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841b0d3d6d
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
253 lines
7.1 KiB
C
253 lines
7.1 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup GSPModule GPS Module
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* @brief Process GPS information
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* @{
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*
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* @file 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 "GPS.h"
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#include <stdbool.h>
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#include "NMEA.h"
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#include "gpsposition.h"
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#include "homelocation.h"
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#include "gpstime.h"
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#include "WorldMagModel.h"
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#include "CoordinateConversions.h"
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// constants/macros/typdefs
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#define NMEA_BUFFERSIZE 128
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#define GPS_TIMEOUT_MS 500
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// Private functions
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static void gpsTask(void *parameters);
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static void setHomeLocation(GPSPositionData * gpsData);
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// Global variables
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// Private constants
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// Unfortunately need a good size stack for the WMM calculation
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#define STACK_SIZE_BYTES 800
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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// Private types
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// Private variables
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static uint32_t gpsPort;
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static xTaskHandle gpsTaskHandle;
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static char gps_rx_buffer[NMEA_BUFFERSIZE];
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static uint32_t timeOfLastUpdateMs;
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static uint32_t numUpdates;
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static uint32_t numChecksumErrors;
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static uint32_t numParsingErrors;
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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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signed portBASE_TYPE xReturn;
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// TODO: Get gps settings object
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gpsPort = PIOS_COM_GPS;
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// Start gps task
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xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
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return 0;
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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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char c;
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portTickType xDelay = 100 / portTICK_RATE_MS;
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GPSPositionData GpsData;
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uint32_t timeNowMs;
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bool start_flag = false;
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bool found_cr = false;
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uint8_t rx_count = 0;
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//#define DISABLE_GPS_TRESHOLD
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//#define ENABLE_GPS_ONESENTENCE
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//#define ENABLE_DEFAULT_NMEA
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#ifdef DISABLE_GPS_TRESHOLD
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PIOS_COM_SendStringNonBlocking(gpsPort,"$PMTK397,0*23\r\n");
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#endif
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#ifdef ENABLE_GPS_ONESENTENCE
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PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,2*6C\r\n");
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#endif
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#ifdef ENABLE_DEFAULT_NMEA
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PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,3*6D\r\n");
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#endif
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// Loop forever
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while (1) {
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/* This blocks the task until there is something on the buffer */
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while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0) {
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c = PIOS_COM_ReceiveBuffer(gpsPort);
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/* detect start while acquiring stream */
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if(!start_flag && (c == '$')) {
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start_flag = true;
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found_cr = false;
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rx_count = 0;
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} else if (!start_flag)
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continue;
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if(rx_count >= NMEA_BUFFERSIZE) {
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/*
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* The buffer is already full and we haven't found a valid NMEA sentence.
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* Flush the buffer and note the overflow event.
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*/
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gpsRxOverflow++;
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start_flag = false;
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found_cr = false;
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rx_count = 0;
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} else {
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gps_rx_buffer[rx_count] = c;
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rx_count++;
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}
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/* look for ending '\r\n' sequence */
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if (!found_cr && (c == '\r') )
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found_cr = true;
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else if (found_cr && (c != '\n') )
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found_cr = false; // false end flag
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else if (found_cr && (c == '\n') ) {
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/* prepare to parse next sentence */
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start_flag = false;
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found_cr = false;
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rx_count = 0;
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/*
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* Our rxBuffer must look like this now:
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* [0] = '$'
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* ... = zero or more bytes of sentence payload
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* [end_pos - 1] = '\r'
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* [end_pos] = '\n'
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*
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* Prepare to consume the sentence from the buffer
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*/
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/* Validate the checksum over the sentence */
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if (!NMEA_checksum(&gps_rx_buffer[1])) {
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/* Invalid checksum. May indicate dropped characters on Rx. */
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++numChecksumErrors;
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} else {
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/* Valid checksum, use this packet to update the GPS position */
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if (!NMEA_update_position(&gps_rx_buffer[1])) {
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++numParsingErrors;
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} else {
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++numUpdates;
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}
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timeOfLastUpdateMs = xTaskGetTickCount() * portTICK_RATE_MS;
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}
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}
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}
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// Check for GPS timeout
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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if ((timeNowMs - timeOfLastUpdateMs) > GPS_TIMEOUT_MS) {
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GPSPositionGet(&GpsData);
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GpsData.Status = GPSPOSITION_STATUS_NOGPS;
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GPSPositionSet(&GpsData);
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AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
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} else {
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// Had an update
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HomeLocationData home;
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HomeLocationGet(&home);
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GPSPositionGet(&GpsData);
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if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE)) {
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setHomeLocation(&GpsData);
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}
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//criteria for GPS-OK taken from this post...
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//http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
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if ((GpsData.PDOP<3.5)&&(GpsData.Satellites>=7))AlarmsClear(SYSTEMALARMS_ALARM_GPS);
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else if (GpsData.Status == GPSPOSITION_STATUS_FIX3D) AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_WARNING);
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else AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
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}
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// Block task until next update
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vTaskDelay(xDelay);
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}
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}
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static void setHomeLocation(GPSPositionData * gpsData)
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{
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HomeLocationData home;
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HomeLocationGet(&home);
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GPSTimeData gps;
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GPSTimeGet(&gps);
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if (gps.Year >= 2000) {
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// Store LLA
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home.Latitude = gpsData->Latitude;
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home.Longitude = gpsData->Longitude;
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home.Altitude = gpsData->Altitude + gpsData->GeoidSeparation;
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// Compute home ECEF coordinates and the rotation matrix into NED
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double LLA[3] = { ((double)home.Latitude) / 10e6, ((double)home.Longitude) / 10e6, ((double)home.Altitude) };
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double ECEF[3];
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RneFromLLA(LLA, (float (*)[3])home.RNE);
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LLA2ECEF(LLA, ECEF);
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// TODO: Currently UAVTalk only supports float but these conversions use double
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// need to find out if they require that precision and if so extend UAVTAlk
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home.ECEF[0] = (int32_t) (ECEF[0] * 100);
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home.ECEF[1] = (int32_t) (ECEF[1] * 100);
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home.ECEF[2] = (int32_t) (ECEF[2] * 100);
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// Compute magnetic flux direction at home location
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if (WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]) >= 0)
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{ // calculations appeared to go OK
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home.Set = HOMELOCATION_SET_TRUE;
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HomeLocationSet(&home);
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}
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}
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}
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/**
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* @}
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* @}
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*/
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