void gps_mtk_read_message(void) {
if (gps_mtk.msg_class == MTK_DIY14_ID) {
if (gps_mtk.msg_id == MTK_DIY14_NAV_ID) {
#ifdef GPS_TIMESTAMP
/* get hardware clock ticks */
SysTimeTimerStart(gps.t0);
gps.t0_tow = MTK_DIY14_NAV_ITOW(gps_mtk.msg_buf);
gps.t0_tow_frac = 0;
#endif
gps.lla_pos.lat = RadOfDeg(MTK_DIY14_NAV_LAT(gps_mtk.msg_buf))*10;
gps.lla_pos.lon = RadOfDeg(MTK_DIY14_NAV_LON(gps_mtk.msg_buf))*10;
// FIXME: with MTK you do not receive vertical speed
if (cpu_time_sec - gps.last_fix_time < 2) {
gps.ned_vel.z = ((gps.hmsl -
MTK_DIY14_NAV_HEIGHT(gps_mtk.msg_buf)*10)*OUTPUT_RATE)/10;
} else gps.ned_vel.z = 0;
gps.hmsl = MTK_DIY14_NAV_HEIGHT(gps_mtk.msg_buf)*10;
// FIXME: with MTK you do not receive ellipsoid altitude
gps.lla_pos.alt = gps.hmsl;
gps.gspeed = MTK_DIY14_NAV_GSpeed(gps_mtk.msg_buf);
// FIXME: with MTK you do not receive speed 3D
gps.speed_3d = gps.gspeed;
gps.course = (RadOfDeg(MTK_DIY14_NAV_Heading(gps_mtk.msg_buf)))*10;
gps.num_sv = MTK_DIY14_NAV_numSV(gps_mtk.msg_buf);
switch (MTK_DIY14_NAV_GPSfix(gps_mtk.msg_buf)) {
case MTK_DIY_FIX_3D:
gps.fix = GPS_FIX_3D;
break;
case MTK_DIY_FIX_2D:
gps.fix = GPS_FIX_2D;
break;
default:
gps.fix = GPS_FIX_NONE;
}
gps.tow = MTK_DIY14_NAV_ITOW(gps_mtk.msg_buf);;
// FIXME: with MTK DIY 1.4 you do not receive GPS week
gps.week = 0;
/* 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 = utm_f.alt*1000;
gps.utm_pos.zone = nav_utm_zone0;
#ifdef GPS_LED
if (gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
}
else {
LED_TOGGLE(GPS_LED);
}
#endif
}
}
if (gps_mtk.msg_class == MTK_DIY16_ID) {
if (gps_mtk.msg_id == MTK_DIY16_NAV_ID) {
uint32_t gps_date, gps_time;
gps_date = MTK_DIY16_NAV_UTC_DATE(gps_mtk.msg_buf);
gps_time = MTK_DIY16_NAV_UTC_TIME(gps_mtk.msg_buf);
gps_mtk_time2itow(gps_date, gps_time, &gps.week, &gps.tow);
#ifdef GPS_TIMESTAMP
/* get hardware clock ticks */
SysTimeTimerStart(gps.t0);
gps.t0_tow = gps.tow;
gps.t0_tow_frac = 0;
#endif
gps.lla_pos.lat = RadOfDeg(MTK_DIY16_NAV_LAT(gps_mtk.msg_buf))*10;
gps.lla_pos.lon = RadOfDeg(MTK_DIY16_NAV_LON(gps_mtk.msg_buf))*10;
// FIXME: with MTK you do not receive vertical speed
if (cpu_time_sec - gps.last_fix_time < 2) {
gps.ned_vel.z = ((gps.hmsl -
MTK_DIY16_NAV_HEIGHT(gps_mtk.msg_buf)*10)*OUTPUT_RATE)/10;
} else gps.ned_vel.z = 0;
gps.hmsl = MTK_DIY16_NAV_HEIGHT(gps_mtk.msg_buf)*10;
// FIXME: with MTK you do not receive ellipsoid altitude
gps.lla_pos.alt = gps.hmsl;
gps.gspeed = MTK_DIY16_NAV_GSpeed(gps_mtk.msg_buf);
// FIXME: with MTK you do not receive speed 3D
gps.speed_3d = gps.gspeed;
gps.course = (RadOfDeg(MTK_DIY16_NAV_Heading(gps_mtk.msg_buf)*10000)) * 10;
gps.num_sv = MTK_DIY16_NAV_numSV(gps_mtk.msg_buf);
switch (MTK_DIY16_NAV_GPSfix(gps_mtk.msg_buf)) {
case MTK_DIY_FIX_3D:
gps.fix = GPS_FIX_3D;
break;
case MTK_DIY_FIX_2D:
gps.fix = GPS_FIX_2D;
break;
default:
gps.fix = GPS_FIX_NONE;
}
/* HDOP? */
/* 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 = utm_f.alt*1000;
gps.utm_pos.zone = nav_utm_zone0;
#ifdef GPS_LED
if (gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
}
else {
LED_TOGGLE(GPS_LED);
}
#endif
}
}
}
void gps_mtk_read_message(void)
{
if (gps_mtk.msg_class == MTK_DIY14_ID) {
if (gps_mtk.msg_id == MTK_DIY14_NAV_ID) {
/* get hardware clock ticks */
gps_time_sync.t0_ticks = sys_time.nb_tick;
gps_time_sync.t0_tow = MTK_DIY14_NAV_ITOW(gps_mtk.msg_buf);
gps_time_sync.t0_tow_frac = 0;
gps.lla_pos.lat = MTK_DIY14_NAV_LAT(gps_mtk.msg_buf) * 10;
gps.lla_pos.lon = MTK_DIY14_NAV_LON(gps_mtk.msg_buf) * 10;
SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT);
// FIXME: with MTK you do not receive vertical speed
if (sys_time.nb_sec - gps.last_3dfix_time < 2) {
gps.ned_vel.z = ((gps.hmsl -
MTK_DIY14_NAV_HEIGHT(gps_mtk.msg_buf) * 10) * OUTPUT_RATE) / 10;
} else { gps.ned_vel.z = 0; }
gps.hmsl = MTK_DIY14_NAV_HEIGHT(gps_mtk.msg_buf) * 10;
SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
// FIXME: with MTK you do not receive ellipsoid altitude
gps.lla_pos.alt = gps.hmsl;
gps.gspeed = MTK_DIY14_NAV_GSpeed(gps_mtk.msg_buf);
// FIXME: with MTK you do not receive speed 3D
gps.speed_3d = gps.gspeed;
gps.course = (RadOfDeg(MTK_DIY14_NAV_Heading(gps_mtk.msg_buf))) * 10;
SetBit(gps.valid_fields, GPS_VALID_COURSE_BIT);
gps.num_sv = MTK_DIY14_NAV_numSV(gps_mtk.msg_buf);
switch (MTK_DIY14_NAV_GPSfix(gps_mtk.msg_buf)) {
case MTK_DIY_FIX_3D:
gps.fix = GPS_FIX_3D;
break;
case MTK_DIY_FIX_2D:
gps.fix = GPS_FIX_2D;
break;
default:
gps.fix = GPS_FIX_NONE;
}
gps.tow = MTK_DIY14_NAV_ITOW(gps_mtk.msg_buf);;
// FIXME: with MTK DIY 1.4 you do not receive GPS week
gps.week = 0;
#ifdef GPS_LED
if (gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
} else {
LED_TOGGLE(GPS_LED);
}
#endif
}
}
if (gps_mtk.msg_class == MTK_DIY16_ID) {
if (gps_mtk.msg_id == MTK_DIY16_NAV_ID) {
uint32_t gps_date, gps_time;
gps_date = MTK_DIY16_NAV_UTC_DATE(gps_mtk.msg_buf);
gps_time = MTK_DIY16_NAV_UTC_TIME(gps_mtk.msg_buf);
gps_mtk_time2itow(gps_date, gps_time, &gps.week, &gps.tow);
#ifdef GPS_TIMESTAMP
/* get hardware clock ticks */
SysTimeTimerStart(gps.t0);
gps.t0_tow = gps.tow;
gps.t0_tow_frac = 0;
#endif
gps.lla_pos.lat = MTK_DIY16_NAV_LAT(gps_mtk.msg_buf) * 10;
gps.lla_pos.lon = MTK_DIY16_NAV_LON(gps_mtk.msg_buf) * 10;
// FIXME: with MTK you do not receive vertical speed
if (sys_time.nb_sec - gps.last_3dfix_time < 2) {
gps.ned_vel.z = ((gps.hmsl -
MTK_DIY16_NAV_HEIGHT(gps_mtk.msg_buf) * 10) * OUTPUT_RATE) / 10;
} else { gps.ned_vel.z = 0; }
gps.hmsl = MTK_DIY16_NAV_HEIGHT(gps_mtk.msg_buf) * 10;
SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
// FIXME: with MTK you do not receive ellipsoid altitude
gps.lla_pos.alt = gps.hmsl;
gps.gspeed = MTK_DIY16_NAV_GSpeed(gps_mtk.msg_buf);
// FIXME: with MTK you do not receive speed 3D
gps.speed_3d = gps.gspeed;
gps.course = (RadOfDeg(MTK_DIY16_NAV_Heading(gps_mtk.msg_buf) * 10000)) * 10;
SetBit(gps.valid_fields, GPS_VALID_COURSE_BIT);
gps.num_sv = MTK_DIY16_NAV_numSV(gps_mtk.msg_buf);
switch (MTK_DIY16_NAV_GPSfix(gps_mtk.msg_buf)) {
case MTK_DIY_FIX_3D:
gps.fix = GPS_FIX_3D;
break;
case MTK_DIY_FIX_2D:
gps.fix = GPS_FIX_2D;
break;
default:
gps.fix = GPS_FIX_NONE;
}
/* HDOP? */
#ifdef GPS_LED
if (gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
} else {
LED_TOGGLE(GPS_LED);
}
#endif
}
}
}
