleMag(float *samples, float temperature)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
static void handleAuxMag(float *samples)
|
||||
{
|
||||
if (useMag) {
|
||||
if (useAuxMag) {
|
||||
auxmagsupport_publish_samples(samples, AUXMAGSENSOR_STATUS_OK);
|
||||
}
|
||||
}
|
||||
@ -639,9 +639,9 @@ void aux_hmc5x83_load_mag_settings()
|
||||
uint8_t magType = auxmagsupport_get_type();
|
||||
|
||||
if (magType == AUXMAGSETTINGS_TYPE_I2C || magType == AUXMAGSETTINGS_TYPE_FLEXI) {
|
||||
useMag = true;
|
||||
useAuxMag = true;
|
||||
} else {
|
||||
useMag = false;
|
||||
useAuxMag = false;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -6,6 +6,7 @@
|
||||
* @{
|
||||
* @file pios_config.h
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
|
||||
* @brief PiOS configuration header, the compile time config file for the PIOS.
|
||||
* Defines which PiOS libraries and features are included in the firmware.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user