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22698313fc
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@351 ebee16cc-31ac-478f-84a7-5cbb03baadba
491 lines
14 KiB
C
491 lines
14 KiB
C
/**
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******************************************************************************
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*
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* @file GPS.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GPS module, handles GPS and NMEA stream
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "gpsinfo.h"
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#include "buffer.h"
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// constants/macros/typdefs
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#define NMEA_BUFFERSIZE 110
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// Message Codes
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#define NMEA_NODATA 0 // No data. Packet not available, bad, or not decoded
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#define NMEA_GPGGA 1 // Global Positioning System Fix Data
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#define NMEA_GPVTG 2 // Course over ground and ground speed
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#define NMEA_GPGLL 3 // Geographic position - latitude/longitude
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#define NMEA_GPGSV 4 // GPS satellites in view
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#define NMEA_GPGSA 5 // GPS DOP and active satellites
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#define NMEA_GPRMC 6 // Recommended minimum specific GPS data
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#define NMEA_UNKNOWN 0xFF// Packet received but not known
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// Debugging
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//#define GPSDEBUG
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#ifdef GPSDEBUG
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#define NMEA_DEBUG_PKT ///< define to enable debug of all NMEA messages
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#define NMEA_DEBUG_GGA ///< define to enable debug of GGA messages
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#define NMEA_DEBUG_VTG ///< define to enable debug of VTG messages
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#endif
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// functions
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void nmeaInit(void);
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uint8_t* nmeaGetPacketBuffer(void);
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uint8_t nmeaProcess(cBuffer* rxBuffer);
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void nmeaProcessGPGGA(uint8_t* packet);
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void nmeaProcessGPVTG(uint8_t* packet);
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// Private functions
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static void gpsTask(void* parameters);
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static void periodicEventHandler(UAVObjEvent* ev);
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static void registerObject(UAVObjHandle obj);
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static void updateObject(UAVObjHandle obj);
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static int32_t addObject(UAVObjHandle obj);
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static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
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cBuffer gpsRxBuffer;
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static char gpsRxData[512];
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// Global variables
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GpsInfoType GpsInfo;
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uint8_t NmeaPacket[NMEA_BUFFERSIZE];
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// Private constants
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#define MAX_QUEUE_SIZE 20
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#define STACK_SIZE 100
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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#define REQ_TIMEOUT_MS 500
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#define MAX_RETRIES 3
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// Private types
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// Private variables
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static COMPortTypeDef gpsPort;
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static xQueueHandle queue;
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static xTaskHandle gpsTaskHandle;
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/**
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* Initialise the gps module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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int32_t GpsInitialize(void)
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{
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// TODO: Get gps settings object
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gpsPort = COM_USART2;
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// Init input buffer size 512
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bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 512);
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// Process all registered objects and connect queue for updates
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UAVObjIterate(®isterObject);
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// Start gps task
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xTaskCreate(gpsTask, (signed char*)"GPS", STACK_SIZE, NULL, TASK_PRIORITY, &gpsTaskHandle);
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return 0;
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}
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/**
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* Register a new object, adds object to local list and connects the queue depending on the object's
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* telemetry settings.
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* \param[in] obj Object to connect
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*/
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void registerObject(UAVObjHandle obj)
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{
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// Setup object for periodic updates
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addObject(obj);
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// Setup object for telemetry updates
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updateObject(obj);
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}
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/**
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* Update object's queue connections and timer, depending on object's settings
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* \param[in] obj Object to updates
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*/
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void updateObject(UAVObjHandle obj)
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{
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UAVObjMetadata metadata;
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int32_t eventMask;
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// Get metadata
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UAVObjGetMetadata(obj, &metadata);
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// Setup object depending on update mode
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if(metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC)
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{
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// Set update period
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setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
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// Connect queue
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eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if(UAVObjIsMetaobject(obj))
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{
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eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
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}
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UAVObjConnectQueue(obj, queue, eventMask);
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}
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else if(metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE)
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{
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// Set update period
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setUpdatePeriod(obj, 0);
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// Connect queue
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eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if(UAVObjIsMetaobject(obj))
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{
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eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
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}
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UAVObjConnectQueue(obj, queue, eventMask);
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}
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else if(metadata.telemetryUpdateMode == UPDATEMODE_MANUAL)
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{
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// Set update period
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setUpdatePeriod(obj, 0);
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// Connect queue
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eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if(UAVObjIsMetaobject(obj))
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{
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eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
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}
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UAVObjConnectQueue(obj, queue, eventMask);
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}
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else if(metadata.telemetryUpdateMode == UPDATEMODE_NEVER)
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{
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// Set update period
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setUpdatePeriod(obj, 0);
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// Disconnect queue
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UAVObjDisconnectQueue(obj, queue);
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}
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}
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/**
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* gps task. Processes input buffer. It does not return.
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*/
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static void gpsTask(void* parameters)
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{
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int32_t gpsRxOverflow=0;
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// Loop forever
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while(1)
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{
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/* This blocks the task until there is something on the buffer */
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while(PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
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{
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if( !bufferAddToEnd(&gpsRxBuffer, PIOS_COM_ReceiveBuffer(gpsPort)) )
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{
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// no space in buffer
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// count overflow
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gpsRxOverflow++;
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break;
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}
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}
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nmeaProcess(&gpsRxBuffer);
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}
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}
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/**
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* Event handler for periodic object updates (called by the event dispatcher)
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*/
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static void periodicEventHandler(UAVObjEvent* ev)
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{
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// Push event to the telemetry queue
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xQueueSend(queue, ev, 0); // do not wait if queue is full
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}
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/**
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* Setup object for periodic updates.
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* \param[in] obj The object to update
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* \return 0 Success
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* \return -1 Failure
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*/
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static int32_t addObject(UAVObjHandle obj)
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{
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UAVObjEvent ev;
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// Add object for periodic updates
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ev.obj = obj;
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ev.instId = UAVOBJ_ALL_INSTANCES;
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ev.event = EV_UPDATED_MANUAL;
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return EventPeriodicCreate(&ev, &periodicEventHandler, 0);
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}
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/**
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* Set update period of object (it must be already setup for periodic updates)
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* \param[in] obj The object to update
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* \param[in] updatePeriodMs The update period in ms, if zero then periodic updates are disabled
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* \return 0 Success
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* \return -1 Failure
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*/
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static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
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{
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UAVObjEvent ev;
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// Add object for periodic updates
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ev.obj = obj;
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ev.instId = UAVOBJ_ALL_INSTANCES;
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ev.event = EV_UPDATED_MANUAL;
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return EventPeriodicUpdate(&ev, &periodicEventHandler, updatePeriodMs);
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}
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uint8_t* nmeaGetPacketBuffer(void)
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{
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return NmeaPacket;
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}
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/**
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* Prosesses NMEA sentences
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* \param[in] cBuffer for prosessed nmea sentences
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* \return Message code for found packet
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* \return 0xFF NO packet found
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*/
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uint8_t nmeaProcess(cBuffer* rxBuffer)
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{
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uint8_t foundpacket = NMEA_NODATA;
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uint8_t startFlag = FALSE;
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//u08 data;
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uint16_t i,j;
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// process the receive buffer
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// go through buffer looking for packets
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while(rxBuffer->datalength)
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{
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// look for a start of NMEA packet
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if(bufferGetAtIndex(rxBuffer,0) == '$')
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{
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// found start
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startFlag = TRUE;
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// when start is found, we leave it intact in the receive buffer
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// in case the full NMEA string is not completely received. The
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// start will be detected in the next nmeaProcess iteration.
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// done looking for start
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break;
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}
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else
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bufferGetFromFront(rxBuffer);
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}
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// if we detected a start, look for end of packet
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if(startFlag)
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{
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for(i=1; i<(rxBuffer->datalength)-1; i++)
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{
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// check for end of NMEA packet <CR><LF>
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if((bufferGetAtIndex(rxBuffer,i) == '\r') && (bufferGetAtIndex(rxBuffer,i+1) == '\n'))
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{
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// have a packet end
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// dump initial '$'
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bufferGetFromFront(rxBuffer);
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// copy packet to NmeaPacket
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for(j=0; j<(i-1); j++)
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{
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// although NMEA strings should be 80 characters or less,
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// receive buffer errors can generate erroneous packets.
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// Protect against packet buffer overflow
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if(j<(NMEA_BUFFERSIZE-1))
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NmeaPacket[j] = bufferGetFromFront(rxBuffer);
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else
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bufferGetFromFront(rxBuffer);
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}
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// null terminate it
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NmeaPacket[j] = 0;
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// dump <CR><LF> from rxBuffer
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bufferGetFromFront(rxBuffer);
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bufferGetFromFront(rxBuffer);
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//DEBUG
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//iprintf("$%s\r\n",NmeaPacket);
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//
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#ifdef NMEA_DEBUG_PKT
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printf("$%s\r\n",NmeaPacket);
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#endif
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// found a packet
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// done with this processing session
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foundpacket = NMEA_UNKNOWN;
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break;
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}
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}
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}
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if(foundpacket)
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{
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// check message type and process appropriately
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if(!strncmp((char *)NmeaPacket, "GPGGA", 5))
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{
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// process packet of this type
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nmeaProcessGPGGA(NmeaPacket);
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// report packet type
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foundpacket = NMEA_GPGGA;
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}
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else if(!strncmp((char *)NmeaPacket, "GPVTG", 5))
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{
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// process packet of this type
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nmeaProcessGPVTG(NmeaPacket);
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// report packet type
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foundpacket = NMEA_GPVTG;
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}
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}
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else if(rxBuffer->datalength >= rxBuffer->size)
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{
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// if we found no packet, and the buffer is full
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// we're logjammed, flush entire buffer
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bufferFlush(rxBuffer);
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}
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return foundpacket;
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}
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//#define CHAR_GPS
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/**
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* Prosesses NMEA GPGGA sentences
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* \param[in] Buffer for parsed nmea GPGGA sentence
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*/
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void nmeaProcessGPGGA(uint8_t* packet)
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{
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uint8_t i,j=0;
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char* endptr;
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double degrees, minutesfrac;
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#ifdef NMEA_DEBUG_GGA
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printf("NMEA: %s\r\n",packet);
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#endif
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// start parsing just after "GPGGA,"
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i = 6;
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// attempt to reject empty packets right away
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if(packet[i]==',' && packet[i+1]==',')
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return;
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// get UTC time [hhmmss.sss]
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GpsInfo.PosLLA.TimeOfFix.f = strtod((char *)&packet[i], &endptr);
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while(packet[i++] != ','); // next field: latitude
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// get latitude [ddmm.mmmmm]
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GpsInfo.PosLLA.lat.f = strtod((char *)&packet[i], &endptr);
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// convert to pure degrees [dd.dddd] format
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minutesfrac = modf(GpsInfo.PosLLA.lat.f/100, °rees);
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GpsInfo.PosLLA.lat.f = degrees + (minutesfrac*100)/60;
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// convert to radians
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GpsInfo.PosLLA.lat.f *= (M_PI/180);
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#ifdef CHAR_GPS
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while(packet[i++] != ',')
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GpsInfo.PosLLA.lat.c[j++]=packet[i-1]; // next field: N/S indicator
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GpsInfo.PosLLA.lat.c[j]=0;
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#else
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while(packet[i++] != ','); // next field: N/S indicator
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#endif
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// correct latitute for N/S
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if(packet[i] == 'S') GpsInfo.PosLLA.lat.f = -GpsInfo.PosLLA.lat.f;
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while(packet[i++] != ','); // next field: longitude
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// get longitude [ddmm.mmmmm]
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GpsInfo.PosLLA.lon.f = strtod((char *)&packet[i], &endptr);
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// convert to pure degrees [dd.dddd] format
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minutesfrac = modf(GpsInfo.PosLLA.lon.f/100, °rees);
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GpsInfo.PosLLA.lon.f = degrees + (minutesfrac*100)/60;
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// convert to radians
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GpsInfo.PosLLA.lon.f *= (M_PI/180);
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#ifdef CHAR_GPS
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j=0;
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while(packet[i++] != ',')
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GpsInfo.PosLLA.lon.c[j++]=packet[i-1]; // next field: E/W indicator
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GpsInfo.PosLLA.lon.c[j]=0;
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#else
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while(packet[i++] != ','); // next field: E/W indicator
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#endif
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// correct latitute for E/W
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if(packet[i] == 'W') GpsInfo.PosLLA.lon.f = -GpsInfo.PosLLA.lon.f;
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while(packet[i++] != ','); // next field: position fix status
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// position fix status
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// 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS
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// check for good position fix
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if( (packet[i] != '0') && (packet[i] != ',') )
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GpsInfo.PosLLA.updates++;
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while(packet[i++] != ','); // next field: satellites used
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// get number of satellites used in GPS solution
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GpsInfo.numSVs = atoi((char *)&packet[i]);
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while(packet[i++] != ','); // next field: HDOP (horizontal dilution of precision)
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while(packet[i++] != ','); // next field: altitude
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// get altitude (in meters)
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GpsInfo.PosLLA.alt.f = strtod((char *)&packet[i], &endptr);
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while(packet[i++] != ','); // next field: altitude units, always 'M'
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while(packet[i++] != ','); // next field: geoid seperation
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while(packet[i++] != ','); // next field: seperation units
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while(packet[i++] != ','); // next field: DGPS age
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while(packet[i++] != ','); // next field: DGPS station ID
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while(packet[i++] != '*'); // next field: checksum
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}
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/**
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* Prosesses NMEA GPVTG sentences
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* \param[in] Buffer for parsed nmea GPVTG sentence
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*/
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void nmeaProcessGPVTG(uint8_t* packet)
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{
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uint8_t i;
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char* endptr;
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#ifdef NMEA_DEBUG_VTG
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printf("NMEA: %s\r\n",packet);
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#endif
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// start parsing just after "GPVTG,"
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i = 6;
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// attempt to reject empty packets right away
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if(packet[i]==',' && packet[i+1]==',')
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return;
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// get course (true north ref) in degrees [ddd.dd]
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GpsInfo.VelHS.heading.f = strtod((char *)&packet[i], &endptr);
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while(packet[i++] != ','); // next field: 'T'
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while(packet[i++] != ','); // next field: course (magnetic north)
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// get course (magnetic north ref) in degrees [ddd.dd]
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//GpsInfo.VelHS.heading.f = strtod(&packet[i], &endptr);
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while(packet[i++] != ','); // next field: 'M'
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while(packet[i++] != ','); // next field: speed (knots)
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// get speed in knots
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//GpsInfo.VelHS.speed.f = strtod(&packet[i], &endptr);
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while(packet[i++] != ','); // next field: 'N'
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while(packet[i++] != ','); // next field: speed (km/h)
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// get speed in km/h
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GpsInfo.VelHS.speed.f = strtod((char *)&packet[i], &endptr);
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while(packet[i++] != ','); // next field: 'K'
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while(packet[i++] != '*'); // next field: checksum
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GpsInfo.VelHS.updates++;
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}
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