/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: Julian Oes * Thomas Gubler * * 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 "mtk.h" #include #include #include #include #include #include #include #include #include #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 = 65535; //unknown in mtk custom mode 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 *arg) { // 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 */ int fd = *((int *)arg); /* 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 (1) { /* 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 { break; } } return NULL; } void *mtk_watchdog_loop(void *arg) { // printf("in mtk watchdog loop\n"); fflush(stdout); /* Set thread name */ prctl(PR_SET_NAME, "gps mtk watchdog", getpid()); /* Retrieve file descriptor */ int fd = *((int *)arg); 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 (1) { 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++; 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; mtk_fail_count = 0; once_ok = true; } } usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS); } close(mavlink_fd); return NULL; }