void gps_ubx_read_message(void) {
if (gps_ubx.msg_class == UBX_NAV_ID) {
if (gps_ubx.msg_id == UBX_NAV_SOL_ID) {
/* get hardware clock ticks */
gps_time_sync.t0_ticks = sys_time.nb_tick;
gps_time_sync.t0_tow = UBX_NAV_SOL_ITOW(gps_ubx.msg_buf);
gps_time_sync.t0_tow_frac = UBX_NAV_SOL_Frac(gps_ubx.msg_buf);
gps.tow = UBX_NAV_SOL_ITOW(gps_ubx.msg_buf);
gps.week = UBX_NAV_SOL_week(gps_ubx.msg_buf);
gps.fix = UBX_NAV_SOL_GPSfix(gps_ubx.msg_buf);
gps.ecef_pos.x = UBX_NAV_SOL_ECEF_X(gps_ubx.msg_buf);
gps.ecef_pos.y = UBX_NAV_SOL_ECEF_Y(gps_ubx.msg_buf);
gps.ecef_pos.z = UBX_NAV_SOL_ECEF_Z(gps_ubx.msg_buf);
gps.pacc = UBX_NAV_SOL_Pacc(gps_ubx.msg_buf);
gps.ecef_vel.x = UBX_NAV_SOL_ECEFVX(gps_ubx.msg_buf);
gps.ecef_vel.y = UBX_NAV_SOL_ECEFVY(gps_ubx.msg_buf);
gps.ecef_vel.z = UBX_NAV_SOL_ECEFVZ(gps_ubx.msg_buf);
gps.sacc = UBX_NAV_SOL_Sacc(gps_ubx.msg_buf);
gps.pdop = UBX_NAV_SOL_PDOP(gps_ubx.msg_buf);
gps.num_sv = UBX_NAV_SOL_numSV(gps_ubx.msg_buf);
#ifdef GPS_LED
if (gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
}
else {
LED_TOGGLE(GPS_LED);
}
#endif
} else if (gps_ubx.msg_id == UBX_NAV_POSLLH_ID) {
gps.lla_pos.lat = RadOfDeg(UBX_NAV_POSLLH_LAT(gps_ubx.msg_buf));
gps.lla_pos.lon = RadOfDeg(UBX_NAV_POSLLH_LON(gps_ubx.msg_buf));
gps.lla_pos.alt = UBX_NAV_POSLLH_HEIGHT(gps_ubx.msg_buf);
gps.hmsl = UBX_NAV_POSLLH_HMSL(gps_ubx.msg_buf);
#if GPS_USE_LATLONG
/* Computes from (lat, long) in the referenced UTM zone */
struct LlaCoor_f lla_f;
lla_f.lat = ((float) gps.lla_pos.lat) / 1e7;
lla_f.lon = ((float) gps.lla_pos.lon) / 1e7;
struct UtmCoor_f utm_f;
utm_f.zone = nav_utm_zone0;
/* convert to utm */
utm_of_lla_f(&utm_f, &lla_f);
/* copy results of utm conversion */
gps.utm_pos.east = utm_f.east*100;
gps.utm_pos.north = utm_f.north*100;
gps.utm_pos.alt = gps.lla_pos.alt;
gps.utm_pos.zone = nav_utm_zone0;
#else
}
else if (gps_ubx.msg_id == UBX_NAV_POSUTM_ID) {
gps.utm_pos.east = UBX_NAV_POSUTM_EAST(gps_ubx.msg_buf);
gps.utm_pos.north = UBX_NAV_POSUTM_NORTH(gps_ubx.msg_buf);
uint8_t hem = UBX_NAV_POSUTM_HEM(gps_ubx.msg_buf);
if (hem == UTM_HEM_SOUTH)
gps.utm_pos.north -= 1000000000; /* Subtract false northing: -10000km */
gps.utm_pos.alt = UBX_NAV_POSUTM_ALT(gps_ubx.msg_buf)*10;
gps.hmsl = gps.utm_pos.alt;
gps.lla_pos.alt = gps.utm_pos.alt; // FIXME: with UTM only you do not receive ellipsoid altitude
gps.utm_pos.zone = UBX_NAV_POSUTM_ZONE(gps_ubx.msg_buf);
#endif
}
else if (gps_ubx.msg_id == UBX_NAV_VELNED_ID) {
gps.speed_3d = UBX_NAV_VELNED_Speed(gps_ubx.msg_buf);
gps.gspeed = UBX_NAV_VELNED_GSpeed(gps_ubx.msg_buf);
gps.ned_vel.x = UBX_NAV_VELNED_VEL_N(gps_ubx.msg_buf);
gps.ned_vel.y = UBX_NAV_VELNED_VEL_E(gps_ubx.msg_buf);
gps.ned_vel.z = UBX_NAV_VELNED_VEL_D(gps_ubx.msg_buf);
// Ublox gives I4 heading in 1e-5 degrees, apparenty from 0 to 360 degrees (not -180 to 180)
// I4 max = 2^31 = 214 * 1e5 * 100 < 360 * 1e7: overflow on angles over 214 deg -> casted to -214 deg
// solution: First to radians, and then scale to 1e-7 radians
// First x 10 for loosing less resolution, then to radians, then multiply x 10 again
gps.course = (RadOfDeg(UBX_NAV_VELNED_Heading(gps_ubx.msg_buf)*10)) * 10;
gps.cacc = (RadOfDeg(UBX_NAV_VELNED_CAcc(gps_ubx.msg_buf)*10)) * 10;
gps.tow = UBX_NAV_VELNED_ITOW(gps_ubx.msg_buf);
gps_ubx.have_velned = 1;
}
else if (gps_ubx.msg_id == UBX_NAV_SVINFO_ID) {
gps.nb_channels = Min(UBX_NAV_SVINFO_NCH(gps_ubx.msg_buf), GPS_NB_CHANNELS);
uint8_t i;
for(i = 0; i < gps.nb_channels; i++) {
gps.svinfos[i].svid = UBX_NAV_SVINFO_SVID(gps_ubx.msg_buf, i);
gps.svinfos[i].flags = UBX_NAV_SVINFO_Flags(gps_ubx.msg_buf, i);
gps.svinfos[i].qi = UBX_NAV_SVINFO_QI(gps_ubx.msg_buf, i);
gps.svinfos[i].cno = UBX_NAV_SVINFO_CNO(gps_ubx.msg_buf, i);
gps.svinfos[i].elev = UBX_NAV_SVINFO_Elev(gps_ubx.msg_buf, i);
gps.svinfos[i].azim = UBX_NAV_SVINFO_Azim(gps_ubx.msg_buf, i);
}
}
else if (gps_ubx.msg_id == UBX_NAV_STATUS_ID) {
gps.fix = UBX_NAV_STATUS_GPSfix(gps_ubx.msg_buf);
gps_ubx.status_flags = UBX_NAV_STATUS_Flags(gps_ubx.msg_buf);
gps_ubx.sol_flags = UBX_NAV_SOL_Flags(gps_ubx.msg_buf);
}
}
#if USE_GPS_UBX_RXM_RAW
else if (gps_ubx.msg_class == UBX_RXM_ID) {
if (gps_ubx.msg_id == UBX_RXM_RAW_ID) {
gps_ubx_raw.iTOW = UBX_RXM_RAW_iTOW(gps_ubx.msg_buf);
gps_ubx_raw.week = UBX_RXM_RAW_week(gps_ubx.msg_buf);
gps_ubx_raw.numSV = UBX_RXM_RAW_numSV(gps_ubx.msg_buf);
uint8_t i;
for (i = 0; i < gps_ubx_raw.numSV; i++) {
gps_ubx_raw.measures[i].cpMes = UBX_RXM_RAW_cpMes(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].prMes = UBX_RXM_RAW_prMes(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].doMes = UBX_RXM_RAW_doMes(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].sv = UBX_RXM_RAW_sv(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].mesQI = UBX_RXM_RAW_mesQI(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].cno = UBX_RXM_RAW_cno(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].lli = UBX_RXM_RAW_lli(gps_ubx.msg_buf, i);
}
}
}
#endif
}
void gps_ubx_read_message(void)
{
if (gps_ubx.msg_class == UBX_NAV_ID) {
if (gps_ubx.msg_id == UBX_NAV_SOL_ID) {
/* get hardware clock ticks */
gps_ubx_time_sync.t0_ticks = sys_time.nb_tick;
gps_ubx_time_sync.t0_tow = UBX_NAV_SOL_ITOW(gps_ubx.msg_buf);
gps_ubx_time_sync.t0_tow_frac = UBX_NAV_SOL_Frac(gps_ubx.msg_buf);
gps_ubx.state.tow = UBX_NAV_SOL_ITOW(gps_ubx.msg_buf);
gps_ubx.state.week = UBX_NAV_SOL_week(gps_ubx.msg_buf);
#if ! USE_GPS_UBX_RTCM
gps_ubx.state.fix = UBX_NAV_SOL_GPSfix(gps_ubx.msg_buf);
#endif
gps_ubx.state.ecef_pos.x = UBX_NAV_SOL_ECEF_X(gps_ubx.msg_buf);
gps_ubx.state.ecef_pos.y = UBX_NAV_SOL_ECEF_Y(gps_ubx.msg_buf);
gps_ubx.state.ecef_pos.z = UBX_NAV_SOL_ECEF_Z(gps_ubx.msg_buf);
SetBit(gps_ubx.state.valid_fields, GPS_VALID_POS_ECEF_BIT);
gps_ubx.state.pacc = UBX_NAV_SOL_Pacc(gps_ubx.msg_buf);
gps_ubx.state.ecef_vel.x = UBX_NAV_SOL_ECEFVX(gps_ubx.msg_buf);
gps_ubx.state.ecef_vel.y = UBX_NAV_SOL_ECEFVY(gps_ubx.msg_buf);
gps_ubx.state.ecef_vel.z = UBX_NAV_SOL_ECEFVZ(gps_ubx.msg_buf);
SetBit(gps_ubx.state.valid_fields, GPS_VALID_VEL_ECEF_BIT);
gps_ubx.state.sacc = UBX_NAV_SOL_Sacc(gps_ubx.msg_buf);
gps_ubx.state.pdop = UBX_NAV_SOL_PDOP(gps_ubx.msg_buf);
gps_ubx.state.num_sv = UBX_NAV_SOL_numSV(gps_ubx.msg_buf);
#ifdef GPS_LED
if (gps_ubx.state.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
} else {
LED_TOGGLE(GPS_LED);
}
#endif
} else if (gps_ubx.msg_id == UBX_NAV_POSLLH_ID) {
gps_ubx.state.lla_pos.lat = UBX_NAV_POSLLH_LAT(gps_ubx.msg_buf);
gps_ubx.state.lla_pos.lon = UBX_NAV_POSLLH_LON(gps_ubx.msg_buf);
gps_ubx.state.lla_pos.alt = UBX_NAV_POSLLH_HEIGHT(gps_ubx.msg_buf);
SetBit(gps_ubx.state.valid_fields, GPS_VALID_POS_LLA_BIT);
gps_ubx.state.hmsl = UBX_NAV_POSLLH_HMSL(gps_ubx.msg_buf);
SetBit(gps_ubx.state.valid_fields, GPS_VALID_HMSL_BIT);
} else if (gps_ubx.msg_id == UBX_NAV_POSUTM_ID) {
gps_ubx.state.utm_pos.east = UBX_NAV_POSUTM_EAST(gps_ubx.msg_buf);
gps_ubx.state.utm_pos.north = UBX_NAV_POSUTM_NORTH(gps_ubx.msg_buf);
uint8_t hem = UBX_NAV_POSUTM_HEM(gps_ubx.msg_buf);
if (hem == UTM_HEM_SOUTH) {
gps_ubx.state.utm_pos.north -= 1000000000; /* Subtract false northing: -10000km */
}
gps_ubx.state.utm_pos.alt = UBX_NAV_POSUTM_ALT(gps_ubx.msg_buf) * 10;
gps_ubx.state.utm_pos.zone = UBX_NAV_POSUTM_ZONE(gps_ubx.msg_buf);
SetBit(gps_ubx.state.valid_fields, GPS_VALID_POS_UTM_BIT);
gps_ubx.state.hmsl = gps_ubx.state.utm_pos.alt;
SetBit(gps_ubx.state.valid_fields, GPS_VALID_HMSL_BIT);
} else if (gps_ubx.msg_id == UBX_NAV_VELNED_ID) {
gps_ubx.state.speed_3d = UBX_NAV_VELNED_Speed(gps_ubx.msg_buf);
gps_ubx.state.gspeed = UBX_NAV_VELNED_GSpeed(gps_ubx.msg_buf);
gps_ubx.state.ned_vel.x = UBX_NAV_VELNED_VEL_N(gps_ubx.msg_buf);
gps_ubx.state.ned_vel.y = UBX_NAV_VELNED_VEL_E(gps_ubx.msg_buf);
gps_ubx.state.ned_vel.z = UBX_NAV_VELNED_VEL_D(gps_ubx.msg_buf);
SetBit(gps_ubx.state.valid_fields, GPS_VALID_VEL_NED_BIT);
// Ublox gives I4 heading in 1e-5 degrees, apparenty from 0 to 360 degrees (not -180 to 180)
// I4 max = 2^31 = 214 * 1e5 * 100 < 360 * 1e7: overflow on angles over 214 deg -> casted to -214 deg
// solution: First to radians, and then scale to 1e-7 radians
// First x 10 for loosing less resolution, then to radians, then multiply x 10 again
gps_ubx.state.course = (RadOfDeg(UBX_NAV_VELNED_Heading(gps_ubx.msg_buf) * 10)) * 10;
SetBit(gps_ubx.state.valid_fields, GPS_VALID_COURSE_BIT);
gps_ubx.state.cacc = (RadOfDeg(UBX_NAV_VELNED_CAcc(gps_ubx.msg_buf) * 10)) * 10;
gps_ubx.state.tow = UBX_NAV_VELNED_ITOW(gps_ubx.msg_buf);
} else if (gps_ubx.msg_id == UBX_NAV_SVINFO_ID) {
gps_ubx.state.nb_channels = Min(UBX_NAV_SVINFO_NCH(gps_ubx.msg_buf), GPS_NB_CHANNELS);
uint8_t i;
for (i = 0; i < gps_ubx.state.nb_channels; i++) {
gps_ubx.state.svinfos[i].svid = UBX_NAV_SVINFO_SVID(gps_ubx.msg_buf, i);
gps_ubx.state.svinfos[i].flags = UBX_NAV_SVINFO_Flags(gps_ubx.msg_buf, i);
gps_ubx.state.svinfos[i].qi = UBX_NAV_SVINFO_QI(gps_ubx.msg_buf, i);
gps_ubx.state.svinfos[i].cno = UBX_NAV_SVINFO_CNO(gps_ubx.msg_buf, i);
gps_ubx.state.svinfos[i].elev = UBX_NAV_SVINFO_Elev(gps_ubx.msg_buf, i);
gps_ubx.state.svinfos[i].azim = UBX_NAV_SVINFO_Azim(gps_ubx.msg_buf, i);
}
} else if (gps_ubx.msg_id == UBX_NAV_STATUS_ID) {
#if !USE_GPS_UBX_RTCM
gps_ubx.state.fix = UBX_NAV_STATUS_GPSfix(gps_ubx.msg_buf);
#endif
gps_ubx.status_flags = UBX_NAV_STATUS_Flags(gps_ubx.msg_buf);
gps_ubx.sol_flags = UBX_NAV_SOL_Flags(gps_ubx.msg_buf);
} else if (gps_ubx.msg_id == UBX_NAV_RELPOSNED_ID) {
#if USE_GPS_UBX_RTCM
uint8_t version = UBX_NAV_RELPOSNED_VERSION(gps_ubx.msg_buf);
if (version == NAV_RELPOSNED_VERSION) {
gps_relposned.iTOW = UBX_NAV_RELPOSNED_ITOW(gps_ubx.msg_buf);
gps_relposned.refStationId = UBX_NAV_RELPOSNED_refStationId(gps_ubx.msg_buf);
gps_relposned.relPosN = UBX_NAV_RELPOSNED_RELPOSN(gps_ubx.msg_buf);
gps_relposned.relPosE = UBX_NAV_RELPOSNED_RELPOSE(gps_ubx.msg_buf);
gps_relposned.relPosD = UBX_NAV_RELPOSNED_RELPOSD(gps_ubx.msg_buf) ;
gps_relposned.relPosHPN = UBX_NAV_RELPOSNED_RELPOSNHP(gps_ubx.msg_buf);
gps_relposned.relPosHPE = UBX_NAV_RELPOSNED_RELPOSEHP(gps_ubx.msg_buf);
gps_relposned.relPosHPD = UBX_NAV_RELPOSNED_RELPOSDHP(gps_ubx.msg_buf);
gps_relposned.accN = UBX_NAV_RELPOSNED_Nacc(gps_ubx.msg_buf);
gps_relposned.accE = UBX_NAV_RELPOSNED_Eacc(gps_ubx.msg_buf);
gps_relposned.accD = UBX_NAV_RELPOSNED_Dacc(gps_ubx.msg_buf);
uint8_t flags = UBX_NAV_RELPOSNED_Flags(gps_ubx.msg_buf);
gps_relposned.carrSoln = RTCMgetbitu(&flags, 3, 2);
gps_relposned.relPosValid = RTCMgetbitu(&flags, 5, 1);
gps_relposned.diffSoln = RTCMgetbitu(&flags, 6, 1);
gps_relposned.gnssFixOK = RTCMgetbitu(&flags, 7, 1);
if (gps_relposned.gnssFixOK > 0) {
if (gps_relposned.diffSoln > 0) {
if (gps_relposned.carrSoln == 2) {
gps_ubx.state.fix = 5; // rtk
} else {
gps_ubx.state.fix = 4; // dgnss
}
} else {
gps_ubx.state.fix = 3; // 3D
}
} else {
gps_ubx.state.fix = 0;
}
DEBUG_PRINT("GNSS Fix OK: %i\tDGNSS: %i\tRTK: %i\trelPosValid: %i\trefStationId: %i\n", gps_relposned.gnssFixOK,
gps_relposned.diffSoln, gps_relposned.carrSoln, gps_relposned.relPosValid, gps_relposned.refStationId);
}
#endif // USE_GPS_UBX_RTCM
}
} else if (gps_ubx.msg_class == UBX_RXM_ID) {
if (gps_ubx.msg_id == UBX_RXM_RAW_ID) {
#if USE_GPS_UBX_RXM_RAW
gps_ubx_raw.iTOW = UBX_RXM_RAW_iTOW(gps_ubx.msg_buf);
gps_ubx_raw.week = UBX_RXM_RAW_week(gps_ubx.msg_buf);
gps_ubx_raw.numSV = UBX_RXM_RAW_numSV(gps_ubx.msg_buf);
uint8_t i;
uint8_t max_SV = Min(gps_ubx_raw.numSV, GPS_UBX_NB_CHANNELS);
for (i = 0; i < max_SV; i++) {
gps_ubx_raw.measures[i].cpMes = UBX_RXM_RAW_cpMes(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].prMes = UBX_RXM_RAW_prMes(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].doMes = UBX_RXM_RAW_doMes(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].sv = UBX_RXM_RAW_sv(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].mesQI = UBX_RXM_RAW_mesQI(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].cno = UBX_RXM_RAW_cno(gps_ubx.msg_buf, i);
gps_ubx_raw.measures[i].lli = UBX_RXM_RAW_lli(gps_ubx.msg_buf, i);
}
#endif // USE_GPS_UBX_RXM_RAW
} else if (gps_ubx.msg_id == UBX_RXM_RTCM_ID) {
#if USE_GPS_UBX_RTCM
uint8_t version = UBX_RXM_RTCM_version(gps_ubx.msg_buf);
if (version == RXM_RTCM_VERSION) {
// uint8_t flags = UBX_RXM_RTCM_flags(gps_ubx.msg_buf);
// bool crcFailed = RTCMgetbitu(&flags, 7, 1);
// uint16_t refStation = UBX_RXM_RTCM_refStation(gps_ubx.msg_buf);
// uint16_t msgType = UBX_RXM_RTCM_msgType(gps_ubx.msg_buf);
// DEBUG_PRINT("Message %i from refStation %i processed (CRCfailed: %i)\n", msgType, refStation, crcFailed);
rtcm_man.RefStation = UBX_RXM_RTCM_refStation(gps_ubx.msg_buf);
rtcm_man.MsgType = UBX_RXM_RTCM_msgType(gps_ubx.msg_buf);
uint8_t flags = UBX_RXM_RTCM_flags(gps_ubx.msg_buf);
bool crcFailed = RTCMgetbitu(&flags, 7, 1);
switch (rtcm_man.MsgType) {
case 1005:
rtcm_man.Cnt105 += 1;
rtcm_man.Crc105 += crcFailed;
break;
case 1077:
rtcm_man.Cnt177 += 1;
rtcm_man.Crc177 += crcFailed;;
break;
case 1087:
rtcm_man.Cnt187 += 1;
rtcm_man.Crc187 += crcFailed;;
break;
default:
break;
}
} else {
DEBUG_PRINT("Unknown RXM_RTCM version: %i\n", version);
}
#endif // USE_GPS_UBX_RTCM
}
}
}