Exemplo n.º 1
0
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
}
Exemplo n.º 2
0
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
    }
  }
}