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-rw-r--r--apps/gps/nmea_helper.c335
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+/****************************************************************************
+ *
+ * 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 "nmea_helper.h"
+#include <sys/prctl.h>
+#include <poll.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <mavlink/mavlink_log.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 *arg)
+{
+ /* Set thread name */
+ prctl(PR_SET_NAME, "gps nmea read", getpid());
+
+ /* Retrieve file descriptor */
+ int fd = *((int *)arg);
+
+ /* 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 = {0};
+ nmea_gps = &nmea_gps_d;
+ int gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
+
+ while (1) {
+ /* 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 = epoch * 1e6 + info->utc.hsec * 1e4;
+ nmea_gps->fix_type = (uint8_t)info->fix;
+ nmea_gps->lat = (int32_t)ndeg2degree(info->lat) * 1e7;
+ nmea_gps->lon = (int32_t)ndeg2degree(info->lon) * 1e7;
+ nmea_gps->alt = (int32_t)(info->elv * 1e3);
+ 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 = 65535;
+ 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);
+
+ return NULL;
+
+}
+
+void *nmea_watchdog_loop(void *arg)
+{
+ /* 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;
+
+ int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+
+ while (1) {
+// 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);
+ }
+
+ close(mavlink_fd);
+
+ return NULL;
+}
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