/**************************************************************************** * * 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 NMEA protocol implementation */ #include "gps.h" #include "nmea_helper.h" #include #include #include #include #include #include #include #include #include #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; }