diff options
103 files changed, 3631 insertions, 7610 deletions
diff --git a/ROMFS/Makefile b/ROMFS/Makefile index 3b024de06..d827fa491 100644 --- a/ROMFS/Makefile +++ b/ROMFS/Makefile @@ -23,7 +23,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \ $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \ $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \ $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \ - $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \ + $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \ + $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \ $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \ $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \ $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \ diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m index b53d0ae39..5ea2aeb95 100644..100755 --- a/ROMFS/logging/logconv.m +++ b/ROMFS/logging/logconv.m @@ -45,29 +45,29 @@ end % float true_airspeed; % Definition of the logged values -logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); -logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); -logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); +logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); +logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); % First get length of one line columns = length(logFormat); @@ -83,7 +83,7 @@ if exist(filePath, 'file') fileInfo = dir(filePath); fileSize = fileInfo.bytes; - elements = int64(fileSize./(lineLength)) + elements = int64(fileSize./(lineLength)); fid = fopen(filePath, 'r'); offset = 0; @@ -102,8 +102,8 @@ if exist(filePath, 'file') % shot the flight time time_us = sysvector.timestamp(end) - sysvector.timestamp(1); - time_s = time_us*1e-6 - time_m = time_s/60 + time_s = time_us*1e-6; + time_m = time_s/60; % close the logfile fclose(fid); @@ -112,3 +112,113 @@ if exist(filePath, 'file') else disp(['file: ' filePath ' does not exist' char(10)]); end + +%% Plot GPS RAW measurements + +% Only plot GPS data if available +if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0 + figure('units','normalized','outerposition',[0 0 1 1]) + plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3)); +end + + +%% Plot optical flow trajectory + +flow_sz = size(sysvector.timestamp); +flow_elements = flow_sz(1); + +xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms] + + +%calc dt +dt = zeros(flow_elements,1); +for i = 1:flow_elements-1 + dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6); % timestep [s] +end +dt(1,1) = mean(dt); + + +global_speed = zeros(flow_elements,3); + +%calc global speed (with rot matrix) +for i = 1:flow_elements + rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]'; + speedX = sysvector.optical_flow(i,3); + speedY = sysvector.optical_flow(i,4); + + relSpeed = [-speedY,speedX,0]; + global_speed(i,:) = relSpeed * rotM; +end + + + +px = zeros(flow_elements,1); +py = zeros(flow_elements,1); +distance = 0; + +last_vx = 0; +last_vy = 0; +elem_cnt = 0; + +% Very basic accumulation, stops on bad flow quality +for i = 1:flow_elements + if sysvector.optical_flow(i,6) > 5 + px(i,1) = global_speed(i,1)*dt(i,1); + py(i,1) = global_speed(i,2)*dt(i,1); + distance = distance + norm([px(i,1) py(i,1)]); + last_vx = px(i,1); + last_vy = py(i,1); + else + px(i,1) = last_vx; + py(i,1) = last_vy; + last_vx = last_vx*0.95; + last_vy = last_vy*0.95; + end +end + +px_sum = cumsum(px); +py_sum = cumsum(py); +time = cumsum(dt); + +figure() +set(gca, 'Units','normal'); + +plot(py_sum, px_sum, '-blue', 'LineWidth',2); +axis equal; +% set title and axis captions +xlabel('X position (meters)','fontsize',14) +ylabel('Y position (meters)','fontsize',14) +% mark begin and end +hold on +plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,... +'MarkerEdgeColor','k',... +'MarkerFaceColor','g',... +'MarkerSize',10) +hold on +plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,... +'MarkerEdgeColor','k',... +'MarkerFaceColor','b',... +'MarkerSize',10) +% add total length as annotation +set(gca,'fontsize',13); +legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60)); +title('Optical Flow Position Integration', 'fontsize', 15); + +figure() +plot(time, sysvector.optical_flow(:,5), 'blue'); +axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]); +xlabel('seconds','fontsize',14); +ylabel('m','fontsize',14); +set(gca,'fontsize',13); +title('Ultrasound Altitude', 'fontsize', 15); + + +figure() +plot(time, global_speed(:,2), 'red'); +hold on; +plot(time, global_speed(:,1), 'blue'); +legend('y velocity (m/s)', 'x velocity (m/s)'); +xlabel('seconds','fontsize',14); +ylabel('m/s','fontsize',14); +set(gca,'fontsize',13); +title('Optical Flow Velocity', 'fontsize', 15); diff --git a/ROMFS/mixers/FMU_Q.mix b/ROMFS/mixers/FMU_Q.mix new file mode 100644 index 000000000..a35d299fd --- /dev/null +++ b/ROMFS/mixers/FMU_Q.mix @@ -0,0 +1,52 @@ +Delta-wing mixer for PX4FMU +=========================== + +Designed for Bormatec Camflyer Q + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -5000 -8000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -8000 -5000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/mixers/FMU_delta.mix b/ROMFS/mixers/FMU_X5.mix index 981466704..981466704 100644 --- a/ROMFS/mixers/FMU_delta.mix +++ b/ROMFS/mixers/FMU_X5.mix diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x index d9c9a8457..8787443ea 100644 --- a/ROMFS/scripts/rc.FMU_quad_x +++ b/ROMFS/scripts/rc.FMU_quad_x @@ -1,40 +1,67 @@ +#!nsh +# +# Flight startup script for PX4FMU with PWM outputs. +# + +# Disable the USB interface +set USB no + +# Disable autostarting other apps +set MODE custom + +echo "[init] doing PX4FMU Quad startup..." + +# +# Start the ORB # -# Startup for X-quad on FMU1.5/1.6 -# - -echo "[init] uORB" uorb start - -echo "[init] eeprom" -eeprom start -if [ -f /eeprom/parameters ] + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] then - param load + param load /fs/microsd/parameters fi - -echo "[init] sensors" -#bma180 start -#l3gd20 start -mpu6000 start -hmc5883 start -ms5611 start - -sensors start - -echo "[init] mavlink" + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 2 + +# +# Start MAVLink +# mavlink start -d /dev/ttyS0 -b 57600 usleep 5000 - -echo "[init] commander" + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# commander start - -echo "[init] attitude control" + +# +# Start the attitude estimator +# attitude_estimator_ekf start -multirotor_att_control start - + echo "[init] starting PWM output" fmu mode_pwm mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - + +# +# Start attitude control +# +multirotor_att_control start + echo "[init] startup done, exiting" -exit +exit
\ No newline at end of file diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index 84e181a5a..1e3963b9a 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/rc.PX4IO @@ -1,73 +1,80 @@ #!nsh - + +# Disable USB and autostart set USB no - +set MODE camflyer + # -# Start the object request broker +# Start the ORB # uorb start - + # -# Init the EEPROM +# Load microSD params # -echo "[init] eeprom" -eeprom start -if [ -f /eeprom/parameters ] +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] then - param load + param load /fs/microsd/parameters fi - -# -# Enable / connect to PX4IO -# -px4io start - + # -# Load an appropriate mixer. FMU_pass.mix is a passthru mixer -# which is good for testing. See ROMFS/mixers for a full list of mixers. +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ # -mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix - +param set MAV_TYPE 1 + # # Start the sensors. # sh /etc/init.d/rc.sensors - + # -# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable) +# Start MAVLink # -mavlink start -d /dev/ttyS0 -b 57600 +mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 - + # # Start the commander. # commander start - + +# +# Start GPS interface +# +gps start + # # Start the attitude estimator # -attitude_estimator_ekf start - +kalman_demo start + # -# Start the attitude and position controller +# Start PX4IO interface # -fixedwing_att_control start -fixedwing_pos_control start - +px4io start + # -# Start GPS capture. Comment this out if you do not have a GPS. +# Load mixer and start controllers # -gps start - +mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +control_demo start + +# +# Start logging # -# Start logging to microSD if we can -# -sh /etc/init.d/rc.logging +sdlog start -s 10 # -# startup is done; we don't want the shell because we -# use the same UART for telemetry +# Start system state # -echo "[init] startup done" -exit +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR index 640cdf541..72df68e35 100644 --- a/ROMFS/scripts/rc.PX4IOAR +++ b/ROMFS/scripts/rc.PX4IOAR @@ -17,7 +17,7 @@ echo "[init] doing PX4IOAR startup..." uorb start # -# Load microSD params +# Init the parameter storage # echo "[init] loading microSD params" param select /fs/microsd/parameters @@ -27,17 +27,24 @@ then fi # -# Start MAVLink +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ # -mavlink start -d /dev/ttyS0 -b 57600 -usleep 5000 +param set MAV_TYPE 2 # -# Start the sensors and test them. +# Start the sensors. # sh /etc/init.d/rc.sensors # +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + +# # Start the commander. # commander start @@ -63,14 +70,25 @@ multirotor_att_control start ardrone_interface start -d /dev/ttyS1 # +# Start GPS capture +# +gps start + +# # Start logging # -#sdlog start - +sdlog start -s 10 + # -# Start GPS capture +# Start system state # -gps start +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi # # startup is done; we don't want the shell because we diff --git a/ROMFS/scripts/rc.boarddetect b/ROMFS/scripts/rc.boarddetect new file mode 100644 index 000000000..f233e51df --- /dev/null +++ b/ROMFS/scripts/rc.boarddetect @@ -0,0 +1,66 @@ +#!nsh +# +# If we are still in flight mode, work out what airframe +# configuration we have and start up accordingly. +# +if [ $MODE != autostart ] +then + echo "[init] automatic startup cancelled by user script" +else + echo "[init] detecting attached hardware..." + + # + # Assume that we are PX4FMU in standalone mode + # + set BOARD PX4FMU + + # + # Are we attached to a PX4IOAR (AR.Drone carrier board)? + # + if boardinfo test name PX4IOAR + then + set BOARD PX4IOAR + if [ -f /etc/init.d/rc.PX4IOAR ] + then + echo "[init] reading /etc/init.d/rc.PX4IOAR" + usleep 500 + sh /etc/init.d/rc.PX4IOAR + fi + else + echo "[init] PX4IOAR not detected" + fi + + # + # Are we attached to a PX4IO? + # + if boardinfo test name PX4IO + then + set BOARD PX4IO + if [ -f /etc/init.d/rc.PX4IO ] + then + echo "[init] reading /etc/init.d/rc.PX4IO" + usleep 500 + sh /etc/init.d/rc.PX4IO + fi + else + echo "[init] PX4IO not detected" + fi + + # + # Looks like we are stand-alone + # + if [ $BOARD == PX4FMU ] + then + echo "[init] no expansion board detected" + if [ -f /etc/init.d/rc.standalone ] + then + echo "[init] reading /etc/init.d/rc.standalone" + sh /etc/init.d/rc.standalone + fi + fi + + # + # We may not reach here if the airframe-specific script exits the shell. + # + echo "[init] startup done." +fi
\ No newline at end of file diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS index 660bf61e9..89a767879 100755 --- a/ROMFS/scripts/rcS +++ b/ROMFS/scripts/rcS @@ -77,70 +77,3 @@ then # if APM startup is successful then nsh will exit sh /etc/init.d/rc.APM fi - - -# -# If we are still in flight mode, work out what airframe -# configuration we have and start up accordingly. -# -if [ $MODE != autostart ] -then - echo "[init] automatic startup cancelled by user script" -else - echo "[init] detecting attached hardware..." - - # - # Assume that we are PX4FMU in standalone mode - # - set BOARD PX4FMU - - # - # Are we attached to a PX4IOAR (AR.Drone carrier board)? - # - if boardinfo test name PX4IOAR - then - set BOARD PX4IOAR - if [ -f /etc/init.d/rc.PX4IOAR ] - then - echo "[init] reading /etc/init.d/rc.PX4IOAR" - usleep 500 - sh /etc/init.d/rc.PX4IOAR - fi - else - echo "[init] PX4IOAR not detected" - fi - - # - # Are we attached to a PX4IO? - # - if boardinfo test name PX4IO - then - set BOARD PX4IO - if [ -f /etc/init.d/rc.PX4IO ] - then - echo "[init] reading /etc/init.d/rc.PX4IO" - usleep 500 - sh /etc/init.d/rc.PX4IO - fi - else - echo "[init] PX4IO not detected" - fi - - # - # Looks like we are stand-alone - # - if [ $BOARD == PX4FMU ] - then - echo "[init] no expansion board detected" - if [ -f /etc/init.d/rc.standalone ] - then - echo "[init] reading /etc/init.d/rc.standalone" - sh /etc/init.d/rc.standalone - fi - fi - - # - # We may not reach here if the airframe-specific script exits the shell. - # - echo "[init] startup done." -fi diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile index 4d531867c..734af7cc1 100644..100755 --- a/apps/attitude_estimator_ekf/Makefile +++ b/apps/attitude_estimator_ekf/Makefile @@ -47,8 +47,6 @@ CSRCS = attitude_estimator_ekf_main.c \ codegen/rtGetInf.c \ codegen/rtGetNaN.c \ codegen/norm.c \ - codegen/diag.c \ - codegen/power.c \ codegen/cross.c diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 1c3b9976b..7ca77e513 100644..100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -431,6 +431,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) att.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; att.yawspeed = x_aposteriori[2]; + att.rollacc = x_aposteriori[3]; + att.pitchacc = x_aposteriori[4]; + att.yawacc = x_aposteriori[5]; + //att.yawspeed =z_k[2] ; /* copy offsets */ memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 91fec9ccb..7d3812abd 100644..100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -44,34 +44,20 @@ /* Extended Kalman Filter covariances */ /* gyro process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q0, 1e1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q1, 1e1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q2, 1e1f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f); /* gyro offsets process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q3, 1e-4f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q4, 1e-4f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q5, 1e-4f); -/* accelerometer process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q6, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q7, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q8, 1e-1f); -/* magnetometer process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q9, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q10, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q11, 1e-1f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f); /* gyro measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_R0, 0.01f); -PARAM_DEFINE_FLOAT(EKF_ATT_R1, 0.01f); -PARAM_DEFINE_FLOAT(EKF_ATT_R2, 0.01f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f); /* accelerometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e2f); -PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e2f); -PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e2f); -/* magnetometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_R8, 1e-1f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f); + /* offsets in roll, pitch and yaw of sensor plane and body */ PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f); @@ -80,28 +66,16 @@ PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f); int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ - h->q0 = param_find("EKF_ATT_Q0"); - h->q1 = param_find("EKF_ATT_Q1"); - h->q2 = param_find("EKF_ATT_Q2"); - h->q3 = param_find("EKF_ATT_Q3"); - h->q4 = param_find("EKF_ATT_Q4"); - h->q5 = param_find("EKF_ATT_Q5"); - h->q6 = param_find("EKF_ATT_Q6"); - h->q7 = param_find("EKF_ATT_Q7"); - h->q8 = param_find("EKF_ATT_Q8"); - h->q9 = param_find("EKF_ATT_Q9"); - h->q10 = param_find("EKF_ATT_Q10"); - h->q11 = param_find("EKF_ATT_Q11"); + h->q0 = param_find("EKF_ATT_V2_Q0"); + h->q1 = param_find("EKF_ATT_V2_Q1"); + h->q2 = param_find("EKF_ATT_V2_Q2"); + h->q3 = param_find("EKF_ATT_V2_Q3"); + h->q4 = param_find("EKF_ATT_V2_Q4"); - h->r0 = param_find("EKF_ATT_R0"); - h->r1 = param_find("EKF_ATT_R1"); - h->r2 = param_find("EKF_ATT_R2"); - h->r3 = param_find("EKF_ATT_R3"); - h->r4 = param_find("EKF_ATT_R4"); - h->r5 = param_find("EKF_ATT_R5"); - h->r6 = param_find("EKF_ATT_R6"); - h->r7 = param_find("EKF_ATT_R7"); - h->r8 = param_find("EKF_ATT_R8"); + h->r0 = param_find("EKF_ATT_V2_R0"); + h->r1 = param_find("EKF_ATT_V2_R1"); + h->r2 = param_find("EKF_ATT_V2_R2"); + h->r3 = param_find("EKF_ATT_V2_R3"); h->roll_off = param_find("ATT_ROLL_OFFS"); h->pitch_off = param_find("ATT_PITCH_OFFS"); @@ -117,23 +91,11 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->q2, &(p->q[2])); param_get(h->q3, &(p->q[3])); param_get(h->q4, &(p->q[4])); - param_get(h->q5, &(p->q[5])); - param_get(h->q6, &(p->q[6])); - param_get(h->q7, &(p->q[7])); - param_get(h->q8, &(p->q[8])); - param_get(h->q9, &(p->q[9])); - param_get(h->q10, &(p->q[10])); - param_get(h->q11, &(p->q[11])); param_get(h->r0, &(p->r[0])); param_get(h->r1, &(p->r[1])); param_get(h->r2, &(p->r[2])); param_get(h->r3, &(p->r[3])); - param_get(h->r4, &(p->r[4])); - param_get(h->r5, &(p->r[5])); - param_get(h->r6, &(p->r[6])); - param_get(h->r7, &(p->r[7])); - param_get(h->r8, &(p->r[8])); param_get(h->roll_off, &(p->roll_off)); param_get(h->pitch_off, &(p->pitch_off)); diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h index b315d5fe8..09817d58e 100644..100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h @@ -50,8 +50,8 @@ struct attitude_estimator_ekf_params { }; struct attitude_estimator_ekf_param_handles { - param_t r0, r1, r2, r3, r4, r5, r6, r7, r8; - param_t q0, q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11; + param_t r0, r1, r2, r3; + param_t q0, q1, q2, q3, q4; param_t roll_off, pitch_off, yaw_off; }; diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c index 04f6ea267..9e97ad11a 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
@@ -15,8 +15,6 @@ #include "cross.h"
#include "eye.h"
#include "mrdivide.h"
-#include "diag.h"
-#include "power.h"
/* Type Definitions */
@@ -50,7 +48,7 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) b_u1 = -1;
}
- y = (real32_T)atan2f((real32_T)b_u0, (real32_T)b_u1);
+ y = (real32_T)atan2((real32_T)b_u0, (real32_T)b_u1);
} else if (u1 == 0.0F) {
if (u0 > 0.0F) {
y = RT_PIF / 2.0F;
@@ -60,7 +58,7 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) y = 0.0F;
}
} else {
- y = (real32_T)atan2f(u0, u1);
+ y = (real32_T)atan2(u0, u1);
}
return y;
@@ -71,80 +69,88 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) */
void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T
- P_aposteriori_k[144], const real32_T q[12], const real32_T r[9], real32_T
+ P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T
eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T
P_aposteriori[144])
{
- real32_T a[12];
- real32_T b_a[12];
- int32_T i;
- real32_T Q[144];
+ real32_T wak[3];
real32_T O[9];
real_T dv0[9];
- real32_T c_a[9];
- real32_T d_a[9];
+ real32_T a[9];
+ int32_T i;
+ real32_T b_a[9];
real32_T x_n_b[3];
real32_T b_x_aposteriori_k[3];
- real32_T m_n_b[3];
real32_T z_n_b[3];
- real32_T x_apriori[12];
+ real32_T c_a[3];
+ real32_T d_a[3];
int32_T i0;
+ real32_T x_apriori[12];
real_T dv1[144];
real32_T A_lin[144];
+ static const int8_T iv0[36] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0,
+ 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+
real32_T b_A_lin[144];
+ real32_T b_q[144];
+ real32_T c_A_lin[144];
+ real32_T d_A_lin[144];
+ real32_T e_A_lin[144];
int32_T i1;
real32_T P_apriori[144];
- real32_T f0;
- real32_T R[81];
real32_T b_P_apriori[108];
- static const int8_T iv0[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
+ static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };
real32_T K_k[108];
- static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
+ real32_T fv0[81];
+ static const int8_T iv2[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };
- real32_T fv0[81];
+ real32_T b_r[81];
+ real32_T fv1[81];
+ real32_T f0;
real32_T c_P_apriori[36];
- static const int8_T iv2[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ static const int8_T iv3[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
- real32_T fv1[36];
- static const int8_T iv3[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
+ real32_T fv2[36];
+ static const int8_T iv4[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
- real32_T S_k[36];
+ real32_T c_r[9];
+ real32_T b_K_k[36];
real32_T d_P_apriori[72];
- static const int8_T iv4[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0 };
- real32_T b_K_k[72];
- static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
+ real32_T c_K_k[72];
+ static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0 };
- real32_T b_r[6];
- static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
- 0, 0, 0, 1 };
-
+ real32_T b_z[6];
static const int8_T iv7[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1 };
- real32_T fv2[6];
- real32_T b_z[6];
+ static const int8_T iv8[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
+ 0, 0, 0, 1 };
+
+ real32_T fv3[6];
+ real32_T c_z[6];
/* Extended Attitude Kalmanfilter */
/* */
@@ -160,44 +166,31 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const /* coder.varsize('udpIndVect', [9,1], [1,0]) */
/* udpIndVect=find(updVect); */
/* process and measurement noise covariance matrix */
- /* 'attitudeKalmanfilter:27' Q = diag(q.^2*dt); */
- power(q, a);
- for (i = 0; i < 12; i++) {
- b_a[i] = a[i] * dt;
- }
-
- diag(b_a, Q);
-
- /* Q=[1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
- /* 0, 1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
- /* 0, 0, 1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
- /* 0, 0, 0, 1e-10, 0, 0, 1e-4, 1e-4, 0, 1e-4, 1e-4, 0; */
- /* 0, 0, 0, 0, 1e-10, 0, 1e-4, 1e-4, 0, 1e-4, 1e-4, 0; */
- /* 0, 0, 0, 0, 0, 1e-10, 0, 0, 0, 0, 0, 0; */
- /* 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0, 0, 0; */
- /* 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0, 0; */
- /* 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0; */
- /* 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0; */
- /* 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0; */
- /* 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1]; */
+ /* Q = diag(q.^2*dt); */
/* observation matrix */
- /* 'attitudeKalmanfilter:44' wx= x_aposteriori_k(1); */
- /* 'attitudeKalmanfilter:45' wy= x_aposteriori_k(2); */
- /* 'attitudeKalmanfilter:46' wz= x_aposteriori_k(3); */
- /* 'attitudeKalmanfilter:48' wox= x_aposteriori_k(4); */
- /* 'attitudeKalmanfilter:49' woy= x_aposteriori_k(5); */
- /* 'attitudeKalmanfilter:50' woz= x_aposteriori_k(6); */
- /* 'attitudeKalmanfilter:52' zex= x_aposteriori_k(7); */
- /* 'attitudeKalmanfilter:53' zey= x_aposteriori_k(8); */
- /* 'attitudeKalmanfilter:54' zez= x_aposteriori_k(9); */
- /* 'attitudeKalmanfilter:56' mux= x_aposteriori_k(10); */
- /* 'attitudeKalmanfilter:57' muy= x_aposteriori_k(11); */
- /* 'attitudeKalmanfilter:58' muz= x_aposteriori_k(12); */
- /* 'attitudeKalmanfilter:61' wk =[wx; */
- /* 'attitudeKalmanfilter:62' wy; */
- /* 'attitudeKalmanfilter:63' wz]; */
- /* 'attitudeKalmanfilter:65' wok =[wox;woy;woz]; */
- /* 'attitudeKalmanfilter:66' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */
+ /* 'attitudeKalmanfilter:33' wx= x_aposteriori_k(1); */
+ /* 'attitudeKalmanfilter:34' wy= x_aposteriori_k(2); */
+ /* 'attitudeKalmanfilter:35' wz= x_aposteriori_k(3); */
+ /* 'attitudeKalmanfilter:37' wax= x_aposteriori_k(4); */
+ /* 'attitudeKalmanfilter:38' way= x_aposteriori_k(5); */
+ /* 'attitudeKalmanfilter:39' waz= x_aposteriori_k(6); */
+ /* 'attitudeKalmanfilter:41' zex= x_aposteriori_k(7); */
+ /* 'attitudeKalmanfilter:42' zey= x_aposteriori_k(8); */
+ /* 'attitudeKalmanfilter:43' zez= x_aposteriori_k(9); */
+ /* 'attitudeKalmanfilter:45' mux= x_aposteriori_k(10); */
+ /* 'attitudeKalmanfilter:46' muy= x_aposteriori_k(11); */
+ /* 'attitudeKalmanfilter:47' muz= x_aposteriori_k(12); */
+ /* % prediction section */
+ /* body angular accelerations */
+ /* 'attitudeKalmanfilter:51' wak =[wax;way;waz]; */
+ wak[0] = x_aposteriori_k[3];
+ wak[1] = x_aposteriori_k[4];
+ wak[2] = x_aposteriori_k[5];
+
+ /* body angular rates */
+ /* 'attitudeKalmanfilter:54' wk =[wx; wy; wz] + dt*wak; */
+ /* derivative of the prediction rotation matrix */
+ /* 'attitudeKalmanfilter:57' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */
O[0] = 0.0F;
O[1] = -x_aposteriori_k[2];
O[2] = x_aposteriori_k[1];
@@ -208,69 +201,73 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const O[7] = x_aposteriori_k[0];
O[8] = 0.0F;
- /* 'attitudeKalmanfilter:67' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
+ /* prediction of the earth z vector */
+ /* 'attitudeKalmanfilter:60' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
eye(dv0);
for (i = 0; i < 9; i++) {
- c_a[i] = (real32_T)dv0[i] + O[i] * dt;
+ a[i] = (real32_T)dv0[i] + O[i] * dt;
}
- /* 'attitudeKalmanfilter:68' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
+ /* prediction of the magnetic vector */
+ /* 'attitudeKalmanfilter:63' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
eye(dv0);
for (i = 0; i < 9; i++) {
- d_a[i] = (real32_T)dv0[i] + O[i] * dt;
+ b_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
- /* 'attitudeKalmanfilter:70' EZ=[0,zez,-zey; */
- /* 'attitudeKalmanfilter:71' -zez,0,zex; */
- /* 'attitudeKalmanfilter:72' zey,-zex,0]'; */
- /* 'attitudeKalmanfilter:73' MA=[0,muz,-muy; */
- /* 'attitudeKalmanfilter:74' -muz,0,mux; */
- /* 'attitudeKalmanfilter:75' zey,-mux,0]'; */
- /* 'attitudeKalmanfilter:79' E=eye(3); */
- /* 'attitudeKalmanfilter:80' Es=[1,0,0; */
- /* 'attitudeKalmanfilter:81' 0,1,0; */
- /* 'attitudeKalmanfilter:82' 0,0,0]; */
- /* 'attitudeKalmanfilter:83' Z=zeros(3); */
- /* 'attitudeKalmanfilter:84' x_apriori=[wk;wok;zek;muk]; */
- x_n_b[0] = x_aposteriori_k[6];
- x_n_b[1] = x_aposteriori_k[7];
- x_n_b[2] = x_aposteriori_k[8];
- b_x_aposteriori_k[0] = x_aposteriori_k[9];
- b_x_aposteriori_k[1] = x_aposteriori_k[10];
- b_x_aposteriori_k[2] = x_aposteriori_k[11];
- x_apriori[0] = x_aposteriori_k[0];
- x_apriori[1] = x_aposteriori_k[1];
- x_apriori[2] = x_aposteriori_k[2];
- x_apriori[3] = x_aposteriori_k[3];
- x_apriori[4] = x_aposteriori_k[4];
- x_apriori[5] = x_aposteriori_k[5];
+ /* 'attitudeKalmanfilter:65' EZ=[0,zez,-zey; */
+ /* 'attitudeKalmanfilter:66' -zez,0,zex; */
+ /* 'attitudeKalmanfilter:67' zey,-zex,0]'; */
+ /* 'attitudeKalmanfilter:68' MA=[0,muz,-muy; */
+ /* 'attitudeKalmanfilter:69' -muz,0,mux; */
+ /* 'attitudeKalmanfilter:70' zey,-mux,0]'; */
+ /* 'attitudeKalmanfilter:74' E=eye(3); */
+ /* 'attitudeKalmanfilter:76' Z=zeros(3); */
+ /* 'attitudeKalmanfilter:77' x_apriori=[wk;wak;zek;muk]; */
+ x_n_b[0] = x_aposteriori_k[0];
+ x_n_b[1] = x_aposteriori_k[1];
+ x_n_b[2] = x_aposteriori_k[2];
+ b_x_aposteriori_k[0] = x_aposteriori_k[6];
+ b_x_aposteriori_k[1] = x_aposteriori_k[7];
+ b_x_aposteriori_k[2] = x_aposteriori_k[8];
+ z_n_b[0] = x_aposteriori_k[9];
+ z_n_b[1] = x_aposteriori_k[10];
+ z_n_b[2] = x_aposteriori_k[11];
for (i = 0; i < 3; i++) {
- m_n_b[i] = 0.0F;
+ c_a[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
- m_n_b[i] += c_a[i + 3 * i0] * x_n_b[i0];
+ c_a[i] += a[i + 3 * i0] * b_x_aposteriori_k[i0];
}
- z_n_b[i] = 0.0F;
+ d_a[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
- z_n_b[i] += d_a[i + 3 * i0] * b_x_aposteriori_k[i0];
+ d_a[i] += b_a[i + 3 * i0] * z_n_b[i0];
}
- x_apriori[i + 6] = m_n_b[i];
+ x_apriori[i] = x_n_b[i] + dt * wak[i];
+ }
+
+ for (i = 0; i < 3; i++) {
+ x_apriori[i + 3] = wak[i];
+ }
+
+ for (i = 0; i < 3; i++) {
+ x_apriori[i + 6] = c_a[i];
}
for (i = 0; i < 3; i++) {
- x_apriori[i + 9] = z_n_b[i];
+ x_apriori[i + 9] = d_a[i];
}
- /* 'attitudeKalmanfilter:86' A_lin=[ Z, Z, Z, Z */
- /* 'attitudeKalmanfilter:87' Z, Z, Z, Z */
- /* 'attitudeKalmanfilter:88' EZ, Z, O, Z */
- /* 'attitudeKalmanfilter:89' MA, Z, Z, O]; */
- /* 'attitudeKalmanfilter:92' A_lin=eye(12)+A_lin*dt; */
+ /* 'attitudeKalmanfilter:81' A_lin=[ Z, E, Z, Z */
+ /* 'attitudeKalmanfilter:82' Z, Z, Z, Z */
+ /* 'attitudeKalmanfilter:83' EZ, Z, O, Z */
+ /* 'attitudeKalmanfilter:84' MA, Z, Z, O]; */
+ /* 'attitudeKalmanfilter:86' A_lin=eye(12)+A_lin*dt; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 3; i0++) {
- A_lin[i0 + 12 * i] = 0.0F;
+ A_lin[i0 + 12 * i] = (real32_T)iv0[i0 + 3 * i];
}
for (i0 = 0; i0 < 3; i0++) {
@@ -339,7 +336,164 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const }
}
- /* 'attitudeKalmanfilter:98' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */
+ /* 'attitudeKalmanfilter:88' Qtemp=[ q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:89' 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:90' 0, 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:91' 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:92' 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:93' 0, 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:94' 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:95' 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:96' 0, 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0; */
+ /* 'attitudeKalmanfilter:97' 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0, 0; */
+ /* 'attitudeKalmanfilter:98' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0; */
+ /* 'attitudeKalmanfilter:99' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4)]; */
+ /* 'attitudeKalmanfilter:103' Q=A_lin*Qtemp*A_lin'; */
+ /* 'attitudeKalmanfilter:106' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */
+ b_q[0] = q[0];
+ b_q[12] = 0.0F;
+ b_q[24] = 0.0F;
+ b_q[36] = 0.0F;
+ b_q[48] = 0.0F;
+ b_q[60] = 0.0F;
+ b_q[72] = 0.0F;
+ b_q[84] = 0.0F;
+ b_q[96] = 0.0F;
+ b_q[108] = 0.0F;
+ b_q[120] = 0.0F;
+ b_q[132] = 0.0F;
+ b_q[1] = 0.0F;
+ b_q[13] = q[0];
+ b_q[25] = 0.0F;
+ b_q[37] = 0.0F;
+ b_q[49] = 0.0F;
+ b_q[61] = 0.0F;
+ b_q[73] = 0.0F;
+ b_q[85] = 0.0F;
+ b_q[97] = 0.0F;
+ b_q[109] = 0.0F;
+ b_q[121] = 0.0F;
+ b_q[133] = 0.0F;
+ b_q[2] = 0.0F;
+ b_q[14] = 0.0F;
+ b_q[26] = q[0];
+ b_q[38] = 0.0F;
+ b_q[50] = 0.0F;
+ b_q[62] = 0.0F;
+ b_q[74] = 0.0F;
+ b_q[86] = 0.0F;
+ b_q[98] = 0.0F;
+ b_q[110] = 0.0F;
+ b_q[122] = 0.0F;
+ b_q[134] = 0.0F;
+ b_q[3] = 0.0F;
+ b_q[15] = 0.0F;
+ b_q[27] = 0.0F;
+ b_q[39] = q[1];
+ b_q[51] = 0.0F;
+ b_q[63] = 0.0F;
+ b_q[75] = 0.0F;
+ b_q[87] = 0.0F;
+ b_q[99] = 0.0F;
+ b_q[111] = 0.0F;
+ b_q[123] = 0.0F;
+ b_q[135] = 0.0F;
+ b_q[4] = 0.0F;
+ b_q[16] = 0.0F;
+ b_q[28] = 0.0F;
+ b_q[40] = 0.0F;
+ b_q[52] = q[1];
+ b_q[64] = 0.0F;
+ b_q[76] = 0.0F;
+ b_q[88] = 0.0F;
+ b_q[100] = 0.0F;
+ b_q[112] = 0.0F;
+ b_q[124] = 0.0F;
+ b_q[136] = 0.0F;
+ b_q[5] = 0.0F;
+ b_q[17] = 0.0F;
+ b_q[29] = 0.0F;
+ b_q[41] = 0.0F;
+ b_q[53] = 0.0F;
+ b_q[65] = q[1];
+ b_q[77] = 0.0F;
+ b_q[89] = 0.0F;
+ b_q[101] = 0.0F;
+ b_q[113] = 0.0F;
+ b_q[125] = 0.0F;
+ b_q[137] = 0.0F;
+ b_q[6] = 0.0F;
+ b_q[18] = 0.0F;
+ b_q[30] = 0.0F;
+ b_q[42] = 0.0F;
+ b_q[54] = 0.0F;
+ b_q[66] = 0.0F;
+ b_q[78] = q[2];
+ b_q[90] = 0.0F;
+ b_q[102] = 0.0F;
+ b_q[114] = 0.0F;
+ b_q[126] = 0.0F;
+ b_q[138] = 0.0F;
+ b_q[7] = 0.0F;
+ b_q[19] = 0.0F;
+ b_q[31] = 0.0F;
+ b_q[43] = 0.0F;
+ b_q[55] = 0.0F;
+ b_q[67] = 0.0F;
+ b_q[79] = 0.0F;
+ b_q[91] = q[2];
+ b_q[103] = 0.0F;
+ b_q[115] = 0.0F;
+ b_q[127] = 0.0F;
+ b_q[139] = 0.0F;
+ b_q[8] = 0.0F;
+ b_q[20] = 0.0F;
+ b_q[32] = 0.0F;
+ b_q[44] = 0.0F;
+ b_q[56] = 0.0F;
+ b_q[68] = 0.0F;
+ b_q[80] = 0.0F;
+ b_q[92] = 0.0F;
+ b_q[104] = q[2];
+ b_q[116] = 0.0F;
+ b_q[128] = 0.0F;
+ b_q[140] = 0.0F;
+ b_q[9] = 0.0F;
+ b_q[21] = 0.0F;
+ b_q[33] = 0.0F;
+ b_q[45] = 0.0F;
+ b_q[57] = 0.0F;
+ b_q[69] = 0.0F;
+ b_q[81] = 0.0F;
+ b_q[93] = 0.0F;
+ b_q[105] = 0.0F;
+ b_q[117] = q[3];
+ b_q[129] = 0.0F;
+ b_q[141] = 0.0F;
+ b_q[10] = 0.0F;
+ b_q[22] = 0.0F;
+ b_q[34] = 0.0F;
+ b_q[46] = 0.0F;
+ b_q[58] = 0.0F;
+ b_q[70] = 0.0F;
+ b_q[82] = 0.0F;
+ b_q[94] = 0.0F;
+ b_q[106] = 0.0F;
+ b_q[118] = 0.0F;
+ b_q[130] = q[3];
+ b_q[142] = 0.0F;
+ b_q[11] = 0.0F;
+ b_q[23] = 0.0F;
+ b_q[35] = 0.0F;
+ b_q[47] = 0.0F;
+ b_q[59] = 0.0F;
+ b_q[71] = 0.0F;
+ b_q[83] = 0.0F;
+ b_q[95] = 0.0F;
+ b_q[107] = 0.0F;
+ b_q[119] = 0.0F;
+ b_q[131] = 0.0F;
+ b_q[143] = q[3];
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
A_lin[i + 12 * i0] = 0.0F;
@@ -347,38 +501,63 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_aposteriori_k[i1 + 12 *
i0];
}
+
+ c_A_lin[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ c_A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * b_q[i1 + 12 * i0];
+ }
}
- }
- for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
- f0 = 0.0F;
+ d_A_lin[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
+ d_A_lin[i + 12 * i0] += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
}
- P_apriori[i + 12 * i0] = f0 + Q[i + 12 * i0];
+ e_A_lin[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ e_A_lin[i + 12 * i0] += c_A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
+ }
}
}
- /* %update */
- /* 'attitudeKalmanfilter:102' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ P_apriori[i0 + 12 * i] = d_A_lin[i0 + 12 * i] + e_A_lin[i0 + 12 * i];
+ }
+ }
+
+ /* % update */
+ /* 'attitudeKalmanfilter:110' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) {
- /* 'attitudeKalmanfilter:103' R=diag(r); */
- b_diag(r, R);
+ /* 'attitudeKalmanfilter:111' if z(6)<4 || z(5)>15 */
+ if ((z[5] < 4.0F) || (z[4] > 15.0F)) {
+ /* 'attitudeKalmanfilter:112' r(2)=10000; */
+ r[1] = 10000.0F;
+ }
+ /* 'attitudeKalmanfilter:114' R=[r(1),0,0,0,0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:115' 0,r(1),0,0,0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:116' 0,0,r(1),0,0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:117' 0,0,0,r(2),0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:118' 0,0,0,0,r(2),0,0,0,0; */
+ /* 'attitudeKalmanfilter:119' 0,0,0,0,0,r(2),0,0,0; */
+ /* 'attitudeKalmanfilter:120' 0,0,0,0,0,0,r(3),0,0; */
+ /* 'attitudeKalmanfilter:121' 0,0,0,0,0,0,0,r(3),0; */
+ /* 'attitudeKalmanfilter:122' 0,0,0,0,0,0,0,0,r(3)]; */
/* observation matrix */
- /* 'attitudeKalmanfilter:106' H_k=[ E, Z, Z, Z; */
- /* 'attitudeKalmanfilter:107' Z, Z, E, Z; */
- /* 'attitudeKalmanfilter:108' Z, Z, Z, E]; */
- /* 'attitudeKalmanfilter:110' y_k=z(1:9)-H_k*x_apriori; */
- /* 'attitudeKalmanfilter:112' S_k=H_k*P_apriori*H_k'+R; */
- /* 'attitudeKalmanfilter:113' K_k=(P_apriori*H_k'/(S_k)); */
+ /* [zw;ze;zmk]; */
+ /* 'attitudeKalmanfilter:125' H_k=[ E, Z, Z, Z; */
+ /* 'attitudeKalmanfilter:126' Z, Z, E, Z; */
+ /* 'attitudeKalmanfilter:127' Z, Z, Z, E]; */
+ /* 'attitudeKalmanfilter:129' y_k=z(1:9)-H_k*x_apriori; */
+ /* 'attitudeKalmanfilter:132' S_k=H_k*P_apriori*H_k'+R; */
+ /* 'attitudeKalmanfilter:133' K_k=(P_apriori*H_k'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 9; i0++) {
b_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- b_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)iv0[i1
+ b_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)iv1[i1
+ 12 * i0];
}
}
@@ -388,53 +567,136 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i0 = 0; i0 < 12; i0++) {
K_k[i + 9 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- K_k[i + 9 * i0] += (real32_T)iv1[i + 9 * i1] * P_apriori[i1 + 12 * i0];
+ K_k[i + 9 * i0] += (real32_T)iv2[i + 9 * i1] * P_apriori[i1 + 12 * i0];
}
}
- }
- for (i = 0; i < 9; i++) {
for (i0 = 0; i0 < 9; i0++) {
- f0 = 0.0F;
+ fv0[i + 9 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += K_k[i + 9 * i1] * (real32_T)iv0[i1 + 12 * i0];
+ fv0[i + 9 * i0] += K_k[i + 9 * i1] * (real32_T)iv1[i1 + 12 * i0];
}
+ }
+ }
- fv0[i + 9 * i0] = f0 + R[i + 9 * i0];
+ b_r[0] = r[0];
+ b_r[9] = 0.0F;
+ b_r[18] = 0.0F;
+ b_r[27] = 0.0F;
+ b_r[36] = 0.0F;
+ b_r[45] = 0.0F;
+ b_r[54] = 0.0F;
+ b_r[63] = 0.0F;
+ b_r[72] = 0.0F;
+ b_r[1] = 0.0F;
+ b_r[10] = r[0];
+ b_r[19] = 0.0F;
+ b_r[28] = 0.0F;
+ b_r[37] = 0.0F;
+ b_r[46] = 0.0F;
+ b_r[55] = 0.0F;
+ b_r[64] = 0.0F;
+ b_r[73] = 0.0F;
+ b_r[2] = 0.0F;
+ b_r[11] = 0.0F;
+ b_r[20] = r[0];
+ b_r[29] = 0.0F;
+ b_r[38] = 0.0F;
+ b_r[47] = 0.0F;
+ b_r[56] = 0.0F;
+ b_r[65] = 0.0F;
+ b_r[74] = 0.0F;
+ b_r[3] = 0.0F;
+ b_r[12] = 0.0F;
+ b_r[21] = 0.0F;
+ b_r[30] = r[1];
+ b_r[39] = 0.0F;
+ b_r[48] = 0.0F;
+ b_r[57] = 0.0F;
+ b_r[66] = 0.0F;
+ b_r[75] = 0.0F;
+ b_r[4] = 0.0F;
+ b_r[13] = 0.0F;
+ b_r[22] = 0.0F;
+ b_r[31] = 0.0F;
+ b_r[40] = r[1];
+ b_r[49] = 0.0F;
+ b_r[58] = 0.0F;
+ b_r[67] = 0.0F;
+ b_r[76] = 0.0F;
+ b_r[5] = 0.0F;
+ b_r[14] = 0.0F;
+ b_r[23] = 0.0F;
+ b_r[32] = 0.0F;
+ b_r[41] = 0.0F;
+ b_r[50] = r[1];
+ b_r[59] = 0.0F;
+ b_r[68] = 0.0F;
+ b_r[77] = 0.0F;
+ b_r[6] = 0.0F;
+ b_r[15] = 0.0F;
+ b_r[24] = 0.0F;
+ b_r[33] = 0.0F;
+ b_r[42] = 0.0F;
+ b_r[51] = 0.0F;
+ b_r[60] = r[2];
+ b_r[69] = 0.0F;
+ b_r[78] = 0.0F;
+ b_r[7] = 0.0F;
+ b_r[16] = 0.0F;
+ b_r[25] = 0.0F;
+ b_r[34] = 0.0F;
+ b_r[43] = 0.0F;
+ b_r[52] = 0.0F;
+ b_r[61] = 0.0F;
+ b_r[70] = r[2];
+ b_r[79] = 0.0F;
+ b_r[8] = 0.0F;
+ b_r[17] = 0.0F;
+ b_r[26] = 0.0F;
+ b_r[35] = 0.0F;
+ b_r[44] = 0.0F;
+ b_r[53] = 0.0F;
+ b_r[62] = 0.0F;
+ b_r[71] = 0.0F;
+ b_r[80] = r[2];
+ for (i = 0; i < 9; i++) {
+ for (i0 = 0; i0 < 9; i0++) {
+ fv1[i0 + 9 * i] = fv0[i0 + 9 * i] + b_r[i0 + 9 * i];
}
}
- mrdivide(b_P_apriori, fv0, K_k);
+ mrdivide(b_P_apriori, fv1, K_k);
- /* 'attitudeKalmanfilter:116' x_aposteriori=x_apriori+K_k*y_k; */
+ /* 'attitudeKalmanfilter:136' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 9; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
- f0 += (real32_T)iv1[i + 9 * i0] * x_apriori[i0];
+ f0 += (real32_T)iv2[i + 9 * i0] * x_apriori[i0];
}
- c_a[i] = z[i] - f0;
+ O[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 9; i0++) {
- f0 += K_k[i + 12 * i0] * c_a[i0];
+ f0 += K_k[i + 12 * i0] * O[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
- /* 'attitudeKalmanfilter:117' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */
+ /* 'attitudeKalmanfilter:137' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 9; i1++) {
- f0 += K_k[i + 12 * i1] * (real32_T)iv1[i1 + 9 * i0];
+ f0 += K_k[i + 12 * i1] * (real32_T)iv2[i1 + 9 * i0];
}
- Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -442,60 +704,72 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 * i0];
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + 12
+ * i0];
}
}
}
} else {
- /* 'attitudeKalmanfilter:118' else */
- /* 'attitudeKalmanfilter:119' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
+ /* 'attitudeKalmanfilter:138' else */
+ /* 'attitudeKalmanfilter:139' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) {
- /* 'attitudeKalmanfilter:120' R=diag(r(1:3)); */
- c_diag(*(real32_T (*)[3])&r[0], O);
-
+ /* 'attitudeKalmanfilter:141' R=[r(1),0,0; */
+ /* 'attitudeKalmanfilter:142' 0,r(1),0; */
+ /* 'attitudeKalmanfilter:143' 0,0,r(1)]; */
/* observation matrix */
- /* 'attitudeKalmanfilter:123' H_k=[ E, Z, Z, Z]; */
- /* 'attitudeKalmanfilter:125' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */
- /* 'attitudeKalmanfilter:127' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */
- /* 'attitudeKalmanfilter:128' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */
+ /* 'attitudeKalmanfilter:146' H_k=[ E, Z, Z, Z]; */
+ /* 'attitudeKalmanfilter:148' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */
+ /* 'attitudeKalmanfilter:150' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */
+ /* 'attitudeKalmanfilter:151' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 3; i0++) {
c_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
c_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
- iv2[i1 + 12 * i0];
+ iv3[i1 + 12 * i0];
}
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 12; i0++) {
- fv1[i + 3 * i0] = 0.0F;
+ fv2[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- fv1[i + 3 * i0] += (real32_T)iv3[i + 3 * i1] * P_apriori[i1 + 12 *
+ fv2[i + 3 * i0] += (real32_T)iv4[i + 3 * i1] * P_apriori[i1 + 12 *
i0];
}
}
- }
- for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
- f0 = 0.0F;
+ O[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += fv1[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];
+ O[i + 3 * i0] += fv2[i + 3 * i1] * (real32_T)iv3[i1 + 12 * i0];
}
+ }
+ }
- c_a[i + 3 * i0] = f0 + O[i + 3 * i0];
+ c_r[0] = r[0];
+ c_r[3] = 0.0F;
+ c_r[6] = 0.0F;
+ c_r[1] = 0.0F;
+ c_r[4] = r[0];
+ c_r[7] = 0.0F;
+ c_r[2] = 0.0F;
+ c_r[5] = 0.0F;
+ c_r[8] = r[0];
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ a[i0 + 3 * i] = O[i0 + 3 * i] + c_r[i0 + 3 * i];
}
}
- b_mrdivide(c_P_apriori, c_a, S_k);
+ b_mrdivide(c_P_apriori, a, b_K_k);
- /* 'attitudeKalmanfilter:131' x_aposteriori=x_apriori+K_k*y_k; */
+ /* 'attitudeKalmanfilter:154' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
- f0 += (real32_T)iv3[i + 3 * i0] * x_apriori[i0];
+ f0 += (real32_T)iv4[i + 3 * i0] * x_apriori[i0];
}
x_n_b[i] = z[i] - f0;
@@ -504,22 +778,22 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
- f0 += S_k[i + 12 * i0] * x_n_b[i0];
+ f0 += b_K_k[i + 12 * i0] * x_n_b[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
- /* 'attitudeKalmanfilter:132' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */
+ /* 'attitudeKalmanfilter:155' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 3; i1++) {
- f0 += S_k[i + 12 * i1] * (real32_T)iv3[i1 + 3 * i0];
+ f0 += b_K_k[i + 12 * i1] * (real32_T)iv4[i1 + 3 * i0];
}
- Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -527,87 +801,134 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 *
- i0];
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 +
+ 12 * i0];
}
}
}
} else {
- /* 'attitudeKalmanfilter:133' else */
- /* 'attitudeKalmanfilter:134' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */
+ /* 'attitudeKalmanfilter:156' else */
+ /* 'attitudeKalmanfilter:157' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0))
{
- /* 'attitudeKalmanfilter:135' R=diag(r(1:6)); */
- d_diag(*(real32_T (*)[6])&r[0], S_k);
+ /* 'attitudeKalmanfilter:158' if z(6)<4 || z(5)>15 */
+ if ((z[5] < 4.0F) || (z[4] > 15.0F)) {
+ /* 'attitudeKalmanfilter:159' r(2)=10000; */
+ r[1] = 10000.0F;
+ }
+ /* 'attitudeKalmanfilter:162' R=[r(1),0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:163' 0,r(1),0,0,0,0; */
+ /* 'attitudeKalmanfilter:164' 0,0,r(1),0,0,0; */
+ /* 'attitudeKalmanfilter:165' 0,0,0,r(2),0,0; */
+ /* 'attitudeKalmanfilter:166' 0,0,0,0,r(2),0; */
+ /* 'attitudeKalmanfilter:167' 0,0,0,0,0,r(2)]; */
/* observation matrix */
- /* 'attitudeKalmanfilter:138' H_k=[ E, Z, Z, Z; */
- /* 'attitudeKalmanfilter:139' Z, Z, E, Z]; */
- /* 'attitudeKalmanfilter:141' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */
- /* 'attitudeKalmanfilter:143' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
- /* 'attitudeKalmanfilter:144' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
+ /* 'attitudeKalmanfilter:170' H_k=[ E, Z, Z, Z; */
+ /* 'attitudeKalmanfilter:171' Z, Z, E, Z]; */
+ /* 'attitudeKalmanfilter:173' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */
+ /* 'attitudeKalmanfilter:175' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
+ /* 'attitudeKalmanfilter:176' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 6; i0++) {
d_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
- iv4[i1 + 12 * i0];
+ iv5[i1 + 12 * i0];
}
}
}
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 12; i0++) {
- b_K_k[i + 6 * i0] = 0.0F;
+ c_K_k[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- b_K_k[i + 6 * i0] += (real32_T)iv5[i + 6 * i1] * P_apriori[i1 + 12
+ c_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 + 12
* i0];
}
}
- }
- for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
- f0 = 0.0F;
+ fv2[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += b_K_k[i + 6 * i1] * (real32_T)iv4[i1 + 12 * i0];
+ fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv5[i1 + 12 * i0];
}
+ }
+ }
- fv1[i + 6 * i0] = f0 + S_k[i + 6 * i0];
+ b_K_k[0] = r[0];
+ b_K_k[6] = 0.0F;
+ b_K_k[12] = 0.0F;
+ b_K_k[18] = 0.0F;
+ b_K_k[24] = 0.0F;
+ b_K_k[30] = 0.0F;
+ b_K_k[1] = 0.0F;
+ b_K_k[7] = r[0];
+ b_K_k[13] = 0.0F;
+ b_K_k[19] = 0.0F;
+ b_K_k[25] = 0.0F;
+ b_K_k[31] = 0.0F;
+ b_K_k[2] = 0.0F;
+ b_K_k[8] = 0.0F;
+ b_K_k[14] = r[0];
+ b_K_k[20] = 0.0F;
+ b_K_k[26] = 0.0F;
+ b_K_k[32] = 0.0F;
+ b_K_k[3] = 0.0F;
+ b_K_k[9] = 0.0F;
+ b_K_k[15] = 0.0F;
+ b_K_k[21] = r[1];
+ b_K_k[27] = 0.0F;
+ b_K_k[33] = 0.0F;
+ b_K_k[4] = 0.0F;
+ b_K_k[10] = 0.0F;
+ b_K_k[16] = 0.0F;
+ b_K_k[22] = 0.0F;
+ b_K_k[28] = r[1];
+ b_K_k[34] = 0.0F;
+ b_K_k[5] = 0.0F;
+ b_K_k[11] = 0.0F;
+ b_K_k[17] = 0.0F;
+ b_K_k[23] = 0.0F;
+ b_K_k[29] = 0.0F;
+ b_K_k[35] = r[1];
+ for (i = 0; i < 6; i++) {
+ for (i0 = 0; i0 < 6; i0++) {
+ c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i];
}
}
- c_mrdivide(d_P_apriori, fv1, b_K_k);
+ c_mrdivide(d_P_apriori, c_P_apriori, c_K_k);
- /* 'attitudeKalmanfilter:147' x_aposteriori=x_apriori+K_k*y_k; */
+ /* 'attitudeKalmanfilter:179' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 6; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
- f0 += (real32_T)iv5[i + 6 * i0] * x_apriori[i0];
+ f0 += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
}
- b_r[i] = z[i] - f0;
+ b_z[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
- f0 += b_K_k[i + 12 * i0] * b_r[i0];
+ f0 += c_K_k[i + 12 * i0] * b_z[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
- /* 'attitudeKalmanfilter:148' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
+ /* 'attitudeKalmanfilter:180' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 6; i1++) {
- f0 += b_K_k[i + 12 * i1] * (real32_T)iv5[i1 + 6 * i0];
+ f0 += c_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
}
- Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -615,98 +936,137 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 *
- i0];
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1
+ + 12 * i0];
}
}
}
} else {
- /* 'attitudeKalmanfilter:149' else */
- /* 'attitudeKalmanfilter:150' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */
+ /* 'attitudeKalmanfilter:181' else */
+ /* 'attitudeKalmanfilter:182' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 1))
{
- /* 'attitudeKalmanfilter:151' R=diag([r(1:3);r(7:9)]); */
+ /* 'attitudeKalmanfilter:183' R=[r(1),0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:184' 0,r(1),0,0,0,0; */
+ /* 'attitudeKalmanfilter:185' 0,0,r(1),0,0,0; */
+ /* 'attitudeKalmanfilter:186' 0,0,0,r(3),0,0; */
+ /* 'attitudeKalmanfilter:187' 0,0,0,0,r(3),0; */
+ /* 'attitudeKalmanfilter:188' 0,0,0,0,0,r(3)]; */
/* observation matrix */
- /* 'attitudeKalmanfilter:154' H_k=[ E, Z, Z, Z; */
- /* 'attitudeKalmanfilter:155' Z, Z, Z, E]; */
- /* 'attitudeKalmanfilter:157' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */
- /* 'attitudeKalmanfilter:159' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
+ /* 'attitudeKalmanfilter:191' H_k=[ E, Z, Z, Z; */
+ /* 'attitudeKalmanfilter:192' Z, Z, Z, E]; */
+ /* 'attitudeKalmanfilter:194' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */
+ /* 'attitudeKalmanfilter:196' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
+ /* 'attitudeKalmanfilter:197' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 6; i0++) {
+ d_P_apriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
+ iv7[i1 + 12 * i0];
+ }
+ }
+ }
+
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 12; i0++) {
- b_K_k[i + 6 * i0] = 0.0F;
+ c_K_k[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- b_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 +
+ c_K_k[i + 6 * i0] += (real32_T)iv8[i + 6 * i1] * P_apriori[i1 +
12 * i0];
}
}
- }
- for (i = 0; i < 3; i++) {
- b_r[i << 1] = r[i];
- b_r[1 + (i << 1)] = r[6 + i];
- }
-
- for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
- f0 = 0.0F;
+ fv2[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += b_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 * i0];
+ fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 *
+ i0];
}
-
- S_k[i + 6 * i0] = f0 + b_r[3 * (i + i0)];
}
}
- /* 'attitudeKalmanfilter:160' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
- for (i = 0; i < 12; i++) {
+ b_K_k[0] = r[0];
+ b_K_k[6] = 0.0F;
+ b_K_k[12] = 0.0F;
+ b_K_k[18] = 0.0F;
+ b_K_k[24] = 0.0F;
+ b_K_k[30] = 0.0F;
+ b_K_k[1] = 0.0F;
+ b_K_k[7] = r[0];
+ b_K_k[13] = 0.0F;
+ b_K_k[19] = 0.0F;
+ b_K_k[25] = 0.0F;
+ b_K_k[31] = 0.0F;
+ b_K_k[2] = 0.0F;
+ b_K_k[8] = 0.0F;
+ b_K_k[14] = r[0];
+ b_K_k[20] = 0.0F;
+ b_K_k[26] = 0.0F;
+ b_K_k[32] = 0.0F;
+ b_K_k[3] = 0.0F;
+ b_K_k[9] = 0.0F;
+ b_K_k[15] = 0.0F;
+ b_K_k[21] = r[2];
+ b_K_k[27] = 0.0F;
+ b_K_k[33] = 0.0F;
+ b_K_k[4] = 0.0F;
+ b_K_k[10] = 0.0F;
+ b_K_k[16] = 0.0F;
+ b_K_k[22] = 0.0F;
+ b_K_k[28] = r[2];
+ b_K_k[34] = 0.0F;
+ b_K_k[5] = 0.0F;
+ b_K_k[11] = 0.0F;
+ b_K_k[17] = 0.0F;
+ b_K_k[23] = 0.0F;
+ b_K_k[29] = 0.0F;
+ b_K_k[35] = r[2];
+ for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
- d_P_apriori[i + 12 * i0] = 0.0F;
- for (i1 = 0; i1 < 12; i1++) {
- d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
- iv7[i1 + 12 * i0];
- }
+ c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i];
}
}
- c_mrdivide(d_P_apriori, S_k, b_K_k);
+ c_mrdivide(d_P_apriori, c_P_apriori, c_K_k);
- /* 'attitudeKalmanfilter:163' x_aposteriori=x_apriori+K_k*y_k; */
+ /* 'attitudeKalmanfilter:200' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
- b_r[i] = z[i];
+ b_z[i] = z[i];
}
for (i = 0; i < 3; i++) {
- b_r[i + 3] = z[i + 6];
+ b_z[i + 3] = z[i + 6];
}
for (i = 0; i < 6; i++) {
- fv2[i] = 0.0F;
+ fv3[i] = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
- fv2[i] += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
+ fv3[i] += (real32_T)iv8[i + 6 * i0] * x_apriori[i0];
}
- b_z[i] = b_r[i] - fv2[i];
+ c_z[i] = b_z[i] - fv3[i];
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
- f0 += b_K_k[i + 12 * i0] * b_z[i0];
+ f0 += c_K_k[i + 12 * i0] * c_z[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
- /* 'attitudeKalmanfilter:164' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
+ /* 'attitudeKalmanfilter:201' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 6; i1++) {
- f0 += b_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
+ f0 += c_K_k[i + 12 * i1] * (real32_T)iv8[i1 + 6 * i0];
}
- Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -714,19 +1074,19 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12
- * i0];
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] *
+ P_apriori[i1 + 12 * i0];
}
}
}
} else {
- /* 'attitudeKalmanfilter:165' else */
- /* 'attitudeKalmanfilter:166' x_aposteriori=x_apriori; */
+ /* 'attitudeKalmanfilter:202' else */
+ /* 'attitudeKalmanfilter:203' x_aposteriori=x_apriori; */
for (i = 0; i < 12; i++) {
x_aposteriori[i] = x_apriori[i];
}
- /* 'attitudeKalmanfilter:167' P_aposteriori=P_apriori; */
+ /* 'attitudeKalmanfilter:204' P_aposteriori=P_apriori; */
memcpy(&P_aposteriori[0], &P_apriori[0], 144U * sizeof(real32_T));
}
}
@@ -734,54 +1094,54 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const }
/* % euler anglels extraction */
- /* 'attitudeKalmanfilter:176' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */
+ /* 'attitudeKalmanfilter:213' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */
for (i = 0; i < 3; i++) {
x_n_b[i] = -x_aposteriori[i + 6];
}
rdivide(x_n_b, norm(*(real32_T (*)[3])&x_aposteriori[6]), z_n_b);
- /* 'attitudeKalmanfilter:177' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */
+ /* 'attitudeKalmanfilter:214' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */
rdivide(*(real32_T (*)[3])&x_aposteriori[9], norm(*(real32_T (*)[3])&
- x_aposteriori[9]), m_n_b);
+ x_aposteriori[9]), wak);
- /* 'attitudeKalmanfilter:179' y_n_b=cross(z_n_b,m_n_b); */
+ /* 'attitudeKalmanfilter:216' y_n_b=cross(z_n_b,m_n_b); */
for (i = 0; i < 3; i++) {
- x_n_b[i] = m_n_b[i];
+ x_n_b[i] = wak[i];
}
- cross(z_n_b, x_n_b, m_n_b);
+ cross(z_n_b, x_n_b, wak);
- /* 'attitudeKalmanfilter:180' y_n_b=y_n_b./norm(y_n_b); */
+ /* 'attitudeKalmanfilter:217' y_n_b=y_n_b./norm(y_n_b); */
for (i = 0; i < 3; i++) {
- x_n_b[i] = m_n_b[i];
+ x_n_b[i] = wak[i];
}
- rdivide(x_n_b, norm(m_n_b), m_n_b);
+ rdivide(x_n_b, norm(wak), wak);
- /* 'attitudeKalmanfilter:182' x_n_b=(cross(y_n_b,z_n_b)); */
- cross(m_n_b, z_n_b, x_n_b);
+ /* 'attitudeKalmanfilter:219' x_n_b=(cross(y_n_b,z_n_b)); */
+ cross(wak, z_n_b, x_n_b);
- /* 'attitudeKalmanfilter:183' x_n_b=x_n_b./norm(x_n_b); */
+ /* 'attitudeKalmanfilter:220' x_n_b=x_n_b./norm(x_n_b); */
for (i = 0; i < 3; i++) {
b_x_aposteriori_k[i] = x_n_b[i];
}
rdivide(b_x_aposteriori_k, norm(x_n_b), x_n_b);
- /* 'attitudeKalmanfilter:189' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */
+ /* 'attitudeKalmanfilter:226' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */
for (i = 0; i < 3; i++) {
Rot_matrix[i] = x_n_b[i];
- Rot_matrix[3 + i] = m_n_b[i];
+ Rot_matrix[3 + i] = wak[i];
Rot_matrix[6 + i] = z_n_b[i];
}
- /* 'attitudeKalmanfilter:193' phi=atan2f(Rot_matrix(2,3),Rot_matrix(3,3)); */
- /* 'attitudeKalmanfilter:194' theta=-asinf(Rot_matrix(1,3)); */
- /* 'attitudeKalmanfilter:195' psi=atan2f(Rot_matrix(1,2),Rot_matrix(1,1)); */
- /* 'attitudeKalmanfilter:196' eulerAngles=[phi;theta;psi]; */
+ /* 'attitudeKalmanfilter:230' phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3)); */
+ /* 'attitudeKalmanfilter:231' theta=-asin(Rot_matrix(1,3)); */
+ /* 'attitudeKalmanfilter:232' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */
+ /* 'attitudeKalmanfilter:233' eulerAngles=[phi;theta;psi]; */
eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]);
- eulerAngles[1] = -(real32_T)asinf(Rot_matrix[6]);
+ eulerAngles[1] = -(real32_T)asin(Rot_matrix[6]);
eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]);
}
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h index c93d7f4bb..afa63c1a9 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
@@ -29,6 +29,6 @@ /* Variable Definitions */
/* Function Declarations */
-extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], const real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
+extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
#endif
/* End of code generation (attitudeKalmanfilter.h) */
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c index 67b6fa422..7d620d7fa 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter_initialize'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h index 610924d75..8b599be66 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter_initialize'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c index c89602723..7f9727419 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter_terminate'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h index a19630775..da84a5024 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter_terminate'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h index eba83d0d9..30fd1e75e 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/apps/attitude_estimator_ekf/codegen/cross.c index 42cd70971..84ada9002 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/cross.c +++ b/apps/attitude_estimator_ekf/codegen/cross.c @@ -3,7 +3,7 @@ *
* Code generation for function 'cross'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/apps/attitude_estimator_ekf/codegen/cross.h index c90d6b3a5..e727f0684 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/cross.h +++ b/apps/attitude_estimator_ekf/codegen/cross.h @@ -3,7 +3,7 @@ *
* Code generation for function 'cross'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/diag.c b/apps/attitude_estimator_ekf/codegen/diag.c deleted file mode 100644 index 7c28e873a..000000000 --- a/apps/attitude_estimator_ekf/codegen/diag.c +++ /dev/null @@ -1,78 +0,0 @@ -/*
- * diag.c
- *
- * Code generation for function 'diag'
- *
- * C source code generated on: Tue Oct 16 15:27:58 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "attitudeKalmanfilter.h"
-#include "diag.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-
-/*
- *
- */
-void b_diag(const real32_T v[9], real32_T d[81])
-{
- int32_T j;
- memset(&d[0], 0, 81U * sizeof(real32_T));
- for (j = 0; j < 9; j++) {
- d[j + 9 * j] = v[j];
- }
-}
-
-/*
- *
- */
-void c_diag(const real32_T v[3], real32_T d[9])
-{
- int32_T j;
- for (j = 0; j < 9; j++) {
- d[j] = 0.0F;
- }
-
- for (j = 0; j < 3; j++) {
- d[j + 3 * j] = v[j];
- }
-}
-
-/*
- *
- */
-void d_diag(const real32_T v[6], real32_T d[36])
-{
- int32_T j;
- memset(&d[0], 0, 36U * sizeof(real32_T));
- for (j = 0; j < 6; j++) {
- d[j + 6 * j] = v[j];
- }
-}
-
-/*
- *
- */
-void diag(const real32_T v[12], real32_T d[144])
-{
- int32_T j;
- memset(&d[0], 0, 144U * sizeof(real32_T));
- for (j = 0; j < 12; j++) {
- d[j + 12 * j] = v[j];
- }
-}
-
-/* End of code generation (diag.c) */
diff --git a/apps/attitude_estimator_ekf/codegen/diag.h b/apps/attitude_estimator_ekf/codegen/diag.h deleted file mode 100644 index 98b411c2d..000000000 --- a/apps/attitude_estimator_ekf/codegen/diag.h +++ /dev/null @@ -1,37 +0,0 @@ -/*
- * diag.h
- *
- * Code generation for function 'diag'
- *
- * C source code generated on: Tue Oct 16 15:27:58 2012
- *
- */
-
-#ifndef __DIAG_H__
-#define __DIAG_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <string.h>
-#include "rt_defines.h"
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "attitudeKalmanfilter_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void b_diag(const real32_T v[9], real32_T d[81]);
-extern void c_diag(const real32_T v[3], real32_T d[9]);
-extern void d_diag(const real32_T v[6], real32_T d[36]);
-extern void diag(const real32_T v[12], real32_T d[144]);
-#endif
-/* End of code generation (diag.h) */
diff --git a/apps/attitude_estimator_ekf/codegen/eye.c b/apps/attitude_estimator_ekf/codegen/eye.c index dbd44c6a8..b89ab58ef 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/eye.c +++ b/apps/attitude_estimator_ekf/codegen/eye.c @@ -3,7 +3,7 @@ *
* Code generation for function 'eye'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/apps/attitude_estimator_ekf/codegen/eye.h index 325fd23ec..94fbe7671 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/eye.h +++ b/apps/attitude_estimator_ekf/codegen/eye.h @@ -3,7 +3,7 @@ *
* Code generation for function 'eye'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/apps/attitude_estimator_ekf/codegen/mrdivide.c index 0a540775a..a810f22e4 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.c +++ b/apps/attitude_estimator_ekf/codegen/mrdivide.c @@ -3,7 +3,7 @@ *
* Code generation for function 'mrdivide'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/apps/attitude_estimator_ekf/codegen/mrdivide.h index d286eda5a..2d3b0d51f 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.h +++ b/apps/attitude_estimator_ekf/codegen/mrdivide.h @@ -3,7 +3,7 @@ *
* Code generation for function 'mrdivide'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/apps/attitude_estimator_ekf/codegen/norm.c index deb71dc60..0c418cc7b 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/norm.c +++ b/apps/attitude_estimator_ekf/codegen/norm.c @@ -3,7 +3,7 @@ *
* Code generation for function 'norm'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/apps/attitude_estimator_ekf/codegen/norm.h index 3459cbdb5..60cf77b57 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/norm.h +++ b/apps/attitude_estimator_ekf/codegen/norm.h @@ -3,7 +3,7 @@ *
* Code generation for function 'norm'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/power.c b/apps/attitude_estimator_ekf/codegen/power.c deleted file mode 100644 index fc602fb5c..000000000 --- a/apps/attitude_estimator_ekf/codegen/power.c +++ /dev/null @@ -1,84 +0,0 @@ -/*
- * power.c
- *
- * Code generation for function 'power'
- *
- * C source code generated on: Tue Oct 16 15:27:58 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "attitudeKalmanfilter.h"
-#include "power.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1);
-
-/* Function Definitions */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1)
-{
- real32_T y;
- real32_T f1;
- real32_T f2;
- if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
- y = ((real32_T)rtNaN);
- } else {
- f1 = (real32_T)fabs(u0);
- f2 = (real32_T)fabs(u1);
- if (rtIsInfF(u1)) {
- if (f1 == 1.0F) {
- y = ((real32_T)rtNaN);
- } else if (f1 > 1.0F) {
- if (u1 > 0.0F) {
- y = ((real32_T)rtInf);
- } else {
- y = 0.0F;
- }
- } else if (u1 > 0.0F) {
- y = 0.0F;
- } else {
- y = ((real32_T)rtInf);
- }
- } else if (f2 == 0.0F) {
- y = 1.0F;
- } else if (f2 == 1.0F) {
- if (u1 > 0.0F) {
- y = u0;
- } else {
- y = 1.0F / u0;
- }
- } else if (u1 == 2.0F) {
- y = u0 * u0;
- } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
- y = (real32_T)sqrt(u0);
- } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
- y = ((real32_T)rtNaN);
- } else {
- y = (real32_T)pow(u0, u1);
- }
- }
-
- return y;
-}
-
-/*
- *
- */
-void power(const real32_T a[12], real32_T y[12])
-{
- int32_T k;
- for (k = 0; k < 12; k++) {
- y[k] = rt_powf_snf(a[k], 2.0F);
- }
-}
-
-/* End of code generation (power.c) */
diff --git a/apps/attitude_estimator_ekf/codegen/power.h b/apps/attitude_estimator_ekf/codegen/power.h deleted file mode 100644 index 40a0d9353..000000000 --- a/apps/attitude_estimator_ekf/codegen/power.h +++ /dev/null @@ -1,34 +0,0 @@ -/*
- * power.h
- *
- * Code generation for function 'power'
- *
- * C source code generated on: Tue Oct 16 15:27:58 2012
- *
- */
-
-#ifndef __POWER_H__
-#define __POWER_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <string.h>
-#include "rt_defines.h"
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "attitudeKalmanfilter_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void power(const real32_T a[12], real32_T y[12]);
-#endif
-/* End of code generation (power.h) */
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.c b/apps/attitude_estimator_ekf/codegen/rdivide.c index 11e4e6f1f..d035dae5e 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rdivide.c +++ b/apps/attitude_estimator_ekf/codegen/rdivide.c @@ -3,7 +3,7 @@ *
* Code generation for function 'rdivide'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/apps/attitude_estimator_ekf/codegen/rdivide.h index 4e2430374..4bbebebe2 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rdivide.h +++ b/apps/attitude_estimator_ekf/codegen/rdivide.h @@ -3,7 +3,7 @@ *
* Code generation for function 'rdivide'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/apps/attitude_estimator_ekf/codegen/rtGetInf.c index d20fa13fc..34164d104 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.c +++ b/apps/attitude_estimator_ekf/codegen/rtGetInf.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/apps/attitude_estimator_ekf/codegen/rtGetInf.h index 83a355873..145373cd0 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.h +++ b/apps/attitude_estimator_ekf/codegen/rtGetInf.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/apps/attitude_estimator_ekf/codegen/rtGetNaN.c index d357102af..d84ca9573 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c +++ b/apps/attitude_estimator_ekf/codegen/rtGetNaN.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/apps/attitude_estimator_ekf/codegen/rtGetNaN.h index 415927709..65fdaa96f 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h +++ b/apps/attitude_estimator_ekf/codegen/rtGetNaN.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/apps/attitude_estimator_ekf/codegen/rt_defines.h index 608391608..356498363 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rt_defines.h +++ b/apps/attitude_estimator_ekf/codegen/rt_defines.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c index 69069562b..303d1d9d2 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c +++ b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h index 9686964ae..bd56b30d9 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h +++ b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/apps/attitude_estimator_ekf/codegen/rtwtypes.h index 77fd3ec7a..9a5c96267 100644..100755 --- a/apps/attitude_estimator_ekf/codegen/rtwtypes.h +++ b/apps/attitude_estimator_ekf/codegen/rtwtypes.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
@@ -26,8 +26,8 @@ * Number of bits: char: 8 short: 16 int: 32
* long: 32 native word size: 32
* Byte ordering: LittleEndian
- * Signed integer division rounds to: Undefined
- * Shift right on a signed integer as arithmetic shift: off
+ * Signed integer division rounds to: Zero
+ * Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 3a6fecf74..5dfb7a945 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1459,9 +1459,6 @@ int commander_thread_main(int argc, char *argv[]) } else { current_status.flag_external_manual_override_ok = true; } - - } else { - warnx("ARMED, rejecting sys type change\n"); } } @@ -1678,12 +1675,13 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); /* check for first, long-term and valid GPS lock -> set home position */ - float hdop_m = gps_position.eph / 100.0f; - float vdop_m = gps_position.epv / 100.0f; + float hdop_m = gps_position.eph_m; + float vdop_m = gps_position.epv_m; /* check if gps fix is ok */ // XXX magic number - float dop_threshold_m = 2.0f; + float hdop_threshold_m = 4.0f; + float vdop_threshold_m = 8.0f; /* * If horizontal dilution of precision (hdop / eph) @@ -1694,10 +1692,12 @@ int commander_thread_main(int argc, char *argv[]) * the system is currently not armed, set home * position to the current position. */ - if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m) - && (vdop_m < dop_threshold_m) + + if (gps_position.fix_type == GPS_FIX_TYPE_3D + && (hdop_m < hdop_threshold_m) + && (vdop_m < vdop_threshold_m) && !home_position_set - && (hrt_absolute_time() - gps_position.timestamp < 2000000) + && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) && !current_status.flag_system_armed) { warnx("setting home position"); @@ -1706,11 +1706,11 @@ int commander_thread_main(int argc, char *argv[]) home.lon = gps_position.lon; home.alt = gps_position.alt; - home.eph = gps_position.eph; - home.epv = gps_position.epv; + home.eph_m = gps_position.eph_m; + home.epv_m = gps_position.epv_m; - home.s_variance = gps_position.s_variance; - home.p_variance = gps_position.p_variance; + home.s_variance_m_s = gps_position.s_variance_m_s; + home.p_variance_m = gps_position.p_variance_m; /* announce new home position */ if (home_pub > 0) { diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index 03da35a0a..d9637b4a7 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -322,11 +322,24 @@ void BlockMultiModeBacksideAutopilot::update() _att.roll, _att.pitch, _att.yaw, _att.rollspeed, _att.pitchspeed, _att.yawspeed ); - _actuators.control[CH_AIL] = _backsideAutopilot.getAileron(); - _actuators.control[CH_ELV] = _backsideAutopilot.getElevator(); + _actuators.control[CH_AIL] = - _backsideAutopilot.getAileron(); + _actuators.control[CH_ELV] = - _backsideAutopilot.getElevator(); _actuators.control[CH_RDR] = _backsideAutopilot.getRudder(); _actuators.control[CH_THR] = _backsideAutopilot.getThrottle(); + // XXX limit throttle to manual setting (safety) for now. + // If it turns out to be confusing, it can be removed later once + // a first binary release can be targeted. + // This is not a hack, but a design choice. + + /* do not limit in HIL */ + if (!_status.flag_hil_enabled) { + /* limit to value of manual throttle */ + _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? + _actuators.control[CH_THR] : _manual.throttle; + } + + } else if (_status.state_machine == SYSTEM_STATE_MANUAL) { if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { @@ -337,11 +350,12 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_THR] = _manual.throttle; } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { - _stabilization.update( - _ratesCmd.roll, _ratesCmd.pitch, _ratesCmd.yaw, + + _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, _att.rollspeed, _att.pitchspeed, _att.yawspeed); + _actuators.control[CH_AIL] = _stabilization.getAileron(); - _actuators.control[CH_ELV] = _stabilization.getElevator(); + _actuators.control[CH_ELV] = - _stabilization.getElevator(); _actuators.control[CH_RDR] = _stabilization.getRudder(); _actuators.control[CH_THR] = _manual.throttle; } diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h new file mode 100644 index 000000000..1dda8ef0b --- /dev/null +++ b/apps/drivers/drv_gps.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file GPS driver interface. + */ + +#ifndef _DRV_GPS_H +#define _DRV_GPS_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +#define GPS_DEFAULT_UART_PORT "/dev/ttyS3" + +#define GPS_DEVICE_PATH "/dev/gps" + +typedef enum { + GPS_DRIVER_MODE_NONE = 0, + GPS_DRIVER_MODE_UBX, + GPS_DRIVER_MODE_MTK, + GPS_DRIVER_MODE_NMEA, +} gps_driver_mode_t; + + +/* + * ObjDev tag for GPS data. + */ +ORB_DECLARE(gps); + +/* + * ioctl() definitions + */ +#define _GPSIOCBASE (0x2800) //TODO: arbitrary choice... +#define _GPSIOC(_n) (_IOC(_GPSIOCBASE, _n)) + +#endif /* _DRV_GPS_H */ diff --git a/apps/gps/Makefile b/apps/drivers/gps/Makefile index 7aaaf50cb..3859a88a5 100644 --- a/apps/gps/Makefile +++ b/apps/drivers/gps/Makefile @@ -32,28 +32,11 @@ ############################################################################ # -# Makefile to build the GPS receiver application +# GPS driver # APPNAME = gps PRIORITY = SCHED_PRIORITY_DEFAULT STACKSIZE = 2048 -CSRCS = gps.c \ - ubx.c \ - mtk.c \ - nmea_helper.c \ - nmealib/context.c \ - nmealib/generate.c \ - nmealib/generator.c \ - nmealib/gmath.c \ - nmealib/info.c \ - nmealib/parse.c \ - nmealib/parser.c \ - nmealib/sentence.c \ - nmealib/time.c \ - nmealib/tok.c - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp new file mode 100644 index 000000000..6d7cfcc68 --- /dev/null +++ b/apps/drivers/gps/gps.cpp @@ -0,0 +1,536 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file gps.cpp + * Driver for the GPS on a serial port + */ + +#include <nuttx/clock.h> +#include <sys/types.h> +#include <stdint.h> +#include <stdio.h> +#include <stdbool.h> +#include <stdlib.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> +#include <fcntl.h> +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <arch/board/board.h> +#include <drivers/drv_hrt.h> +#include <drivers/device/i2c.h> +#include <systemlib/perf_counter.h> +#include <systemlib/scheduling_priorities.h> +#include <systemlib/err.h> +#include <drivers/drv_gps.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> + +#include "ubx.h" +#include "mtk.h" + + +#define TIMEOUT_5HZ 400 +#define RATE_MEASUREMENT_PERIOD 5000000 + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + + + +class GPS : public device::CDev +{ +public: + GPS(const char* uart_path); + ~GPS(); + + virtual int init(); + + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +private: + + bool _task_should_exit; ///< flag to make the main worker task exit + int _serial_fd; ///< serial interface to GPS + unsigned _baudrate; ///< current baudrate + char _port[20]; ///< device / serial port path + volatile int _task; //< worker task + bool _healthy; ///< flag to signal if the GPS is ok + bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed + bool _mode_changed; ///< flag that the GPS mode has changed + gps_driver_mode_t _mode; ///< current mode + GPS_Helper *_Helper; ///< instance of GPS parser + struct vehicle_gps_position_s _report; ///< uORB topic for gps position + orb_advert_t _report_pub; ///< uORB pub for gps position + float _rate; ///< position update rate + + + /** + * Try to configure the GPS, handle outgoing communication to the GPS + */ + void config(); + + /** + * Trampoline to the worker task + */ + static void task_main_trampoline(void *arg); + + + /** + * Worker task: main GPS thread that configures the GPS and parses incoming data, always running + */ + void task_main(void); + + /** + * Set the baudrate of the UART to the GPS + */ + int set_baudrate(unsigned baud); + + /** + * Send a reset command to the GPS + */ + void cmd_reset(); + +}; + + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int gps_main(int argc, char *argv[]); + +namespace +{ + +GPS *g_dev; + +} + + +GPS::GPS(const char* uart_path) : + CDev("gps", GPS_DEVICE_PATH), + _task_should_exit(false), + _healthy(false), + _mode_changed(false), + _mode(GPS_DRIVER_MODE_UBX), + _Helper(nullptr), + _report_pub(-1), + _rate(0.0f) +{ + /* store port name */ + strncpy(_port, uart_path, sizeof(_port)); + /* enforce null termination */ + _port[sizeof(_port) - 1] = '\0'; + + /* we need this potentially before it could be set in task_main */ + g_dev = this; + memset(&_report, 0, sizeof(_report)); + + _debug_enabled = true; +} + +GPS::~GPS() +{ + /* tell the task we want it to go away */ + _task_should_exit = true; + + /* spin waiting for the task to stop */ + for (unsigned i = 0; (i < 10) && (_task != -1); i++) { + /* give it another 100ms */ + usleep(100000); + } + + /* well, kill it anyway, though this will probably crash */ + if (_task != -1) + task_delete(_task); + g_dev = nullptr; + +} + +int +GPS::init() +{ + int ret = ERROR; + + /* do regular cdev init */ + if (CDev::init() != OK) + goto out; + + /* start the GPS driver worker task */ + _task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr); + + if (_task < 0) { + warnx("task start failed: %d", errno); + return -errno; + } + + ret = OK; +out: + return ret; +} + +int +GPS::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + lock(); + + int ret = OK; + + switch (cmd) { + case SENSORIOCRESET: + cmd_reset(); + break; + } + + unlock(); + + return ret; +} + +void +GPS::task_main_trampoline(void *arg) +{ + g_dev->task_main(); +} + +void +GPS::task_main() +{ + log("starting"); + + /* open the serial port */ + _serial_fd = ::open(_port, O_RDWR); + + if (_serial_fd < 0) { + log("failed to open serial port: %s err: %d", _port, errno); + /* tell the dtor that we are exiting, set error code */ + _task = -1; + _exit(1); + } + + uint64_t last_rate_measurement = hrt_absolute_time(); + unsigned last_rate_count = 0; + + /* loop handling received serial bytes and also configuring in between */ + while (!_task_should_exit) { + + if (_Helper != nullptr) { + delete(_Helper); + /* set to zero to ensure parser is not used while not instantiated */ + _Helper = nullptr; + } + + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + _Helper = new UBX(_serial_fd, &_report); + break; + case GPS_DRIVER_MODE_MTK: + _Helper = new MTK(_serial_fd, &_report); + break; + case GPS_DRIVER_MODE_NMEA: + //_Helper = new NMEA(); //TODO: add NMEA + break; + default: + break; + } + unlock(); + if (_Helper->configure(_baudrate) == 0) { + unlock(); + while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { +// lock(); + /* opportunistic publishing - else invalid data would end up on the bus */ + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } + + last_rate_count++; + + /* measure update rate every 5 seconds */ + if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) { + _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); + last_rate_measurement = hrt_absolute_time(); + last_rate_count = 0; + } + + if (!_healthy) { + warnx("module found"); + _healthy = true; + } + } + if (_healthy) { + warnx("module lost"); + _healthy = false; + _rate = 0.0f; + } + + lock(); + } + lock(); + + /* select next mode */ + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + _mode = GPS_DRIVER_MODE_MTK; + break; + case GPS_DRIVER_MODE_MTK: + _mode = GPS_DRIVER_MODE_UBX; + break; + // case GPS_DRIVER_MODE_NMEA: + // _mode = GPS_DRIVER_MODE_UBX; + // break; + default: + break; + } + + } + debug("exiting"); + + ::close(_serial_fd); + + /* tell the dtor that we are exiting */ + _task = -1; + _exit(0); +} + + + +void +GPS::cmd_reset() +{ + //XXX add reset? +} + +void +GPS::print_info() +{ + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + warnx("protocol: UBX"); + break; + case GPS_DRIVER_MODE_MTK: + warnx("protocol: MTK"); + break; + case GPS_DRIVER_MODE_NMEA: + warnx("protocol: NMEA"); + break; + default: + break; + } + warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); + if (_report.timestamp_position != 0) { + warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, + (double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f)); + warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); + warnx("update rate: %6.2f Hz", (double)_rate); + } + + usleep(100000); +} + +/** + * Local functions in support of the shell command. + */ +namespace gps +{ + +GPS *g_dev; + +void start(const char *uart_path); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start(const char *uart_path) +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new GPS(uart_path); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(GPS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH); + goto fail; + } + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver. + */ +void +stop() +{ + delete g_dev; + g_dev = nullptr; + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(GPS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + exit(0); +} + +/** + * Print the status of the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + g_dev->print_info(); + + exit(0); +} + +} // namespace + + +int +gps_main(int argc, char *argv[]) +{ + + /* set to default */ + char* device_name = GPS_DEFAULT_UART_PORT; + + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + /* work around getopt unreliability */ + if (argc > 3) { + if (!strcmp(argv[2], "-d")) { + device_name = argv[3]; + } else { + goto out; + } + } + gps::start(device_name); + } + + if (!strcmp(argv[1], "stop")) + gps::stop(); + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + gps::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + gps::reset(); + + /* + * Print driver status. + */ + if (!strcmp(argv[1], "status")) + gps::info(); + +out: + errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]"); +} diff --git a/apps/drivers/gps/gps_helper.cpp b/apps/drivers/gps/gps_helper.cpp new file mode 100644 index 000000000..9c1fad569 --- /dev/null +++ b/apps/drivers/gps/gps_helper.cpp @@ -0,0 +1,92 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include <termios.h> +#include <errno.h> +#include <systemlib/err.h> +#include "gps_helper.h" + +/* @file gps_helper.cpp */ + +int +GPS_Helper::set_baudrate(const int &fd, unsigned baud) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + warnx("try baudrate: %d\n", speed); + + default: + warnx("ERROR: Unsupported baudrate: %d\n", baud); + return -EINVAL; + } + struct termios uart_config; + int termios_state; + + /* fill the struct for the new configuration */ + tcgetattr(fd, &uart_config); + + /* clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + /* no parity, one stop bit */ + uart_config.c_cflag &= ~(CSTOPB | PARENB); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state); + return -1; + } + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state); + return -1; + } + if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { + warnx("ERROR setting baudrate (tcsetattr)\n"); + return -1; + } + /* XXX if resetting the parser here, ensure it does exist (check for null pointer) */ + return 0; +} diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h new file mode 100644 index 000000000..f3d3bc40b --- /dev/null +++ b/apps/drivers/gps/gps_helper.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file gps_helper.h */ + +#ifndef GPS_HELPER_H +#define GPS_HELPER_H + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> + +class GPS_Helper +{ +public: + virtual int configure(unsigned &baud) = 0; + virtual int receive(unsigned timeout) = 0; + int set_baudrate(const int &fd, unsigned baud); +}; + +#endif /* GPS_HELPER_H */ diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp new file mode 100644 index 000000000..4762bd503 --- /dev/null +++ b/apps/drivers/gps/mtk.cpp @@ -0,0 +1,274 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file mkt.cpp */ + +#include <unistd.h> +#include <stdio.h> +#include <poll.h> +#include <math.h> +#include <string.h> +#include <assert.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> + +#include "mtk.h" + + +MTK::MTK(const int &fd, struct vehicle_gps_position_s *gps_position) : +_fd(fd), +_gps_position(gps_position), +_mtk_revision(0) +{ + decode_init(); +} + +MTK::~MTK() +{ +} + +int +MTK::configure(unsigned &baudrate) +{ + /* set baudrate first */ + if (GPS_Helper::set_baudrate(_fd, MTK_BAUDRATE) != 0) + return -1; + + baudrate = MTK_BAUDRATE; + + /* Write config messages, don't wait for an answer */ + if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) { + warnx("mtk: config write failed"); + return -1; + } + + return 0; +} + +int +MTK::receive(unsigned timeout) +{ + /* poll descriptor */ + pollfd fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + uint8_t buf[32]; + gps_mtk_packet_t packet; + + /* timeout additional to poll */ + uint64_t time_started = hrt_absolute_time(); + + int j = 0; + ssize_t count = 0; + + while (true) { + + /* first read whatever is left */ + if (j < count) { + /* pass received bytes to the packet decoder */ + while (j < count) { + if (parse_char(buf[j], packet) > 0) { + handle_message(packet); + return 1; + } + /* in case we keep trying but only get crap from GPS */ + if (time_started + timeout*1000 < hrt_absolute_time() ) { + return -1; + } + j++; + } + /* everything is read */ + j = count = 0; + } + + /* then poll for new data */ + int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); + + if (ret < 0) { + /* something went wrong when polling */ + return -1; + + } else if (ret == 0) { + /* Timeout */ + return -1; + + } else if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. If more bytes are + * available, we'll go back to poll() again... + */ + count = ::read(_fd, buf, sizeof(buf)); + } + } + } +} + +void +MTK::decode_init(void) +{ + _rx_ck_a = 0; + _rx_ck_b = 0; + _rx_count = 0; + _decode_state = MTK_DECODE_UNINIT; +} +int +MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) +{ + int ret = 0; + + if (_decode_state == MTK_DECODE_UNINIT) { + + if (b == MTK_SYNC1_V16) { + _decode_state = MTK_DECODE_GOT_CK_A; + _mtk_revision = 16; + } else if (b == MTK_SYNC1_V19) { + _decode_state = MTK_DECODE_GOT_CK_A; + _mtk_revision = 19; + } + + } else if (_decode_state == MTK_DECODE_GOT_CK_A) { + if (b == MTK_SYNC2) { + _decode_state = MTK_DECODE_GOT_CK_B; + + } else { + // Second start symbol was wrong, reset state machine + decode_init(); + } + + } else if (_decode_state == MTK_DECODE_GOT_CK_B) { + // Add to checksum + if (_rx_count < 33) + add_byte_to_checksum(b); + + // Fill packet buffer + ((uint8_t*)(&packet))[_rx_count] = b; + _rx_count++; + + /* Packet size minus checksum, XXX ? */ + if (_rx_count >= sizeof(packet)) { + /* Compare checksum */ + if (_rx_ck_a == packet.ck_a && _rx_ck_b == packet.ck_b) { + ret = 1; + } else { + warnx("MTK Checksum invalid"); + ret = -1; + } + // Reset state machine to decode next packet + decode_init(); + } + } + return ret; +} + +void +MTK::handle_message(gps_mtk_packet_t &packet) +{ + if (_mtk_revision == 16) { + _gps_position->lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7 + _gps_position->lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7 + } else if (_mtk_revision == 19) { + _gps_position->lat = packet.latitude; // both degrees*1e7 + _gps_position->lon = packet.longitude; // both degrees*1e7 + } else { + warnx("mtk: unknown revision"); + _gps_position->lat = 0; + _gps_position->lon = 0; + } + _gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm + _gps_position->fix_type = packet.fix_type; + _gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit + _gps_position->epv_m = 0.0; //unknown in mtk custom mode + _gps_position->vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s + _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad + _gps_position->satellites_visible = packet.satellites; + + /* convert time and date information to unix timestamp */ + struct tm timeinfo; //TODO: test this conversion + uint32_t timeinfo_conversion_temp; + + timeinfo.tm_mday = packet.date * 1e-4; + timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 1e4; + timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1; + timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100; + + timeinfo.tm_hour = packet.utc_time * 1e-7; + timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 1e7; + timeinfo.tm_min = timeinfo_conversion_temp * 1e-5; + timeinfo_conversion_temp -= timeinfo.tm_min * 1e5; + timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3; + timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3; + time_t epoch = mktime(&timeinfo); + + _gps_position->time_gps_usec = epoch * 1e6; //TODO: test this + _gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3; + _gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time(); + + return; +} + +void +MTK::add_byte_to_checksum(uint8_t b) +{ + _rx_ck_a = _rx_ck_a + b; + _rx_ck_b = _rx_ck_b + _rx_ck_a; +} diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h new file mode 100644 index 000000000..d4e390b01 --- /dev/null +++ b/apps/drivers/gps/mtk.h @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file mtk.h */ + +#ifndef MTK_H_ +#define MTK_H_ + +#include "gps_helper.h" + +#define MTK_SYNC1_V16 0xd0 +#define MTK_SYNC1_V19 0xd1 +#define MTK_SYNC2 0xdd + +#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n" +#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n" +#define SBAS_ON "$PMTK313,1*2E\r\n" +#define WAAS_ON "$PMTK301,2*2E\r\n" +#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n" + +#define MTK_TIMEOUT_5HZ 400 +#define MTK_BAUDRATE 38400 + +typedef enum { + MTK_DECODE_UNINIT = 0, + MTK_DECODE_GOT_CK_A = 1, + MTK_DECODE_GOT_CK_B = 2 +} mtk_decode_state_t; + +/** the structures of the binary packets */ +#pragma pack(push, 1) + +typedef struct { + uint8_t payload; ///< Number of payload bytes + int32_t latitude; ///< Latitude in degrees * 10^7 + int32_t longitude; ///< Longitude in degrees * 10^7 + uint32_t msl_altitude; ///< MSL altitude in meters * 10^2 + uint32_t ground_speed; ///< velocity in m/s + int32_t heading; ///< heading in degrees * 10^2 + uint8_t satellites; ///< number of sattelites used + uint8_t fix_type; ///< fix type: XXX correct for that + uint32_t date; + uint32_t utc_time; + uint16_t hdop; ///< horizontal dilution of position (without unit) + uint8_t ck_a; + uint8_t ck_b; +} gps_mtk_packet_t; + +#pragma pack(pop) + +#define MTK_RECV_BUFFER_SIZE 40 + +class MTK : public GPS_Helper +{ +public: + MTK(const int &fd, struct vehicle_gps_position_s *gps_position); + ~MTK(); + int receive(unsigned timeout); + int configure(unsigned &baudrate); + +private: + /** + * Parse the binary MTK packet + */ + int parse_char(uint8_t b, gps_mtk_packet_t &packet); + + /** + * Handle the package once it has arrived + */ + void handle_message(gps_mtk_packet_t &packet); + + /** + * Reset the parse state machine for a fresh start + */ + void decode_init(void); + + /** + * While parsing add every byte (except the sync bytes) to the checksum + */ + void add_byte_to_checksum(uint8_t); + + int _fd; + struct vehicle_gps_position_s *_gps_position; + mtk_decode_state_t _decode_state; + uint8_t _mtk_revision; + uint8_t _rx_buffer[MTK_RECV_BUFFER_SIZE]; + unsigned _rx_count; + uint8_t _rx_ck_a; + uint8_t _rx_ck_b; +}; + +#endif /* MTK_H_ */ diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp new file mode 100644 index 000000000..74cbc5aaf --- /dev/null +++ b/apps/drivers/gps/ubx.cpp @@ -0,0 +1,745 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file U-Blox protocol implementation */ + +#include <unistd.h> +#include <stdio.h> +#include <poll.h> +#include <math.h> +#include <string.h> +#include <assert.h> +#include <systemlib/err.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <drivers/drv_hrt.h> + +#include "ubx.h" + +#define UBX_CONFIG_TIMEOUT 100 + +UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : +_fd(fd), +_gps_position(gps_position), +_waiting_for_ack(false) +{ + decode_init(); +} + +UBX::~UBX() +{ +} + +int +UBX::configure(unsigned &baudrate) +{ + _waiting_for_ack = true; + + /* try different baudrates */ + const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200}; + + for (int baud_i = 0; baud_i < 5; baud_i++) { + baudrate = baudrates_to_try[baud_i]; + set_baudrate(_fd, baudrate); + + /* Send a CFG-PRT message to set the UBX protocol for in and out + * and leave the baudrate as it is, we just want an ACK-ACK from this + */ + type_gps_bin_cfg_prt_packet_t cfg_prt_packet; + /* Set everything else of the packet to 0, otherwise the module wont accept it */ + memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_PRT; + + /* Define the package contents, don't change the baudrate */ + cfg_prt_packet.clsID = UBX_CLASS_CFG; + cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; + cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; + cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; + cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; + cfg_prt_packet.baudRate = baudrate; + cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; + cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; + + send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); + + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + /* Send a CFG-PRT message again, this time change the baudrate */ + + cfg_prt_packet.clsID = UBX_CLASS_CFG; + cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; + cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; + cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; + cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; + cfg_prt_packet.baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; + cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; + cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; + + send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); + if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) { + set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE); + baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; + } + + /* no ack is ecpected here, keep going configuring */ + + /* send a CFT-RATE message to define update rate */ + type_gps_bin_cfg_rate_packet_t cfg_rate_packet; + memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_RATE; + + cfg_rate_packet.clsID = UBX_CLASS_CFG; + cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; + cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; + cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE; + cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; + cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; + + send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + /* send a NAV5 message to set the options for the internal filter */ + type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet; + memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_NAV5; + + cfg_nav5_packet.clsID = UBX_CLASS_CFG; + cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5; + cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH; + cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK; + cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL; + cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; + + send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + type_gps_bin_cfg_msg_packet_t cfg_msg_packet; + memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_MSG; + + cfg_msg_packet.clsID = UBX_CLASS_CFG; + cfg_msg_packet.msgID = UBX_MESSAGE_CFG_MSG; + cfg_msg_packet.length = UBX_CFG_MSG_LENGTH; + /* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */ + cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ; + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; + /* For satelites info 1Hz is enough */ + cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } +// cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; +// cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; + +// cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; +// cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; + + _waiting_for_ack = false; + return 0; + } + return -1; +} + +int +UBX::receive(unsigned timeout) +{ + /* poll descriptor */ + pollfd fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + uint8_t buf[32]; + + /* timeout additional to poll */ + uint64_t time_started = hrt_absolute_time(); + + int j = 0; + ssize_t count = 0; + + while (true) { + + /* pass received bytes to the packet decoder */ + while (j < count) { + if (parse_char(buf[j]) > 0) { + /* return to configure during configuration or to the gps driver during normal work + * if a packet has arrived */ + if (handle_message() > 0) + return 1; + } + /* in case we keep trying but only get crap from GPS */ + if (time_started + timeout*1000 < hrt_absolute_time() ) { + return -1; + } + j++; + } + + /* everything is read */ + j = count = 0; + + /* then poll for new data */ + int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); + + if (ret < 0) { + /* something went wrong when polling */ + return -1; + + } else if (ret == 0) { + /* Timeout */ + return -1; + + } else if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. If more bytes are + * available, we'll go back to poll() again... + */ + count = ::read(_fd, buf, sizeof(buf)); + } + } + } +} + +int +UBX::parse_char(uint8_t b) +{ + switch (_decode_state) { + /* First, look for sync1 */ + case UBX_DECODE_UNINIT: + if (b == UBX_SYNC1) { + _decode_state = UBX_DECODE_GOT_SYNC1; + } + break; + /* Second, look for sync2 */ + case UBX_DECODE_GOT_SYNC1: + if (b == UBX_SYNC2) { + _decode_state = UBX_DECODE_GOT_SYNC2; + } else { + /* Second start symbol was wrong, reset state machine */ + decode_init(); + } + break; + /* Now look for class */ + case UBX_DECODE_GOT_SYNC2: + /* everything except sync1 and sync2 needs to be added to the checksum */ + add_byte_to_checksum(b); + /* check for known class */ + switch (b) { + case UBX_CLASS_ACK: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = ACK; + break; + + case UBX_CLASS_NAV: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = NAV; + break; + +// case UBX_CLASS_RXM: +// _decode_state = UBX_DECODE_GOT_CLASS; +// _message_class = RXM; +// break; + + case UBX_CLASS_CFG: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = CFG; + break; + default: //unknown class: reset state machine + decode_init(); + break; + } + break; + case UBX_DECODE_GOT_CLASS: + add_byte_to_checksum(b); + switch (_message_class) { + case NAV: + switch (b) { + case UBX_MESSAGE_NAV_POSLLH: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_POSLLH; + break; + + case UBX_MESSAGE_NAV_SOL: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_SOL; + break; + + case UBX_MESSAGE_NAV_TIMEUTC: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_TIMEUTC; + break; + +// case UBX_MESSAGE_NAV_DOP: +// _decode_state = UBX_DECODE_GOT_MESSAGEID; +// _message_id = NAV_DOP; +// break; + + case UBX_MESSAGE_NAV_SVINFO: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_SVINFO; + break; + + case UBX_MESSAGE_NAV_VELNED: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_VELNED; + break; + + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; +// case RXM: +// switch (b) { +// case UBX_MESSAGE_RXM_SVSI: +// _decode_state = UBX_DECODE_GOT_MESSAGEID; +// _message_id = RXM_SVSI; +// break; +// +// default: //unknown class: reset state machine, should not happen +// decode_init(); +// break; +// } +// break; + + case CFG: + switch (b) { + case UBX_MESSAGE_CFG_NAV5: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = CFG_NAV5; + break; + + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; + + case ACK: + switch (b) { + case UBX_MESSAGE_ACK_ACK: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = ACK_ACK; + break; + case UBX_MESSAGE_ACK_NAK: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = ACK_NAK; + break; + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; + default: //should not happen because we set the class + warnx("UBX Error, we set a class that we don't know"); + decode_init(); +// config_needed = true; + break; + } + break; + case UBX_DECODE_GOT_MESSAGEID: + add_byte_to_checksum(b); + _payload_size = b; //this is the first length byte + _decode_state = UBX_DECODE_GOT_LENGTH1; + break; + case UBX_DECODE_GOT_LENGTH1: + add_byte_to_checksum(b); + _payload_size += b << 8; // here comes the second byte of length + _decode_state = UBX_DECODE_GOT_LENGTH2; + break; + case UBX_DECODE_GOT_LENGTH2: + /* Add to checksum if not yet at checksum byte */ + if (_rx_count < _payload_size) + add_byte_to_checksum(b); + _rx_buffer[_rx_count] = b; + /* once the payload has arrived, we can process the information */ + if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes + + /* compare checksum */ + if (_rx_ck_a == _rx_buffer[_rx_count-1] && _rx_ck_b == _rx_buffer[_rx_count]) { + return 1; + } else { + decode_init(); + return -1; + warnx("ubx: Checksum wrong"); + } + + return 1; + } else if (_rx_count < RECV_BUFFER_SIZE) { + _rx_count++; + } else { + warnx("ubx: buffer full"); + decode_init(); + return -1; + } + break; + default: + break; + } + return 0; //XXX ? +} + + +int +UBX::handle_message() +{ + int ret = 0; + + switch (_message_id) { //this enum is unique for all ids --> no need to check the class + case NAV_POSLLH: { +// printf("GOT NAV_POSLLH MESSAGE\n"); + if (!_waiting_for_ack) { + gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer; + + _gps_position->lat = packet->lat; + _gps_position->lon = packet->lon; + _gps_position->alt = packet->height_msl; + + _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m + _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m + + /* Add timestamp to finish the report */ + _gps_position->timestamp_position = hrt_absolute_time(); + /* only return 1 when new position is available */ + ret = 1; + } + break; + } + + case NAV_SOL: { +// printf("GOT NAV_SOL MESSAGE\n"); + if (!_waiting_for_ack) { + gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; + + _gps_position->fix_type = packet->gpsFix; + _gps_position->s_variance_m_s = packet->sAcc; + _gps_position->p_variance_m = packet->pAcc; + + _gps_position->timestamp_variance = hrt_absolute_time(); + } + break; + } + +// case NAV_DOP: { +//// printf("GOT NAV_DOP MESSAGE\n"); +// gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer; +// +// _gps_position->eph_m = packet->hDOP; +// _gps_position->epv = packet->vDOP; +// +// _gps_position->timestamp_posdilution = hrt_absolute_time(); +// +// _new_nav_dop = true; +// +// break; +// } + + case NAV_TIMEUTC: { +// printf("GOT NAV_TIMEUTC MESSAGE\n"); + + if (!_waiting_for_ack) { + gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer; + + //convert to unix timestamp + struct tm timeinfo; + timeinfo.tm_year = packet->year - 1900; + timeinfo.tm_mon = packet->month - 1; + timeinfo.tm_mday = packet->day; + timeinfo.tm_hour = packet->hour; + timeinfo.tm_min = packet->min; + timeinfo.tm_sec = packet->sec; + + time_t epoch = mktime(&timeinfo); + + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this + _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); + + _gps_position->timestamp_time = hrt_absolute_time(); + } + break; + } + + case NAV_SVINFO: { +// printf("GOT NAV_SVINFO MESSAGE\n"); + + if (!_waiting_for_ack) { + //this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message + const int length_part1 = 8; + char _rx_buffer_part1[length_part1]; + memcpy(_rx_buffer_part1, _rx_buffer, length_part1); + gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1; + + //read checksum + const int length_part3 = 2; + char _rx_buffer_part3[length_part3]; + memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3); + + //definitions needed to read numCh elements from the buffer: + const int length_part2 = 12; + gps_bin_nav_svinfo_part2_packet_t *packet_part2; + char _rx_buffer_part2[length_part2]; //for temporal storage + + uint8_t satellites_used = 0; + int i; + + for (i = 0; i < packet_part1->numCh; i++) { //for each channel + + /* Get satellite information from the buffer */ + memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2); + packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2; + + + /* Write satellite information in the global storage */ + _gps_position->satellite_prn[i] = packet_part2->svid; + + //if satellite information is healthy store the data + uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield + + if (!unhealthy) { + if ((packet_part2->flags) & 1) { //flags is a bitfield + _gps_position->satellite_used[i] = 1; + satellites_used++; + + } else { + _gps_position->satellite_used[i] = 0; + } + + _gps_position->satellite_snr[i] = packet_part2->cno; + _gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev); + _gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); + + } else { + _gps_position->satellite_used[i] = 0; + _gps_position->satellite_snr[i] = 0; + _gps_position->satellite_elevation[i] = 0; + _gps_position->satellite_azimuth[i] = 0; + } + + } + + for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused + /* Unused channels have to be set to zero for e.g. MAVLink */ + _gps_position->satellite_prn[i] = 0; + _gps_position->satellite_used[i] = 0; + _gps_position->satellite_snr[i] = 0; + _gps_position->satellite_elevation[i] = 0; + _gps_position->satellite_azimuth[i] = 0; + } + _gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones + + /* set timestamp if any sat info is available */ + if (packet_part1->numCh > 0) { + _gps_position->satellite_info_available = true; + } else { + _gps_position->satellite_info_available = false; + } + _gps_position->timestamp_satellites = hrt_absolute_time(); + } + + break; + } + + case NAV_VELNED: { +// printf("GOT NAV_VELNED MESSAGE\n"); + + if (!_waiting_for_ack) { + gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer; + + _gps_position->vel_m_s = (float)packet->speed * 1e-2f; + _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; + _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; + _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; + _gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->vel_ned_valid = true; + _gps_position->timestamp_velocity = hrt_absolute_time(); + } + + break; + } + +// case RXM_SVSI: { +// printf("GOT RXM_SVSI MESSAGE\n"); +// const int length_part1 = 7; +// char _rx_buffer_part1[length_part1]; +// memcpy(_rx_buffer_part1, _rx_buffer, length_part1); +// gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1; +// +// _gps_position->satellites_visible = packet->numVis; +// _gps_position->counter++; +// _last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time(); +// +// break; +// } + case ACK_ACK: { +// printf("GOT ACK_ACK\n"); + gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer; + + if (_waiting_for_ack) { + if (packet->clsID == _clsID_needed && packet->msgID == _msgID_needed) { + ret = 1; + } + } + } + break; + + case ACK_NAK: { +// printf("GOT ACK_NAK\n"); + warnx("UBX: Received: Not Acknowledged"); + /* configuration obviously not successful */ + ret = -1; + break; + } + + default: //we don't know the message + warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id); + ret = -1; + break; + } + // end if _rx_count high enough + decode_init(); + return ret; //XXX? +} + +void +UBX::decode_init(void) +{ + _rx_ck_a = 0; + _rx_ck_b = 0; + _rx_count = 0; + _decode_state = UBX_DECODE_UNINIT; + _message_class = CLASS_UNKNOWN; + _message_id = ID_UNKNOWN; + _payload_size = 0; +} + +void +UBX::add_byte_to_checksum(uint8_t b) +{ + _rx_ck_a = _rx_ck_a + b; + _rx_ck_b = _rx_ck_b + _rx_ck_a; +} + +void +UBX::add_checksum_to_message(uint8_t* message, const unsigned length) +{ + uint8_t ck_a = 0; + uint8_t ck_b = 0; + unsigned i; + + for (i = 0; i < length-2; i++) { + ck_a = ck_a + message[i]; + ck_b = ck_b + ck_a; + } + /* The checksum is written to the last to bytes of a message */ + message[length-2] = ck_a; + message[length-1] = ck_b; +} + +void +UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) +{ + ssize_t ret = 0; + + /* Calculate the checksum now */ + add_checksum_to_message(packet, length); + + const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2}; + + /* Start with the two sync bytes */ + ret += write(fd, sync_bytes, sizeof(sync_bytes)); + ret += write(fd, packet, length); + + if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning? + warnx("ubx: config write fail"); +} diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h new file mode 100644 index 000000000..e3dd1c7ea --- /dev/null +++ b/apps/drivers/gps/ubx.h @@ -0,0 +1,395 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file U-Blox protocol definitions */ + +#ifndef UBX_H_ +#define UBX_H_ + +#include "gps_helper.h" + +#define UBX_SYNC1 0xB5 +#define UBX_SYNC2 0x62 + +/* ClassIDs (the ones that are used) */ +#define UBX_CLASS_NAV 0x01 +//#define UBX_CLASS_RXM 0x02 +#define UBX_CLASS_ACK 0x05 +#define UBX_CLASS_CFG 0x06 + +/* MessageIDs (the ones that are used) */ +#define UBX_MESSAGE_NAV_POSLLH 0x02 +#define UBX_MESSAGE_NAV_SOL 0x06 +#define UBX_MESSAGE_NAV_TIMEUTC 0x21 +//#define UBX_MESSAGE_NAV_DOP 0x04 +#define UBX_MESSAGE_NAV_SVINFO 0x30 +#define UBX_MESSAGE_NAV_VELNED 0x12 +//#define UBX_MESSAGE_RXM_SVSI 0x20 +#define UBX_MESSAGE_ACK_ACK 0x01 +#define UBX_MESSAGE_ACK_NAK 0x00 +#define UBX_MESSAGE_CFG_PRT 0x00 +#define UBX_MESSAGE_CFG_NAV5 0x24 +#define UBX_MESSAGE_CFG_MSG 0x01 +#define UBX_MESSAGE_CFG_RATE 0x08 + +#define UBX_CFG_PRT_LENGTH 20 +#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ +#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ +#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ +#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ +#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ + +#define UBX_CFG_RATE_LENGTH 6 +#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */ +#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ +#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ + + +#define UBX_CFG_NAV5_LENGTH 36 +#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */ +#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ +#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ + +#define UBX_CFG_MSG_LENGTH 8 +#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ +#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ + +#define UBX_MAX_PAYLOAD_LENGTH 500 + +// ************ +/** the structures of the binary packets */ +#pragma pack(push, 1) + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + int32_t lon; /**< Longitude * 1e-7, deg */ + int32_t lat; /**< Latitude * 1e-7, deg */ + int32_t height; /**< Height above Ellipsoid, mm */ + int32_t height_msl; /**< Height above mean sea level, mm */ + uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */ + uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */ + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_posllh_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + int32_t time_nanoseconds; /**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */ + int16_t week; /**< GPS week (GPS time) */ + uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ + uint8_t flags; + int32_t ecefX; + int32_t ecefY; + int32_t ecefZ; + uint32_t pAcc; + int32_t ecefVX; + int32_t ecefVY; + int32_t ecefVZ; + uint32_t sAcc; + uint16_t pDOP; + uint8_t reserved1; + uint8_t numSV; + uint32_t reserved2; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_sol_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + uint32_t time_accuracy; /**< Time Accuracy Estimate, ns */ + int32_t time_nanoseconds; /**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */ + uint16_t year; /**< Year, range 1999..2099 (UTC) */ + uint8_t month; /**< Month, range 1..12 (UTC) */ + uint8_t day; /**< Day of Month, range 1..31 (UTC) */ + uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */ + uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */ + uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */ + uint8_t valid_flag; /**< Validity Flags (see ubx documentation) */ + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_timeutc_packet_t; + +//typedef struct { +// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ +// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */ +// uint16_t pDOP; /**< Position DOP (scaling 0.01) */ +// uint16_t tDOP; /**< Time DOP (scaling 0.01) */ +// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */ +// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */ +// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */ +// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */ +// uint8_t ck_a; +// uint8_t ck_b; +//} gps_bin_nav_dop_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + uint8_t numCh; /**< Number of channels */ + uint8_t globalFlags; + uint16_t reserved2; + +} gps_bin_nav_svinfo_part1_packet_t; + +typedef struct { + uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ + uint8_t svid; /**< Satellite ID */ + uint8_t flags; + uint8_t quality; + uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */ + int8_t elev; /**< Elevation in integer degrees */ + int16_t azim; /**< Azimuth in integer degrees */ + int32_t prRes; /**< Pseudo range residual in centimetres */ + +} gps_bin_nav_svinfo_part2_packet_t; + +typedef struct { + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_svinfo_part3_packet_t; + +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + int32_t velN; //NED north velocity, cm/s + int32_t velE; //NED east velocity, cm/s + int32_t velD; //NED down velocity, cm/s + uint32_t speed; //Speed (3-D), cm/s + uint32_t gSpeed; //Ground Speed (2-D), cm/s + int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5 + uint32_t sAcc; //Speed Accuracy Estimate, cm/s + uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5 + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_velned_packet_t; + +//typedef struct { +// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */ +// int16_t week; /**< Measurement GPS week number */ +// uint8_t numVis; /**< Number of visible satellites */ +// +// //... rest of package is not used in this implementation +// +//} gps_bin_rxm_svsi_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_ack_ack_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_ack_nak_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint8_t portID; + uint8_t res0; + uint16_t res1; + uint32_t mode; + uint32_t baudRate; + uint16_t inProtoMask; + uint16_t outProtoMask; + uint16_t flags; + uint16_t pad; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_prt_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint16_t measRate; + uint16_t navRate; + uint16_t timeRef; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_rate_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint16_t mask; + uint8_t dynModel; + uint8_t fixMode; + int32_t fixedAlt; + uint32_t fixedAltVar; + int8_t minElev; + uint8_t drLimit; + uint16_t pDop; + uint16_t tDop; + uint16_t pAcc; + uint16_t tAcc; + uint8_t staticHoldThresh; + uint8_t dgpsTimeOut; + uint32_t reserved2; + uint32_t reserved3; + uint32_t reserved4; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_nav5_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint8_t msgClass_payload; + uint8_t msgID_payload; + uint8_t rate[6]; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_msg_packet_t; + + +// END the structures of the binary packets +// ************ + +typedef enum { + UBX_CONFIG_STATE_PRT = 0, + UBX_CONFIG_STATE_PRT_NEW_BAUDRATE, + UBX_CONFIG_STATE_RATE, + UBX_CONFIG_STATE_NAV5, + UBX_CONFIG_STATE_MSG_NAV_POSLLH, + UBX_CONFIG_STATE_MSG_NAV_TIMEUTC, + UBX_CONFIG_STATE_MSG_NAV_DOP, + UBX_CONFIG_STATE_MSG_NAV_SVINFO, + UBX_CONFIG_STATE_MSG_NAV_SOL, + UBX_CONFIG_STATE_MSG_NAV_VELNED, +// UBX_CONFIG_STATE_MSG_RXM_SVSI, + UBX_CONFIG_STATE_CONFIGURED +} ubx_config_state_t; + +typedef enum { + CLASS_UNKNOWN = 0, + NAV = 1, + RXM = 2, + ACK = 3, + CFG = 4 +} ubx_message_class_t; + +typedef enum { + //these numbers do NOT correspond to the message id numbers of the ubx protocol + ID_UNKNOWN = 0, + NAV_POSLLH, + NAV_SOL, + NAV_TIMEUTC, +// NAV_DOP, + NAV_SVINFO, + NAV_VELNED, +// RXM_SVSI, + CFG_NAV5, + ACK_ACK, + ACK_NAK, +} ubx_message_id_t; + +typedef enum { + UBX_DECODE_UNINIT = 0, + UBX_DECODE_GOT_SYNC1, + UBX_DECODE_GOT_SYNC2, + UBX_DECODE_GOT_CLASS, + UBX_DECODE_GOT_MESSAGEID, + UBX_DECODE_GOT_LENGTH1, + UBX_DECODE_GOT_LENGTH2 +} ubx_decode_state_t; + +//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; +#pragma pack(pop) + +#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer + +class UBX : public GPS_Helper +{ +public: + UBX(const int &fd, struct vehicle_gps_position_s *gps_position); + ~UBX(); + int receive(unsigned timeout); + int configure(unsigned &baudrate); + +private: + + /** + * Parse the binary MTK packet + */ + int parse_char(uint8_t b); + + /** + * Handle the package once it has arrived + */ + int handle_message(void); + + /** + * Reset the parse state machine for a fresh start + */ + void decode_init(void); + + /** + * While parsing add every byte (except the sync bytes) to the checksum + */ + void add_byte_to_checksum(uint8_t); + + /** + * Add the two checksum bytes to an outgoing message + */ + void add_checksum_to_message(uint8_t* message, const unsigned length); + + /** + * Helper to send a config packet + */ + void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + + int _fd; + struct vehicle_gps_position_s *_gps_position; + ubx_config_state_t _config_state; + bool _waiting_for_ack; + uint8_t _clsID_needed; + uint8_t _msgID_needed; + ubx_decode_state_t _decode_state; + uint8_t _rx_buffer[RECV_BUFFER_SIZE]; + unsigned _rx_count; + uint8_t _rx_ck_a; + uint8_t _rx_ck_b; + ubx_message_class_t _message_class; + ubx_message_id_t _message_id; + unsigned _payload_size; +}; + +#endif /* UBX_H_ */ diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index 55b7cfa85..27e200e40 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -267,6 +267,11 @@ private: */ int self_test(); + /* + set low pass filter frequency + */ + void _set_dlpf_filter(uint16_t frequency_hz); + }; /** @@ -379,7 +384,7 @@ MPU6000::init() // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) // was 90 Hz, but this ruins quality and does not improve the // system response - write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_20HZ); + _set_dlpf_filter(20); usleep(1000); // Gyro scale 2000 deg/s () write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); @@ -418,6 +423,9 @@ MPU6000::init() case MPU6000_REV_D8: case MPU6000_REV_D9: case MPU6000_REV_D10: + // default case to cope with new chip revisions, which + // presumably won't have the accel scaling bug + default: // Accel scale 8g (4096 LSB/g) write_reg(MPUREG_ACCEL_CONFIG, 2 << 3); break; @@ -485,6 +493,37 @@ MPU6000::probe() return -EIO; } +/* + set the DLPF filter frequency. This affects both accel and gyro. + */ +void +MPU6000::_set_dlpf_filter(uint16_t frequency_hz) +{ + uint8_t filter; + + /* + choose next highest filter frequency available + */ + if (frequency_hz <= 5) { + filter = BITS_DLPF_CFG_5HZ; + } else if (frequency_hz <= 10) { + filter = BITS_DLPF_CFG_10HZ; + } else if (frequency_hz <= 20) { + filter = BITS_DLPF_CFG_20HZ; + } else if (frequency_hz <= 42) { + filter = BITS_DLPF_CFG_42HZ; + } else if (frequency_hz <= 98) { + filter = BITS_DLPF_CFG_98HZ; + } else if (frequency_hz <= 188) { + filter = BITS_DLPF_CFG_188HZ; + } else if (frequency_hz <= 256) { + filter = BITS_DLPF_CFG_256HZ_NOLPF2; + } else { + filter = BITS_DLPF_CFG_2100HZ_NOLPF; + } + write_reg(MPUREG_CONFIG, filter); +} + ssize_t MPU6000::read(struct file *filp, char *buffer, size_t buflen) { @@ -610,8 +649,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) case ACCELIOCSLOWPASS: case ACCELIOCGLOWPASS: - /* XXX not implemented */ - return -EINVAL; + _set_dlpf_filter((uint16_t)arg); + return OK; case ACCELIOCSSCALE: { @@ -668,8 +707,8 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCSLOWPASS: case GYROIOCGLOWPASS: - /* XXX not implemented */ - return -EINVAL; + _set_dlpf_filter((uint16_t)arg); + return OK; case GYROIOCSSCALE: /* copy scale in */ diff --git a/apps/drivers/px4io/uploader.cpp b/apps/drivers/px4io/uploader.cpp index 2de33f410..abf59216a 100644 --- a/apps/drivers/px4io/uploader.cpp +++ b/apps/drivers/px4io/uploader.cpp @@ -48,6 +48,7 @@ #include <unistd.h> #include <fcntl.h> #include <poll.h> +#include <sys/stat.h> #include "uploader.h" @@ -109,6 +110,8 @@ int PX4IO_Uploader::upload(const char *filenames[]) { int ret; + const char *filename = NULL; + size_t fw_size; _io_fd = open("/dev/ttyS2", O_RDWR); @@ -135,9 +138,22 @@ PX4IO_Uploader::upload(const char *filenames[]) } log("using firmware from %s", filenames[i]); + filename = filenames[i]; break; } + if (filename == NULL) { + log("no firmware found"); + return -ENOENT; + } + + struct stat st; + if (stat(filename, &st) != 0) { + log("Failed to stat %s - %d\n", filename, (int)errno); + return -errno; + } + fw_size = st.st_size; + if (_fw_fd == -1) return -ENOENT; @@ -172,7 +188,7 @@ PX4IO_Uploader::upload(const char *filenames[]) continue; } - ret = program(); + ret = program(fw_size); if (ret != OK) { log("program failed"); @@ -180,9 +196,9 @@ PX4IO_Uploader::upload(const char *filenames[]) } if (bl_rev <= 2) - ret = verify_rev2(); + ret = verify_rev2(fw_size); else if(bl_rev == 3) { - ret = verify_rev3(); + ret = verify_rev3(fw_size); } if (ret != OK) { @@ -219,7 +235,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) int ret = ::poll(&fds[0], 1, timeout); if (ret < 1) { - //log("poll timeout %d", ret); + log("poll timeout %d", ret); return -ETIMEDOUT; } @@ -232,7 +248,7 @@ int PX4IO_Uploader::recv(uint8_t *p, unsigned count) { while (count--) { - int ret = recv(*p++); + int ret = recv(*p++, 5000); if (ret != OK) return ret; @@ -248,7 +264,7 @@ PX4IO_Uploader::drain() int ret; do { - ret = recv(c, 250); + ret = recv(c, 1000); if (ret == OK) { //log("discard 0x%02x", c); @@ -343,24 +359,55 @@ PX4IO_Uploader::erase() return get_sync(10000); /* allow 10s timeout */ } + +static int read_with_retry(int fd, void *buf, size_t n) +{ + int ret; + uint8_t retries = 0; + do { + ret = read(fd, buf, n); + } while (ret == -1 && retries++ < 100); + if (retries != 0) { + printf("read of %u bytes needed %u retries\n", + (unsigned)n, + (unsigned)retries); + } + return ret; +} + int -PX4IO_Uploader::program() +PX4IO_Uploader::program(size_t fw_size) { uint8_t file_buf[PROG_MULTI_MAX]; ssize_t count; int ret; + size_t sent = 0; - log("program..."); - lseek(_fw_fd, 0, SEEK_SET); + log("programming %u bytes...", (unsigned)fw_size); + + ret = lseek(_fw_fd, 0, SEEK_SET); - while (true) { + while (sent < fw_size) { /* get more bytes to program */ - //log(" %d", (int)lseek(_fw_fd, 0, SEEK_CUR)); - count = read(_fw_fd, file_buf, sizeof(file_buf)); + size_t n = fw_size - sent; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)sent, + (int)count, + (int)errno); + } if (count == 0) return OK; + sent += count; + if (count < 0) return -errno; @@ -376,14 +423,16 @@ PX4IO_Uploader::program() if (ret != OK) return ret; } + return OK; } int -PX4IO_Uploader::verify_rev2() +PX4IO_Uploader::verify_rev2(size_t fw_size) { - uint8_t file_buf[PROG_MULTI_MAX]; + uint8_t file_buf[4]; ssize_t count; int ret; + size_t sent = 0; log("verify..."); lseek(_fw_fd, 0, SEEK_SET); @@ -395,14 +444,27 @@ PX4IO_Uploader::verify_rev2() if (ret != OK) return ret; - while (true) { + while (sent < fw_size) { /* get more bytes to verify */ - int base = (int)lseek(_fw_fd, 0, SEEK_CUR); - count = read(_fw_fd, file_buf, sizeof(file_buf)); + size_t n = fw_size - sent; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)sent, + (int)count, + (int)errno); + } if (count == 0) break; + sent += count; + if (count < 0) return -errno; @@ -415,15 +477,15 @@ PX4IO_Uploader::verify_rev2() for (ssize_t i = 0; i < count; i++) { uint8_t c; - ret = recv(c); + ret = recv(c, 5000); if (ret != OK) { - log("%d: got %d waiting for bytes", base + i, ret); + log("%d: got %d waiting for bytes", sent + i, ret); return ret; } if (c != file_buf[i]) { - log("%d: got 0x%02x expected 0x%02x", base + i, c, file_buf[i]); + log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]); return -EINVAL; } } @@ -440,21 +502,21 @@ PX4IO_Uploader::verify_rev2() } int -PX4IO_Uploader::verify_rev3() +PX4IO_Uploader::verify_rev3(size_t fw_size_local) { int ret; uint8_t file_buf[4]; ssize_t count; uint32_t sum = 0; uint32_t bytes_read = 0; - uint32_t fw_size = 0; uint32_t crc = 0; + uint32_t fw_size_remote; uint8_t fill_blank = 0xff; log("verify..."); lseek(_fw_fd, 0, SEEK_SET); - ret = get_info(INFO_FLASH_SIZE, fw_size); + ret = get_info(INFO_FLASH_SIZE, fw_size_remote); send(PROTO_EOC); if (ret != OK) { @@ -463,9 +525,20 @@ PX4IO_Uploader::verify_rev3() } /* read through the firmware file again and calculate the checksum*/ - while (true) { - lseek(_fw_fd, 0, SEEK_CUR); - count = read(_fw_fd, file_buf, sizeof(file_buf)); + while (bytes_read < fw_size_local) { + size_t n = fw_size_local - bytes_read; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)bytes_read, + (int)count, + (int)errno); + } /* set the rest to ff */ if (count == 0) { @@ -482,7 +555,7 @@ PX4IO_Uploader::verify_rev3() } /* fill the rest with 0xff */ - while (bytes_read < fw_size) { + while (bytes_read < fw_size_remote) { sum = crc32(&fill_blank, sizeof(fill_blank), sum); bytes_read += sizeof(fill_blank); } @@ -516,36 +589,6 @@ PX4IO_Uploader::reboot() return OK; } -int -PX4IO_Uploader::compare(bool &identical) -{ - uint32_t file_vectors[15]; - uint32_t fw_vectors[15]; - int ret; - - lseek(_fw_fd, 0, SEEK_SET); - ret = read(_fw_fd, &file_vectors[0], sizeof(file_vectors)); - - send(PROTO_CHIP_VERIFY); - send(PROTO_EOC); - ret = get_sync(); - - if (ret != OK) - return ret; - - send(PROTO_READ_MULTI); - send(sizeof(fw_vectors)); - send(PROTO_EOC); - ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors)); - - if (ret != OK) - return ret; - - identical = (memcmp(&file_vectors[0], &fw_vectors[0], sizeof(file_vectors))) ? true : false; - - return OK; -} - void PX4IO_Uploader::log(const char *fmt, ...) { @@ -557,4 +600,4 @@ PX4IO_Uploader::log(const char *fmt, ...) va_end(ap); printf("\n"); fflush(stdout); -}
\ No newline at end of file +} diff --git a/apps/drivers/px4io/uploader.h b/apps/drivers/px4io/uploader.h index b8a3a2794..915ee9259 100644 --- a/apps/drivers/px4io/uploader.h +++ b/apps/drivers/px4io/uploader.h @@ -85,7 +85,7 @@ private: void log(const char *fmt, ...); - int recv(uint8_t &c, unsigned timeout = 1000); + int recv(uint8_t &c, unsigned timeout); int recv(uint8_t *p, unsigned count); void drain(); int send(uint8_t c); @@ -94,11 +94,10 @@ private: int sync(); int get_info(int param, uint32_t &val); int erase(); - int program(); - int verify_rev2(); - int verify_rev3(); + int program(size_t fw_size); + int verify_rev2(size_t fw_size); + int verify_rev3(size_t fw_size); int reboot(); - int compare(bool &identical); }; -#endif
\ No newline at end of file +#endif diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c index 6525b70f5..8cefc298f 100644 --- a/apps/examples/control_demo/params.c +++ b/apps/examples/control_demo/params.c @@ -52,9 +52,9 @@ PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f); // cross-track to yaw angle gain // speed command -PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f); // minimum commanded velocity -PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f); // commanded velocity -PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f); // maximum commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f); // minimum commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity // trim PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); // trim aileron, normalized (-1,1) diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp index 7e89dffb2..db851221b 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/apps/examples/kalman_demo/KalmanNav.cpp @@ -190,11 +190,12 @@ void KalmanNav::update() if (!_positionInitialized && _attitudeInitialized && // wait for attitude first gpsUpdate && - _gps.fix_type > 2 && - _gps.counter_pos_valid > 10) { - vN = _gps.vel_n; - vE = _gps.vel_e; - vD = _gps.vel_d; + _gps.fix_type > 2 + //&& _gps.counter_pos_valid > 10 + ) { + vN = _gps.vel_n_m_s; + vE = _gps.vel_e_m_s; + vD = _gps.vel_d_m_s; setLatDegE7(_gps.lat); setLonDegE7(_gps.lon); setAltE3(_gps.alt); @@ -259,7 +260,7 @@ void KalmanNav::updatePublications() // position publication _pos.timestamp = _pubTimeStamp; - _pos.time_gps_usec = _gps.timestamp; + _pos.time_gps_usec = _gps.timestamp_position; _pos.valid = true; _pos.lat = getLatDegE7(); _pos.lon = getLonDegE7(); @@ -290,7 +291,6 @@ void KalmanNav::updatePublications() _att.R_valid = true; _att.q_valid = true; - _att.counter = _navFrames; // selectively update publications, // do NOT call superblock do-all method @@ -631,8 +631,8 @@ int KalmanNav::correctPos() // residual Vector y(5); - y(0) = _gps.vel_n - vN; - y(1) = _gps.vel_e - vE; + y(0) = _gps.vel_n_m_s - vN; + y(1) = _gps.vel_e_m_s - vE; y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG; y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG; y(4) = double(_gps.alt) / 1.0e3 - alt; @@ -651,9 +651,9 @@ int KalmanNav::correctPos() // abort correction and return printf("[kalman_demo] numerical failure in gps correction\n"); // fallback to GPS - vN = _gps.vel_n; - vE = _gps.vel_e; - vD = _gps.vel_d; + vN = _gps.vel_n_m_s; + vE = _gps.vel_e_m_s; + vD = _gps.vel_d_m_s; setLatDegE7(_gps.lat); setLonDegE7(_gps.lon); setAltE3(_gps.alt); diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 87b6e925c..ba5b593e2 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -196,9 +196,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* roll rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); /* pitch rate (PI) */ - actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); - /* set pitch minus feedforward throttle compensation (nose pitches up from throttle */ - actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust; + actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); /* yaw rate (PI) */ actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); diff --git a/apps/gps/.context b/apps/gps/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/gps/.context +++ /dev/null diff --git a/apps/gps/.gitignore b/apps/gps/.gitignore deleted file mode 100644 index a02827195..000000000 --- a/apps/gps/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -include -mavlink-* -pymavlink-* diff --git a/apps/gps/gps.c b/apps/gps/gps.c deleted file mode 100644 index 8a9512054..000000000 --- a/apps/gps/gps.c +++ /dev/null @@ -1,589 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file gps.c - * GPS app main loop. - */ - -#include "gps.h" -#include <nuttx/config.h> -#include <unistd.h> -#include <stdlib.h> -#include <stdio.h> -#include <stdbool.h> -#include <fcntl.h> -#include "nmealib/nmea/nmea.h" // the nmea library -#include "nmea_helper.h" //header files for interacting with the nmea library -#include "mtk.h" //header files for the custom protocol for the mediatek diydrones chip -#include "ubx.h" //header files for the ubx protocol -#include <termios.h> -#include <signal.h> -#include <pthread.h> -#include <sys/prctl.h> -#include <errno.h> -#include <signal.h> -#include <v1.0/common/mavlink.h> -#include <mavlink/mavlink_log.h> - -#include <systemlib/systemlib.h> - -static bool thread_should_exit; /**< Deamon status flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - -/** - * GPS module readout and publishing. - * - * This function reads the onboard gps and publishes the vehicle_gps_positon topic. - * - * @see vehicle_gps_position_s - * @ingroup apps - */ -__EXPORT int gps_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int gps_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/**************************************************************************** - * Definitions - ****************************************************************************/ -#define IMPORTANT_GPS_BAUD_RATES_N 2 -#define RETRY_INTERVAL_SECONDS 10 - -//gps_bin_ubx_state_t * ubx_state; -bool gps_mode_try_all; -bool gps_baud_try_all; -bool gps_mode_success; -bool terminate_gps_thread; -bool gps_verbose; -int current_gps_speed; - -enum GPS_MODES { - GPS_MODE_START = 0, - GPS_MODE_UBX = 1, - GPS_MODE_MTK = 2, - GPS_MODE_NMEA = 3, - GPS_MODE_END = 4 -}; - - -#define AUTO_DETECTION_COUNT 8 -const int autodetection_baudrates[] = {B38400, B9600, B38400, B9600, B38400, B9600, B38400, B9600}; -const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea - -/**************************************************************************** - * Private functions - ****************************************************************************/ -int open_port(char *port); - -void close_port(int *fd); - -void setup_port(char *device, int speed, int *fd); - - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int gps_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("gps already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("gps", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 4096, - gps_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - thread_running = true; - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tgps is running\n"); - } else { - printf("\tgps not started\n"); - } - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -/* - * Main function of gps app. - */ -int gps_thread_main(int argc, char *argv[]) { - - /* welcome message */ - printf("[gps] Initialized. Searching for GPS receiver..\n"); - - /* default values */ - const char *commandline_usage = "\tusage: %s {start|stop|status} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n"; - char *device = "/dev/ttyS3"; - char mode[10]; - strcpy(mode, "all"); - int baudrate = -1; - gps_mode_try_all = false; - gps_baud_try_all = false; - gps_mode_success = true; - terminate_gps_thread = false; - bool retry = false; - gps_verbose = false; - - int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - /* read arguments */ - int i; - - for (i = 0; i < argc; i++) { - if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) { //device set - printf(commandline_usage, argv[0]); - thread_running = false; - return 0; - } - - if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set - if (argc > i + 1) { - device = argv[i + 1]; - - } else { - printf(commandline_usage, argv[0]); - thread_running = false; - return 0; - } - } - - if (strcmp(argv[i], "-r") == 0 || strcmp(argv[i], "--retry") == 0) { - if (argc > i + 1) { - retry = atoi(argv[i + 1]); - - } else { - printf(commandline_usage, argv[0]); - thread_running = false; - return 0; - } - } - - if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--baud") == 0) { - if (argc > i + 1) { - baudrate = atoi(argv[i + 1]); - - } else { - printf(commandline_usage, argv[0]); - thread_running = false; - return 0; - } - } - - if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) { - if (argc > i + 1) { - strcpy(mode, argv[i + 1]); - - } else { - printf(commandline_usage, argv[0]); - thread_running = false; - return 0; - } - } - - if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { - gps_verbose = true; - } - } - - /* - * In case a baud rate is set only this baud rate will be tried, - * otherwise a array of usual baud rates for gps receivers is used - */ - - -// printf("baudrate = %d\n",baudrate); - switch (baudrate) { - case -1: gps_baud_try_all = true; break; - - case 0: current_gps_speed = B0; break; - case 50: current_gps_speed = B50; break; - case 75: current_gps_speed = B75; break; - case 110: current_gps_speed = B110; break; - case 134: current_gps_speed = B134; break; - case 150: current_gps_speed = B150; break; - case 200: current_gps_speed = B200; break; - case 300: current_gps_speed = B300; break; - case 600: current_gps_speed = B600; break; - case 1200: current_gps_speed = B1200; break; - case 1800: current_gps_speed = B1800; break; - case 2400: current_gps_speed = B2400; break; - case 4800: current_gps_speed = B4800; break; - case 9600: current_gps_speed = B9600; break; - case 19200: current_gps_speed = B19200; break; - case 38400: current_gps_speed = B38400; break; - case 57600: current_gps_speed = B57600; break; - case 115200: current_gps_speed = B115200; break; - case 230400: current_gps_speed = B230400; break; - case 460800: current_gps_speed = B460800; break; - case 921600: current_gps_speed = B921600; break; - - default: - fprintf(stderr, "[gps] ERROR: Unsupported baudrate: %d\n", baudrate); - fflush(stdout); - return -EINVAL; - } - - - enum GPS_MODES current_gps_mode = GPS_MODE_UBX; - - if (strcmp(mode, "ubx") == 0) { - current_gps_mode = GPS_MODE_UBX; - - } else if (strcmp(mode, "mtkcustom") == 0) { - current_gps_mode = GPS_MODE_MTK; - - } else if (strcmp(mode, "nmea") == 0) { - current_gps_mode = GPS_MODE_NMEA; - - } else if (strcmp(mode, "all") == 0) { - gps_mode_try_all = true; - - } else { - fprintf(stderr, "\t[gps] Invalid mode argument\n"); - printf(commandline_usage); - thread_running = false; - return ERROR; - } - - /* Declare file descriptor for gps here, open port later in setup_port */ - int fd; - - while (!thread_should_exit) { - /* Infinite retries or break if retry == false */ - - /* Loop over all configurations of baud rate and protocol */ - for (i = 0; i < AUTO_DETECTION_COUNT; i++) { - if (gps_mode_try_all) { - current_gps_mode = autodetection_gpsmodes[i]; - - if (false == gps_baud_try_all && autodetection_baudrates[i] != current_gps_speed) //there is no need to try modes which are not configured to run with the selcted baud rate - continue; - } - - if (gps_baud_try_all) { - current_gps_speed = autodetection_baudrates[i]; - - if (false == gps_mode_try_all && autodetection_gpsmodes[i] != current_gps_mode) //there is no need to try baud rates which are not usual for the selected mode - continue; - } - - - /* - * The watchdog_thread will return and set gps_mode_success to false if no data can be parsed. - * if the gps was once running the wtachdog thread will not return but instead try to reconfigure the gps (depending on the mode/protocol) - */ - - if (current_gps_mode == GPS_MODE_UBX) { - - if (gps_verbose) printf("[gps] Trying UBX mode at %d baud\n", current_gps_speed); - - mavlink_log_info(mavlink_fd, "[gps] trying to connect to a ubx module"); - - setup_port(device, current_gps_speed, &fd); - - /* start ubx thread and watchdog */ - pthread_t ubx_thread; - pthread_t ubx_watchdog_thread; - - pthread_mutex_t ubx_mutex_d; - ubx_mutex = &ubx_mutex_d; - pthread_mutex_init(ubx_mutex, NULL); - gps_bin_ubx_state_t ubx_state_d; - ubx_state = &ubx_state_d; - ubx_decode_init(); - - pthread_attr_t ubx_loop_attr; - pthread_attr_init(&ubx_loop_attr); - pthread_attr_setstacksize(&ubx_loop_attr, 3000); - - struct arg_struct args; - args.fd_ptr = &fd; - args.thread_should_exit_ptr = &thread_should_exit; - - pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&args); - - pthread_attr_t ubx_wd_attr; - pthread_attr_init(&ubx_wd_attr); - pthread_attr_setstacksize(&ubx_wd_attr, 1400); - int pthread_create_res = pthread_create(&ubx_watchdog_thread, &ubx_wd_attr, ubx_watchdog_loop, (void *)&args); - - if (pthread_create_res != 0) fprintf(stderr, "[gps] ERROR: could not create ubx watchdog thread, pthread_create =%d\n", pthread_create_res); - - /* wait for threads to complete */ - pthread_join(ubx_watchdog_thread, NULL); - - if (gps_mode_success == false) { - if (gps_verbose) printf("[gps] no success with UBX mode and %d baud\n", current_gps_speed); - - terminate_gps_thread = true; - pthread_join(ubx_thread, NULL); - - gps_mode_success = true; - terminate_gps_thread = false; - - /* maybe the watchdog was stopped through the thread_should_exit flag */ - } else if (thread_should_exit) { - pthread_join(ubx_thread, NULL); - if (gps_verbose) printf("[gps] ubx watchdog and ubx loop threads have been terminated, exiting."); - close(mavlink_fd); - close_port(&fd); - thread_running = false; - return 0; - } - - close_port(&fd); - } else if (current_gps_mode == GPS_MODE_MTK) { - if (gps_verbose) printf("[gps] trying MTK binary mode at %d baud\n", current_gps_speed); - - mavlink_log_info(mavlink_fd, "[gps] trying to connect to a MTK module"); - - setup_port(device, current_gps_speed, &fd); - - /* start mtk thread and watchdog */ - pthread_t mtk_thread; - pthread_t mtk_watchdog_thread; - - pthread_mutex_t mtk_mutex_d; - mtk_mutex = &mtk_mutex_d; - pthread_mutex_init(mtk_mutex, NULL); - - - gps_bin_mtk_state_t mtk_state_d; - mtk_state = &mtk_state_d; - mtk_decode_init(); - - - pthread_attr_t mtk_loop_attr; - pthread_attr_init(&mtk_loop_attr); - pthread_attr_setstacksize(&mtk_loop_attr, 2048); - - struct arg_struct args; - args.fd_ptr = &fd; - args.thread_should_exit_ptr = &thread_should_exit; - - pthread_create(&mtk_thread, &mtk_loop_attr, mtk_loop, (void *)&args); - sleep(2); - pthread_create(&mtk_watchdog_thread, NULL, mtk_watchdog_loop, (void *)&args); - - /* wait for threads to complete */ - pthread_join(mtk_watchdog_thread, (void *)&fd); - - if (gps_mode_success == false) { - if (gps_verbose) printf("[gps] No success with MTK binary mode and %d baud\n", current_gps_speed); - - terminate_gps_thread = true; - pthread_join(mtk_thread, NULL); - - //if(true == gps_mode_try_all) - //strcpy(mode, "nmea"); - - gps_mode_success = true; - terminate_gps_thread = false; - } - - close_port(&fd); - - } else if (current_gps_mode == GPS_MODE_NMEA) { - if (gps_verbose) printf("[gps] Trying NMEA mode at %d baud\n", current_gps_speed); - - mavlink_log_info(mavlink_fd, "[gps] trying to connect to a NMEA module"); - - - setup_port(device, current_gps_speed, &fd); - - /* start nmea thread and watchdog */ - pthread_t nmea_thread; - pthread_t nmea_watchdog_thread; - - pthread_mutex_t nmea_mutex_d; - nmea_mutex = &nmea_mutex_d; - pthread_mutex_init(nmea_mutex, NULL); - - gps_bin_nmea_state_t nmea_state_d; - nmea_state = &nmea_state_d; - - pthread_attr_t nmea_loop_attr; - pthread_attr_init(&nmea_loop_attr); - pthread_attr_setstacksize(&nmea_loop_attr, 4096); - - struct arg_struct args; - args.fd_ptr = &fd; - args.thread_should_exit_ptr = &thread_should_exit; - - pthread_create(&nmea_thread, &nmea_loop_attr, nmea_loop, (void *)&args); - sleep(2); - pthread_create(&nmea_watchdog_thread, NULL, nmea_watchdog_loop, (void *)&args); - - /* wait for threads to complete */ - pthread_join(nmea_watchdog_thread, (void *)&fd); - - if (gps_mode_success == false) { - if (gps_verbose) printf("[gps] No success with NMEA mode and %d baud\r\n", current_gps_speed); - - terminate_gps_thread = true; - pthread_join(nmea_thread, NULL); - - gps_mode_success = true; - terminate_gps_thread = false; - } - - close_port(&fd); - } - - /* exit quickly if stop command has been received */ - if (thread_should_exit) { - printf("[gps] stopped, exiting.\n"); - close(mavlink_fd); - thread_running = false; - return 0; - } - - /* if both, mode and baud is set by argument, we only need one loop*/ - if (gps_mode_try_all == false && gps_baud_try_all == false) - break; - } - - - if (retry) { - printf("[gps] No configuration was successful, retrying in %d seconds \n", RETRY_INTERVAL_SECONDS); - mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, retrying..."); - fflush(stdout); - - } else { - fprintf(stderr, "[gps] No configuration was successful, exiting... \n"); - fflush(stdout); - mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, exiting..."); - break; - } - - sleep(RETRY_INTERVAL_SECONDS); - } - - printf("[gps] exiting.\n"); - close(mavlink_fd); - thread_running = false; - return 0; -} - - -static void usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - fprintf(stderr, "\tusage: gps {start|status|stop} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n"); - exit(1); -} - -int open_port(char *port) -{ - int fd; /**< File descriptor for the gps port */ - - /* Open serial port */ - fd = open(port, O_CREAT | O_RDWR | O_NOCTTY); /* O_RDWR - Read and write O_NOCTTY - Ignore special chars like CTRL-C */ - return (fd); -} - - -void close_port(int *fd) -{ - /* Close serial port */ - close(*fd); -} - -void setup_port(char *device, int speed, int *fd) -{ - /* open port (baud rate is set in defconfig file) */ - *fd = open_port(device); - - if (*fd != -1) { - if (gps_verbose) printf("[gps] Port opened: %s at %d baud\n", device, speed); - - } else { - fprintf(stderr, "[gps] Could not open port, exiting gps app!\n"); - fflush(stdout); - } - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - - if ((termios_state = tcgetattr(*fd, &uart_config)) < 0) { - fprintf(stderr, "[gps] ERROR getting baudrate / termios config for %s: %d\n", device, termios_state); - close(*fd); - } - if (gps_verbose) printf("[gps] Try to set baud rate %d now\n",speed); - /* Set baud rate */ - cfsetispeed(&uart_config, speed); - cfsetospeed(&uart_config, speed); - if ((termios_state = tcsetattr(*fd, TCSANOW, &uart_config)) < 0) { - fprintf(stderr, "[gps] ERROR setting baudrate / termios config for %s (tcsetattr)\n", device); - close(*fd); - } -} diff --git a/apps/gps/gps.h b/apps/gps/gps.h deleted file mode 100644 index 499a6164f..000000000 --- a/apps/gps/gps.h +++ /dev/null @@ -1,18 +0,0 @@ -/* - * gps.h - * - * Created on: Mar 8, 2012 - * Author: thomasgubler - */ - -#ifndef GPS_H_ -#define GPS_H - -#include <stdbool.h> - -struct arg_struct { - int *fd_ptr; - bool *thread_should_exit_ptr; -}; - -#endif /* GPS_H_ */ diff --git a/apps/gps/mtk.c b/apps/gps/mtk.c deleted file mode 100644 index 3b0ee4565..000000000 --- a/apps/gps/mtk.c +++ /dev/null @@ -1,432 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Julian Oes <joes@student.ethz.ch> - * Thomas Gubler <thomasgubler@student.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file MTK custom binary (3DR) protocol implementation */ - -#include "gps.h" -#include "mtk.h" -#include <nuttx/config.h> -#include <unistd.h> -#include <sys/prctl.h> -#include <pthread.h> -#include <poll.h> -#include <fcntl.h> -#include <drivers/drv_hrt.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_gps_position.h> -#include <mavlink/mavlink_log.h> - -#define MTK_HEALTH_SUCCESS_COUNTER_LIMIT 2 -#define MTK_HEALTH_FAIL_COUNTER_LIMIT 2 - -// XXX decrease this substantially, it should be only a few dozen bytes max. -#warning XXX trying 128 for now -#define MTK_BUFFER_SIZE 128 - -pthread_mutex_t *mtk_mutex; -gps_bin_mtk_state_t *mtk_state; -static struct vehicle_gps_position_s *mtk_gps; - -extern bool gps_mode_try_all; -extern bool gps_mode_success; -extern bool terminate_gps_thread; -extern bool gps_baud_try_all; -extern bool gps_verbose; -extern int current_gps_speed; - - -void mtk_decode_init(void) -{ - mtk_state->ck_a = 0; - mtk_state->ck_b = 0; - mtk_state->rx_count = 0; - mtk_state->decode_state = MTK_DECODE_UNINIT; - mtk_state->print_errors = false; -} - -void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b) -{ - *(ck_a) = *(ck_a) + b; - *(ck_b) = *(ck_b) + *(ck_a); -// printf("Checksum now: %d\n",*(ck_b)); -} - - - -int mtk_parse(uint8_t b, char *gps_rx_buffer) -{ -// printf("b=%x\n",b); - // Debug output to telemetry port - // PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, &b, 1); - if (mtk_state->decode_state == MTK_DECODE_UNINIT) { - - if (b == 0xd0) { - mtk_state->decode_state = MTK_DECODE_GOT_CK_A; - } - - } else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_A) { - if (b == 0xdd) { - mtk_state->decode_state = MTK_DECODE_GOT_CK_B; - - } else { - // Second start symbol was wrong, reset state machine - mtk_decode_init(); - } - - } else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_B) { - // Add to checksum - if (mtk_state->rx_count < 33) mtk_checksum(b, &(mtk_state->ck_a), &(mtk_state->ck_b)); - - // Fill packet buffer - gps_rx_buffer[mtk_state->rx_count] = b; - (mtk_state->rx_count)++; -// printf("Rx count: %d\n",mtk_state->rx_count); - uint8_t ret = 0; - - /* Packet size minus checksum */ - if (mtk_state->rx_count >= 35) { - gps_bin_mtk_packet_t *packet = (gps_bin_mtk_packet_t *) gps_rx_buffer; - - /* Check if checksum is valid */ - if (mtk_state->ck_a == packet->ck_a && mtk_state->ck_b == packet->ck_b) { - mtk_gps->lat = packet->latitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7 - mtk_gps->lon = packet->longitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7 - mtk_gps->alt = (int32_t)(packet->msl_altitude * 10); // conversion from centimeters to millimeters, and from uint32_t to int16_t - mtk_gps->fix_type = packet->fix_type; - mtk_gps->eph = packet->hdop; - mtk_gps->epv = 65535; //unknown in mtk custom mode - mtk_gps->vel = packet->ground_speed; - mtk_gps->cog = (uint16_t)packet->heading; //mtk: degrees *1e2, mavlink/ubx: degrees *1e2 - mtk_gps->satellites_visible = packet->satellites; - - /* convert time and date information to unix timestamp */ - struct tm timeinfo; //TODO: test this conversion - uint32_t timeinfo_conversion_temp; - - timeinfo.tm_mday = packet->date * 1e-4; - timeinfo_conversion_temp = packet->date - timeinfo.tm_mday * 1e4; - timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1; - timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100; - - timeinfo.tm_hour = packet->utc_time * 1e-7; - timeinfo_conversion_temp = packet->utc_time - timeinfo.tm_hour * 1e7; - timeinfo.tm_min = timeinfo_conversion_temp * 1e-5; - timeinfo_conversion_temp -= timeinfo.tm_min * 1e5; - timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3; - timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3; - time_t epoch = mktime(&timeinfo); - mtk_gps->timestamp = hrt_absolute_time(); - mtk_gps->time_gps_usec = epoch * 1e6; //TODO: test this - mtk_gps->time_gps_usec += timeinfo_conversion_temp * 1e3; - - mtk_gps->counter_pos_valid++; - - mtk_gps->timestamp = hrt_absolute_time(); - -// printf("%lu; %lu; %d.%d.%d %d:%d:%d:%d\n", packet->date, packet->utc_time,timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, timeinfo_conversion_temp); - - pthread_mutex_lock(mtk_mutex); -// printf("Write timestamp /n"); - mtk_state->last_message_timestamp = hrt_absolute_time(); - pthread_mutex_unlock(mtk_mutex); - - ret = 1; -// printf("found package\n"); - - } else { - if (gps_verbose) printf("[gps] Checksum invalid\r\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - mtk_decode_init(); -// printf("prepared for next state\n"); - return ret; - } - } - - return 0; // no valid packet found - -} - -int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size) // returns 1 if the thread should terminate -{ -// printf("in read_gps_mtk\n"); - uint8_t ret = 0; - - uint8_t c; - - int rx_count = 0; - int gpsRxOverflow = 0; - - struct pollfd fds; - fds.fd = *fd; - fds.events = POLLIN; - - // This blocks the task until there is something on the buffer - while (1) { - //check if the thread should terminate - if (terminate_gps_thread == true) { -// printf("terminate_gps_thread=%u ", terminate_gps_thread); -// printf("exiting mtk thread\n"); -// fflush(stdout); - ret = 1; - break; - } - - if (poll(&fds, 1, 1000) > 0) { - if (read(*fd, &c, 1) > 0) { -// printf("Read %x\n",c); - if (rx_count >= buffer_size) { - // The buffer is already full and we haven't found a valid NMEA sentence. - // Flush the buffer and note the overflow event. - gpsRxOverflow++; - rx_count = 0; - mtk_decode_init(); - - if (gps_verbose) printf("[gps] Buffer full\r\n"); - - } else { - //gps_rx_buffer[rx_count] = c; - rx_count++; - - } - - int msg_read = mtk_parse(c, gps_rx_buffer); - - if (msg_read > 0) { - // printf("Found sequence\n"); - break; - } - - } else { - break; - } - - } else { - break; - } - - } - - return ret; -} - -int configure_gps_mtk(int *fd) -{ - int success = 0; - size_t result_write; - result_write = write(*fd, MEDIATEK_REFRESH_RATE_10HZ, strlen(MEDIATEK_REFRESH_RATE_10HZ)); - - if (result_write != strlen(MEDIATEK_REFRESH_RATE_10HZ)) { - printf("[gps] Set update speed to 10 Hz failed\r\n"); - success = 1; - - } else { - if (gps_verbose) printf("[gps] Attempted to set update speed to 10 Hz..\r\n"); - } - - //set custom mode - result_write = write(*fd, MEDIATEK_CUSTOM_BINARY_MODE, strlen(MEDIATEK_CUSTOM_BINARY_MODE)); - - if (result_write != strlen(MEDIATEK_CUSTOM_BINARY_MODE)) { - //global_data_send_subsystem_info(&mtk_present); - printf("[gps] Set MTK custom mode failed\r\n"); - success = 1; - - } else { - //global_data_send_subsystem_info(&mtk_present_enabled); - if (gps_verbose) printf("[gps] Attempted to set MTK custom mode..\r\n"); - } - - return success; -} - -void *mtk_loop(void *args) -{ -// int oldstate; -// pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, oldstate); -// -// printf("in mtk loop\n"); - /* Set thread name */ - prctl(PR_SET_NAME, "gps mtk read", getpid()); - - /* Retrieve file descriptor and thread flag */ - struct arg_struct *arguments = (struct arg_struct *)args; - int *fd = arguments->fd_ptr; - bool *thread_should_exit = arguments->thread_should_exit_ptr; - - /* Initialize gps stuff */ -// int buffer_size = 1000; -// char * gps_rx_buffer = malloc(buffer_size*sizeof(char)); - char gps_rx_buffer[MTK_BUFFER_SIZE]; - - /* set parameters for mtk custom */ - - if (configure_gps_mtk(fd) != 0) { - printf("[gps] Could not write serial port..\r\n"); - - /* Write shared variable sys_status */ - - //global_data_send_subsystem_info(&mtk_present); - - } else { - if (gps_verbose) printf("[gps] Configuration finished, awaiting GPS data..\r\n"); - - - /* Write shared variable sys_status */ - - //global_data_send_subsystem_info(&mtk_present_enabled); - } - - /* advertise GPS topic */ - struct vehicle_gps_position_s mtk_gps_d; - mtk_gps = &mtk_gps_d; - orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), mtk_gps); - - while (!(*thread_should_exit)) { - /* Parse a message from the gps receiver */ - if (OK == read_gps_mtk(fd, gps_rx_buffer, MTK_BUFFER_SIZE)) { - - /* publish new GPS position */ - orb_publish(ORB_ID(vehicle_gps_position), gps_handle, mtk_gps); - - } else { - /* de-advertise */ - close(gps_handle); - break; - } - - } - - close(gps_handle); - if(gps_verbose) printf("[gps] mtk loop is going to terminate\n"); - return NULL; -} - -void *mtk_watchdog_loop(void *args) -{ -// printf("in mtk watchdog loop\n"); - fflush(stdout); - - /* Set thread name */ - prctl(PR_SET_NAME, "gps mtk watchdog", getpid()); - - /* Retrieve file descriptor and thread flag */ - struct arg_struct *arguments = (struct arg_struct *)args; - int *fd = arguments->fd_ptr; - bool *thread_should_exit = arguments->thread_should_exit_ptr; - - bool mtk_healthy = false; - - uint8_t mtk_fail_count = 0; - uint8_t mtk_success_count = 0; - bool once_ok = false; - - int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - - while (!(*thread_should_exit)) { - fflush(stdout); - - /* if we have no update for a long time reconfigure gps */ - pthread_mutex_lock(mtk_mutex); - uint64_t timestamp_now = hrt_absolute_time(); - bool all_okay = true; - - if (timestamp_now - mtk_state->last_message_timestamp > MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS) { - all_okay = false; - } - - pthread_mutex_unlock(mtk_mutex); - - if (!all_okay) { -// printf("mtk unhealthy\n"); - mtk_fail_count++; - /* gps error */ -// if (err_skip_counter == 0) -// { -// printf("[gps] GPS module not connected or not responding..\n"); -// err_skip_counter = 20; -// } -// err_skip_counter--; - -// printf("gps_mode_try_all =%u, mtk_fail_count=%u, mtk_healthy=%u, once_ok=%u\n", gps_mode_try_all, mtk_fail_count, mtk_healthy, once_ok); - - /* If we have too many failures and another mode or baud should be tried, exit... */ - if ((gps_mode_try_all == true || gps_baud_try_all == true) && (mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) && (mtk_healthy == false) && once_ok == false) { - if (gps_verbose) printf("[gps] Connection attempt failed, no MTK module found\r\n"); - - gps_mode_success = false; - break; - } - - if (mtk_healthy && mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) { - printf("[gps] ERROR: MTK GPS module stopped responding\r\n"); - // global_data_send_subsystem_info(&mtk_present_enabled); - mavlink_log_critical(mavlink_fd, "[gps] MTK module stopped responding\n"); - mtk_healthy = false; - mtk_success_count = 0; - - } - - /* trying to reconfigure the gps configuration */ - configure_gps_mtk(fd); - fflush(stdout); - - } else { - /* gps healthy */ - mtk_success_count++; - mtk_fail_count = 0; - once_ok = true; // XXX Should this be true on a single success, or on same criteria as mtk_healthy? - - if (!mtk_healthy && mtk_success_count >= MTK_HEALTH_SUCCESS_COUNTER_LIMIT) { - printf("[gps] MTK module found, status ok (baud=%d)\r\n", current_gps_speed); - /* MTK never has sat info */ - // XXX Check if lock makes sense here - mtk_gps->satellite_info_available = 0; - // global_data_send_subsystem_info(&mtk_present_enabled_healthy); - mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n"); - mtk_healthy = true; - } - } - - usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS); - } - if(gps_verbose) printf("[gps] mtk watchdog is going to terminate\n"); - close(mavlink_fd); - return NULL; -} diff --git a/apps/gps/mtk.h b/apps/gps/mtk.h deleted file mode 100644 index 9fc1caec8..000000000 --- a/apps/gps/mtk.h +++ /dev/null @@ -1,98 +0,0 @@ -/* - * mtk.h - * - * Created on: Mar 6, 2012 - * Author: thomasgubler - */ - -#ifndef MTK_H_ -#define MTK_H_ - -#include <stdint.h> -#include <stdlib.h> -#include <string.h> -#include <stdio.h> -#include <stdbool.h> -#include <unistd.h> -#include <pthread.h> - -//Definition for mtk custom mode -#define MEDIATEK_REFRESH_RATE_4HZ "$PMTK220,250*29\r\n" //refresh rate - 4Hz - 250 milliseconds -#define MEDIATEK_REFRESH_RATE_5HZ "$PMTK220,200*2C\r\n" -#define MEDIATEK_REFRESH_RATE_10HZ "$PMTK220,100*2F\r\n" //refresh rate - 10Hz - 100 milliseconds -#define MEDIATEK_FACTORY_RESET "$PMTK104*37\r\n" //clear current settings -#define MEDIATEK_CUSTOM_BINARY_MODE "$PGCMD,16,0,0,0,0,0*6A\r\n" -#define MEDIATEK_FULL_COLD_RESTART "$PMTK104*37\r\n" -//#define NMEA_GGA_ENABLE "$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*27\r\n" //Set GGA messages - -//definitions for watchdog -#define MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000 -#define MTK_WATCHDOG_WAIT_TIME_MICROSECONDS 800000 - - - - -// ************ -// the structure of the binary packet - -typedef struct { - uint8_t payload; ///< Number of payload bytes - int32_t latitude; ///< Latitude in degrees * 10^7 - int32_t longitude; ///< Longitude in degrees * 10^7 - uint32_t msl_altitude; ///< MSL altitude in meters * 10^2 - uint32_t ground_speed; ///< FIXME SPEC UNCLEAR - int32_t heading; - uint8_t satellites; - uint8_t fix_type; - uint32_t date; - uint32_t utc_time; - uint16_t hdop; - uint8_t ck_a; - uint8_t ck_b; -} __attribute__((__packed__)) type_gps_bin_mtk_packet; - -typedef type_gps_bin_mtk_packet gps_bin_mtk_packet_t; - -enum MTK_DECODE_STATES { - MTK_DECODE_UNINIT = 0, - MTK_DECODE_GOT_CK_A = 1, - MTK_DECODE_GOT_CK_B = 2 -}; - -typedef struct { - union { - uint16_t ck; - struct { - uint8_t ck_a; - uint8_t ck_b; - }; - }; - uint8_t decode_state; -// bool new_data; -// uint8_t fix; - bool print_errors; - int16_t rx_count; - - uint64_t last_message_timestamp; -} __attribute__((__packed__)) type_gps_bin_mtk_state; - -typedef type_gps_bin_mtk_state gps_bin_mtk_state_t; - -extern pthread_mutex_t *mtk_mutex; -extern gps_bin_mtk_state_t *mtk_state; - -void mtk_decode_init(void); - -void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b); - -int mtk_parse(uint8_t b, char *gps_rx_buffer); - -int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size); - -int configure_gps_mtk(int *fd); - -void *mtk_loop(void *args); - -void *mtk_watchdog_loop(void *args); - -#endif /* MTK_H_ */ diff --git a/apps/gps/nmea_helper.c b/apps/gps/nmea_helper.c deleted file mode 100644 index 1a50371c1..000000000 --- a/apps/gps/nmea_helper.c +++ /dev/null @@ -1,345 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Julian Oes <joes@student.ethz.ch> - * Thomas Gubler <thomasgubler@student.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file NMEA protocol implementation */ -#include "gps.h" -#include "nmea_helper.h" -#include <sys/prctl.h> -#include <unistd.h> -#include <poll.h> -#include <fcntl.h> -#include <unistd.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_gps_position.h> -#include <mavlink/mavlink_log.h> -#include <drivers/drv_hrt.h> - -#define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2 -#define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2 - -#define NMEA_BUFFER_SIZE 1000 - -pthread_mutex_t *nmea_mutex; -gps_bin_nmea_state_t *nmea_state; -static struct vehicle_gps_position_s *nmea_gps; - -extern bool gps_mode_try_all; -extern bool gps_mode_success; -extern bool terminate_gps_thread; -extern bool gps_baud_try_all; -extern bool gps_verbose; -extern int current_gps_speed; - - -int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser) -{ - int ret = 1; - char c; - int start_flag = 0; - int found_cr = 0; - int rx_count = 0; - int gpsRxOverflow = 0; - - struct pollfd fds; - fds.fd = *fd; - fds.events = POLLIN; - - // NMEA or SINGLE-SENTENCE GPS mode - - - while (1) { - //check if the thread should terminate - if (terminate_gps_thread == true) { -// printf("terminate_gps_thread=%u ", terminate_gps_thread); -// printf("exiting mtk thread\n"); -// fflush(stdout); - ret = 2; - break; - } - - if (poll(&fds, 1, 1000) > 0) { - if (read(*fd, &c, 1) > 0) { - // detect start while acquiring stream - // printf("Char = %c\n", c); - if (!start_flag && (c == '$')) { - start_flag = 1; - found_cr = 0; - rx_count = 0; - - } else if (!start_flag) { // keep looking for start sign - continue; - } - - if (rx_count >= buffer_size) { - // The buffer is already full and we haven't found a valid NMEA sentence. - // Flush the buffer and note the overflow event. - gpsRxOverflow++; - start_flag = 0; - found_cr = 0; - rx_count = 0; - - if (gps_verbose) printf("\t[gps] Buffer full\n"); - - } else { - // store chars in buffer - gps_rx_buffer[rx_count] = c; - rx_count++; - } - - // look for carriage return CR - if (start_flag && c == 0x0d) { - found_cr = 1; - } - - // and then look for line feed LF - if (start_flag && found_cr && c == 0x0a) { - // parse one NMEA line, use buffer up to rx_count - if (nmea_parse(parser, gps_rx_buffer, rx_count, info) > 0) { - ret = 0; - } - - break; - } - - } else { - break; - } - - } else { - break; - } - } - - - - // As soon as one NMEA message has been parsed, we break out of the loop and end here - return(ret); -} - - -/** - * \brief Convert NDEG (NMEA degree) to fractional degree - */ -float ndeg2degree(float val) -{ - float deg = ((int)(val / 100)); - val = deg + (val - deg * 100) / 60; - return val; -} - -void *nmea_loop(void *args) -{ - /* Set thread name */ - prctl(PR_SET_NAME, "gps nmea read", getpid()); - - /* Retrieve file descriptor and thread flag */ - struct arg_struct *arguments = (struct arg_struct *)args; - int *fd = arguments->fd_ptr; - bool *thread_should_exit = arguments->thread_should_exit_ptr; - - /* Initialize gps stuff */ - nmeaINFO info_d; - nmeaINFO *info = &info_d; - char gps_rx_buffer[NMEA_BUFFER_SIZE]; - - /* gps parser (nmea) */ - nmeaPARSER parser; - nmea_parser_init(&parser); - nmea_zero_INFO(info); - - /* advertise GPS topic */ - struct vehicle_gps_position_s nmea_gps_d = {.counter=0}; - nmea_gps = &nmea_gps_d; - orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps); - - while (!(*thread_should_exit)) { - /* Parse a message from the gps receiver */ - uint8_t read_res = read_gps_nmea(fd, gps_rx_buffer, NMEA_BUFFER_SIZE, info, &parser); - - if (0 == read_res) { - - /* convert data, ready it for publishing */ - - /* convert nmea utc time to usec */ - struct tm timeinfo; - timeinfo.tm_year = info->utc.year; - timeinfo.tm_mon = info->utc.mon; - timeinfo.tm_mday = info->utc.day; - timeinfo.tm_hour = info->utc.hour; - timeinfo.tm_min = info->utc.min; - timeinfo.tm_sec = info->utc.sec; - - time_t epoch = mktime(&timeinfo); - - // printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, info->utc.hsec); - - nmea_gps->timestamp = hrt_absolute_time(); - nmea_gps->time_gps_usec = (uint64_t)((epoch)*1000000 + (info->utc.hsec)*10000); - nmea_gps->fix_type = (uint8_t)info->fix; - nmea_gps->lat = (int32_t)(ndeg2degree(info->lat) * 1e7f); - nmea_gps->lon = (int32_t)(ndeg2degree(info->lon) * 1e7f); - nmea_gps->alt = (int32_t)(info->elv * 1000.0f); - nmea_gps->eph = (uint16_t)(info->HDOP * 100); //TODO:test scaling - nmea_gps->epv = (uint16_t)(info->VDOP * 100); //TODO:test scaling - nmea_gps->vel = (uint16_t)(info->speed * 1000 / 36); //*1000/3600*100 - nmea_gps->cog = (uint16_t)info->direction*100; //nmea: degrees float, ubx/mavlink: degrees*1e2 - nmea_gps->satellites_visible = (uint8_t)info->satinfo.inview; - - int i = 0; - - /* Write info about individual satellites */ - for (i = 0; i < 12; i++) { - nmea_gps->satellite_prn[i] = (uint8_t)info->satinfo.sat[i].id; - nmea_gps->satellite_used[i] = (uint8_t)info->satinfo.sat[i].in_use; - nmea_gps->satellite_elevation[i] = (uint8_t)info->satinfo.sat[i].elv; - nmea_gps->satellite_azimuth[i] = (uint8_t)info->satinfo.sat[i].azimuth; - nmea_gps->satellite_snr[i] = (uint8_t)info->satinfo.sat[i].sig; - } - - if (nmea_gps->satellites_visible > 0) { - nmea_gps->satellite_info_available = 1; - - } else { - nmea_gps->satellite_info_available = 0; - } - - nmea_gps->counter_pos_valid++; - - nmea_gps->timestamp = hrt_absolute_time(); - nmea_gps->counter++; - - pthread_mutex_lock(nmea_mutex); - nmea_state->last_message_timestamp = hrt_absolute_time(); - pthread_mutex_unlock(nmea_mutex); - - /* publish new GPS position */ - orb_publish(ORB_ID(vehicle_gps_position), gps_handle, nmea_gps); - - } else if (read_res == 2) { //termination - /* de-advertise */ - close(gps_handle); - break; - } - - } - - //destroy gps parser - nmea_parser_destroy(&parser); - if(gps_verbose) printf("[gps] nmea loop is going to terminate\n"); - return NULL; - -} - -void *nmea_watchdog_loop(void *args) -{ - /* Set thread name */ - prctl(PR_SET_NAME, "gps nmea watchdog", getpid()); - - bool nmea_healthy = false; - - uint8_t nmea_fail_count = 0; - uint8_t nmea_success_count = 0; - bool once_ok = false; - - /* Retrieve file descriptor and thread flag */ - struct arg_struct *arguments = (struct arg_struct *)args; - //int *fd = arguments->fd_ptr; - bool *thread_should_exit = arguments->thread_should_exit_ptr; - - int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - while (!(*thread_should_exit)) { -// printf("nmea_watchdog_loop : while "); - /* if we have no update for a long time print warning (in nmea mode there is no reconfigure) */ - pthread_mutex_lock(nmea_mutex); - uint64_t timestamp_now = hrt_absolute_time(); - bool all_okay = true; - - if (timestamp_now - nmea_state->last_message_timestamp > NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS) { - all_okay = false; - } - - pthread_mutex_unlock(nmea_mutex); - - if (!all_okay) { - /* gps error */ - nmea_fail_count++; -// printf("nmea error, nmea_fail_count=%u\n", nmea_fail_count); -// fflush(stdout); - - /* If we have too many failures and another mode or baud should be tried, exit... */ - if ((gps_mode_try_all == true || gps_baud_try_all == true) && (nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) && (nmea_healthy == false) && once_ok == false) { - if (gps_verbose) printf("\t[gps] no NMEA module found\n"); - - gps_mode_success = false; - break; - } - - if (nmea_healthy && nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) { - printf("\t[gps] ERROR: NMEA GPS module stopped responding\n"); - // global_data_send_subsystem_info(&nmea_present_enabled); - mavlink_log_critical(mavlink_fd, "[gps] NMEA module stopped responding\n"); - nmea_healthy = false; - nmea_success_count = 0; - - } - - - - fflush(stdout); - sleep(1); - - } else { - /* gps healthy */ -// printf("\t[gps] nmea success\n"); - nmea_success_count++; - - if (!nmea_healthy && nmea_success_count >= NMEA_HEALTH_SUCCESS_COUNTER_LIMIT) { - printf("[gps] NMEA module found, status ok (baud=%d)\r\n", current_gps_speed); - // global_data_send_subsystem_info(&nmea_present_enabled_healthy); - mavlink_log_info(mavlink_fd, "[gps] NMEA module found, status ok\n"); - nmea_healthy = true; - nmea_fail_count = 0; - once_ok = true; - } - - } - - usleep(NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS); - } - if(gps_verbose) printf("[gps] nmea watchdog loop is going to terminate\n"); - close(mavlink_fd); - return NULL; -} diff --git a/apps/gps/nmea_helper.h b/apps/gps/nmea_helper.h deleted file mode 100644 index 3a853dd13..000000000 --- a/apps/gps/nmea_helper.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * nmea_helper.h - * - * Created on: Mar 15, 2012 - * Author: thomasgubler - */ - -#ifndef NMEA_H_ -#define NMEA_H_ - -#include <stdint.h> -#include <stdlib.h> -#include <string.h> -#include <stdio.h> -#include "nmealib/nmea/nmea.h" - - -//definitions for watchdog -#define NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000 -#define NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS 800000 - -typedef struct { - uint64_t last_message_timestamp; -} __attribute__((__packed__)) type_gps_bin_nmea_state; - -typedef type_gps_bin_nmea_state gps_bin_nmea_state_t; - -extern gps_bin_nmea_state_t *nmea_state; -extern pthread_mutex_t *nmea_mutex; - - - -int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser); - -void *nmea_loop(void *arg); - -void *nmea_watchdog_loop(void *arg); - -/** - * \brief Convert NDEG (NMEA degree) to fractional degree - */ -float ndeg2degree(float val); - -void nmea_init(void); - - -#endif /* NMEA_H_ */ diff --git a/apps/gps/nmealib/LICENSE.TXT b/apps/gps/nmealib/LICENSE.TXT deleted file mode 100644 index 807db7916..000000000 --- a/apps/gps/nmealib/LICENSE.TXT +++ /dev/null @@ -1,506 +0,0 @@ - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, Inc. - 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - -[This is the first released version of the Lesser GPL. It also counts - as the successor of the GNU Library Public License, version 2, hence - the version number 2.1.] - - Preamble - - The licenses for most software are designed to take away your -freedom to share and change it. By contrast, the GNU General Public -Licenses are intended to guarantee your freedom to share and change -free software--to make sure the software is free for all its users. - - This license, the Lesser General Public License, applies to some -specially designated software packages--typically libraries--of the -Free Software Foundation and other authors who decide to use it. You -can use it too, but we suggest you first think carefully about whether -this license or the ordinary General Public License is the better -strategy to use in any particular case, based on the explanations below. - - When we speak of free software, we are referring to freedom of use, -not price. Our General Public Licenses are designed to make sure that -you have the freedom to distribute copies of free software (and charge -for this service if you wish); that you receive source code or can get -it if you want it; that you can change the software and use pieces of -it in new free programs; and that you are informed that you can do -these things. - - To protect your rights, we need to make restrictions that forbid -distributors to deny you these rights or to ask you to surrender these -rights. These restrictions translate to certain responsibilities for -you if you distribute copies of the library or if you modify it. - - For example, if you distribute copies of the library, whether gratis -or for a fee, you must give the recipients all the rights that we gave -you. You must make sure that they, too, receive or can get the source -code. If you link other code with the library, you must provide -complete object files to the recipients, so that they can relink them -with the library after making changes to the library and recompiling -it. And you must show them these terms so they know their rights. - - We protect your rights with a two-step method: (1) we copyright the -library, and (2) we offer you this license, which gives you legal -permission to copy, distribute and/or modify the library. - - To protect each distributor, we want to make it very clear that -there is no warranty for the free library. Also, if the library is -modified by someone else and passed on, the recipients should know -that what they have is not the original version, so that the original -author's reputation will not be affected by problems that might be -introduced by others. - - Finally, software patents pose a constant threat to the existence of -any free program. We wish to make sure that a company cannot -effectively restrict the users of a free program by obtaining a -restrictive license from a patent holder. Therefore, we insist that -any patent license obtained for a version of the library must be -consistent with the full freedom of use specified in this license. - - Most GNU software, including some libraries, is covered by the -ordinary GNU General Public License. This license, the GNU Lesser -General Public License, applies to certain designated libraries, and -is quite different from the ordinary General Public License. We use -this license for certain libraries in order to permit linking those -libraries into non-free programs. - - When a program is linked with a library, whether statically or using -a shared library, the combination of the two is legally speaking a -combined work, a derivative of the original library. The ordinary -General Public License therefore permits such linking only if the -entire combination fits its criteria of freedom. The Lesser General -Public License permits more lax criteria for linking other code with -the library. - - We call this license the "Lesser" General Public License because it -does Less to protect the user's freedom than the ordinary General -Public License. It also provides other free software developers Less -of an advantage over competing non-free programs. These disadvantages -are the reason we use the ordinary General Public License for many -libraries. However, the Lesser license provides advantages in certain -special circumstances. - - For example, on rare occasions, there may be a special need to -encourage the widest possible use of a certain library, so that it becomes -a de-facto standard. To achieve this, non-free programs must be -allowed to use the library. A more frequent case is that a free -library does the same job as widely used non-free libraries. In this -case, there is little to gain by limiting the free library to free -software only, so we use the Lesser General Public License. - - In other cases, permission to use a particular library in non-free -programs enables a greater number of people to use a large body of -free software. For example, permission to use the GNU C Library in -non-free programs enables many more people to use the whole GNU -operating system, as well as its variant, the GNU/Linux operating -system. - - Although the Lesser General Public License is Less protective of the -users' freedom, it does ensure that the user of a program that is -linked with the Library has the freedom and the wherewithal to run -that program using a modified version of the Library. - - The precise terms and conditions for copying, distribution and -modification follow. Pay close attention to the difference between a -"work based on the library" and a "work that uses the library". The -former contains code derived from the library, whereas the latter must -be combined with the library in order to run. - - GNU LESSER GENERAL PUBLIC LICENSE - TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION - - 0. This License Agreement applies to any software library or other -program which contains a notice placed by the copyright holder or -other authorized party saying it may be distributed under the terms of -this Lesser General Public License (also called "this License"). -Each licensee is addressed as "you". - - A "library" means a collection of software functions and/or data -prepared so as to be conveniently linked with application programs -(which use some of those functions and data) to form executables. - - The "Library", below, refers to any such software library or work -which has been distributed under these terms. A "work based on the -Library" means either the Library or any derivative work under -copyright law: that is to say, a work containing the Library or a -portion of it, either verbatim or with modifications and/or translated -straightforwardly into another language. (Hereinafter, translation is -included without limitation in the term "modification".) - - "Source code" for a work means the preferred form of the work for -making modifications to it. For a library, complete source code means -all the source code for all modules it contains, plus any associated -interface definition files, plus the scripts used to control compilation -and installation of the library. - - Activities other than copying, distribution and modification are not -covered by this License; they are outside its scope. The act of -running a program using the Library is not restricted, and output from -such a program is covered only if its contents constitute a work based -on the Library (independent of the use of the Library in a tool for -writing it). Whether that is true depends on what the Library does -and what the program that uses the Library does. - - 1. You may copy and distribute verbatim copies of the Library's -complete source code as you receive it, in any medium, provided that -you conspicuously and appropriately publish on each copy an -appropriate copyright notice and disclaimer of warranty; keep intact -all the notices that refer to this License and to the absence of any -warranty; and distribute a copy of this License along with the -Library. - - You may charge a fee for the physical act of transferring a copy, -and you may at your option offer warranty protection in exchange for a -fee. - - 2. You may modify your copy or copies of the Library or any portion -of it, thus forming a work based on the Library, and copy and -distribute such modifications or work under the terms of Section 1 -above, provided that you also meet all of these conditions: - - a) The modified work must itself be a software library. - - b) You must cause the files modified to carry prominent notices - stating that you changed the files and the date of any change. - - c) You must cause the whole of the work to be licensed at no - charge to all third parties under the terms of this License. - - d) If a facility in the modified Library refers to a function or a - table of data to be supplied by an application program that uses - the facility, other than as an argument passed when the facility - is invoked, then you must make a good faith effort to ensure that, - in the event an application does not supply such function or - table, the facility still operates, and performs whatever part of - its purpose remains meaningful. - - (For example, a function in a library to compute square roots has - a purpose that is entirely well-defined independent of the - application. Therefore, Subsection 2d requires that any - application-supplied function or table used by this function must - be optional: if the application does not supply it, the square - root function must still compute square roots.) - -These requirements apply to the modified work as a whole. If -identifiable sections of that work are not derived from the Library, -and can be reasonably considered independent and separate works in -themselves, then this License, and its terms, do not apply to those -sections when you distribute them as separate works. But when you -distribute the same sections as part of a whole which is a work based -on the Library, the distribution of the whole must be on the terms of -this License, whose permissions for other licensees extend to the -entire whole, and thus to each and every part regardless of who wrote -it. - -Thus, it is not the intent of this section to claim rights or contest -your rights to work written entirely by you; rather, the intent is to -exercise the right to control the distribution of derivative or -collective works based on the Library. - -In addition, mere aggregation of another work not based on the Library -with the Library (or with a work based on the Library) on a volume of -a storage or distribution medium does not bring the other work under -the scope of this License. - - 3. You may opt to apply the terms of the ordinary GNU General Public -License instead of this License to a given copy of the Library. To do -this, you must alter all the notices that refer to this License, so -that they refer to the ordinary GNU General Public License, version 2, -instead of to this License. (If a newer version than version 2 of the -ordinary GNU General Public License has appeared, then you can specify -that version instead if you wish.) Do not make any other change in -these notices. - - Once this change is made in a given copy, it is irreversible for -that copy, so the ordinary GNU General Public License applies to all -subsequent copies and derivative works made from that copy. - - This option is useful when you wish to copy part of the code of -the Library into a program that is not a library. - - 4. You may copy and distribute the Library (or a portion or -derivative of it, under Section 2) in object code or executable form -under the terms of Sections 1 and 2 above provided that you accompany -it with the complete corresponding machine-readable source code, which -must be distributed under the terms of Sections 1 and 2 above on a -medium customarily used for software interchange. - - If distribution of object code is made by offering access to copy -from a designated place, then offering equivalent access to copy the -source code from the same place satisfies the requirement to -distribute the source code, even though third parties are not -compelled to copy the source along with the object code. - - 5. A program that contains no derivative of any portion of the -Library, but is designed to work with the Library by being compiled or -linked with it, is called a "work that uses the Library". Such a -work, in isolation, is not a derivative work of the Library, and -therefore falls outside the scope of this License. - - However, linking a "work that uses the Library" with the Library -creates an executable that is a derivative of the Library (because it -contains portions of the Library), rather than a "work that uses the -library". The executable is therefore covered by this License. -Section 6 states terms for distribution of such executables. - - When a "work that uses the Library" uses material from a header file -that is part of the Library, the object code for the work may be a -derivative work of the Library even though the source code is not. -Whether this is true is especially significant if the work can be -linked without the Library, or if the work is itself a library. The -threshold for this to be true is not precisely defined by law. - - If such an object file uses only numerical parameters, data -structure layouts and accessors, and small macros and small inline -functions (ten lines or less in length), then the use of the object -file is unrestricted, regardless of whether it is legally a derivative -work. (Executables containing this object code plus portions of the -Library will still fall under Section 6.) - - Otherwise, if the work is a derivative of the Library, you may -distribute the object code for the work under the terms of Section 6. -Any executables containing that work also fall under Section 6, -whether or not they are linked directly with the Library itself. - - 6. As an exception to the Sections above, you may also combine or -link a "work that uses the Library" with the Library to produce a -work containing portions of the Library, and distribute that work -under terms of your choice, provided that the terms permit -modification of the work for the customer's own use and reverse -engineering for debugging such modifications. - - You must give prominent notice with each copy of the work that the -Library is used in it and that the Library and its use are covered by -this License. You must supply a copy of this License. If the work -during execution displays copyright notices, you must include the -copyright notice for the Library among them, as well as a reference -directing the user to the copy of this License. Also, you must do one -of these things: - - a) Accompany the work with the complete corresponding - machine-readable source code for the Library including whatever - changes were used in the work (which must be distributed under - Sections 1 and 2 above); and, if the work is an executable linked - with the Library, with the complete machine-readable "work that - uses the Library", as object code and/or source code, so that the - user can modify the Library and then relink to produce a modified - executable containing the modified Library. (It is understood - that the user who changes the contents of definitions files in the - Library will not necessarily be able to recompile the application - to use the modified definitions.) - - b) Use a suitable shared library mechanism for linking with the - Library. A suitable mechanism is one that (1) uses at run time a - copy of the library already present on the user's computer system, - rather than copying library functions into the executable, and (2) - will operate properly with a modified version of the library, if - the user installs one, as long as the modified version is - interface-compatible with the version that the work was made with. - - c) Accompany the work with a written offer, valid for at - least three years, to give the same user the materials - specified in Subsection 6a, above, for a charge no more - than the cost of performing this distribution. - - d) If distribution of the work is made by offering access to copy - from a designated place, offer equivalent access to copy the above - specified materials from the same place. - - e) Verify that the user has already received a copy of these - materials or that you have already sent this user a copy. - - For an executable, the required form of the "work that uses the -Library" must include any data and utility programs needed for -reproducing the executable from it. However, as a special exception, -the materials to be distributed need not include anything that is -normally distributed (in either source or binary form) with the major -components (compiler, kernel, and so on) of the operating system on -which the executable runs, unless that component itself accompanies -the executable. - - It may happen that this requirement contradicts the license -restrictions of other proprietary libraries that do not normally -accompany the operating system. Such a contradiction means you cannot -use both them and the Library together in an executable that you -distribute. - - 7. You may place library facilities that are a work based on the -Library side-by-side in a single library together with other library -facilities not covered by this License, and distribute such a combined -library, provided that the separate distribution of the work based on -the Library and of the other library facilities is otherwise -permitted, and provided that you do these two things: - - a) Accompany the combined library with a copy of the same work - based on the Library, uncombined with any other library - facilities. This must be distributed under the terms of the - Sections above. - - b) Give prominent notice with the combined library of the fact - that part of it is a work based on the Library, and explaining - where to find the accompanying uncombined form of the same work. - - 8. You may not copy, modify, sublicense, link with, or distribute -the Library except as expressly provided under this License. Any -attempt otherwise to copy, modify, sublicense, link with, or -distribute the Library is void, and will automatically terminate your -rights under this License. However, parties who have received copies, -or rights, from you under this License will not have their licenses -terminated so long as such parties remain in full compliance. - - 9. You are not required to accept this License, since you have not -signed it. However, nothing else grants you permission to modify or -distribute the Library or its derivative works. These actions are -prohibited by law if you do not accept this License. Therefore, by -modifying or distributing the Library (or any work based on the -Library), you indicate your acceptance of this License to do so, and -all its terms and conditions for copying, distributing or modifying -the Library or works based on it. - - 10. Each time you redistribute the Library (or any work based on the -Library), the recipient automatically receives a license from the -original licensor to copy, distribute, link with or modify the Library -subject to these terms and conditions. You may not impose any further -restrictions on the recipients' exercise of the rights granted herein. -You are not responsible for enforcing compliance by third parties with -this License. - - 11. If, as a consequence of a court judgment or allegation of patent -infringement or for any other reason (not limited to patent issues), -conditions are imposed on you (whether by court order, agreement or -otherwise) that contradict the conditions of this License, they do not -excuse you from the conditions of this License. If you cannot -distribute so as to satisfy simultaneously your obligations under this -License and any other pertinent obligations, then as a consequence you -may not distribute the Library at all. For example, if a patent -license would not permit royalty-free redistribution of the Library by -all those who receive copies directly or indirectly through you, then -the only way you could satisfy both it and this License would be to -refrain entirely from distribution of the Library. - -If any portion of this section is held invalid or unenforceable under any -particular circumstance, the balance of the section is intended to apply, -and the section as a whole is intended to apply in other circumstances. - -It is not the purpose of this section to induce you to infringe any -patents or other property right claims or to contest validity of any -such claims; this section has the sole purpose of protecting the -integrity of the free software distribution system which is -implemented by public license practices. Many people have made -generous contributions to the wide range of software distributed -through that system in reliance on consistent application of that -system; it is up to the author/donor to decide if he or she is willing -to distribute software through any other system and a licensee cannot -impose that choice. - -This section is intended to make thoroughly clear what is believed to -be a consequence of the rest of this License. - - 12. If the distribution and/or use of the Library is restricted in -certain countries either by patents or by copyrighted interfaces, the -original copyright holder who places the Library under this License may add -an explicit geographical distribution limitation excluding those countries, -so that distribution is permitted only in or among countries not thus -excluded. In such case, this License incorporates the limitation as if -written in the body of this License. - - 13. The Free Software Foundation may publish revised and/or new -versions of the Lesser General Public License from time to time. -Such new versions will be similar in spirit to the present version, -but may differ in detail to address new problems or concerns. - -Each version is given a distinguishing version number. If the Library -specifies a version number of this License which applies to it and -"any later version", you have the option of following the terms and -conditions either of that version or of any later version published by -the Free Software Foundation. If the Library does not specify a -license version number, you may choose any version ever published by -the Free Software Foundation. - - 14. If you wish to incorporate parts of the Library into other free -programs whose distribution conditions are incompatible with these, -write to the author to ask for permission. For software which is -copyrighted by the Free Software Foundation, write to the Free -Software Foundation; we sometimes make exceptions for this. Our -decision will be guided by the two goals of preserving the free status -of all derivatives of our free software and of promoting the sharing -and reuse of software generally. - - NO WARRANTY - - 15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO -WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW. -EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR -OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY -KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE -LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME -THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. - - 16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN -WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY -AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU -FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR -CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE -LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING -RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A -FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF -SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH -DAMAGES. - - END OF TERMS AND CONDITIONS - - How to Apply These Terms to Your New Libraries - - If you develop a new library, and you want it to be of the greatest -possible use to the public, we recommend making it free software that -everyone can redistribute and change. You can do so by permitting -redistribution under these terms (or, alternatively, under the terms of the -ordinary General Public License). - - To apply these terms, attach the following notices to the library. It is -safest to attach them to the start of each source file to most effectively -convey the exclusion of warranty; and each file should have at least the -"copyright" line and a pointer to where the full notice is found. - - <one line to give the library's name and a brief idea of what it does.> - Copyright (C) <year> <name of author> - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - -Also add information on how to contact you by electronic and paper mail. - -You should also get your employer (if you work as a programmer) or your -school, if any, to sign a "copyright disclaimer" for the library, if -necessary. Here is a sample; alter the names: - - Yoyodyne, Inc., hereby disclaims all copyright interest in the - library `Frob' (a library for tweaking knobs) written by James Random Hacker. - - <signature of Ty Coon>, 1 April 1990 - Ty Coon, President of Vice - -That's all there is to it! - - - - diff --git a/apps/gps/nmealib/README.TXT b/apps/gps/nmealib/README.TXT deleted file mode 100644 index 8ede6a036..000000000 --- a/apps/gps/nmealib/README.TXT +++ /dev/null @@ -1,26 +0,0 @@ -NMEA library see: http://nmea.sourceforge.net/ - -Disclaimer - -The National Marine Electronics Association (NMEA) has developed a specification that defines the interface between various pieces of marine electronic equipment. The standard permits marine electronics to send information to computers and to other marine equipment. -Most computer programs that provide real time position information understand and expect data to be in NMEA format. This data includes the complete PVT (position, velocity, time) solution computed by the GPS receiver. The idea of NMEA is to send a line of data called a sentence that is totally self contained and independent from other sentences. All NMEA sentences is sequences of ACSII symbols begins with a '$' and ends with a carriage return/line feed sequence and can be no longer than 80 characters of visible text (plus the line terminators). - -Introduction - -We present library in 'C' programming language for work with NMEA protocol. Small and easy to use. The library build on different compilers under different platforms (see below). The code was tested in real projects. Just download and try... - -Features - -- Analysis NMEA sentences and granting GPS data in C structures -- Generate NMEA sentences -- Supported sentences: GPGGA, GPGSA, GPGSV, GPRMC, GPVTG -- Multilevel architecture of algorithms -- Additional functions of geographical mathematics and work with navigation data - -Supported (tested) platforms - -- Microsoft Windows (MS Visual Studio 8.0, GCC) -- Windows Mobile, Windows CE (MS Visual Studio 8.0) -- UNIX (GCC) - -Licence: LGPL diff --git a/apps/gps/nmealib/context.c b/apps/gps/nmealib/context.c deleted file mode 100644 index 6ee2f5ad3..000000000 --- a/apps/gps/nmealib/context.c +++ /dev/null @@ -1,67 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: context.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -#include "nmea/context.h" - -#include <string.h> -#include <stdarg.h> -#include <stdio.h> - -nmeaPROPERTY * nmea_property(void) -{ - static nmeaPROPERTY prop = { - 0, 0, NMEA_DEF_PARSEBUFF - }; - - return ∝ -} - -void nmea_trace(const char *str, ...) -{ - int size; - va_list arg_list; - char buff[NMEA_DEF_PARSEBUFF]; - nmeaTraceFunc func = nmea_property()->trace_func; - - if(func) - { - va_start(arg_list, str); - size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list); - va_end(arg_list); - - if(size > 0) - (*func)(&buff[0], size); - } -} - -void nmea_trace_buff(const char *buff, int buff_size) -{ - nmeaTraceFunc func = nmea_property()->trace_func; - if(func && buff_size) - (*func)(buff, buff_size); -} - -void nmea_error(const char *str, ...) -{ - int size; - va_list arg_list; - char buff[NMEA_DEF_PARSEBUFF]; - nmeaErrorFunc func = nmea_property()->error_func; - - if(func) - { - va_start(arg_list, str); - size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list); - va_end(arg_list); - - if(size > 0) - (*func)(&buff[0], size); - } -} diff --git a/apps/gps/nmealib/generate.c b/apps/gps/nmealib/generate.c deleted file mode 100644 index 4c9389300..000000000 --- a/apps/gps/nmealib/generate.c +++ /dev/null @@ -1,229 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: generate.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -#include "nmea/tok.h" -#include "nmea/sentence.h" -#include "nmea/generate.h" -#include "nmea/units.h" - -#include <string.h> -#include <stdlib.h> -#include <math.h> - -int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack) -{ - return nmea_printf(buff, buff_sz, - "$GPGGA,%02d%02d%02d.%02d,%07.4f,%C,%07.4f,%C,%1d,%02d,%03.1f,%03.1f,%C,%03.1f,%C,%03.1f,%04d", - pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec, - pack->lat, pack->ns, pack->lon, pack->ew, - pack->sig, pack->satinuse, pack->HDOP, pack->elv, pack->elv_units, - pack->diff, pack->diff_units, pack->dgps_age, pack->dgps_sid); -} - -int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack) -{ - return nmea_printf(buff, buff_sz, - "$GPGSA,%C,%1d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%03.1f,%03.1f,%03.1f", - pack->fix_mode, pack->fix_type, - pack->sat_prn[0], pack->sat_prn[1], pack->sat_prn[2], pack->sat_prn[3], pack->sat_prn[4], pack->sat_prn[5], - pack->sat_prn[6], pack->sat_prn[7], pack->sat_prn[8], pack->sat_prn[9], pack->sat_prn[10], pack->sat_prn[11], - pack->PDOP, pack->HDOP, pack->VDOP); -} - -int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack) -{ - return nmea_printf(buff, buff_sz, - "$GPGSV,%1d,%1d,%02d," - "%02d,%02d,%03d,%02d," - "%02d,%02d,%03d,%02d," - "%02d,%02d,%03d,%02d," - "%02d,%02d,%03d,%02d", - pack->pack_count, pack->pack_index + 1, pack->sat_count, - pack->sat_data[0].id, pack->sat_data[0].elv, pack->sat_data[0].azimuth, pack->sat_data[0].sig, - pack->sat_data[1].id, pack->sat_data[1].elv, pack->sat_data[1].azimuth, pack->sat_data[1].sig, - pack->sat_data[2].id, pack->sat_data[2].elv, pack->sat_data[2].azimuth, pack->sat_data[2].sig, - pack->sat_data[3].id, pack->sat_data[3].elv, pack->sat_data[3].azimuth, pack->sat_data[3].sig); -} - -int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack) -{ - return nmea_printf(buff, buff_sz, - "$GPRMC,%02d%02d%02d.%02d,%C,%07.4f,%C,%07.4f,%C,%03.1f,%03.1f,%02d%02d%02d,%03.1f,%C,%C", - pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec, - pack->status, pack->lat, pack->ns, pack->lon, pack->ew, - pack->speed, pack->direction, - pack->utc.day, pack->utc.mon + 1, pack->utc.year - 100, - pack->declination, pack->declin_ew, pack->mode); -} - -int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack) -{ - return nmea_printf(buff, buff_sz, - "$GPVTG,%.1f,%C,%.1f,%C,%.1f,%C,%.1f,%C", - pack->dir, pack->dir_t, - pack->dec, pack->dec_m, - pack->spn, pack->spn_n, - pack->spk, pack->spk_k); -} - -void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack) -{ - nmea_zero_GPGGA(pack); - - pack->utc = info->utc; - pack->lat = fabs(info->lat); - pack->ns = ((info->lat > 0)?'N':'S'); - pack->lon = fabs(info->lon); - pack->ew = ((info->lon > 0)?'E':'W'); - pack->sig = info->sig; - pack->satinuse = info->satinfo.inuse; - pack->HDOP = info->HDOP; - pack->elv = info->elv; -} - -void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack) -{ - int it; - - nmea_zero_GPGSA(pack); - - pack->fix_type = info->fix; - pack->PDOP = info->PDOP; - pack->HDOP = info->HDOP; - pack->VDOP = info->VDOP; - - for(it = 0; it < NMEA_MAXSAT; ++it) - { - pack->sat_prn[it] = - ((info->satinfo.sat[it].in_use)?info->satinfo.sat[it].id:0); - } -} - -int nmea_gsv_npack(int sat_count) -{ - int pack_count = (int)ceil(((float)sat_count) / NMEA_SATINPACK); - - if(0 == pack_count) - pack_count = 1; - - return pack_count; -} - -void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx) -{ - int sit, pit; - - nmea_zero_GPGSV(pack); - - pack->sat_count = (info->satinfo.inview <= NMEA_MAXSAT)?info->satinfo.inview:NMEA_MAXSAT; - pack->pack_count = nmea_gsv_npack(pack->sat_count); - - if(pack->pack_count == 0) - pack->pack_count = 1; - - if(pack_idx >= pack->pack_count) - pack->pack_index = pack_idx % pack->pack_count; - else - pack->pack_index = pack_idx; - - for(pit = 0, sit = pack->pack_index * NMEA_SATINPACK; pit < NMEA_SATINPACK; ++pit, ++sit) - pack->sat_data[pit] = info->satinfo.sat[sit]; -} - -void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack) -{ - nmea_zero_GPRMC(pack); - - pack->utc = info->utc; - pack->status = ((info->sig > 0)?'A':'V'); - pack->lat = fabs(info->lat); - pack->ns = ((info->lat > 0)?'N':'S'); - pack->lon = fabs(info->lon); - pack->ew = ((info->lon > 0)?'E':'W'); - pack->speed = info->speed / NMEA_TUD_KNOTS; - pack->direction = info->direction; - pack->declination = info->declination; - pack->declin_ew = 'E'; - pack->mode = ((info->sig > 0)?'A':'N'); -} - -void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack) -{ - nmea_zero_GPVTG(pack); - - pack->dir = info->direction; - pack->dec = info->declination; - pack->spn = info->speed / NMEA_TUD_KNOTS; - pack->spk = info->speed; -} - -int nmea_generate( - char *buff, int buff_sz, - const nmeaINFO *info, - int generate_mask - ) -{ - int gen_count = 0, gsv_it, gsv_count; - int pack_mask = generate_mask; - - nmeaGPGGA gga; - nmeaGPGSA gsa; - nmeaGPGSV gsv; - nmeaGPRMC rmc; - nmeaGPVTG vtg; - - if(!buff) - return 0; - - while(pack_mask) - { - if(pack_mask & GPGGA) - { - nmea_info2GPGGA(info, &gga); - gen_count += nmea_gen_GPGGA(buff + gen_count, buff_sz - gen_count, &gga); - pack_mask &= ~GPGGA; - } - else if(pack_mask & GPGSA) - { - nmea_info2GPGSA(info, &gsa); - gen_count += nmea_gen_GPGSA(buff + gen_count, buff_sz - gen_count, &gsa); - pack_mask &= ~GPGSA; - } - else if(pack_mask & GPGSV) - { - gsv_count = nmea_gsv_npack(info->satinfo.inview); - for(gsv_it = 0; gsv_it < gsv_count && buff_sz - gen_count > 0; ++gsv_it) - { - nmea_info2GPGSV(info, &gsv, gsv_it); - gen_count += nmea_gen_GPGSV(buff + gen_count, buff_sz - gen_count, &gsv); - } - pack_mask &= ~GPGSV; - } - else if(pack_mask & GPRMC) - { - nmea_info2GPRMC(info, &rmc); - gen_count += nmea_gen_GPRMC(buff + gen_count, buff_sz - gen_count, &rmc); - pack_mask &= ~GPRMC; - } - else if(pack_mask & GPVTG) - { - nmea_info2GPVTG(info, &vtg); - gen_count += nmea_gen_GPVTG(buff + gen_count, buff_sz - gen_count, &vtg); - pack_mask &= ~GPVTG; - } - else - break; - - if(buff_sz - gen_count <= 0) - break; - } - - return gen_count; -} diff --git a/apps/gps/nmealib/generator.c b/apps/gps/nmealib/generator.c deleted file mode 100644 index ce40b0f1a..000000000 --- a/apps/gps/nmealib/generator.c +++ /dev/null @@ -1,399 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: generator.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -#include "nmea/gmath.h" -#include "nmea/generate.h" -#include "nmea/generator.h" -#include "nmea/context.h" - -#include <string.h> -#include <stdlib.h> - -#if defined(NMEA_WIN) && defined(_MSC_VER) -# pragma warning(disable: 4100) /* unreferenced formal parameter */ -#endif - -float nmea_random(float min, float max) -{ - static float rand_max = MAX_RAND;//RAND_MAX; //nuttx defines MAX_RAND instead of RAND_MAX - float rand_val = rand(); - float bounds = max - min; - return min + (rand_val * bounds) / rand_max; -} - -/* - * low level - */ - -int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info) -{ - int RetVal = 1; int smask = info->smask; - nmeaGENERATOR *igen = gen; - - nmea_zero_INFO(info); - info->smask = smask; - - info->lat = NMEA_DEF_LAT; - info->lon = NMEA_DEF_LON; - - while(RetVal && igen) - { - if(igen->init_call) - RetVal = (*igen->init_call)(igen, info); - igen = igen->next; - } - - return RetVal; -} - -int nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info) -{ - int RetVal = 1; - - if(gen->loop_call) - RetVal = (*gen->loop_call)(gen, info); - - if(RetVal && gen->next) - RetVal = nmea_gen_loop(gen->next, info); - - return RetVal; -} - -int nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info) -{ - int RetVal = 1; - - if(gen->reset_call) - RetVal = (*gen->reset_call)(gen, info); - - return RetVal; -} - -void nmea_gen_destroy(nmeaGENERATOR *gen) -{ - if(gen->next) - { - nmea_gen_destroy(gen->next); - gen->next = 0; - } - - if(gen->destroy_call) - (*gen->destroy_call)(gen); - - free(gen); -} - -void nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen) -{ - if(to->next) - nmea_gen_add(to->next, gen); - else - to->next = gen; -} - -int nmea_generate_from( - char *buff, int buff_sz, - nmeaINFO *info, - nmeaGENERATOR *gen, - int generate_mask - ) -{ - int retval; - - if(0 != (retval = nmea_gen_loop(gen, info))) - retval = nmea_generate(buff, buff_sz, info, generate_mask); - - return retval; -} - -/* - * NOISE generator - */ - -int nmea_igen_noise_init(nmeaGENERATOR *gen, nmeaINFO *info) -{ - return 1; -} - -int nmea_igen_noise_loop(nmeaGENERATOR *gen, nmeaINFO *info) -{ - int it; - int in_use; - - info->sig = (int)nmea_random(1, 3); - info->PDOP = nmea_random(0, 9); - info->HDOP = nmea_random(0, 9); - info->VDOP = nmea_random(0, 9); - info->fix = (int)nmea_random(2, 3); - info->lat = nmea_random(0, 100); - info->lon = nmea_random(0, 100); - info->speed = nmea_random(0, 100); - info->direction = nmea_random(0, 360); - info->declination = nmea_random(0, 360); - info->elv = (int)nmea_random(-100, 100); - - info->satinfo.inuse = 0; - info->satinfo.inview = 0; - - for(it = 0; it < 12; ++it) - { - info->satinfo.sat[it].id = it; - info->satinfo.sat[it].in_use = in_use = (int)nmea_random(0, 3); - info->satinfo.sat[it].elv = (int)nmea_random(0, 90); - info->satinfo.sat[it].azimuth = (int)nmea_random(0, 359); - info->satinfo.sat[it].sig = (int)(in_use?nmea_random(40, 99):nmea_random(0, 40)); - - if(in_use) - info->satinfo.inuse++; - if(info->satinfo.sat[it].sig > 0) - info->satinfo.inview++; - } - - return 1; -} - -int nmea_igen_noise_reset(nmeaGENERATOR *gen, nmeaINFO *info) -{ - return 1; -} - -/* - * STATIC generator - */ - -int nmea_igen_static_loop(nmeaGENERATOR *gen, nmeaINFO *info) -{ - nmea_time_now(&info->utc); - return 1; -}; - -int nmea_igen_static_reset(nmeaGENERATOR *gen, nmeaINFO *info) -{ - info->satinfo.inuse = 4; - info->satinfo.inview = 4; - - info->satinfo.sat[0].id = 1; - info->satinfo.sat[0].in_use = 1; - info->satinfo.sat[0].elv = 50; - info->satinfo.sat[0].azimuth = 0; - info->satinfo.sat[0].sig = 99; - - info->satinfo.sat[1].id = 2; - info->satinfo.sat[1].in_use = 1; - info->satinfo.sat[1].elv = 50; - info->satinfo.sat[1].azimuth = 90; - info->satinfo.sat[1].sig = 99; - - info->satinfo.sat[2].id = 3; - info->satinfo.sat[2].in_use = 1; - info->satinfo.sat[2].elv = 50; - info->satinfo.sat[2].azimuth = 180; - info->satinfo.sat[2].sig = 99; - - info->satinfo.sat[3].id = 4; - info->satinfo.sat[3].in_use = 1; - info->satinfo.sat[3].elv = 50; - info->satinfo.sat[3].azimuth = 270; - info->satinfo.sat[3].sig = 99; - - return 1; -} - -int nmea_igen_static_init(nmeaGENERATOR *gen, nmeaINFO *info) -{ - info->sig = 3; - info->fix = 3; - - nmea_igen_static_reset(gen, info); - - return 1; -} - -/* - * SAT_ROTATE generator - */ - -int nmea_igen_rotate_loop(nmeaGENERATOR *gen, nmeaINFO *info) -{ - int it; - int count = info->satinfo.inview; - float deg = 360 / (count?count:1); - float srt = (count?(info->satinfo.sat[0].azimuth):0) + 5; - - nmea_time_now(&info->utc); - - for(it = 0; it < count; ++it) - { - info->satinfo.sat[it].azimuth = - (int)((srt >= 360)?srt - 360:srt); - srt += deg; - } - - return 1; -}; - -int nmea_igen_rotate_reset(nmeaGENERATOR *gen, nmeaINFO *info) -{ - int it; - float deg = 360 / 8; - float srt = 0; - - info->satinfo.inuse = 8; - info->satinfo.inview = 8; - - for(it = 0; it < info->satinfo.inview; ++it) - { - info->satinfo.sat[it].id = it + 1; - info->satinfo.sat[it].in_use = 1; - info->satinfo.sat[it].elv = 5; - info->satinfo.sat[it].azimuth = (int)srt; - info->satinfo.sat[it].sig = 80; - srt += deg; - } - - return 1; -} - -int nmea_igen_rotate_init(nmeaGENERATOR *gen, nmeaINFO *info) -{ - info->sig = 3; - info->fix = 3; - - nmea_igen_rotate_reset(gen, info); - - return 1; -} - -/* - * POS_RANDMOVE generator - */ - -int nmea_igen_pos_rmove_init(nmeaGENERATOR *gen, nmeaINFO *info) -{ - info->sig = 3; - info->fix = 3; - info->direction = info->declination = 0; - info->speed = 20; - return 1; -} - -int nmea_igen_pos_rmove_loop(nmeaGENERATOR *gen, nmeaINFO *info) -{ - nmeaPOS crd; - - info->direction += nmea_random(-10, 10); - info->speed += nmea_random(-2, 3); - - if(info->direction < 0) - info->direction = 359 + info->direction; - if(info->direction > 359) - info->direction -= 359; - - if(info->speed > 40) - info->speed = 40; - if(info->speed < 1) - info->speed = 1; - - nmea_info2pos(info, &crd); - nmea_move_horz(&crd, &crd, info->direction, info->speed / 3600); - nmea_pos2info(&crd, info); - - info->declination = info->direction; - - return 1; -}; - -int nmea_igen_pos_rmove_destroy(nmeaGENERATOR *gen) -{ - return 1; -}; - -/* - * generator create - */ - -nmeaGENERATOR * __nmea_create_generator(int type, nmeaINFO *info) -{ - nmeaGENERATOR *gen = 0; - - switch(type) - { - case NMEA_GEN_NOISE: - if(0 == (gen = malloc(sizeof(nmeaGENERATOR)))) - nmea_error("Insufficient memory!"); - else - { - memset(gen, 0, sizeof(nmeaGENERATOR)); - gen->init_call = &nmea_igen_noise_init; - gen->loop_call = &nmea_igen_noise_loop; - gen->reset_call = &nmea_igen_noise_reset; - } - break; - case NMEA_GEN_STATIC: - case NMEA_GEN_SAT_STATIC: - if(0 == (gen = malloc(sizeof(nmeaGENERATOR)))) - nmea_error("Insufficient memory!"); - else - { - memset(gen, 0, sizeof(nmeaGENERATOR)); - gen->init_call = &nmea_igen_static_init; - gen->loop_call = &nmea_igen_static_loop; - gen->reset_call = &nmea_igen_static_reset; - } - break; - case NMEA_GEN_SAT_ROTATE: - if(0 == (gen = malloc(sizeof(nmeaGENERATOR)))) - nmea_error("Insufficient memory!"); - else - { - memset(gen, 0, sizeof(nmeaGENERATOR)); - gen->init_call = &nmea_igen_rotate_init; - gen->loop_call = &nmea_igen_rotate_loop; - gen->reset_call = &nmea_igen_rotate_reset; - } - break; - case NMEA_GEN_POS_RANDMOVE: - if(0 == (gen = malloc(sizeof(nmeaGENERATOR)))) - nmea_error("Insufficient memory!"); - else - { - memset(gen, 0, sizeof(nmeaGENERATOR)); - gen->init_call = &nmea_igen_pos_rmove_init; - gen->loop_call = &nmea_igen_pos_rmove_loop; - gen->destroy_call = &nmea_igen_pos_rmove_destroy; - } - break; - case NMEA_GEN_ROTATE: - gen = __nmea_create_generator(NMEA_GEN_SAT_ROTATE, info); - nmea_gen_add(gen, __nmea_create_generator(NMEA_GEN_POS_RANDMOVE, info)); - break; - }; - - return gen; -} - -nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info) -{ - nmeaGENERATOR *gen = __nmea_create_generator(type, info); - - if(gen) - nmea_gen_init(gen, info); - - return gen; -} - -void nmea_destroy_generator(nmeaGENERATOR *gen) -{ - nmea_gen_destroy(gen); -} - -#if defined(NMEA_WIN) && defined(_MSC_VER) -# pragma warning(default: 4100) -#endif diff --git a/apps/gps/nmealib/gmath.c b/apps/gps/nmealib/gmath.c deleted file mode 100644 index 327b982ef..000000000 --- a/apps/gps/nmealib/gmath.c +++ /dev/null @@ -1,376 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: gmath.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -/*! \file gmath.h */ -#include "nmea/gmath.h" - -#include <math.h> -#include <float.h> - -/** - * \fn nmea_degree2radian - * \brief Convert degree to radian - */ -float nmea_degree2radian(float val) -{ return (val * NMEA_PI180); } - -/** - * \fn nmea_radian2degree - * \brief Convert radian to degree - */ -float nmea_radian2degree(float val) -{ return (val / NMEA_PI180); } - -/** - * \brief Convert NDEG (NMEA degree) to fractional degree - */ -float nmea_ndeg2degree(float val) -{ - float deg = ((int)(val / 100)); - val = deg + (val - deg * 100) / 60; - return val; -} - -/** - * \brief Convert fractional degree to NDEG (NMEA degree) - */ -float nmea_degree2ndeg(float val) -{ - float int_part; - float fra_part; - fra_part = modf(val, &int_part); - val = int_part * 100 + fra_part * 60; - return val; -} - -/** - * \fn nmea_ndeg2radian - * \brief Convert NDEG (NMEA degree) to radian - */ -float nmea_ndeg2radian(float val) -{ return nmea_degree2radian(nmea_ndeg2degree(val)); } - -/** - * \fn nmea_radian2ndeg - * \brief Convert radian to NDEG (NMEA degree) - */ -float nmea_radian2ndeg(float val) -{ return nmea_degree2ndeg(nmea_radian2degree(val)); } - -/** - * \brief Calculate PDOP (Position Dilution Of Precision) factor - */ -float nmea_calc_pdop(float hdop, float vdop) -{ - return sqrt(pow(hdop, 2) + pow(vdop, 2)); -} - -float nmea_dop2meters(float dop) -{ return (dop * NMEA_DOP_FACTOR); } - -float nmea_meters2dop(float meters) -{ return (meters / NMEA_DOP_FACTOR); } - -/** - * \brief Calculate distance between two points - * \return Distance in meters - */ -float nmea_distance( - const nmeaPOS *from_pos, /**< From position in radians */ - const nmeaPOS *to_pos /**< To position in radians */ - ) -{ - float dist = ((float)NMEA_EARTHRADIUS_M) * acos( - sin(to_pos->lat) * sin(from_pos->lat) + - cos(to_pos->lat) * cos(from_pos->lat) * cos(to_pos->lon - from_pos->lon) - ); - return dist; -} - -/** - * \brief Calculate distance between two points - * This function uses an algorithm for an oblate spheroid earth model. - * The algorithm is described here: - * http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf - * \return Distance in meters - */ -float nmea_distance_ellipsoid( - const nmeaPOS *from_pos, /**< From position in radians */ - const nmeaPOS *to_pos, /**< To position in radians */ - float *from_azimuth, /**< (O) azimuth at "from" position in radians */ - float *to_azimuth /**< (O) azimuth at "to" position in radians */ - ) -{ - /* All variables */ - float f, a, b, sqr_a, sqr_b; - float L, phi1, phi2, U1, U2, sin_U1, sin_U2, cos_U1, cos_U2; - float sigma, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, sqr_cos_alpha, lambda, sin_lambda, cos_lambda, delta_lambda; - int remaining_steps; - float sqr_u, A, B, delta_sigma; - - /* Check input */ - //NMEA_ASSERT(from_pos != 0); - //NMEA_ASSERT(to_pos != 0); - - if ((from_pos->lat == to_pos->lat) && (from_pos->lon == to_pos->lon)) - { /* Identical points */ - if ( from_azimuth != 0 ) - *from_azimuth = 0; - if ( to_azimuth != 0 ) - *to_azimuth = 0; - return 0; - } /* Identical points */ - - /* Earth geometry */ - f = NMEA_EARTH_FLATTENING; - a = NMEA_EARTH_SEMIMAJORAXIS_M; - b = (1 - f) * a; - sqr_a = a * a; - sqr_b = b * b; - - /* Calculation */ - L = to_pos->lon - from_pos->lon; - phi1 = from_pos->lat; - phi2 = to_pos->lat; - U1 = atan((1 - f) * tan(phi1)); - U2 = atan((1 - f) * tan(phi2)); - sin_U1 = sin(U1); - sin_U2 = sin(U2); - cos_U1 = cos(U1); - cos_U2 = cos(U2); - - /* Initialize iteration */ - sigma = 0; - sin_sigma = sin(sigma); - cos_sigma = cos(sigma); - cos_2_sigmam = 0; - sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam; - sqr_cos_alpha = 0; - lambda = L; - sin_lambda = sin(lambda); - cos_lambda = cos(lambda); - delta_lambda = lambda; - remaining_steps = 20; - - while ((delta_lambda > 1e-12) && (remaining_steps > 0)) - { /* Iterate */ - /* Variables */ - float tmp1, tmp2, tan_sigma, sin_alpha, cos_alpha, C, lambda_prev; - - /* Calculation */ - tmp1 = cos_U2 * sin_lambda; - tmp2 = cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda; - sin_sigma = sqrt(tmp1 * tmp1 + tmp2 * tmp2); - cos_sigma = sin_U1 * sin_U2 + cos_U1 * cos_U2 * cos_lambda; - tan_sigma = sin_sigma / cos_sigma; - sin_alpha = cos_U1 * cos_U2 * sin_lambda / sin_sigma; - cos_alpha = cos(asin(sin_alpha)); - sqr_cos_alpha = cos_alpha * cos_alpha; - cos_2_sigmam = cos_sigma - 2 * sin_U1 * sin_U2 / sqr_cos_alpha; - sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam; - C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha)); - lambda_prev = lambda; - sigma = asin(sin_sigma); - lambda = L + - (1 - C) * f * sin_alpha - * (sigma + C * sin_sigma * (cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam))); - delta_lambda = lambda_prev - lambda; - if ( delta_lambda < 0 ) delta_lambda = -delta_lambda; - sin_lambda = sin(lambda); - cos_lambda = cos(lambda); - remaining_steps--; - } /* Iterate */ - - /* More calculation */ - sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b; - A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u))); - B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u))); - delta_sigma = B * sin_sigma * ( - cos_2_sigmam + B / 4 * ( - cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) - - B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam) - )); - - /* Calculate result */ - if ( from_azimuth != 0 ) - { - float tan_alpha_1 = cos_U2 * sin_lambda / (cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda); - *from_azimuth = atan(tan_alpha_1); - } - if ( to_azimuth != 0 ) - { - float tan_alpha_2 = cos_U1 * sin_lambda / (-sin_U1 * cos_U2 + cos_U1 * sin_U2 * cos_lambda); - *to_azimuth = atan(tan_alpha_2); - } - - return b * A * (sigma - delta_sigma); -} - -/** - * \brief Horizontal move of point position - */ -int nmea_move_horz( - const nmeaPOS *start_pos, /**< Start position in radians */ - nmeaPOS *end_pos, /**< Result position in radians */ - float azimuth, /**< Azimuth (degree) [0, 359] */ - float distance /**< Distance (km) */ - ) -{ - nmeaPOS p1 = *start_pos; - int RetVal = 1; - - distance /= NMEA_EARTHRADIUS_KM; /* Angular distance covered on earth's surface */ - azimuth = nmea_degree2radian(azimuth); - - end_pos->lat = asin( - sin(p1.lat) * cos(distance) + cos(p1.lat) * sin(distance) * cos(azimuth)); - end_pos->lon = p1.lon + atan2( - sin(azimuth) * sin(distance) * cos(p1.lat), cos(distance) - sin(p1.lat) * sin(end_pos->lat)); - - if(NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon)) - { - end_pos->lat = 0; end_pos->lon = 0; - RetVal = 0; - } - - return RetVal; -} - -/** - * \brief Horizontal move of point position - * This function uses an algorithm for an oblate spheroid earth model. - * The algorithm is described here: - * http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf - */ -int nmea_move_horz_ellipsoid( - const nmeaPOS *start_pos, /**< Start position in radians */ - nmeaPOS *end_pos, /**< (O) Result position in radians */ - float azimuth, /**< Azimuth in radians */ - float distance, /**< Distance (km) */ - float *end_azimuth /**< (O) Azimuth at end position in radians */ - ) -{ - /* Variables */ - float f, a, b, sqr_a, sqr_b; - float phi1, tan_U1, sin_U1, cos_U1, s, alpha1, sin_alpha1, cos_alpha1; - float tan_sigma1, sigma1, sin_alpha, cos_alpha, sqr_cos_alpha, sqr_u, A, B; - float sigma_initial, sigma, sigma_prev, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, delta_sigma; - int remaining_steps; - float tmp1, phi2, lambda, C, L; - - /* Check input */ - //NMEA_ASSERT(start_pos != 0); - //NMEA_ASSERT(end_pos != 0); - - if (fabs(distance) < 1e-12) - { /* No move */ - *end_pos = *start_pos; - if ( end_azimuth != 0 ) *end_azimuth = azimuth; - return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon)); - } /* No move */ - - /* Earth geometry */ - f = NMEA_EARTH_FLATTENING; - a = NMEA_EARTH_SEMIMAJORAXIS_M; - b = (1 - f) * a; - sqr_a = a * a; - sqr_b = b * b; - - /* Calculation */ - phi1 = start_pos->lat; - tan_U1 = (1 - f) * tan(phi1); - cos_U1 = 1 / sqrt(1 + tan_U1 * tan_U1); - sin_U1 = tan_U1 * cos_U1; - s = distance; - alpha1 = azimuth; - sin_alpha1 = sin(alpha1); - cos_alpha1 = cos(alpha1); - tan_sigma1 = tan_U1 / cos_alpha1; - sigma1 = atan2(tan_U1, cos_alpha1); - sin_alpha = cos_U1 * sin_alpha1; - sqr_cos_alpha = 1 - sin_alpha * sin_alpha; - cos_alpha = sqrt(sqr_cos_alpha); - sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b; - A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u))); - B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u))); - - /* Initialize iteration */ - sigma_initial = s / (b * A); - sigma = sigma_initial; - sin_sigma = sin(sigma); - cos_sigma = cos(sigma); - cos_2_sigmam = cos(2 * sigma1 + sigma); - sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam; - delta_sigma = 0; - sigma_prev = 2 * NMEA_PI; - remaining_steps = 20; - - while ((fabs(sigma - sigma_prev) > 1e-12) && (remaining_steps > 0)) - { /* Iterate */ - cos_2_sigmam = cos(2 * sigma1 + sigma); - sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam; - sin_sigma = sin(sigma); - cos_sigma = cos(sigma); - delta_sigma = B * sin_sigma * ( - cos_2_sigmam + B / 4 * ( - cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) - - B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam) - )); - sigma_prev = sigma; - sigma = sigma_initial + delta_sigma; - remaining_steps --; - } /* Iterate */ - - /* Calculate result */ - tmp1 = (sin_U1 * sin_sigma - cos_U1 * cos_sigma * cos_alpha1); - phi2 = atan2( - sin_U1 * cos_sigma + cos_U1 * sin_sigma * cos_alpha1, - (1 - f) * sqrt(sin_alpha * sin_alpha + tmp1 * tmp1) - ); - lambda = atan2( - sin_sigma * sin_alpha1, - cos_U1 * cos_sigma - sin_U1 * sin_sigma * cos_alpha1 - ); - C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha)); - L = lambda - - (1 - C) * f * sin_alpha * ( - sigma + C * sin_sigma * - (cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam)) - ); - - /* Result */ - end_pos->lon = start_pos->lon + L; - end_pos->lat = phi2; - if ( end_azimuth != 0 ) - { - *end_azimuth = atan2( - sin_alpha, -sin_U1 * sin_sigma + cos_U1 * cos_sigma * cos_alpha1 - ); - } - return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon)); -} - -/** - * \brief Convert position from INFO to radians position - */ -void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos) -{ - pos->lat = nmea_ndeg2radian(info->lat); - pos->lon = nmea_ndeg2radian(info->lon); -} - -/** - * \brief Convert radians position to INFOs position - */ -void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info) -{ - info->lat = nmea_radian2ndeg(pos->lat); - info->lon = nmea_radian2ndeg(pos->lon); -} diff --git a/apps/gps/nmealib/info.c b/apps/gps/nmealib/info.c deleted file mode 100644 index 1d531ffc4..000000000 --- a/apps/gps/nmealib/info.c +++ /dev/null @@ -1,21 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: info.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -#include <string.h> - -#include "nmea/info.h" - -void nmea_zero_INFO(nmeaINFO *info) -{ - memset(info, 0, sizeof(nmeaINFO)); - nmea_time_now(&info->utc); - info->sig = NMEA_SIG_BAD; - info->fix = NMEA_FIX_BAD; -} diff --git a/apps/gps/nmealib/nmea/config.h b/apps/gps/nmealib/nmea/config.h deleted file mode 100644 index 501466218..000000000 --- a/apps/gps/nmealib/nmea/config.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: config.h 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -#ifndef __NMEA_CONFIG_H__ -#define __NMEA_CONFIG_H__ - -#define NMEA_VERSION ("0.5.3") -#define NMEA_VERSION_MAJOR (0) -#define NMEA_VERSION_MINOR (5) -#define NMEA_VERSION_PATCH (3) - -#define NMEA_CONVSTR_BUF (256) -#define NMEA_TIMEPARSE_BUF (256) - -#if defined(WINCE) || defined(UNDER_CE) -# define NMEA_CE -#endif - -#if defined(WIN32) || defined(NMEA_CE) -# define NMEA_WIN -#else -# define NMEA_UNI -#endif - -#if defined(NMEA_WIN) && (_MSC_VER >= 1400) -# pragma warning(disable: 4996) /* declared deprecated */ -#endif - -#if defined(_MSC_VER) -# define NMEA_POSIX(x) _##x -# define NMEA_INLINE __inline -#else -# define NMEA_POSIX(x) x -# define NMEA_INLINE inline -#endif - -#if !defined(NDEBUG) && !defined(NMEA_CE) -# include <assert.h> -# define NMEA_ASSERT(x) assert(x) -#else -# define NMEA_ASSERT(x) -#endif - -#endif /* __NMEA_CONFIG_H__ */ diff --git a/apps/gps/nmealib/nmea/context.h b/apps/gps/nmealib/nmea/context.h deleted file mode 100644 index 06e558327..000000000 --- a/apps/gps/nmealib/nmea/context.h +++ /dev/null @@ -1,44 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: context.h 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -#ifndef __NMEA_CONTEXT_H__ -#define __NMEA_CONTEXT_H__ - -#include "config.h" - -#define NMEA_DEF_PARSEBUFF (1024) -#define NMEA_MIN_PARSEBUFF (256) - -#ifdef __cplusplus -extern "C" { -#endif - -typedef void (*nmeaTraceFunc)(const char *str, int str_size); -typedef void (*nmeaErrorFunc)(const char *str, int str_size); - -typedef struct _nmeaPROPERTY -{ - nmeaTraceFunc trace_func; - nmeaErrorFunc error_func; - int parse_buff_size; - -} nmeaPROPERTY; - -nmeaPROPERTY * nmea_property(void); - -void nmea_trace(const char *str, ...); -void nmea_trace_buff(const char *buff, int buff_size); -void nmea_error(const char *str, ...); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_CONTEXT_H__ */ diff --git a/apps/gps/nmealib/nmea/generate.h b/apps/gps/nmealib/nmea/generate.h deleted file mode 100644 index 9d7fdee51..000000000 --- a/apps/gps/nmealib/nmea/generate.h +++ /dev/null @@ -1,44 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: generate.h 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -#ifndef __NMEA_GENERATE_H__ -#define __NMEA_GENERATE_H__ - -#include "sentence.h" - -#ifdef __cplusplus -extern "C" { -#endif - -int nmea_generate( - char *buff, int buff_sz, /* buffer */ - const nmeaINFO *info, /* source info */ - int generate_mask /* mask of sentence`s (e.g. GPGGA | GPGSA) */ - ); - -int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack); -int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack); -int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack); -int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack); -int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack); - -void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack); -void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack); -void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack); -void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack); - -int nmea_gsv_npack(int sat_count); -void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_GENERATE_H__ */ diff --git a/apps/gps/nmealib/nmea/generator.h b/apps/gps/nmealib/nmea/generator.h deleted file mode 100644 index a97b91b13..000000000 --- a/apps/gps/nmealib/nmea/generator.h +++ /dev/null @@ -1,79 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: generator.h 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -#ifndef __NMEA_GENERATOR_H__ -#define __NMEA_GENERATOR_H__ - -#include "info.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * high level - */ - -struct _nmeaGENERATOR; - -enum nmeaGENTYPE -{ - NMEA_GEN_NOISE = 0, - NMEA_GEN_STATIC, - NMEA_GEN_ROTATE, - - NMEA_GEN_SAT_STATIC, - NMEA_GEN_SAT_ROTATE, - NMEA_GEN_POS_RANDMOVE, - - NMEA_GEN_LAST -}; - -struct _nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info); -void nmea_destroy_generator(struct _nmeaGENERATOR *gen); - -int nmea_generate_from( - char *buff, int buff_sz, /* buffer */ - nmeaINFO *info, /* source info */ - struct _nmeaGENERATOR *gen, /* generator */ - int generate_mask /* mask of sentence`s (e.g. GPGGA | GPGSA) */ - ); - -/* - * low level - */ - -typedef int (*nmeaNMEA_GEN_INIT)(struct _nmeaGENERATOR *gen, nmeaINFO *info); -typedef int (*nmeaNMEA_GEN_LOOP)(struct _nmeaGENERATOR *gen, nmeaINFO *info); -typedef int (*nmeaNMEA_GEN_RESET)(struct _nmeaGENERATOR *gen, nmeaINFO *info); -typedef int (*nmeaNMEA_GEN_DESTROY)(struct _nmeaGENERATOR *gen); - -typedef struct _nmeaGENERATOR -{ - void *gen_data; - nmeaNMEA_GEN_INIT init_call; - nmeaNMEA_GEN_LOOP loop_call; - nmeaNMEA_GEN_RESET reset_call; - nmeaNMEA_GEN_DESTROY destroy_call; - struct _nmeaGENERATOR *next; - -} nmeaGENERATOR; - -int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info); -int nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info); -int nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info); -void nmea_gen_destroy(nmeaGENERATOR *gen); -void nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_GENERATOR_H__ */ diff --git a/apps/gps/nmealib/nmea/gmath.h b/apps/gps/nmealib/nmea/gmath.h deleted file mode 100644 index 3133b7228..000000000 --- a/apps/gps/nmealib/nmea/gmath.h +++ /dev/null @@ -1,92 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: gmath.h 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -#ifndef __NMEA_GMATH_H__ -#define __NMEA_GMATH_H__ - -#include "info.h" - -#define NMEA_PI (3.141592653589793) /**< PI value */ -#define NMEA_PI180 (NMEA_PI / 180) /**< PI division by 180 */ -#define NMEA_EARTHRADIUS_KM (6378) /**< Earth's mean radius in km */ -#define NMEA_EARTHRADIUS_M (NMEA_EARTHRADIUS_KM * 1000) /**< Earth's mean radius in m */ -#define NMEA_EARTH_SEMIMAJORAXIS_M (6378137.0) /**< Earth's semi-major axis in m according WGS84 */ -#define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */ -#define NMEA_EARTH_FLATTENING (1 / 298.257223563) /**< Earth's flattening according WGS 84 */ -#define NMEA_DOP_FACTOR (5) /**< Factor for translating DOP to meters */ - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * degree VS radian - */ - -float nmea_degree2radian(float val); -float nmea_radian2degree(float val); - -/* - * NDEG (NMEA degree) - */ - -float nmea_ndeg2degree(float val); -float nmea_degree2ndeg(float val); - -float nmea_ndeg2radian(float val); -float nmea_radian2ndeg(float val); - -/* - * DOP - */ - -float nmea_calc_pdop(float hdop, float vdop); -float nmea_dop2meters(float dop); -float nmea_meters2dop(float meters); - -/* - * positions work - */ - -void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos); -void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info); - -float nmea_distance( - const nmeaPOS *from_pos, - const nmeaPOS *to_pos - ); - -float nmea_distance_ellipsoid( - const nmeaPOS *from_pos, - const nmeaPOS *to_pos, - float *from_azimuth, - float *to_azimuth - ); - -int nmea_move_horz( - const nmeaPOS *start_pos, - nmeaPOS *end_pos, - float azimuth, - float distance - ); - -int nmea_move_horz_ellipsoid( - const nmeaPOS *start_pos, - nmeaPOS *end_pos, - float azimuth, - float distance, - float *end_azimuth - ); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_GMATH_H__ */ diff --git a/apps/gps/nmealib/nmea/info.h b/apps/gps/nmealib/nmea/info.h deleted file mode 100644 index 09ccd4c09..000000000 --- a/apps/gps/nmealib/nmea/info.h +++ /dev/null @@ -1,112 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: info.h 10 2007-11-15 14:50:15Z xtimor $ - * - */ - -/*! \file */ - -#ifndef __NMEA_INFO_H__ -#define __NMEA_INFO_H__ - -#include "time.h" - -#define NMEA_SIG_BAD (0) -#define NMEA_SIG_LOW (1) -#define NMEA_SIG_MID (2) -#define NMEA_SIG_HIGH (3) - -#define NMEA_FIX_BAD (1) -#define NMEA_FIX_2D (2) -#define NMEA_FIX_3D (3) - -#define NMEA_MAXSAT (12) -#define NMEA_SATINPACK (4) -#define NMEA_NSATPACKS (NMEA_MAXSAT / NMEA_SATINPACK) - -#define NMEA_DEF_LAT (5001.2621) -#define NMEA_DEF_LON (3613.0595) - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Position data in fractional degrees or radians - */ -typedef struct _nmeaPOS -{ - float lat; /**< Latitude */ - float lon; /**< Longitude */ - -} nmeaPOS; - -/** - * Information about satellite - * @see nmeaSATINFO - * @see nmeaGPGSV - */ -typedef struct _nmeaSATELLITE -{ - int id; /**< Satellite PRN number */ - int in_use; /**< Used in position fix */ - int elv; /**< Elevation in degrees, 90 maximum */ - int azimuth; /**< Azimuth, degrees from true north, 000 to 359 */ - int sig; /**< Signal, 00-99 dB */ - -} nmeaSATELLITE; - -/** - * Information about all satellites in view - * @see nmeaINFO - * @see nmeaGPGSV - */ -typedef struct _nmeaSATINFO -{ - int inuse; /**< Number of satellites in use (not those in view) */ - int inview; /**< Total number of satellites in view */ - nmeaSATELLITE sat[NMEA_MAXSAT]; /**< Satellites information */ - -} nmeaSATINFO; - -/** - * Summary GPS information from all parsed packets, - * used also for generating NMEA stream - * @see nmea_parse - * @see nmea_GPGGA2info, nmea_...2info - */ -typedef struct _nmeaINFO -{ - int smask; /**< Mask specifying types of packages from which data have been obtained */ - - nmeaTIME utc; /**< UTC of position */ - - int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */ - int fix; /**< Operating mode, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */ - - float PDOP; /**< Position Dilution Of Precision */ - float HDOP; /**< Horizontal Dilution Of Precision */ - float VDOP; /**< Vertical Dilution Of Precision */ - - float lat; /**< Latitude in NDEG - +/-[degree][min].[sec/60] */ - float lon; /**< Longitude in NDEG - +/-[degree][min].[sec/60] */ - float elv; /**< Antenna altitude above/below mean sea level (geoid) in meters */ - float speed; /**< Speed over the ground in kilometers/hour */ - float direction; /**< Track angle in degrees True */ - float declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */ - - nmeaSATINFO satinfo; /**< Satellites information */ - -} nmeaINFO; - -void nmea_zero_INFO(nmeaINFO *info); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_INFO_H__ */ diff --git a/apps/gps/nmealib/nmea/nmea.h b/apps/gps/nmealib/nmea/nmea.h deleted file mode 100644 index 62692230f..000000000 --- a/apps/gps/nmealib/nmea/nmea.h +++ /dev/null @@ -1,25 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: nmea.h 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -#ifndef __NMEA_H__ -#define __NMEA_H__ - -#include "./config.h" -#include "./units.h" -#include "./gmath.h" -#include "./info.h" -#include "./sentence.h" -#include "./generate.h" -#include "./generator.h" -#include "./parse.h" -#include "./parser.h" -#include "./context.h" - -#endif /* __NMEA_H__ */ diff --git a/apps/gps/nmealib/nmea/parse.h b/apps/gps/nmealib/nmea/parse.h deleted file mode 100644 index 3e6b425db..000000000 --- a/apps/gps/nmealib/nmea/parse.h +++ /dev/null @@ -1,39 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: parse.h 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -#ifndef __NMEA_PARSE_H__ -#define __NMEA_PARSE_H__ - -#include "sentence.h" - -#ifdef __cplusplus -extern "C" { -#endif - -int nmea_pack_type(const char *buff, int buff_sz); -int nmea_find_tail(const char *buff, int buff_sz, int *res_crc); - -int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack); -int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack); -int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack); -int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack); -int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack); - -void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info); -void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info); -void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info); -void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info); -void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_PARSE_H__ */ diff --git a/apps/gps/nmealib/nmea/parser.h b/apps/gps/nmealib/nmea/parser.h deleted file mode 100644 index 51a3fab7f..000000000 --- a/apps/gps/nmealib/nmea/parser.h +++ /dev/null @@ -1,59 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: parser.h 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -#ifndef __NMEA_PARSER_H__ -#define __NMEA_PARSER_H__ - -#include "info.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * high level - */ - -typedef struct _nmeaPARSER -{ - void *top_node; - void *end_node; - unsigned char *buffer; - int buff_size; - int buff_use; - -} nmeaPARSER; - -int nmea_parser_init(nmeaPARSER *parser); -void nmea_parser_destroy(nmeaPARSER *parser); - -int nmea_parse( - nmeaPARSER *parser, - const char *buff, int buff_sz, - nmeaINFO *info - ); - -/* - * low level - */ - -int nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz); -int nmea_parser_top(nmeaPARSER *parser); -int nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr); -int nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr); -int nmea_parser_drop(nmeaPARSER *parser); -int nmea_parser_buff_clear(nmeaPARSER *parser); -int nmea_parser_queue_clear(nmeaPARSER *parser); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_PARSER_H__ */ diff --git a/apps/gps/nmealib/nmea/sentence.h b/apps/gps/nmealib/nmea/sentence.h deleted file mode 100644 index 2aa975c71..000000000 --- a/apps/gps/nmealib/nmea/sentence.h +++ /dev/null @@ -1,128 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: sentence.h 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -/*! \file */ - -#ifndef __NMEA_SENTENCE_H__ -#define __NMEA_SENTENCE_H__ - -#include "info.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * NMEA packets type which parsed and generated by library - */ -enum nmeaPACKTYPE -{ - GPNON = 0x0000, /**< Unknown packet type. */ - GPGGA = 0x0001, /**< GGA - Essential fix data which provide 3D location and accuracy data. */ - GPGSA = 0x0002, /**< GSA - GPS receiver operating mode, SVs used for navigation, and DOP values. */ - GPGSV = 0x0004, /**< GSV - Number of SVs in view, PRN numbers, elevation, azimuth & SNR values. */ - GPRMC = 0x0008, /**< RMC - Recommended Minimum Specific GPS/TRANSIT Data. */ - GPVTG = 0x0010 /**< VTG - Actual track made good and speed over ground. */ -}; - -/** - * GGA packet information structure (Global Positioning System Fix Data) - */ -typedef struct _nmeaGPGGA -{ - nmeaTIME utc; /**< UTC of position (just time) */ - float lat; /**< Latitude in NDEG - [degree][min].[sec/60] */ - char ns; /**< [N]orth or [S]outh */ - float lon; /**< Longitude in NDEG - [degree][min].[sec/60] */ - char ew; /**< [E]ast or [W]est */ - int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */ - int satinuse; /**< Number of satellites in use (not those in view) */ - float HDOP; /**< Horizontal dilution of precision */ - float elv; /**< Antenna altitude above/below mean sea level (geoid) */ - char elv_units; /**< [M]eters (Antenna height unit) */ - float diff; /**< Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. '-' = geoid is below WGS-84 ellipsoid) */ - char diff_units; /**< [M]eters (Units of geoidal separation) */ - float dgps_age; /**< Time in seconds since last DGPS update */ - int dgps_sid; /**< DGPS station ID number */ - -} nmeaGPGGA; - -/** - * GSA packet information structure (Satellite status) - */ -typedef struct _nmeaGPGSA -{ - char fix_mode; /**< Mode (M = Manual, forced to operate in 2D or 3D; A = Automatic, 3D/2D) */ - int fix_type; /**< Type, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */ - int sat_prn[NMEA_MAXSAT]; /**< PRNs of satellites used in position fix (null for unused fields) */ - float PDOP; /**< Dilution of precision */ - float HDOP; /**< Horizontal dilution of precision */ - float VDOP; /**< Vertical dilution of precision */ - -} nmeaGPGSA; - -/** - * GSV packet information structure (Satellites in view) - */ -typedef struct _nmeaGPGSV -{ - int pack_count; /**< Total number of messages of this type in this cycle */ - int pack_index; /**< Message number */ - int sat_count; /**< Total number of satellites in view */ - nmeaSATELLITE sat_data[NMEA_SATINPACK]; - -} nmeaGPGSV; - -/** - * RMC packet information structure (Recommended Minimum sentence C) - */ -typedef struct _nmeaGPRMC -{ - nmeaTIME utc; /**< UTC of position */ - char status; /**< Status (A = active or V = void) */ - float lat; /**< Latitude in NDEG - [degree][min].[sec/60] */ - char ns; /**< [N]orth or [S]outh */ - float lon; /**< Longitude in NDEG - [degree][min].[sec/60] */ - char ew; /**< [E]ast or [W]est */ - float speed; /**< Speed over the ground in knots */ - float direction; /**< Track angle in degrees True */ - float declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */ - char declin_ew; /**< [E]ast or [W]est */ - char mode; /**< Mode indicator of fix type (A = autonomous, D = differential, E = estimated, N = not valid, S = simulator) */ - -} nmeaGPRMC; - -/** - * VTG packet information structure (Track made good and ground speed) - */ -typedef struct _nmeaGPVTG -{ - float dir; /**< True track made good (degrees) */ - char dir_t; /**< Fixed text 'T' indicates that track made good is relative to true north */ - float dec; /**< Magnetic track made good */ - char dec_m; /**< Fixed text 'M' */ - float spn; /**< Ground speed, knots */ - char spn_n; /**< Fixed text 'N' indicates that speed over ground is in knots */ - float spk; /**< Ground speed, kilometers per hour */ - char spk_k; /**< Fixed text 'K' indicates that speed over ground is in kilometers/hour */ - -} nmeaGPVTG; - -void nmea_zero_GPGGA(nmeaGPGGA *pack); -void nmea_zero_GPGSA(nmeaGPGSA *pack); -void nmea_zero_GPGSV(nmeaGPGSV *pack); -void nmea_zero_GPRMC(nmeaGPRMC *pack); -void nmea_zero_GPVTG(nmeaGPVTG *pack); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_SENTENCE_H__ */ diff --git a/apps/gps/nmealib/nmea/time.h b/apps/gps/nmealib/nmea/time.h deleted file mode 100644 index bbe59f65c..000000000 --- a/apps/gps/nmealib/nmea/time.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: time.h 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -/*! \file */ - -#ifndef __NMEA_TIME_H__ -#define __NMEA_TIME_H__ - -#include "config.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * Date and time data - * @see nmea_time_now - */ -typedef struct _nmeaTIME -{ - int year; /**< Years since 1900 */ - int mon; /**< Months since January - [0,11] */ - int day; /**< Day of the month - [1,31] */ - int hour; /**< Hours since midnight - [0,23] */ - int min; /**< Minutes after the hour - [0,59] */ - int sec; /**< Seconds after the minute - [0,59] */ - int hsec; /**< Hundredth part of second - [0,99] */ - -} nmeaTIME; - -/** - * \brief Get time now to nmeaTIME structure - */ -void nmea_time_now(nmeaTIME *t); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_TIME_H__ */ diff --git a/apps/gps/nmealib/nmea/tok.h b/apps/gps/nmealib/nmea/tok.h deleted file mode 100644 index 8f948dd2d..000000000 --- a/apps/gps/nmealib/nmea/tok.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: tok.h 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -#ifndef __NMEA_TOK_H__ -#define __NMEA_TOK_H__ - -#include "config.h" -#include <string.h> - -#ifdef __cplusplus -extern "C" { -#endif - -int nmea_calc_crc(const char *buff, int buff_sz); -int nmea_atoi(const char *str, int str_sz, int radix); -float nmea_atof(const char *str, int str_sz); -int nmea_printf(char *buff, int buff_sz, const char *format, ...); -int nmea_scanf(const char *buff, int buff_sz, const char *format, ...); - -#ifdef __cplusplus -} -#endif - -#endif /* __NMEA_TOK_H__ */ diff --git a/apps/gps/nmealib/nmea/units.h b/apps/gps/nmealib/nmea/units.h deleted file mode 100644 index 767f980e2..000000000 --- a/apps/gps/nmealib/nmea/units.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: units.h 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -#ifndef __NMEA_UNITS_H__ -#define __NMEA_UNITS_H__ - -#include "config.h" - -/* - * Distance units - */ - -#define NMEA_TUD_YARDS (1.0936) /**< Yeards, meter * NMEA_TUD_YARDS = yard */ -#define NMEA_TUD_KNOTS (1.852) /**< Knots, kilometer / NMEA_TUD_KNOTS = knot */ -#define NMEA_TUD_MILES (1.609) /**< Miles, kilometer / NMEA_TUD_MILES = mile */ - -/* - * Speed units - */ - -#define NMEA_TUS_MS (3.6) /**< Meters per seconds, (k/h) / NMEA_TUS_MS= (m/s) */ - -#endif /* __NMEA_UNITS_H__ */ diff --git a/apps/gps/nmealib/parse.c b/apps/gps/nmealib/parse.c deleted file mode 100644 index 99bdf075b..000000000 --- a/apps/gps/nmealib/parse.c +++ /dev/null @@ -1,501 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: parse.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -/** - * \file parse.h - * \brief Functions of a low level for analysis of - * packages of NMEA stream. - * - * \code - * ... - * ptype = nmea_pack_type( - * (const char *)parser->buffer + nparsed + 1, - * parser->buff_use - nparsed - 1); - * - * if(0 == (node = malloc(sizeof(nmeaParserNODE)))) - * goto mem_fail; - * - * node->pack = 0; - * - * switch(ptype) - * { - * case GPGGA: - * if(0 == (node->pack = malloc(sizeof(nmeaGPGGA)))) - * goto mem_fail; - * node->packType = GPGGA; - * if(!nmea_parse_GPGGA( - * (const char *)parser->buffer + nparsed, - * sen_sz, (nmeaGPGGA *)node->pack)) - * { - * free(node); - * node = 0; - * } - * break; - * case GPGSA: - * if(0 == (node->pack = malloc(sizeof(nmeaGPGSA)))) - * goto mem_fail; - * node->packType = GPGSA; - * if(!nmea_parse_GPGSA( - * (const char *)parser->buffer + nparsed, - * sen_sz, (nmeaGPGSA *)node->pack)) - * { - * free(node); - * node = 0; - * } - * break; - * ... - * \endcode - */ -#include "nmea/tok.h" -#include "nmea/parse.h" -#include "nmea/context.h" -#include "nmea/gmath.h" -#include "nmea/units.h" - -#include <string.h> -#include <stdio.h> - -int _nmea_parse_time(const char *buff, int buff_sz, nmeaTIME *res) -{ - int success = 0; - - switch(buff_sz) - { - case sizeof("hhmmss") - 1: - success = (3 == nmea_scanf(buff, buff_sz, - "%2d%2d%2d", &(res->hour), &(res->min), &(res->sec) - )); - break; - case sizeof("hhmmss.s") - 1: - case sizeof("hhmmss.ss") - 1: - case sizeof("hhmmss.sss") - 1: - success = (4 == nmea_scanf(buff, buff_sz, - "%2d%2d%2d.%d", &(res->hour), &(res->min), &(res->sec), &(res->hsec) - )); - break; - default: - nmea_error("Parse of time error (format error)!"); - success = 0; - break; - } - - return (success?0:-1); -} - -/** - * \brief Define packet type by header (nmeaPACKTYPE). - * @param buff a constant character pointer of packet buffer. - * @param buff_sz buffer size. - * @return The defined packet type - * @see nmeaPACKTYPE - */ -int nmea_pack_type(const char *buff, int buff_sz) -{ - static const char *pheads[] = { - "GPGGA", - "GPGSA", - "GPGSV", - "GPRMC", - "GPVTG", - }; - - //NMEA_ASSERT(buff); - - if(buff_sz < 5) - return GPNON; - else if(0 == memcmp(buff, pheads[0], 5)) - return GPGGA; - else if(0 == memcmp(buff, pheads[1], 5)) - return GPGSA; - else if(0 == memcmp(buff, pheads[2], 5)) - return GPGSV; - else if(0 == memcmp(buff, pheads[3], 5)) - return GPRMC; - else if(0 == memcmp(buff, pheads[4], 5)) - return GPVTG; - - return GPNON; -} - -/** - * \brief Find tail of packet ("\r\n") in buffer and check control sum (CRC). - * @param buff a constant character pointer of packets buffer. - * @param buff_sz buffer size. - * @param res_crc a integer pointer for return CRC of packet (must be defined). - * @return Number of bytes to packet tail. - */ -int nmea_find_tail(const char *buff, int buff_sz, int *res_crc) -{ - static const int tail_sz = 3 /* *[CRC] */ + 2 /* \r\n */; - - const char *end_buff = buff + buff_sz; - int nread = 0; - int crc = 0; - - //NMEA_ASSERT(buff && res_crc); - - *res_crc = -1; - - for(;buff < end_buff; ++buff, ++nread) - { - if(('$' == *buff) && nread) - { - buff = 0; - break; - } - else if('*' == *buff) - { - if(buff + tail_sz <= end_buff && '\r' == buff[3] && '\n' == buff[4]) - { - *res_crc = nmea_atoi(buff + 1, 2, 16); - nread = buff_sz - (int)(end_buff - (buff + tail_sz)); - if(*res_crc != crc) - { - *res_crc = -1; - buff = 0; - } - } - - break; - } - else if(nread) - crc ^= (int)*buff; - } - - if(*res_crc < 0 && buff) - nread = 0; - - return nread; -} - -/** - * \brief Parse GGA packet from buffer. - * @param buff a constant character pointer of packet buffer. - * @param buff_sz buffer size. - * @param pack a pointer of packet which will filled by function. - * @return 1 (true) - if parsed successfully or 0 (false) - if fail. - */ -int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack) -{ - char time_buff[NMEA_TIMEPARSE_BUF]; - - //NMEA_ASSERT(buff && pack); - - memset(pack, 0, sizeof(nmeaGPGGA)); - - nmea_trace_buff(buff, buff_sz); - - if(14 != nmea_scanf(buff, buff_sz, - "$GPGGA,%s,%f,%C,%f,%C,%d,%d,%f,%f,%C,%f,%C,%f,%d*", - &(time_buff[0]), - &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew), - &(pack->sig), &(pack->satinuse), &(pack->HDOP), &(pack->elv), &(pack->elv_units), - &(pack->diff), &(pack->diff_units), &(pack->dgps_age), &(pack->dgps_sid))) - { - nmea_error("GPGGA parse error!"); - return 0; - } - - if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc))) - { - nmea_error("GPGGA time parse error!"); - return 0; - } - - return 1; -} - -/** - * \brief Parse GSA packet from buffer. - * @param buff a constant character pointer of packet buffer. - * @param buff_sz buffer size. - * @param pack a pointer of packet which will filled by function. - * @return 1 (true) - if parsed successfully or 0 (false) - if fail. - */ -int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack) -{ - //NMEA_ASSERT(buff && pack); - - memset(pack, 0, sizeof(nmeaGPGSA)); - - nmea_trace_buff(buff, buff_sz); - - if(17 != nmea_scanf(buff, buff_sz, - "$GPGSA,%C,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f*", - &(pack->fix_mode), &(pack->fix_type), - &(pack->sat_prn[0]), &(pack->sat_prn[1]), &(pack->sat_prn[2]), &(pack->sat_prn[3]), &(pack->sat_prn[4]), &(pack->sat_prn[5]), - &(pack->sat_prn[6]), &(pack->sat_prn[7]), &(pack->sat_prn[8]), &(pack->sat_prn[9]), &(pack->sat_prn[10]), &(pack->sat_prn[11]), - &(pack->PDOP), &(pack->HDOP), &(pack->VDOP))) - { - nmea_error("GPGSA parse error!"); - return 0; - } - - return 1; -} - -/** - * \brief Parse GSV packet from buffer. - * @param buff a constant character pointer of packet buffer. - * @param buff_sz buffer size. - * @param pack a pointer of packet which will filled by function. - * @return 1 (true) - if parsed successfully or 0 (false) - if fail. - */ -int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack) -{ - int nsen, nsat; - - //NMEA_ASSERT(buff && pack); - - memset(pack, 0, sizeof(nmeaGPGSV)); - - nmea_trace_buff(buff, buff_sz); - - nsen = nmea_scanf(buff, buff_sz, - "$GPGSV,%d,%d,%d," - "%d,%d,%d,%d," - "%d,%d,%d,%d," - "%d,%d,%d,%d," - "%d,%d,%d,%d*", - &(pack->pack_count), &(pack->pack_index), &(pack->sat_count), - &(pack->sat_data[0].id), &(pack->sat_data[0].elv), &(pack->sat_data[0].azimuth), &(pack->sat_data[0].sig), - &(pack->sat_data[1].id), &(pack->sat_data[1].elv), &(pack->sat_data[1].azimuth), &(pack->sat_data[1].sig), - &(pack->sat_data[2].id), &(pack->sat_data[2].elv), &(pack->sat_data[2].azimuth), &(pack->sat_data[2].sig), - &(pack->sat_data[3].id), &(pack->sat_data[3].elv), &(pack->sat_data[3].azimuth), &(pack->sat_data[3].sig)); - - nsat = (pack->pack_index - 1) * NMEA_SATINPACK; - nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK; - nsat = nsat * 4 + 3 /* first three sentence`s */; - - if(nsen < nsat || nsen > (NMEA_SATINPACK * 4 + 3)) - { - nmea_error("GPGSV parse error!"); - return 0; - } - - return 1; -} - -/** - * \brief Parse RMC packet from buffer. - * @param buff a constant character pointer of packet buffer. - * @param buff_sz buffer size. - * @param pack a pointer of packet which will filled by function. - * @return 1 (true) - if parsed successfully or 0 (false) - if fail. - */ -int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack) -{ - int nsen; - char time_buff[NMEA_TIMEPARSE_BUF]; - - //NMEA_ASSERT(buff && pack); - - memset(pack, 0, sizeof(nmeaGPRMC)); - - nmea_trace_buff(buff, buff_sz); - - nsen = nmea_scanf(buff, buff_sz, - "$GPRMC,%s,%C,%f,%C,%f,%C,%f,%f,%2d%2d%2d,%f,%C,%C*", - &(time_buff[0]), - &(pack->status), &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew), - &(pack->speed), &(pack->direction), - &(pack->utc.day), &(pack->utc.mon), &(pack->utc.year), - &(pack->declination), &(pack->declin_ew), &(pack->mode)); - - if(nsen != 13 && nsen != 14) - { - nmea_error("GPRMC parse error!"); - return 0; - } - - if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc))) - { - nmea_error("GPRMC time parse error!"); - return 0; - } - - if(pack->utc.year < 90) - pack->utc.year += 100; - pack->utc.mon -= 1; - - return 1; -} - -/** - * \brief Parse VTG packet from buffer. - * @param buff a constant character pointer of packet buffer. - * @param buff_sz buffer size. - * @param pack a pointer of packet which will filled by function. - * @return 1 (true) - if parsed successfully or 0 (false) - if fail. - */ -int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack) -{ - //NMEA_ASSERT(buff && pack); - - memset(pack, 0, sizeof(nmeaGPVTG)); - - nmea_trace_buff(buff, buff_sz); - - if(8 != nmea_scanf(buff, buff_sz, - "$GPVTG,%f,%C,%f,%C,%f,%C,%f,%C*", - &(pack->dir), &(pack->dir_t), - &(pack->dec), &(pack->dec_m), - &(pack->spn), &(pack->spn_n), - &(pack->spk), &(pack->spk_k))) - { - nmea_error("GPVTG parse error!"); - return 0; - } - - if( pack->dir_t != 'T' || - pack->dec_m != 'M' || - pack->spn_n != 'N' || - pack->spk_k != 'K') - { - nmea_error("GPVTG parse error (format error)!"); - return 0; - } - - return 1; -} - -/** - * \brief Fill nmeaINFO structure by GGA packet data. - * @param pack a pointer of packet structure. - * @param info a pointer of summary information structure. - */ -void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info) -{ - //NMEA_ASSERT(pack && info); - - info->utc.hour = pack->utc.hour; - info->utc.min = pack->utc.min; - info->utc.sec = pack->utc.sec; - info->utc.hsec = pack->utc.hsec; - info->sig = pack->sig; - info->HDOP = pack->HDOP; - info->elv = pack->elv; - info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat)); - info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon)); - info->smask |= GPGGA; -} - -/** - * \brief Fill nmeaINFO structure by GSA packet data. - * @param pack a pointer of packet structure. - * @param info a pointer of summary information structure. - */ -void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info) -{ - int i, j, nuse = 0; - - //NMEA_ASSERT(pack && info); - - info->fix = pack->fix_type; - info->PDOP = pack->PDOP; - info->HDOP = pack->HDOP; - info->VDOP = pack->VDOP; - - for(i = 0; i < NMEA_MAXSAT; ++i) - { - for(j = 0; j < info->satinfo.inview; ++j) - { - if(pack->sat_prn[i] && pack->sat_prn[i] == info->satinfo.sat[j].id) - { - info->satinfo.sat[j].in_use = 1; - nuse++; - } - } - } - - info->satinfo.inuse = nuse; - info->smask |= GPGSA; -} - -/** - * \brief Fill nmeaINFO structure by GSV packet data. - * @param pack a pointer of packet structure. - * @param info a pointer of summary information structure. - */ -void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info) -{ - int isat, isi, nsat; - - //NMEA_ASSERT(pack && info); - - if(pack->pack_index > pack->pack_count || - pack->pack_index * NMEA_SATINPACK > NMEA_MAXSAT) - return; - - if(pack->pack_index < 1) - pack->pack_index = 1; - - info->satinfo.inview = pack->sat_count; - - nsat = (pack->pack_index - 1) * NMEA_SATINPACK; - nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK; - - for(isat = 0; isat < nsat; ++isat) - { - isi = (pack->pack_index - 1) * NMEA_SATINPACK + isat; - info->satinfo.sat[isi].id = pack->sat_data[isat].id; - info->satinfo.sat[isi].elv = pack->sat_data[isat].elv; - info->satinfo.sat[isi].azimuth = pack->sat_data[isat].azimuth; - info->satinfo.sat[isi].sig = pack->sat_data[isat].sig; - } - - info->smask |= GPGSV; -} - -/** - * \brief Fill nmeaINFO structure by RMC packet data. - * @param pack a pointer of packet structure. - * @param info a pointer of summary information structure. - */ -void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info) -{ - //NMEA_ASSERT(pack && info); - - if('A' == pack->status) - { - if(NMEA_SIG_BAD == info->sig) - info->sig = NMEA_SIG_MID; - if(NMEA_FIX_BAD == info->fix) - info->fix = NMEA_FIX_2D; - } - else if('V' == pack->status) - { - info->sig = NMEA_SIG_BAD; - info->fix = NMEA_FIX_BAD; - } - - - info->utc = pack->utc; - info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat)); - info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon)); - info->speed = pack->speed * NMEA_TUD_KNOTS; - info->direction = pack->direction; - info->smask |= GPRMC; -} - -/** - * \brief Fill nmeaINFO structure by VTG packet data. - * @param pack a pointer of packet structure. - * @param info a pointer of summary information structure. - */ -void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info) -{ - //NMEA_ASSERT(pack && info); - - info->direction = pack->dir; - info->declination = pack->dec; - info->speed = pack->spk; - info->smask |= GPVTG; -} diff --git a/apps/gps/nmealib/parser.c b/apps/gps/nmealib/parser.c deleted file mode 100644 index f8b415866..000000000 --- a/apps/gps/nmealib/parser.c +++ /dev/null @@ -1,400 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: parser.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -/** - * \file parser.h - */ -#include "nmea/tok.h" -#include "nmea/parse.h" -#include "nmea/parser.h" -#include "nmea/context.h" - -#include <string.h> -#include <stdlib.h> - -typedef struct _nmeaParserNODE -{ - int packType; - void *pack; - struct _nmeaParserNODE *next_node; - -} nmeaParserNODE; - -/* - * high level - */ - -/** - * \brief Initialization of parser object - * @return true (1) - success or false (0) - fail - */ -int nmea_parser_init(nmeaPARSER *parser) -{ - int resv = 0; - int buff_size = nmea_property()->parse_buff_size; - - //NMEA_ASSERT(parser); - - if(buff_size < NMEA_MIN_PARSEBUFF) - buff_size = NMEA_MIN_PARSEBUFF; - - memset(parser, 0, sizeof(nmeaPARSER)); - - if(0 == (parser->buffer = malloc(buff_size))) - nmea_error("Insufficient memory!"); - else - { - parser->buff_size = buff_size; - resv = 1; - } - - return resv; -} - -/** - * \brief Destroy parser object - */ -void nmea_parser_destroy(nmeaPARSER *parser) -{ - //NMEA_ASSERT(parser && parser->buffer); - free(parser->buffer); - nmea_parser_queue_clear(parser); - memset(parser, 0, sizeof(nmeaPARSER)); -} - -/** - * \brief Analysis of buffer and put results to information structure - * @return Number of packets wos parsed - */ -int nmea_parse( - nmeaPARSER *parser, - const char *buff, int buff_sz, - nmeaINFO *info - ) -{ - int ptype, nread = 0; - void *pack = 0; - - //NMEA_ASSERT(parser && parser->buffer); - - nmea_parser_push(parser, buff, buff_sz); - - while(GPNON != (ptype = nmea_parser_pop(parser, &pack))) - { - nread++; - - switch(ptype) - { - case GPGGA: - nmea_GPGGA2info((nmeaGPGGA *)pack, info); - break; - case GPGSA: - nmea_GPGSA2info((nmeaGPGSA *)pack, info); - break; - case GPGSV: - nmea_GPGSV2info((nmeaGPGSV *)pack, info); - break; - case GPRMC: - nmea_GPRMC2info((nmeaGPRMC *)pack, info); - break; - case GPVTG: - nmea_GPVTG2info((nmeaGPVTG *)pack, info); - break; - }; - - free(pack); - } - - return nread; -} - -/* - * low level - */ - -int nmea_parser_real_push(nmeaPARSER *parser, const char *buff, int buff_sz) -{ - int nparsed = 0, crc, sen_sz, ptype; - nmeaParserNODE *node = 0; - - //NMEA_ASSERT(parser && parser->buffer); - - /* clear unuse buffer (for debug) */ - /* - memset( - parser->buffer + parser->buff_use, 0, - parser->buff_size - parser->buff_use - ); - */ - - /* add */ - if(parser->buff_use + buff_sz >= parser->buff_size) - nmea_parser_buff_clear(parser); - - memcpy(parser->buffer + parser->buff_use, buff, buff_sz); - parser->buff_use += buff_sz; - - /* parse */ - for(;;node = 0) - { - sen_sz = nmea_find_tail( - (const char *)parser->buffer + nparsed, - (int)parser->buff_use - nparsed, &crc); - - if(!sen_sz) - { - if(nparsed) - memcpy( - parser->buffer, - parser->buffer + nparsed, - parser->buff_use -= nparsed); - break; - } - else if(crc >= 0) - { - ptype = nmea_pack_type( - (const char *)parser->buffer + nparsed + 1, - parser->buff_use - nparsed - 1); - - if(0 == (node = malloc(sizeof(nmeaParserNODE)))) - goto mem_fail; - - node->pack = 0; - - switch(ptype) - { - case GPGGA: - if(0 == (node->pack = malloc(sizeof(nmeaGPGGA)))) - goto mem_fail; - node->packType = GPGGA; - if(!nmea_parse_GPGGA( - (const char *)parser->buffer + nparsed, - sen_sz, (nmeaGPGGA *)node->pack)) - { - free(node); - node = 0; - } - break; - case GPGSA: - if(0 == (node->pack = malloc(sizeof(nmeaGPGSA)))) - goto mem_fail; - node->packType = GPGSA; - if(!nmea_parse_GPGSA( - (const char *)parser->buffer + nparsed, - sen_sz, (nmeaGPGSA *)node->pack)) - { - free(node); - node = 0; - } - break; - case GPGSV: - if(0 == (node->pack = malloc(sizeof(nmeaGPGSV)))) - goto mem_fail; - node->packType = GPGSV; - if(!nmea_parse_GPGSV( - (const char *)parser->buffer + nparsed, - sen_sz, (nmeaGPGSV *)node->pack)) - { - free(node); - node = 0; - } - break; - case GPRMC: - if(0 == (node->pack = malloc(sizeof(nmeaGPRMC)))) - goto mem_fail; - node->packType = GPRMC; - if(!nmea_parse_GPRMC( - (const char *)parser->buffer + nparsed, - sen_sz, (nmeaGPRMC *)node->pack)) - { - free(node); - node = 0; - } - break; - case GPVTG: - if(0 == (node->pack = malloc(sizeof(nmeaGPVTG)))) - goto mem_fail; - node->packType = GPVTG; - if(!nmea_parse_GPVTG( - (const char *)parser->buffer + nparsed, - sen_sz, (nmeaGPVTG *)node->pack)) - { - free(node); - node = 0; - } - break; - default: - free(node); - node = 0; - break; - }; - - if(node) - { - if(parser->end_node) - ((nmeaParserNODE *)parser->end_node)->next_node = node; - parser->end_node = node; - if(!parser->top_node) - parser->top_node = node; - node->next_node = 0; - } - } - - nparsed += sen_sz; - } - - return nparsed; - -mem_fail: - if(node) - free(node); - - nmea_error("Insufficient memory!"); - - return -1; -} - -/** - * \brief Analysis of buffer and keep results into parser - * @return Number of bytes wos parsed from buffer - */ -int nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz) -{ - int nparse, nparsed = 0; - - do - { - if(buff_sz > parser->buff_size) - nparse = parser->buff_size; - else - nparse = buff_sz; - - nparsed += nmea_parser_real_push( - parser, buff, nparse); - - buff_sz -= nparse; - - } while(buff_sz); - - return nparsed; -} - -/** - * \brief Get type of top packet keeped into parser - * @return Type of packet - * @see nmeaPACKTYPE - */ -int nmea_parser_top(nmeaPARSER *parser) -{ - int retval = GPNON; - nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node; - - //NMEA_ASSERT(parser && parser->buffer); - - if(node) - retval = node->packType; - - return retval; -} - -/** - * \brief Withdraw top packet from parser - * @return Received packet type - * @see nmeaPACKTYPE - */ -int nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr) -{ - int retval = GPNON; - nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node; - - //NMEA_ASSERT(parser && parser->buffer); - - if(node) - { - *pack_ptr = node->pack; - retval = node->packType; - parser->top_node = node->next_node; - if(!parser->top_node) - parser->end_node = 0; - free(node); - } - - return retval; -} - -/** - * \brief Get top packet from parser without withdraw - * @return Received packet type - * @see nmeaPACKTYPE - */ -int nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr) -{ - int retval = GPNON; - nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node; - - //NMEA_ASSERT(parser && parser->buffer); - - if(node) - { - *pack_ptr = node->pack; - retval = node->packType; - } - - return retval; -} - -/** - * \brief Delete top packet from parser - * @return Deleted packet type - * @see nmeaPACKTYPE - */ -int nmea_parser_drop(nmeaPARSER *parser) -{ - int retval = GPNON; - nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node; - - //NMEA_ASSERT(parser && parser->buffer); - - if(node) - { - if(node->pack) - free(node->pack); - retval = node->packType; - parser->top_node = node->next_node; - if(!parser->top_node) - parser->end_node = 0; - free(node); - } - - return retval; -} - -/** - * \brief Clear cache of parser - * @return true (1) - success - */ -int nmea_parser_buff_clear(nmeaPARSER *parser) -{ - //NMEA_ASSERT(parser && parser->buffer); - parser->buff_use = 0; - return 1; -} - -/** - * \brief Clear packets queue into parser - * @return true (1) - success - */ -int nmea_parser_queue_clear(nmeaPARSER *parser) -{ - //NMEA_ASSERT(parser); - while(parser->top_node) - nmea_parser_drop(parser); - return 1; -} diff --git a/apps/gps/nmealib/sentence.c b/apps/gps/nmealib/sentence.c deleted file mode 100644 index a66393a4d..000000000 --- a/apps/gps/nmealib/sentence.c +++ /dev/null @@ -1,54 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: sentence.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -#include "nmea/sentence.h" - -#include <string.h> - -void nmea_zero_GPGGA(nmeaGPGGA *pack) -{ - memset(pack, 0, sizeof(nmeaGPGGA)); - nmea_time_now(&pack->utc); - pack->ns = 'N'; - pack->ew = 'E'; - pack->elv_units = 'M'; - pack->diff_units = 'M'; -} - -void nmea_zero_GPGSA(nmeaGPGSA *pack) -{ - memset(pack, 0, sizeof(nmeaGPGSA)); - pack->fix_mode = 'A'; - pack->fix_type = NMEA_FIX_BAD; -} - -void nmea_zero_GPGSV(nmeaGPGSV *pack) -{ - memset(pack, 0, sizeof(nmeaGPGSV)); -} - -void nmea_zero_GPRMC(nmeaGPRMC *pack) -{ - memset(pack, 0, sizeof(nmeaGPRMC)); - nmea_time_now(&pack->utc); - pack->status = 'V'; - pack->ns = 'N'; - pack->ew = 'E'; - pack->declin_ew = 'E'; -} - -void nmea_zero_GPVTG(nmeaGPVTG *pack) -{ - memset(pack, 0, sizeof(nmeaGPVTG)); - pack->dir_t = 'T'; - pack->dec_m = 'M'; - pack->spn_n = 'N'; - pack->spk_k = 'K'; -} diff --git a/apps/gps/nmealib/time.c b/apps/gps/nmealib/time.c deleted file mode 100644 index a24319630..000000000 --- a/apps/gps/nmealib/time.c +++ /dev/null @@ -1,63 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: time.c 4 2007-08-27 13:11:03Z xtimor $ - * - */ - -/*! \file time.h */ - -#include "nmea/time.h" - -#ifdef NMEA_WIN -# pragma warning(disable: 4201) -# pragma warning(disable: 4214) -# pragma warning(disable: 4115) -# include <windows.h> -# pragma warning(default: 4201) -# pragma warning(default: 4214) -# pragma warning(default: 4115) -#else -# include <time.h> -#endif - -#ifdef NMEA_WIN - -void nmea_time_now(nmeaTIME *stm) -{ - SYSTEMTIME st; - - GetSystemTime(&st); - - stm->year = st.wYear - 1900; - stm->mon = st.wMonth - 1; - stm->day = st.wDay; - stm->hour = st.wHour; - stm->min = st.wMinute; - stm->sec = st.wSecond; - stm->hsec = st.wMilliseconds / 10; -} - -#else /* NMEA_WIN */ - -void nmea_time_now(nmeaTIME *stm) -{ - time_t lt; - struct tm *tt; - - time(<); - tt = gmtime(<); - - stm->year = tt->tm_year; - stm->mon = tt->tm_mon; - stm->day = tt->tm_mday; - stm->hour = tt->tm_hour; - stm->min = tt->tm_min; - stm->sec = tt->tm_sec; - stm->hsec = 0; -} - -#endif diff --git a/apps/gps/nmealib/tok.c b/apps/gps/nmealib/tok.c deleted file mode 100644 index c7cf2f4dc..000000000 --- a/apps/gps/nmealib/tok.c +++ /dev/null @@ -1,267 +0,0 @@ -/* - * - * NMEA library - * URL: http://nmea.sourceforge.net - * Author: Tim (xtimor@gmail.com) - * Licence: http://www.gnu.org/licenses/lgpl.html - * $Id: tok.c 17 2008-03-11 11:56:11Z xtimor $ - * - */ - -/*! \file tok.h */ - -#include "nmea/tok.h" - -#include <stdarg.h> -#include <stdlib.h> -#include <stdio.h> -#include <ctype.h> -#include <string.h> -#include <limits.h> - -#define NMEA_TOKS_COMPARE (1) -#define NMEA_TOKS_PERCENT (2) -#define NMEA_TOKS_WIDTH (3) -#define NMEA_TOKS_TYPE (4) - -//memchr replacement -void * -memchr(s, c, n) - const void *s; - unsigned char c; - size_t n; -{ - if (n != 0) { - const unsigned char *p = s; - - do { - if (*p++ == c) - return ((void *)(p - 1)); - } while (--n != 0); - } - return (NULL); -} - - -/** - * \brief Calculate control sum of binary buffer - */ -int nmea_calc_crc(const char *buff, int buff_sz) -{ - int chsum = 0, - it; - - for(it = 0; it < buff_sz; ++it) - chsum ^= (int)buff[it]; - - return chsum; -} - -/** - * \brief Convert string to number - */ -int nmea_atoi(const char *str, int str_sz, int radix) -{ - char *tmp_ptr; - char buff[NMEA_CONVSTR_BUF]; - int res = 0; - - if(str_sz < NMEA_CONVSTR_BUF) - { - memcpy(&buff[0], str, str_sz); - buff[str_sz] = '\0'; - res = strtol(&buff[0], &tmp_ptr, radix); - } - return res; -} - -/** - * \brief Convert string to fraction number - */ -float nmea_atof(const char *str, int str_sz) -{ - char *tmp_ptr; - char buff[NMEA_CONVSTR_BUF]; - float res = 0; - - if(str_sz < NMEA_CONVSTR_BUF) - { - memcpy(&buff[0], str, str_sz); - buff[str_sz] = '\0'; - res = (float)strtod(&buff[0], &tmp_ptr); - } - return res; -} - -/** - * \brief Formating string (like standart printf) with CRC tail (*CRC) - */ -int nmea_printf(char *buff, int buff_sz, const char *format, ...) -{ - int retval, add = 0; - va_list arg_ptr; - - if(buff_sz <= 0) - return 0; - - va_start(arg_ptr, format); - - retval = NMEA_POSIX(vsnprintf)(buff, buff_sz, format, arg_ptr); - - if(retval > 0) - { - add = NMEA_POSIX(snprintf)( - buff + retval, buff_sz - retval, "*%02x\r\n", - nmea_calc_crc(buff + 1, retval - 1)); - } - - retval += add; - - if(retval < 0 || retval > buff_sz) - { - memset(buff, ' ', buff_sz); - retval = buff_sz; - } - - va_end(arg_ptr); - - return retval; -} - -/** - * \brief Analyse string (specificate for NMEA sentences) - */ -int nmea_scanf(const char *buff, int buff_sz, const char *format, ...) -{ - const char *beg_tok; - const char *end_buf = buff + buff_sz; - - va_list arg_ptr; - int tok_type = NMEA_TOKS_COMPARE; - int width = 0; - const char *beg_fmt = 0; - int snum = 0, unum = 0; - - int tok_count = 0; - void *parg_target; - - va_start(arg_ptr, format); - - for(; *format && buff < end_buf; ++format) - { - switch(tok_type) - { - case NMEA_TOKS_COMPARE: - if('%' == *format) - tok_type = NMEA_TOKS_PERCENT; - else if(*buff++ != *format) - goto fail; - break; - case NMEA_TOKS_PERCENT: - width = 0; - beg_fmt = format; - tok_type = NMEA_TOKS_WIDTH; - case NMEA_TOKS_WIDTH: - if(isdigit(*format)) - break; - { - tok_type = NMEA_TOKS_TYPE; - if(format > beg_fmt) - width = nmea_atoi(beg_fmt, (int)(format - beg_fmt), 10); - } - case NMEA_TOKS_TYPE: - beg_tok = buff; - - if(!width && ('c' == *format || 'C' == *format) && *buff != format[1]) - width = 1; - - if(width) - { - if(buff + width <= end_buf) - buff += width; - else - goto fail; - } - else - { - if(!format[1] || (0 == (buff = (char *)memchr(buff, format[1], end_buf - buff)))) - buff = end_buf; - } - - if(buff > end_buf) - goto fail; - - tok_type = NMEA_TOKS_COMPARE; - tok_count++; - - parg_target = 0; width = (int)(buff - beg_tok); - - switch(*format) - { - case 'c': - case 'C': - parg_target = (void *)va_arg(arg_ptr, char *); - if(width && 0 != (parg_target)) - *((char *)parg_target) = *beg_tok; - break; - case 's': - case 'S': - parg_target = (void *)va_arg(arg_ptr, char *); - if(width && 0 != (parg_target)) - { - memcpy(parg_target, beg_tok, width); - ((char *)parg_target)[width] = '\0'; - } - break; - case 'f': - case 'g': - case 'G': - case 'e': - case 'E': - parg_target = (void *)va_arg(arg_ptr, float *); - if(width && 0 != (parg_target)) - *((float *)parg_target) = nmea_atof(beg_tok, width); - break; - }; - - if(parg_target) - break; - if(0 == (parg_target = (void *)va_arg(arg_ptr, int *))) - break; - if(!width) - break; - - switch(*format) - { - case 'd': - case 'i': - snum = nmea_atoi(beg_tok, width, 10); - memcpy(parg_target, &snum, sizeof(int)); - break; - case 'u': - unum = nmea_atoi(beg_tok, width, 10); - memcpy(parg_target, &unum, sizeof(unsigned int)); - break; - case 'x': - case 'X': - unum = nmea_atoi(beg_tok, width, 16); - memcpy(parg_target, &unum, sizeof(unsigned int)); - break; - case 'o': - unum = nmea_atoi(beg_tok, width, 8); - memcpy(parg_target, &unum, sizeof(unsigned int)); - break; - default: - goto fail; - }; - - break; - }; - } - -fail: - - va_end(arg_ptr); - - return tok_count; -} diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c deleted file mode 100644 index b9f8a28a0..000000000 --- a/apps/gps/ubx.c +++ /dev/null @@ -1,1022 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file U-Blox protocol implementation */ - - -#include "ubx.h" -#include "gps.h" -#include <sys/prctl.h> -#include <poll.h> -#include <drivers/drv_hrt.h> -#include <uORB/uORB.h> -#include <string.h> -#include <stdbool.h> -#include <fcntl.h> -#include <uORB/topics/vehicle_gps_position.h> -#include <mavlink/mavlink_log.h> - -#define UBX_HEALTH_SUCCESS_COUNTER_LIMIT 2 -#define UBX_HEALTH_FAIL_COUNTER_LIMIT 3 -#define UBX_HEALTH_PROBE_COUNTER_LIMIT 4 - -#define UBX_BUFFER_SIZE 500 - -extern bool gps_mode_try_all; -extern bool gps_mode_success; -extern bool terminate_gps_thread; -extern bool gps_baud_try_all; -extern bool gps_verbose; -extern int current_gps_speed; - -pthread_mutex_t *ubx_mutex; -gps_bin_ubx_state_t *ubx_state; -enum UBX_CONFIG_STATE ubx_config_state; -static struct vehicle_gps_position_s *ubx_gps; - - - -void ubx_decode_init(void) -{ - ubx_state->ck_a = 0; - ubx_state->ck_b = 0; - ubx_state->rx_count = 0; - ubx_state->decode_state = UBX_DECODE_UNINIT; - ubx_state->message_class = CLASS_UNKNOWN; - ubx_state->message_id = ID_UNKNOWN; - ubx_state->payload_size = 0; - ubx_state->print_errors = false; -} - -void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b) -{ - *(ck_a) = *(ck_a) + b; - *(ck_b) = *(ck_b) + *(ck_a); -} - - - - - -int ubx_parse(uint8_t b, char *gps_rx_buffer) -{ - //printf("b=%x\n",b); - if (ubx_state->decode_state == UBX_DECODE_UNINIT) { - - if (b == UBX_SYNC_1) { - ubx_state->decode_state = UBX_DECODE_GOT_SYNC1; - } - - } else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC1) { - if (b == UBX_SYNC_2) { - ubx_state->decode_state = UBX_DECODE_GOT_SYNC2; - - } else { - // Second start symbol was wrong, reset state machine - ubx_decode_init(); - } - - } else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC2) { - // Add to checksum - ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b)); - - //check for known class - switch (b) { - case UBX_CLASS_ACK: - ubx_state->decode_state = UBX_DECODE_GOT_CLASS; - ubx_state->message_class = ACK; - break; - - case UBX_CLASS_NAV: - ubx_state->decode_state = UBX_DECODE_GOT_CLASS; - ubx_state->message_class = NAV; - break; - - case UBX_CLASS_RXM: - ubx_state->decode_state = UBX_DECODE_GOT_CLASS; - ubx_state->message_class = RXM; - break; - - case UBX_CLASS_CFG: - ubx_state->decode_state = UBX_DECODE_GOT_CLASS; - ubx_state->message_class = CFG; - break; - default: //unknown class: reset state machine - ubx_decode_init(); - break; - } - - } else if (ubx_state->decode_state == UBX_DECODE_GOT_CLASS) { - // Add to checksum - ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b)); - - //depending on class look for message id - switch (ubx_state->message_class) { - case NAV: - switch (b) { - case UBX_MESSAGE_NAV_POSLLH: //NAV-POSLLH: Geodetic Position Solution - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = NAV_POSLLH; - break; - - case UBX_MESSAGE_NAV_SOL: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = NAV_SOL; - break; - - case UBX_MESSAGE_NAV_TIMEUTC: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = NAV_TIMEUTC; - break; - - case UBX_MESSAGE_NAV_DOP: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = NAV_DOP; - break; - - case UBX_MESSAGE_NAV_SVINFO: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = NAV_SVINFO; - break; - - case UBX_MESSAGE_NAV_VELNED: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = NAV_VELNED; - break; - - default: //unknown class: reset state machine, should not happen - ubx_decode_init(); - break; - } - - break; - - case RXM: - switch (b) { - case UBX_MESSAGE_RXM_SVSI: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = RXM_SVSI; - break; - - default: //unknown class: reset state machine, should not happen - ubx_decode_init(); - break; - } - break; - - case CFG: - switch (b) { - case UBX_MESSAGE_CFG_NAV5: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = CFG_NAV5; - break; - - default: //unknown class: reset state machine, should not happen - ubx_decode_init(); - break; - } - break; - - case ACK: - switch (b) { - case UBX_MESSAGE_ACK_ACK: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = ACK_ACK; - break; - case UBX_MESSAGE_ACK_NAK: - ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; - ubx_state->message_id = ACK_NAK; - break; - default: //unknown class: reset state machine, should not happen - ubx_decode_init(); - break; - } - break; - default: //should not happen - ubx_decode_init(); - break; - } - - } else if (ubx_state->decode_state == UBX_DECODE_GOT_MESSAGEID) { - // Add to checksum - ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b)); - - ubx_state->payload_size = b; - ubx_state->decode_state = UBX_DECODE_GOT_LENGTH1; - - } else if (ubx_state->decode_state == UBX_DECODE_GOT_LENGTH1) { - // Add to checksum - ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b)); - - ubx_state->payload_size += b << 8; - ubx_state->decode_state = UBX_DECODE_GOT_LENGTH2; - - } else if (ubx_state->decode_state == UBX_DECODE_GOT_LENGTH2) { - uint8_t ret = 0; - - // Add to checksum if not yet at checksum byte - if (ubx_state->rx_count < ubx_state->payload_size) ubx_checksum(b, &(ubx_state->ck_a), &(ubx_state->ck_b)); - - // Fill packet buffer - gps_rx_buffer[ubx_state->rx_count] = b; - - //if whole payload + checksum is in buffer: - if (ubx_state->rx_count >= ubx_state->payload_size + 1) { - //convert to correct struct - switch (ubx_state->message_id) { //this enum is unique for all ids --> no need to check the class - case NAV_POSLLH: { -// printf("GOT NAV_POSLLH MESSAGE\n"); - gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) gps_rx_buffer; - - //Check if checksum is valid and the store the gps information - if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { - ubx_gps->lat = packet->lat; - ubx_gps->lon = packet->lon; - ubx_gps->alt = packet->height_msl; - - ubx_gps->counter_pos_valid++; - - ubx_gps->timestamp = hrt_absolute_time(); - ubx_gps->counter++; - - //pthread_mutex_lock(ubx_mutex); - ubx_state->last_message_timestamps[NAV_POSLLH - 1] = hrt_absolute_time(); - //pthread_mutex_unlock(ubx_mutex); - ret = 1; - - } else { - if (gps_verbose) printf("[gps] NAV_POSLLH: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - case NAV_SOL: { -// printf("GOT NAV_SOL MESSAGE\n"); - gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) gps_rx_buffer; - - //Check if checksum is valid and the store the gps information - if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { - - ubx_gps->fix_type = packet->gpsFix; - - ubx_gps->timestamp = hrt_absolute_time(); - ubx_gps->counter++; - ubx_gps->s_variance = packet->sAcc; - ubx_gps->p_variance = packet->pAcc; - - //pthread_mutex_lock(ubx_mutex); - ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time(); - //pthread_mutex_unlock(ubx_mutex); - ret = 1; - - } else { - if (gps_verbose) printf("[gps] NAV_SOL: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - case NAV_DOP: { -// printf("GOT NAV_DOP MESSAGE\n"); - gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) gps_rx_buffer; - - //Check if checksum is valid and the store the gps information - if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { - - ubx_gps->eph = packet->hDOP; - ubx_gps->epv = packet->vDOP; - - ubx_gps->timestamp = hrt_absolute_time(); - ubx_gps->counter++; - - - //pthread_mutex_lock(ubx_mutex); - ubx_state->last_message_timestamps[NAV_DOP - 1] = hrt_absolute_time(); - //pthread_mutex_unlock(ubx_mutex); - ret = 1; - - } else { - if (gps_verbose) printf("[gps] NAV_DOP: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - case NAV_TIMEUTC: { -// printf("GOT NAV_TIMEUTC MESSAGE\n"); - gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) gps_rx_buffer; - - //Check if checksum is valid and the store the gps information - if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { - //convert to unix timestamp - struct tm timeinfo; - timeinfo.tm_year = packet->year - 1900; - timeinfo.tm_mon = packet->month - 1; - timeinfo.tm_mday = packet->day; - timeinfo.tm_hour = packet->hour; - timeinfo.tm_min = packet->min; - timeinfo.tm_sec = packet->sec; - - time_t epoch = mktime(&timeinfo); - -// printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, packet->time_nanoseconds); - - - - ubx_gps->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this - ubx_gps->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); - - ubx_gps->timestamp = hrt_absolute_time(); - ubx_gps->counter++; - - - //pthread_mutex_lock(ubx_mutex); - ubx_state->last_message_timestamps[NAV_TIMEUTC - 1] = hrt_absolute_time(); - //pthread_mutex_unlock(ubx_mutex); - ret = 1; - - } else { - if (gps_verbose) printf("\t[gps] NAV_TIMEUTC: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - case NAV_SVINFO: { -// printf("GOT NAV_SVINFO MESSAGE\n"); - - //this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message - const int length_part1 = 8; - char gps_rx_buffer_part1[length_part1]; - memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1); - gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) gps_rx_buffer_part1; - - //read checksum - const int length_part3 = 2; - char gps_rx_buffer_part3[length_part3]; - memcpy(gps_rx_buffer_part3, &(gps_rx_buffer[ubx_state->rx_count - 1]), length_part3); - gps_bin_nav_svinfo_part3_packet_t *packet_part3 = (gps_bin_nav_svinfo_part3_packet_t *) gps_rx_buffer_part3; - - //Check if checksum is valid and then store the gps information - if (ubx_state->ck_a == packet_part3->ck_a && ubx_state->ck_b == packet_part3->ck_b) { - //definitions needed to read numCh elements from the buffer: - const int length_part2 = 12; - gps_bin_nav_svinfo_part2_packet_t *packet_part2; - char gps_rx_buffer_part2[length_part2]; //for temporal storage - - - int i; - - for (i = 0; i < packet_part1->numCh; i++) { //for each channel - - /* Get satellite information from the buffer */ - - memcpy(gps_rx_buffer_part2, &(gps_rx_buffer[length_part1 + i * length_part2]), length_part2); - packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) gps_rx_buffer_part2; - - - /* Write satellite information in the global storage */ - - ubx_gps->satellite_prn[i] = packet_part2->svid; - - //if satellite information is healthy store the data - uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield - - if (!unhealthy) { - - if ((packet_part2->flags) & 1) { //flags is a bitfield - ubx_gps->satellite_used[i] = 1; - - } else { - ubx_gps->satellite_used[i] = 0; - } - - ubx_gps->satellite_snr[i] = packet_part2->cno; - ubx_gps->satellite_elevation[i] = (uint8_t)(packet_part2->elev); - ubx_gps->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); - - } else { - ubx_gps->satellite_used[i] = 0; - ubx_gps->satellite_snr[i] = 0; - ubx_gps->satellite_elevation[i] = 0; - ubx_gps->satellite_azimuth[i] = 0; - } - - } - - for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused - /* Unused channels have to be set to zero for e.g. MAVLink */ - ubx_gps->satellite_prn[i] = 0; - ubx_gps->satellite_used[i] = 0; - ubx_gps->satellite_snr[i] = 0; - ubx_gps->satellite_elevation[i] = 0; - ubx_gps->satellite_azimuth[i] = 0; - } - - /* set flag if any sat info is available */ - if (!packet_part1->numCh > 0) { - ubx_gps->satellite_info_available = 1; - - } else { - ubx_gps->satellite_info_available = 0; - } - - ubx_gps->timestamp = hrt_absolute_time(); - ubx_gps->counter++; - - - //pthread_mutex_lock(ubx_mutex); - ubx_state->last_message_timestamps[NAV_SVINFO - 1] = hrt_absolute_time(); - //pthread_mutex_unlock(ubx_mutex); - ret = 1; - - } else { - if (gps_verbose) printf("\t[gps] NAV_SVINFO: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - case NAV_VELNED: { -// printf("GOT NAV_VELNED MESSAGE\n"); - gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) gps_rx_buffer; - - //Check if checksum is valid and the store the gps information - if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { - - ubx_gps->vel = (uint16_t)packet->speed; - ubx_gps->vel_n = packet->velN / 100.0f; - ubx_gps->vel_e = packet->velE / 100.0f; - ubx_gps->vel_d = packet->velD / 100.0f; - ubx_gps->vel_ned_valid = true; - ubx_gps->cog = (uint16_t)((float)(packet->heading) * 1e-3f); - - ubx_gps->timestamp = hrt_absolute_time(); - ubx_gps->counter++; - - - //pthread_mutex_lock(ubx_mutex); - ubx_state->last_message_timestamps[NAV_VELNED - 1] = hrt_absolute_time(); - //pthread_mutex_unlock(ubx_mutex); - ret = 1; - - } else { - if (gps_verbose) printf("[gps] NAV_VELNED: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - case RXM_SVSI: { -// printf("GOT RXM_SVSI MESSAGE\n"); - const int length_part1 = 7; - char gps_rx_buffer_part1[length_part1]; - memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1); - gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) gps_rx_buffer_part1; - - //Check if checksum is valid and the store the gps information - if (ubx_state->ck_a == gps_rx_buffer[ubx_state->rx_count - 1] && ubx_state->ck_b == gps_rx_buffer[ubx_state->rx_count]) { - - ubx_gps->satellites_visible = packet->numVis; - - ubx_gps->timestamp = hrt_absolute_time(); - ubx_gps->counter++; - - - //pthread_mutex_lock(ubx_mutex); - ubx_state->last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time(); - //pthread_mutex_unlock(ubx_mutex); - ret = 1; - - } else { - if (gps_verbose) printf("[gps] RXM_SVSI: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - case ACK_ACK: { -// printf("GOT ACK_ACK\n"); - gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) gps_rx_buffer; - - //Check if checksum is valid - if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { - - switch (ubx_config_state) { - case UBX_CONFIG_STATE_PRT: - if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT) - ubx_config_state++; - break; - case UBX_CONFIG_STATE_NAV5: - if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5) - ubx_config_state++; - break; - case UBX_CONFIG_STATE_MSG_NAV_POSLLH: - case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC: - case UBX_CONFIG_STATE_MSG_NAV_DOP: - case UBX_CONFIG_STATE_MSG_NAV_SVINFO: - case UBX_CONFIG_STATE_MSG_NAV_SOL: - case UBX_CONFIG_STATE_MSG_NAV_VELNED: - case UBX_CONFIG_STATE_MSG_RXM_SVSI: - if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG) - ubx_config_state++; - break; - default: - break; - } - - - ret = 1; - - } else { - if (gps_verbose) printf("[gps] ACK_ACK: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - case ACK_NAK: { -// printf("GOT ACK_NAK\n"); - gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) gps_rx_buffer; - - //Check if checksum is valid - if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { - - if (gps_verbose) printf("[gps] the ubx gps returned: not acknowledged\n"); - ret = 1; - - } else { - if (gps_verbose) printf("[gps] ACK_NAK: checksum invalid\n"); - - ret = 0; - } - - // Reset state machine to decode next packet - ubx_decode_init(); - return ret; - - break; - } - - default: //something went wrong - ubx_decode_init(); - - break; - } - } - - (ubx_state->rx_count)++; - - - - } - - - return 0; // no valid packet found - -} - -void calculate_ubx_checksum(uint8_t *message, uint8_t length) -{ - uint8_t ck_a = 0; - uint8_t ck_b = 0; - - int i; - - for (i = 2; i < length - 2; i++) { - ck_a = ck_a + message[i]; - ck_b = ck_b + ck_a; - } - - message[length - 2] = ck_a; - message[length - 1] = ck_b; -} - -int configure_gps_ubx(int *fd) -{ - // only needed once like this - const type_gps_bin_cfg_prt_packet_t cfg_prt_packet = { - .clsID = UBX_CLASS_CFG, - .msgID = UBX_MESSAGE_CFG_PRT, - .length = UBX_CFG_PRT_LENGTH, - .portID = UBX_CFG_PRT_PAYLOAD_PORTID, - .mode = UBX_CFG_PRT_PAYLOAD_MODE, - .baudRate = current_gps_speed, - .inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK, - .outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK, - .ck_a = 0, - .ck_b = 0 - }; - - // only needed once like this - const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = { - .clsID = UBX_CLASS_CFG, - .msgID = UBX_MESSAGE_CFG_NAV5, - .length = UBX_CFG_NAV5_LENGTH, - .mask = UBX_CFG_NAV5_PAYLOAD_MASK, - .dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL, - .fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE, - .ck_a = 0, - .ck_b = 0 - }; - - // this message is reusable for different configuration commands, so not const - type_gps_bin_cfg_msg_packet cfg_msg_packet = { - .clsID = UBX_CLASS_CFG, - .msgID = UBX_MESSAGE_CFG_MSG, - .length = UBX_CFG_MSG_LENGTH, - .rate = UBX_CFG_MSG_PAYLOAD_RATE - }; - - uint64_t time_before_config = hrt_absolute_time(); - - while(hrt_absolute_time() < time_before_config + UBX_CONFIG_TIMEOUT) { - -// if (gps_verbose) printf("[gps] ubx config state: %d\n", ubx_config_state); - - switch (ubx_config_state) { - case UBX_CONFIG_STATE_PRT: -// if (gps_verbose) printf("[gps] Configuring ubx with baudrate: %d\n", cfg_prt_packet.baudRate); - - write_config_message_ubx((uint8_t*)(&cfg_prt_packet), sizeof(cfg_prt_packet), fd); - break; - case UBX_CONFIG_STATE_NAV5: - write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd); - break; - case UBX_CONFIG_STATE_MSG_NAV_POSLLH: - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; - write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); - break; - case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC: - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; - write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); - break; - case UBX_CONFIG_STATE_MSG_NAV_DOP: - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; - write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); - break; - case UBX_CONFIG_STATE_MSG_NAV_SVINFO: - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; - write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); - break; - case UBX_CONFIG_STATE_MSG_NAV_SOL: - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; - write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); - break; - case UBX_CONFIG_STATE_MSG_NAV_VELNED: - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; - write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); - break; - case UBX_CONFIG_STATE_MSG_RXM_SVSI: - cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; - write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); - break; - case UBX_CONFIG_STATE_CONFIGURED: - if (gps_verbose) printf("[gps] ubx configuration finished\n"); - return OK; - break; - default: - break; - } - usleep(10000); - } - if (gps_verbose) printf("[gps] ubx configuration timeout\n"); - return ERROR; -} - - - -int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size) -{ - uint8_t ret = 0; - uint8_t c; - int rx_count = 0; - int gpsRxOverflow = 0; - - struct pollfd fds; - fds.fd = *fd; - fds.events = POLLIN; - - // UBX GPS mode - // This blocks the task until there is something on the buffer - while (1) { - //check if the thread should terminate - if (terminate_gps_thread == true) { - ret = 1; - break; - } - if (poll(&fds, 1, 1000) > 0) { - if (read(*fd, &c, 1) > 0) { - -// printf("Read %x\n",c); - if (rx_count >= buffer_size) { - // The buffer is already full and we haven't found a valid ubx sentence. - // Flush the buffer and note the overflow event. - gpsRxOverflow++; - rx_count = 0; - ubx_decode_init(); - - if (gps_verbose) printf("[gps] Buffer full\n"); - - } else { - //gps_rx_buffer[rx_count] = c; - rx_count++; - - } - - int msg_read = ubx_parse(c, gps_rx_buffer); - - if (msg_read > 0) { - //printf("Found sequence\n"); - break; - } - - } else { - break; - } - - } else { - break; - } - - } - - return ret; -} - -int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd) -{ - uint8_t ck_a = 0; - uint8_t ck_b = 0; - - unsigned int i; - - uint8_t buffer[2]; - ssize_t result_write = 0; - - //calculate and write checksum to the end - for (i = 0; i < length-2; i++) { - ck_a = ck_a + message[i]; - ck_b = ck_b + ck_a; - } - - // write sync bytes first - buffer[0] = UBX_SYNC_1; - buffer[1] = UBX_SYNC_2; - - // write config message without the checksum - result_write = write(*fd, buffer, sizeof(buffer)); - result_write += write(*fd, message, length-2); - - buffer[0] = ck_a; - buffer[1] = ck_b; - - // write the checksum - result_write += write(*fd, buffer, sizeof(buffer)); - - fsync(*fd); - if ((unsigned int)result_write != length + 2) - return ERROR; - - return OK; -} - -void *ubx_watchdog_loop(void *args) -{ - /* Set thread name */ - prctl(PR_SET_NAME, "gps ubx watchdog", getpid()); - - - /* Retrieve file descriptor and thread flag */ - struct arg_struct *arguments = (struct arg_struct *)args; - int *fd = arguments->fd_ptr; - bool *thread_should_exit = arguments->thread_should_exit_ptr; - - ubx_config_state = UBX_CONFIG_STATE_PRT; - /* first try to configure the GPS anyway */ - configure_gps_ubx(fd); - - /* GPS watchdog error message skip counter */ - - bool ubx_healthy = false; - - uint8_t ubx_fail_count = 0; - uint8_t ubx_success_count = 0; - bool once_ok = false; - - int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - //int err_skip_counter = 0; - - while (!(*thread_should_exit)) { - /* if some values are to old reconfigure gps */ - int i; - pthread_mutex_lock(ubx_mutex); - bool all_okay = true; - uint64_t timestamp_now = hrt_absolute_time(); - - for (i = 0; i < UBX_NO_OF_MESSAGES; i++) { -// printf("timestamp_now=%llu\n", timestamp_now); -// printf("last_message_timestamps=%llu\n", ubx_state->last_message_timestamps[i]); - if (timestamp_now - ubx_state->last_message_timestamps[i] > UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS) { - //printf("Warning: GPS ubx message %d not received for a long time\n", i); - all_okay = false; - } - } - - pthread_mutex_unlock(ubx_mutex); - - if (!all_okay) { - /* gps error */ - ubx_fail_count++; -// if (err_skip_counter == 0) -// { -// printf("GPS Watchdog detected gps not running or having problems\n"); -// err_skip_counter = 20; -// } -// err_skip_counter--; - //printf("gps_mode_try_all =%u, ubx_fail_count=%u, ubx_healthy=%u, once_ok=%u\n", gps_mode_try_all, ubx_fail_count, ubx_healthy, once_ok); - - - /* If we have too many failures and another mode or baud should be tried, exit... */ - if ((gps_mode_try_all == true || gps_baud_try_all == true) && (ubx_fail_count >= UBX_HEALTH_PROBE_COUNTER_LIMIT) && (ubx_healthy == false) && once_ok == false) { - if (gps_verbose) printf("[gps] Connection attempt failed, no UBX module found\n"); - - gps_mode_success = false; - break; - } - - if (ubx_healthy && ubx_fail_count == UBX_HEALTH_FAIL_COUNTER_LIMIT) { - printf("[gps] ERROR: UBX GPS module stopped responding\n"); - // global_data_send_subsystem_info(&ubx_present_enabled); - mavlink_log_critical(mavlink_fd, "[gps] UBX module stopped responding\n"); - ubx_healthy = false; - ubx_success_count = 0; - } - - /* trying to reconfigure the gps configuration */ - ubx_config_state = UBX_CONFIG_STATE_PRT; - configure_gps_ubx(fd); - fflush(stdout); - sleep(1); - - } else { - /* gps healthy */ - ubx_success_count++; - ubx_fail_count = 0; - once_ok = true; // XXX Should this be true on a single success, or on same criteria as ubx_healthy? - - if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) { - //printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed); - // global_data_send_subsystem_info(&ubx_present_enabled_healthy); - mavlink_log_info(mavlink_fd, "[gps] UBX module found, status ok\n"); - ubx_healthy = true; - } - } - usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS); - } - - if(gps_verbose) printf("[gps] ubx loop is going to terminate\n"); - close(mavlink_fd); - return NULL; -} - -void *ubx_loop(void *args) -{ - /* Set thread name */ - prctl(PR_SET_NAME, "gps ubx read", getpid()); - - /* Retrieve file descriptor and thread flag */ - struct arg_struct *arguments = (struct arg_struct *)args; - int *fd = arguments->fd_ptr; - bool *thread_should_exit = arguments->thread_should_exit_ptr; - - /* Initialize gps stuff */ - char gps_rx_buffer[UBX_BUFFER_SIZE]; - - - if (gps_verbose) printf("[gps] UBX protocol driver starting..\n"); - - //set parameters for ubx_state - - //ubx state - ubx_state = malloc(sizeof(gps_bin_ubx_state_t)); - //printf("gps: ubx_state created\n"); - ubx_decode_init(); - ubx_state->print_errors = false; - - - /* set parameters for ubx */ - - struct vehicle_gps_position_s ubx_gps_d = {.counter = 0}; - - ubx_gps = &ubx_gps_d; - - orb_advert_t gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps); - - while (!(*thread_should_exit)) { - /* Parse a message from the gps receiver */ - if (0 == read_gps_ubx(fd, gps_rx_buffer, UBX_BUFFER_SIZE)) { - /* publish new GPS position */ - orb_publish(ORB_ID(vehicle_gps_position), gps_pub, ubx_gps); - - } else { - /* de-advertise */ - close(gps_pub); - break; - } - } - - if(gps_verbose) printf("[gps] ubx read is going to terminate\n"); - close(gps_pub); - return NULL; - -} diff --git a/apps/gps/ubx.h b/apps/gps/ubx.h deleted file mode 100644 index f3313a3c6..000000000 --- a/apps/gps/ubx.h +++ /dev/null @@ -1,415 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file U-Blox protocol definitions */ - -#ifndef UBX_H_ -#define UBX_H_ - -#include <stdint.h> -#include <stdlib.h> -#include <stdio.h> -#include <time.h> -#include <math.h> -#include <stdbool.h> -#include <unistd.h> -#include <pthread.h> - - -//internal definitions (not depending on the ubx protocol -#define UBX_NO_OF_MESSAGES 7 /**< Read 7 UBX GPS messages */ -#define UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS 3000000 /**< Allow 3 seconds maximum inter-message time */ -#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 2000000 /**< Check for current state every two seconds */ - -#define UBX_CONFIG_TIMEOUT 1000000 - -#define APPNAME "gps: ubx" - -#define UBX_SYNC_1 0xB5 -#define UBX_SYNC_2 0x62 - -//UBX Protocoll definitions (this is the subset of the messages that are parsed) -#define UBX_CLASS_NAV 0x01 -#define UBX_CLASS_RXM 0x02 -#define UBX_CLASS_ACK 0x05 -#define UBX_CLASS_CFG 0x06 -#define UBX_MESSAGE_NAV_POSLLH 0x02 -#define UBX_MESSAGE_NAV_SOL 0x06 -#define UBX_MESSAGE_NAV_TIMEUTC 0x21 -#define UBX_MESSAGE_NAV_DOP 0x04 -#define UBX_MESSAGE_NAV_SVINFO 0x30 -#define UBX_MESSAGE_NAV_VELNED 0x12 -#define UBX_MESSAGE_RXM_SVSI 0x20 -#define UBX_MESSAGE_ACK_ACK 0x01 -#define UBX_MESSAGE_ACK_NAK 0x00 -#define UBX_MESSAGE_CFG_PRT 0x00 -#define UBX_MESSAGE_CFG_NAV5 0x24 -#define UBX_MESSAGE_CFG_MSG 0x01 - -#define UBX_CFG_PRT_LENGTH 20 -#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< port 1 */ -#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ -#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ -#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< ubx in */ -#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< ubx out */ - -#define UBX_CFG_NAV5_LENGTH 36 -#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */ -#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ -#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ - -#define UBX_CFG_MSG_LENGTH 8 -#define UBX_CFG_MSG_PAYLOAD_RATE {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} /**< UART1 chosen */ - - -// ************ -/** the structures of the binary packets */ -#pragma pack(push, 1) -typedef struct { - uint32_t time_milliseconds; // GPS Millisecond Time of Week - int32_t lon; // Longitude * 1e-7, deg - int32_t lat; // Latitude * 1e-7, deg - int32_t height; // Height above Ellipsoid, mm - int32_t height_msl; // Height above mean sea level, mm - uint32_t hAcc; // Horizontal Accuracy Estimate, mm - uint32_t vAcc; // Vertical Accuracy Estimate, mm - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_nav_posllh_packet; - -typedef type_gps_bin_nav_posllh_packet gps_bin_nav_posllh_packet_t; - -typedef struct { - uint32_t time_milliseconds; // GPS Millisecond Time of Week - int32_t time_nanoseconds; // Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 - int16_t week; // GPS week (GPS time) - uint8_t gpsFix; //GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix - uint8_t flags; - int32_t ecefX; - int32_t ecefY; - int32_t ecefZ; - uint32_t pAcc; - int32_t ecefVX; - int32_t ecefVY; - int32_t ecefVZ; - uint32_t sAcc; - uint16_t pDOP; - uint8_t reserved1; - uint8_t numSV; - uint32_t reserved2; - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_nav_sol_packet; - -typedef type_gps_bin_nav_sol_packet gps_bin_nav_sol_packet_t; - -typedef struct { - uint32_t time_milliseconds; // GPS Millisecond Time of Week - uint32_t time_accuracy; //Time Accuracy Estimate, ns - int32_t time_nanoseconds; //Nanoseconds of second, range -1e9 .. 1e9 (UTC) - uint16_t year; //Year, range 1999..2099 (UTC) - uint8_t month; //Month, range 1..12 (UTC) - uint8_t day; //Day of Month, range 1..31 (UTC) - uint8_t hour; //Hour of Day, range 0..23 (UTC) - uint8_t min; //Minute of Hour, range 0..59 (UTC) - uint8_t sec; //Seconds of Minute, range 0..59 (UTC) - uint8_t valid_flag; //Validity Flags (see ubx documentation) - - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_nav_timeutc_packet; - -typedef type_gps_bin_nav_timeutc_packet gps_bin_nav_timeutc_packet_t; - -typedef struct { - uint32_t time_milliseconds; // GPS Millisecond Time of Week - uint16_t gDOP; //Geometric DOP (scaling 0.01) - uint16_t pDOP; //Position DOP (scaling 0.01) - uint16_t tDOP; //Time DOP (scaling 0.01) - uint16_t vDOP; //Vertical DOP (scaling 0.01) - uint16_t hDOP; //Horizontal DOP (scaling 0.01) - uint16_t nDOP; //Northing DOP (scaling 0.01) - uint16_t eDOP; //Easting DOP (scaling 0.01) - - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_nav_dop_packet; - -typedef type_gps_bin_nav_dop_packet gps_bin_nav_dop_packet_t; - -typedef struct { - uint32_t time_milliseconds; // GPS Millisecond Time of Week - uint8_t numCh; //Number of channels - uint8_t globalFlags; - uint16_t reserved2; - -} type_gps_bin_nav_svinfo_part1_packet; - -typedef type_gps_bin_nav_svinfo_part1_packet gps_bin_nav_svinfo_part1_packet_t; - -typedef struct { - uint8_t chn; //Channel number, 255 for SVs not assigned to a channel - uint8_t svid; //Satellite ID - uint8_t flags; - uint8_t quality; - uint8_t cno; //Carrier to Noise Ratio (Signal Strength), dbHz - int8_t elev; //Elevation in integer degrees - int16_t azim; //Azimuth in integer degrees - int32_t prRes; //Pseudo range residual in centimetres - -} type_gps_bin_nav_svinfo_part2_packet; - -typedef type_gps_bin_nav_svinfo_part2_packet gps_bin_nav_svinfo_part2_packet_t; - -typedef struct { - uint8_t ck_a; - uint8_t ck_b; - -} type_gps_bin_nav_svinfo_part3_packet; - -typedef type_gps_bin_nav_svinfo_part3_packet gps_bin_nav_svinfo_part3_packet_t; - - -typedef struct { - uint32_t time_milliseconds; // GPS Millisecond Time of Week - int32_t velN; //NED north velocity, cm/s - int32_t velE; //NED east velocity, cm/s - int32_t velD; //NED down velocity, cm/s - uint32_t speed; //Speed (3-D), cm/s - uint32_t gSpeed; //Ground Speed (2-D), cm/s - int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5 - uint32_t sAcc; //Speed Accuracy Estimate, cm/s - uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5 - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_nav_velned_packet; - -typedef type_gps_bin_nav_velned_packet gps_bin_nav_velned_packet_t; - -typedef struct { - int32_t time_milliseconds; // Measurement integer millisecond GPS time of week - int16_t week; //Measurement GPS week number - uint8_t numVis; //Number of visible satellites - - //... rest of package is not used in this implementation - -} type_gps_bin_rxm_svsi_packet; - -typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_ack_ack_packet; - -typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_ack_nak_packet; - -typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint8_t portID; - uint8_t res0; - uint16_t res1; - uint32_t mode; - uint32_t baudRate; - uint16_t inProtoMask; - uint16_t outProtoMask; - uint16_t flags; - uint16_t pad; - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_prt_packet; - -typedef type_gps_bin_cfg_prt_packet type_gps_bin_cfg_prt_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint16_t mask; - uint8_t dynModel; - uint8_t fixMode; - int32_t fixedAlt; - uint32_t fixedAltVar; - int8_t minElev; - uint8_t drLimit; - uint16_t pDop; - uint16_t tDop; - uint16_t pAcc; - uint16_t tAcc; - uint8_t staticHoldThresh; - uint8_t dgpsTimeOut; - uint32_t reserved2; - uint32_t reserved3; - uint32_t reserved4; - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_nav5_packet; - -typedef type_gps_bin_cfg_nav5_packet type_gps_bin_cfg_nav5_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint8_t msgClass_payload; - uint8_t msgID_payload; - uint8_t rate[6]; - - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_msg_packet; - -typedef type_gps_bin_cfg_msg_packet type_gps_bin_cfg_msg_packet_t; - - -// END the structures of the binary packets -// ************ - -enum UBX_CONFIG_STATE { - UBX_CONFIG_STATE_NONE = 0, - UBX_CONFIG_STATE_PRT = 1, - UBX_CONFIG_STATE_NAV5 = 2, - UBX_CONFIG_STATE_MSG_NAV_POSLLH = 3, - UBX_CONFIG_STATE_MSG_NAV_TIMEUTC = 4, - UBX_CONFIG_STATE_MSG_NAV_DOP = 5, - UBX_CONFIG_STATE_MSG_NAV_SVINFO = 6, - UBX_CONFIG_STATE_MSG_NAV_SOL = 7, - UBX_CONFIG_STATE_MSG_NAV_VELNED = 8, - UBX_CONFIG_STATE_MSG_RXM_SVSI = 9, - UBX_CONFIG_STATE_CONFIGURED = 10 -}; - -enum UBX_MESSAGE_CLASSES { - CLASS_UNKNOWN = 0, - NAV = 1, - RXM = 2, - ACK = 3, - CFG = 4 -}; - -enum UBX_MESSAGE_IDS { - //these numbers do NOT correspond to the message id numbers of the ubx protocol - ID_UNKNOWN = 0, - NAV_POSLLH = 1, - NAV_SOL = 2, - NAV_TIMEUTC = 3, - NAV_DOP = 4, - NAV_SVINFO = 5, - NAV_VELNED = 6, - RXM_SVSI = 7, - CFG_NAV5 = 8, - ACK_ACK = 9, - ACK_NAK = 10 -}; - -enum UBX_DECODE_STATES { - UBX_DECODE_UNINIT = 0, - UBX_DECODE_GOT_SYNC1 = 1, - UBX_DECODE_GOT_SYNC2 = 2, - UBX_DECODE_GOT_CLASS = 3, - UBX_DECODE_GOT_MESSAGEID = 4, - UBX_DECODE_GOT_LENGTH1 = 5, - UBX_DECODE_GOT_LENGTH2 = 6 -}; - -typedef struct { - union { - uint16_t ck; - struct { - uint8_t ck_a; - uint8_t ck_b; - }; - }; - enum UBX_DECODE_STATES decode_state; - bool print_errors; - int16_t rx_count; - uint16_t payload_size; - - enum UBX_MESSAGE_CLASSES message_class; - enum UBX_MESSAGE_IDS message_id; - uint64_t last_message_timestamps[UBX_NO_OF_MESSAGES]; - -} type_gps_bin_ubx_state; - -typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; -#pragma pack(pop) - -extern pthread_mutex_t *ubx_mutex; -extern gps_bin_ubx_state_t *ubx_state; - -void ubx_decode_init(void); - -void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b); - - - -int ubx_parse(uint8_t b, char *gps_rx_buffer); - -int configure_gps_ubx(int *fd); - -int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size); - -int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd); - -void calculate_ubx_checksum(uint8_t *message, uint8_t length); - -void *ubx_watchdog_loop(void *args); - -void *ubx_loop(void *args); - - -#endif /* UBX_H_ */ diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index ceb7c2554..b958d5f96 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -625,7 +625,9 @@ int mavlink_thread_main(int argc, char *argv[]) /* 20 Hz / 50 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); - /* 2 Hz */ + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100); + /* 10 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); } else if (baudrate >= 115200) { @@ -634,8 +636,10 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); - /* 5 Hz / 100 ms */ + /* 5 Hz / 200 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200); /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); @@ -651,6 +655,8 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500); } else { /* very low baud rate, limit to 1 Hz / 1000 ms */ diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 86732d07c..4d9cd964d 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -387,22 +387,22 @@ handle_message(mavlink_message_t *msg) static uint64_t old_timestamp = 0; /* gps */ - hil_gps.timestamp = gps.time_usec; - hil_gps.counter = hil_counter++; + hil_gps.timestamp_position = gps.time_usec; +// hil_gps.counter = hil_counter++; hil_gps.time_gps_usec = gps.time_usec; hil_gps.lat = gps.lat; hil_gps.lon = gps.lon; hil_gps.alt = gps.alt; - hil_gps.counter_pos_valid = hil_counter++; - hil_gps.eph = gps.eph; - hil_gps.epv = gps.epv; - hil_gps.s_variance = 100; - hil_gps.p_variance = 100; - hil_gps.vel = gps.vel; - hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f); - hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f); - hil_gps.vel_d = 0.0f; - hil_gps.cog = gps.cog; +// hil_gps.counter_pos_valid = hil_counter++; + hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m + hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m + hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance? + hil_gps.p_variance_m = 100; // XXX 100 m variance? + hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s + hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f); + hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f); + hil_gps.vel_d_m_s = 0.0f; + hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad hil_gps.fix_type = gps.fix_type; hil_gps.satellites_visible = gps.satellites_visible; @@ -511,7 +511,6 @@ handle_message(mavlink_message_t *msg) hil_attitude.yawspeed = hil_state.yawspeed; /* set timestamp and notify processes (broadcast) */ - hil_attitude.counter++; hil_attitude.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude); } diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index ec5149745..9f85d5801 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l) /* GPS position */ mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, - gps.timestamp, + gps.timestamp_position, gps.fix_type, gps.lat, gps.lon, gps.alt, - gps.eph, - gps.epv, - gps.vel, - gps.cog, + (uint16_t)(gps.eph_m * 1e2f), // from m to cm + (uint16_t)(gps.epv_m * 1e2f), // from m to cm + (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s + (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100 gps.satellites_visible); if (gps.satellite_info_available && (gps_counter % 4 == 0)) { @@ -698,7 +698,7 @@ uorb_receive_start(void) /* --- GPS VALUE --- */ mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */ + orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ /* --- HOME POSITION --- */ mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c index 4c021303f..030ac6e23 100644 --- a/apps/px4/tests/test_adc.c +++ b/apps/px4/tests/test_adc.c @@ -60,8 +60,10 @@ int test_adc(int argc, char *argv[]) { int fd = open(ADC_DEVICE_PATH, O_RDONLY); - if (fd < 0) - err(1, "can't open ADC device"); + if (fd < 0) { + warnx("ERROR: can't open ADC device"); + return 1; + } for (unsigned i = 0; i < 5; i++) { /* make space for a maximum of eight channels */ @@ -82,7 +84,7 @@ int test_adc(int argc, char *argv[]) usleep(150000); } - message("\t ADC test successful.\n"); + warnx("\t ADC test successful.\n"); errout_with_dev: diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c index ad6828f20..9f8c5c9ea 100644 --- a/apps/px4/tests/tests_main.c +++ b/apps/px4/tests/tests_main.c @@ -135,6 +135,7 @@ test_all(int argc, char *argv[]) unsigned i; char *args[2] = {"all", NULL}; unsigned int failcount = 0; + unsigned int testcount = 0; bool passed[NTESTS]; printf("\nRunning all tests...\n\n"); @@ -156,6 +157,7 @@ test_all(int argc, char *argv[]) fflush(stdout); passed[i] = true; } + testcount++; } } @@ -178,7 +180,7 @@ test_all(int argc, char *argv[]) printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); printf("\n"); - printf(" All tests passed (%d of %d)\n", i, i); + printf(" All tests passed (%d of %d)\n", testcount, testcount); } else { printf(" ______ ______ __ __ \n"); @@ -187,7 +189,7 @@ test_all(int argc, char *argv[]) printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); printf("\n"); - printf(" Some tests failed (%d of %d)\n", failcount, i); + printf(" Some tests failed (%d of %d)\n", failcount, testcount); } printf("\n"); @@ -245,6 +247,7 @@ int test_jig(int argc, char *argv[]) unsigned i; char *args[2] = {"jig", NULL}; unsigned int failcount = 0; + unsigned int testcount = 0; bool passed[NTESTS]; printf("\nRunning all tests...\n\n"); @@ -264,6 +267,7 @@ int test_jig(int argc, char *argv[]) fflush(stdout); passed[i] = true; } + testcount++; } } @@ -284,7 +288,7 @@ int test_jig(int argc, char *argv[]) printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); printf("\n"); - printf(" All tests passed (%d of %d)\n", i, i); + printf(" All tests passed (%d of %d)\n", testcount, testcount); } else { printf(" ______ ______ __ __ \n"); printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n"); @@ -292,7 +296,7 @@ int test_jig(int argc, char *argv[]) printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); printf("\n"); - printf(" Some tests failed (%d of %d)\n", failcount, i); + printf(" Some tests failed (%d of %d)\n", failcount, testcount); } printf("\n"); diff --git a/apps/uORB/topics/home_position.h b/apps/uORB/topics/home_position.h index dec34b6ab..7e1b82a0f 100644 --- a/apps/uORB/topics/home_position.h +++ b/apps/uORB/topics/home_position.h @@ -61,10 +61,10 @@ struct home_position_s int32_t lat; /**< Latitude in 1E7 degrees */ int32_t lon; /**< Longitude in 1E7 degrees */ int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ - uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ - uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ - float s_variance; /**< speed accuracy estimate cm/s */ - float p_variance; /**< position accuracy estimate cm */ + float eph_m; /**< GPS HDOP horizontal dilution of position in m */ + float epv_m; /**< GPS VDOP horizontal dilution of position in m */ + float s_variance_m_s; /**< speed accuracy estimate m/s */ + float p_variance_m; /**< position accuracy estimate m */ }; /** diff --git a/apps/uORB/topics/vehicle_attitude.h b/apps/uORB/topics/vehicle_attitude.h index 009379920..c31c81d0c 100644..100755 --- a/apps/uORB/topics/vehicle_attitude.h +++ b/apps/uORB/topics/vehicle_attitude.h @@ -57,29 +57,26 @@ */ struct vehicle_attitude_s { - /* - * Actual data, this is specific to the type of data which is stored in this struct - * A line containing L0GME will be added by the Python logging code generator to the - * logged dataset. - */ - uint64_t timestamp; /**< in microseconds since system start */ + uint64_t timestamp; /**< in microseconds since system start */ /* This is similar to the mavlink message ATTITUDE, but for onboard use */ - /* @warning Roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ + /** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ - float roll; /**< Roll angle (rad, Tait-Bryan, NED) LOGME */ - float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) LOGME */ - float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) LOGME */ - float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float rate_offsets[3];/**< Offsets of the body angular rates from zero */ - float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ - float q[4]; /**< Quaternion (NED) */ - bool R_valid; /**< Rotation matrix valid */ - bool q_valid; /**< Quaternion valid */ - uint16_t counter; /**< Counter of all attitude messages (wraps) */ + float roll; /**< Roll angle (rad, Tait-Bryan, NED) */ + float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */ + float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */ + float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */ + float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */ + float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */ + float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */ + float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */ + float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */ + float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ + float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ + float q[4]; /**< Quaternion (NED) */ + bool R_valid; /**< Rotation matrix valid */ + bool q_valid; /**< Quaternion valid */ }; diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h index db529da06..5463a460d 100644 --- a/apps/uORB/topics/vehicle_gps_position.h +++ b/apps/uORB/topics/vehicle_gps_position.h @@ -55,35 +55,38 @@ */ struct vehicle_gps_position_s { - uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - uint32_t counter; /**< Count of GPS messages */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ + uint64_t timestamp_position; /**< Timestamp for position information */ + int32_t lat; /**< Latitude in 1E7 degrees */ + int32_t lon; /**< Longitude in 1E7 degrees */ + int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ - int32_t lat; /**< Latitude in 1E7 degrees //LOGME */ - int32_t lon; /**< Longitude in 1E7 degrees //LOGME */ - int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL //LOGME */ - uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */ - uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */ - uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ - float s_variance; /**< speed accuracy estimate cm/s */ - float p_variance; /**< position accuracy estimate cm */ - uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */ - float vel_n; /**< GPS ground speed in m/s */ - float vel_e; /**< GPS ground speed in m/s */ - float vel_d; /**< GPS ground speed in m/s */ - uint16_t cog; /**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */ - uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ - uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ + uint64_t timestamp_variance; + float s_variance_m_s; /**< speed accuracy estimate m/s */ + float p_variance_m; /**< position accuracy estimate m */ + uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ - uint8_t satellite_prn[20]; /**< Global satellite ID */ - uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ - uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ - uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ - uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ - uint8_t satellite_info_available; /**< 0 for no info, 1 for info available */ + float eph_m; /**< GPS HDOP horizontal dilution of position in m */ + float epv_m; /**< GPS VDOP horizontal dilution of position in m */ - /* flags */ - float vel_ned_valid; /**< Flag to indicate if NED speed is valid */ + uint64_t timestamp_velocity; /**< Timestamp for velocity informations */ + float vel_m_s; /**< GPS ground speed (m/s) */ + float vel_n_m_s; /**< GPS ground speed in m/s */ + float vel_e_m_s; /**< GPS ground speed in m/s */ + float vel_d_m_s; /**< GPS ground speed in m/s */ + float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */ + bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */ + + uint64_t timestamp_time; /**< Timestamp for time information */ + uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ + + uint64_t timestamp_satellites; /**< Timestamp for sattelite information */ + uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ + uint8_t satellite_prn[20]; /**< Global satellite ID */ + uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ + uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ + bool satellite_info_available; /**< 0 for no info, 1 for info available */ }; /** diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 653f97de1..710e2fb5f 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -80,7 +80,6 @@ CONFIGURED_APPS += uORB CONFIGURED_APPS += mavlink CONFIGURED_APPS += mavlink_onboard -CONFIGURED_APPS += gps CONFIGURED_APPS += commander CONFIGURED_APPS += sdlog CONFIGURED_APPS += sensors @@ -114,6 +113,7 @@ CONFIGURED_APPS += drivers/stm32/tone_alarm CONFIGURED_APPS += drivers/stm32/adc CONFIGURED_APPS += drivers/px4fmu CONFIGURED_APPS += drivers/hil +CONFIGURED_APPS += drivers/gps # Testing stuff CONFIGURED_APPS += px4/sensors_bringup |