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100 lines
2.3 KiB
C
100 lines
2.3 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 (UBX binary format)
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* @{
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*
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* @file UBX.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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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 "pios.h"
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#include "UBX.h"
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#include "gpsvelocity.h"
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bool checksum_ubx_message (UBXPacket *ubx)
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{
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int i;
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uint8_t ck_a, ck_b;
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ck_a = ubx->header.class;
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ck_b = ck_a;
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ck_a += ubx->header.id;
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ck_b += ck_a;
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ck_a += ubx->header.len & 0xff;
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ck_b += ck_a;
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ck_a += ubx->header.len >> 8;
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ck_b += ck_a;
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for (i = 0; i < ubx->header.len; i++)
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{
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ck_a += ubx->payload.payload[i];
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ck_b += ck_a;
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}
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if (ubx->header.ck_a == ck_a &&
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ubx->header.ck_b == ck_b)
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{
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return true;
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}
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else
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return false;
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}
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void parse_ubx_nav_velned (UBXPayload payload)
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{
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#if defined(REVOLUTION)
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GPSVelocityData GpsVelocity;
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GPSVelocityGet(&GpsVelocity);
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GpsVelocity.North = (float)payload.nav_velned.velN/100.0f;
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GpsVelocity.East = (float)payload.nav_velned.velE/100.0f;
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GpsVelocity.Down = (float)payload.nav_velned.velD/100.0f;
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GPSVelocitySet(&GpsVelocity);
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#endif
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}
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void parse_ubx_message (UBXPacket *ubx)
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{
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switch (ubx->header.class)
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{
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case UBX_CLASS_NAV:
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switch (ubx->header.id)
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{
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case UBX_ID_VELNED:
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parse_ubx_nav_velned (ubx->payload);
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}
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break;
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}
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}
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