From baeb379a827c6f987814cca27472c203ed424e2c Mon Sep 17 00:00:00 2001
From: Cliff Geerdes <cliffsjunk@att.net>
Date: Thu, 11 Feb 2016 00:55:47 -0500
Subject: [PATCH] LP-212 changes from code review
---
flight/modules/GPS/DJI.c | 302 +++++++++---------
flight/modules/GPS/GPS.c | 2 +
flight/modules/GPS/UBX.c | 55 ++--
flight/modules/GPS/inc/DJI.h | 68 ++--
flight/modules/GPS/inc/UBX.h | 2 +-
flight/modules/GPS/ubx_autoconfig.c | 6 +-
flight/modules/Sensors/sensors.c | 8 +-
.../firmware/inc/pios_config.h | 1 +
8 files changed, 226 insertions(+), 218 deletions(-)
diff --git a/flight/modules/GPS/DJI.c b/flight/modules/GPS/DJI.c
index a68c6a9d5..4d7ddf1de 100644
--- a/flight/modules/GPS/DJI.c
+++ b/flight/modules/GPS/DJI.c
@@ -33,47 +33,47 @@
#include "pios_math.h"
#include <pios_helpers.h>
#include <pios_delay.h>
-// dji parser is required for sensorType
-#if (defined(PIOS_INCLUDE_GPS_DJI_PARSER) && defined(PIOS_INCLUDE_GPS_DJI_PARSER))
+
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
+
#include "inc/DJI.h"
#include "inc/GPS.h"
#include <string.h>
-
#include <auxmagsupport.h>
-bool useMag = false;
-
-// this is defined in DJI.c
-extern GPSPositionSensorSensorTypeOptions sensorType;
-
// parsing functions, roughly ordered by reception rate (higher rate messages on top)
-static void parse_dji_mag(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition);
-static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition);
-static void parse_dji_ver(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition);
+static void parse_dji_mag(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+static void parse_dji_ver(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+
+static bool checksum_dji_message(struct DJIPacket *dji);
+static uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
// parse table item
typedef struct {
- uint8_t msgID;
- void (*handler)(struct DJIPacket *, GPSPositionSensorData *GpsPosition);
-} dji_message_handler;
+ uint8_t msgId;
+ void (*handler)(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+} djiMessageHandler;
-const dji_message_handler dji_handler_table[] = {
- { .msgID = DJI_ID_GPS, .handler = &parse_dji_gps },
- { .msgID = DJI_ID_MAG, .handler = &parse_dji_mag },
- { .msgID = DJI_ID_VER, .handler = &parse_dji_ver },
+const djiMessageHandler djiHandlerTable[] = {
+ { .msgId = DJI_ID_GPS, .handler = &parse_dji_gps },
+ { .msgId = DJI_ID_MAG, .handler = &parse_dji_mag },
+ { .msgId = DJI_ID_VER, .handler = &parse_dji_ver },
};
-#define DJI_HANDLER_TABLE_SIZE NELEMENTS(dji_handler_table)
+#define DJI_HANDLER_TABLE_SIZE NELEMENTS(djiHandlerTable)
+static bool useMag = false;
// detected hw version
uint32_t djiHwVersion = -1;
uint32_t djiSwVersion = -1;
+
// parse incoming character stream for messages in DJI binary format
-int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats)
+#define djiPacket ((struct DJIPacket *)parsedDjiStruct)
+int parse_dji_stream(uint8_t *inputBuffer, uint16_t inputBufferLength, char *parsedDjiStruct, GPSPositionSensorData *gpsPosition, struct GPS_RX_STATS *gpsRxStats)
{
- int ret = PARSER_INCOMPLETE; // message not (yet) complete
- enum proto_states {
+ enum ProtocolStates {
START,
DJI_SY2,
DJI_ID,
@@ -83,105 +83,104 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
DJI_CHK2,
FINISHED
};
- enum restart_states {
+ enum RestartStates {
RESTART_WITH_ERROR,
RESTART_NO_ERROR
};
- uint8_t c;
- static enum proto_states proto_state = START;
- static uint16_t rx_count = 0;
- struct DJIPacket *dji = (struct DJIPacket *)gps_rx_buffer;
- uint16_t i = 0;
- uint16_t restart_index = 0;
- enum restart_states restart_state;
- static bool previous_packet_good = true;
- bool current_packet_good;
+ static uint16_t payloadCount = 0;
+ static enum ProtocolStates protocolState = START;
+ static bool previousPacketGood = true;
+ int ret = PARSER_INCOMPLETE; // message not (yet) complete
+ uint16_t inputBufferIndex = 0;
+ uint16_t restartIndex = 0; // input buffer location to restart from
+ enum RestartStates restartState;
+ uint8_t inputByte;
+ bool currentPacketGood;
// 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
- while (i < len) {
- c = rx[i++];
- switch (proto_state) {
+ while (inputBufferIndex < inputBufferLength) {
+ inputByte = inputBuffer[inputBufferIndex++];
+ switch (protocolState) {
case START: // detect protocol
- if (c == DJI_SYNC1) { // first DJI sync char found
- proto_state = DJI_SY2;
+ if (inputByte == DJI_SYNC1) { // first DJI sync char found
+ protocolState = DJI_SY2;
// restart here, at byte after SYNC1, if we fail to parse
- restart_index = i;
+ restartIndex = inputBufferIndex;
}
continue;
case DJI_SY2:
- if (c == DJI_SYNC2) { // second DJI sync char found
- proto_state = DJI_ID;
+ if (inputByte == DJI_SYNC2) { // second DJI sync char found
+ protocolState = DJI_ID;
} else {
- restart_state = RESTART_NO_ERROR;
+ restartState = RESTART_NO_ERROR;
break;
}
continue;
case DJI_ID:
- dji->header.id = c;
- proto_state = DJI_LEN;
+ djiPacket->header.id = inputByte;
+ protocolState = DJI_LEN;
continue;
case DJI_LEN:
- if (c > sizeof(DJIPayload)) {
+ if (inputByte > sizeof(DJIPayload)) {
gpsRxStats->gpsRxOverflow++;
#if defined(PIOS_GPS_MINIMAL)
- restart_state = RESTART_NO_ERROR;
- break;
+ restartState = RESTART_NO_ERROR;
#else
- restart_state = RESTART_WITH_ERROR;
- break;
+ restartState = RESTART_WITH_ERROR;
#endif
+ break;
} else {
- dji->header.len = c;
- if (c == 0) {
- proto_state = DJI_CHK1;
+ djiPacket->header.len = inputByte;
+ if (inputByte == 0) {
+ protocolState = DJI_CHK1;
} else {
- rx_count = 0;
- proto_state = DJI_PAYLOAD;
+ payloadCount = 0;
+ protocolState = DJI_PAYLOAD;
}
}
continue;
case DJI_PAYLOAD:
- if (rx_count < dji->header.len) {
- dji->payload.payload[rx_count] = c;
- if (++rx_count == dji->header.len) {
- proto_state = DJI_CHK1;
+ if (payloadCount < djiPacket->header.len) {
+ djiPacket->payload.payload[payloadCount] = inputByte;
+ if (++payloadCount == djiPacket->header.len) {
+ protocolState = DJI_CHK1;
}
}
continue;
case DJI_CHK1:
- dji->header.ck_a = c;
- proto_state = DJI_CHK2;
+ djiPacket->header.checksumA = inputByte;
+ protocolState = DJI_CHK2;
continue;
case DJI_CHK2:
- dji->header.ck_b = c;
+ djiPacket->header.checksumB = inputByte;
// ignore checksum errors on correct mag packets that nonetheless have checksum errors
// these checksum errors happen very often on clone DJI GPS (never on real DJI GPS)
// and are caused by a clone DJI GPS firmware error
// the errors happen when it is time to send a non-mag packet (4 or 5 per second)
// instead of a mag packet (30 per second)
- current_packet_good = checksum_dji_message(dji);
+ currentPacketGood = checksum_dji_message(djiPacket);
// message complete and valid or (it's a mag packet and the previous "any" packet was good)
- if (current_packet_good || (dji->header.id == DJI_ID_MAG && previous_packet_good)) {
- parse_dji_message(dji, GpsData);
+ if (currentPacketGood || (djiPacket->header.id == DJI_ID_MAG && previousPacketGood)) {
+ parse_dji_message(djiPacket, gpsPosition);
gpsRxStats->gpsRxReceived++;
- proto_state = START;
+ protocolState = START;
// overwrite PARSER_INCOMPLETE with PARSER_COMPLETE
// but don't overwrite PARSER_ERROR with PARSER_COMPLETE
// pass PARSER_ERROR to caller if it happens even once
// only pass PARSER_COMPLETE back to caller if we parsed a full set of GPS data
// that allows the caller to know if we are parsing GPS data
// or just other packets for some reason (DJI clone firmware bug that happens sometimes)
- if (dji->header.id == DJI_ID_GPS && ret == PARSER_INCOMPLETE) {
+ if (djiPacket->header.id == DJI_ID_GPS && ret == PARSER_INCOMPLETE) {
ret = PARSER_COMPLETE; // message complete & processed
}
} else {
gpsRxStats->gpsRxChkSumError++;
- restart_state = RESTART_WITH_ERROR;
- previous_packet_good = false;
+ restartState = RESTART_WITH_ERROR;
+ previousPacketGood = false;
break;
}
- previous_packet_good = current_packet_good;
+ previousPacketGood = currentPacketGood;
continue;
default:
continue;
@@ -192,13 +191,13 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
// and it does the expected thing across calls
// if restarting due to error detected in 2nd call to this function (on split packet)
// then we just restart at index 0, which is mid-packet, not the second byte
- if (restart_state == RESTART_WITH_ERROR) {
+ if (restartState == RESTART_WITH_ERROR) {
ret = PARSER_ERROR; // inform caller that we found at least one error (along with 0 or more good packets)
}
- rx += restart_index; // restart parsing just past the most recent SYNC1
- len -= restart_index;
- i = 0;
- proto_state = START;
+ inputBuffer += restartIndex; // restart parsing just past the most recent SYNC1
+ inputBufferLength -= restartIndex;
+ inputBufferIndex = 0;
+ protocolState = START;
}
return ret;
@@ -208,21 +207,21 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
bool checksum_dji_message(struct DJIPacket *dji)
{
int i;
- uint8_t ck_a, ck_b;
+ uint8_t checksumA, checksumB;
- ck_a = dji->header.id;
- ck_b = ck_a;
+ checksumA = dji->header.id;
+ checksumB = checksumA;
- ck_a += dji->header.len;
- ck_b += ck_a;
+ checksumA += dji->header.len;
+ checksumB += checksumA;
for (i = 0; i < dji->header.len; i++) {
- ck_a += dji->payload.payload[i];
- ck_b += ck_a;
+ checksumA += dji->payload.payload[i];
+ checksumB += checksumA;
}
- if (dji->header.ck_a == ck_a &&
- dji->header.ck_b == ck_b) {
+ if (dji->header.checksumA == checksumA &&
+ dji->header.checksumB == checksumB) {
return true;
} else {
return false;
@@ -230,53 +229,59 @@ bool checksum_dji_message(struct DJIPacket *dji)
}
-static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition)
+static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition)
{
- static bool inited = false;
-
- if (!inited) {
- inited = true;
- // Is there a model calculation we can do to get a reasonable value for geoid separation?
- }
-
- GPSVelocitySensorData GpsVelocity;
- struct DJI_GPS *gps = &dji->payload.gps;
+ GPSVelocitySensorData gpsVelocity;
+ struct DjiGps *djiGps = &dji->payload.gps;
// decode with xor mask
- uint8_t mask = gps->unused5;
- // for (uint8_t i=0; i<dji->header->len; ++i) {
- for (uint8_t i = 0; i < 56; ++i) {
- // if (i!=48 && i!=49 && i<=55) {
- if (i != 48 && i != 49) {
+ uint8_t mask = djiGps->unused5;
+
+ // some bytes at the end are not xored
+ // some bytes in the middle are not xored
+ for (uint8_t i = 0; i < GPS_DECODED_LENGTH; ++i) {
+ if (i != GPS_NOT_XORED_BYTE_1 && i != GPS_NOT_XORED_BYTE_2) {
dji->payload.payload[i] ^= mask;
}
}
- GpsVelocity.North = (float)gps->velN * 0.01f;
- GpsVelocity.East = (float)gps->velE * 0.01f;
- GpsVelocity.Down = (float)gps->velD * 0.01f;
- GPSVelocitySensorSet(&GpsVelocity);
+ gpsVelocity.North = (float)djiGps->velN * 0.01f;
+ gpsVelocity.East = (float)djiGps->velE * 0.01f;
+ gpsVelocity.Down = (float)djiGps->velD * 0.01f;
+ GPSVelocitySensorSet(&gpsVelocity);
- GpsPosition->Groundspeed = sqrtf(GpsVelocity.North * GpsVelocity.North + GpsVelocity.East * GpsVelocity.East);
- GpsPosition->Heading = RAD2DEG(atan2f(-GpsVelocity.East, -GpsVelocity.North)) + 180.0f;
- GpsPosition->Altitude = (float)gps->hMSL * 0.001f;
+ gpsPosition->Groundspeed = sqrtf(gpsVelocity.North * gpsVelocity.North + gpsVelocity.East * gpsVelocity.East);
+ // don't allow a funny number like 4.87416e-06 to show up in Uavo Browser for Heading
+ // smallest groundspeed is 0.01f from (int)1 * (float)0.01
+ // so this is saying if groundspeed is zero
+ if (gpsPosition->Groundspeed < 0.009f) {
+ gpsPosition->Heading = 0.0f;
+ } else {
+ gpsPosition->Heading = RAD2DEG(atan2f(-gpsVelocity.East, -gpsVelocity.North)) + 180.0f;
+ }
+ gpsPosition->Altitude = (float)djiGps->hMSL * 0.001f;
// there is no source of geoid separation data in the DJI protocol
- GpsPosition->GeoidSeparation = 0.0f;
- GpsPosition->Latitude = gps->lat;
- GpsPosition->Longitude = gps->lon;
- GpsPosition->Satellites = gps->numSV;
- GpsPosition->PDOP = gps->pDOP * 0.01f;
- GpsPosition->HDOP = sqrtf((float)gps->nDOP * (float)gps->nDOP + (float)gps->eDOP * (float)gps->eDOP) * 0.01f;
- GpsPosition->VDOP = gps->vDOP * 0.01f;
- if (gps->flags & FLAGS_GPSFIX_OK) {
- GpsPosition->Status = gps->fixType == FIXTYPE_3D ?
+ // Is there a reasonable world model calculation we can do to get a value for geoid separation?
+ gpsPosition->GeoidSeparation = 0.0f;
+ gpsPosition->Latitude = djiGps->lat;
+ gpsPosition->Longitude = djiGps->lon;
+ gpsPosition->Satellites = djiGps->numSV;
+ gpsPosition->PDOP = djiGps->pDOP * 0.01f;
+ gpsPosition->HDOP = sqrtf((float)djiGps->nDOP * (float)djiGps->nDOP + (float)djiGps->eDOP * (float)djiGps->eDOP) * 0.01f;
+ if (gpsPosition->HDOP > 99.99f) {
+ gpsPosition->HDOP = 99.99f;
+ }
+ gpsPosition->VDOP = djiGps->vDOP * 0.01f;
+ if (djiGps->flags & FLAGS_GPSFIX_OK) {
+ gpsPosition->Status = djiGps->fixType == FIXTYPE_3D ?
GPSPOSITIONSENSOR_STATUS_FIX3D : GPSPOSITIONSENSOR_STATUS_FIX2D;
} else {
- GpsPosition->Status = GPSPOSITIONSENSOR_STATUS_NOFIX;
+ gpsPosition->Status = GPSPOSITIONSENSOR_STATUS_NOFIX;
}
- GpsPosition->SensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
- GpsPosition->AutoConfigStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED;
- GPSPositionSensorSet(GpsPosition);
+ gpsPosition->SensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
+ gpsPosition->AutoConfigStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED;
+ // gpsPosition->BaudRate = GPSPOSITIONSENSOR_BAUDRATE_115200;
+ GPSPositionSensorSet(gpsPosition);
// Time is valid, set GpsTime
GPSTimeData GpsTime;
@@ -287,22 +292,22 @@ static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosit
// and maybe make the assumption that most people will fly at 5pm, not 1am
// this is part of the DJI protocol
// see DJI.h for further info
- GpsTime.Year = (int16_t)gps->year + 2000;
- GpsTime.Month = gps->month;
- GpsTime.Day = gps->day;
- GpsTime.Hour = gps->hour;
- GpsTime.Minute = gps->min;
- GpsTime.Second = gps->sec;
+ GpsTime.Year = (int16_t)djiGps->year + 2000;
+ GpsTime.Month = djiGps->month;
+ GpsTime.Day = djiGps->day;
+ GpsTime.Hour = djiGps->hour;
+ GpsTime.Minute = djiGps->min;
+ GpsTime.Second = djiGps->sec;
GPSTimeSet(&GpsTime);
}
-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) {
diff --git a/flight/modules/GPS/GPS.c b/flight/modules/GPS/GPS.c
index 2306df0e9..f147bf5a0 100644
--- a/flight/modules/GPS/GPS.c
+++ b/flight/modules/GPS/GPS.c
@@ -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();
diff --git a/flight/modules/GPS/UBX.c b/flight/modules/GPS/UBX.c
index c80e1d007..368ca6b6c 100644
--- a/flight/modules/GPS/UBX.c
+++ b/flight/modules/GPS/UBX.c
@@ -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)
diff --git a/flight/modules/GPS/inc/DJI.h b/flight/modules/GPS/inc/DJI.h
index cee8deccc..1cf58c82b 100644
--- a/flight/modules/GPS/inc/DJI.h
+++ b/flight/modules/GPS/inc/DJI.h
@@ -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 */
diff --git a/flight/modules/GPS/inc/UBX.h b/flight/modules/GPS/inc/UBX.h
index 96ae75ab8..b7d92b3fa 100644
--- a/flight/modules/GPS/inc/UBX.h
+++ b/flight/modules/GPS/inc/UBX.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;
diff --git a/flight/modules/GPS/ubx_autoconfig.c b/flight/modules/GPS/ubx_autoconfig.c
index 0fb8fc732..14db54527 100644
--- a/flight/modules/GPS/ubx_autoconfig.c
+++ b/flight/modules/GPS/ubx_autoconfig.c
@@ -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;
}
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index a85608e5f..c13b96e5f 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -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
diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
index 5138b10d9..47388c988 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
+++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
@@ -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