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/****************************************************************************
*
* 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 <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 "mtk.h"
MTK::MTK() :
_config_sent(false),
_mtk_revision(0)
{
decodeInit();
}
MTK::~MTK()
{
}
void
MTK::reset()
{
}
void
MTK::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate)
{
if (_config_sent == false) {
if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ)))
warnx("mtk: config write failed");
usleep(10000);
if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY)))
warnx("mtk: config write failed");
usleep(10000);
if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON)))
warnx("mtk: config write failed");
usleep(10000);
if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON)))
warnx("mtk: config write failed");
usleep(10000);
if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF)))
warnx("mtk: config write failed");
_config_sent = true;
}
return;
}
void
MTK::decodeInit(void)
{
_rx_ck_a = 0;
_rx_ck_b = 0;
_rx_count = 0;
_decode_state = MTK_DECODE_UNINIT;
}
void
MTK::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_needed, bool &pos_updated)
{
if (_decode_state == MTK_DECODE_UNINIT) {
if (b == MTK_SYNC1_V16) {
_decode_state = MTK_DECODE_GOT_CK_A;
config_needed = false;
_mtk_revision = 16;
} else if (b == MTK_SYNC1_V19) {
_decode_state = MTK_DECODE_GOT_CK_A;
config_needed = false;
_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
decodeInit();
}
} else if (_decode_state == MTK_DECODE_GOT_CK_B) {
// Add to checksum
if (_rx_count < 33)
addByteToChecksum(b);
// Fill packet buffer
_rx_buffer[_rx_count] = b;
_rx_count++;
/* Packet size minus checksum */
if (_rx_count >= 35) {
type_gps_mtk_packet *packet = (type_gps_mtk_packet *) _rx_buffer;;
/* Check if checksum is valid */
if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
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->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();
pos_updated = true;
} else {
warnx("mtk Checksum invalid, 0x%x, 0x%x instead of 0x%x, 0x%x", _rx_ck_a, packet->ck_a, _rx_ck_b, packet->ck_b);
}
// Reset state machine to decode next packet
decodeInit();
}
}
return;
}
void
MTK::addByteToChecksum(uint8_t b)
{
_rx_ck_a = _rx_ck_a + b;
_rx_ck_b = _rx_ck_b + _rx_ck_a;
}
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