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gps_udp.c
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gps_udp.c
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/*
* Copyright (C) 2008-2011 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "subsystems/gps.h"
bool_t gps_available;
#include "fms/fms_network.h"
#include <string.h>
#include <stdio.h>
#if GPS_USE_LATLONG
#include "subsystems/navigation/common_nav.h"
#include "math/pprz_geodetic_float.h"
#endif
//Check if variables are set and else define them
#ifndef GPS_UDP_HOST
#define GPS_UDP_HOST "192.168.1.2"
#endif
#define GPS_UDP_MSG_LEN (11*4)
//Define the buffer, check bytes and FmsNetwork
unsigned char gps_udp_read_buffer[256];
struct FmsNetwork* gps_network = NULL;
void gps_impl_init(void) {
gps.fix = GPS_FIX_NONE;
gps_available = FALSE;
gps_network = network_new(GPS_UDP_HOST, 6000 /*out*/, 7000 /*in*/, TRUE);
}
#define STX 99
#define UDP_GPS_INT(_udp_gps_payload) (int32_t)(*((uint8_t*)_udp_gps_payload)|*((uint8_t*)_udp_gps_payload+1)<<8|((int32_t)*((uint8_t*)_udp_gps_payload+2))<<16|((int32_t)*((uint8_t*)_udp_gps_payload+3))<<24)
void gps_parse(void) {
if (gps_network == NULL) return;
//Read from the network
int size = network_read( gps_network, &gps_udp_read_buffer[0], 256);
if(size > 0)
{
// Correct MSG
if ((size == GPS_UDP_MSG_LEN) && (gps_udp_read_buffer[0] == STX))
{
gps.lla_pos.lat = RadOfDeg(UDP_GPS_INT(gps_udp_read_buffer+4));
gps.lla_pos.lon = RadOfDeg(UDP_GPS_INT(gps_udp_read_buffer+8));
gps.lla_pos.alt = UDP_GPS_INT(gps_udp_read_buffer+12);
gps.hmsl = UDP_GPS_INT(gps_udp_read_buffer+16);
gps.ecef_pos.x = UDP_GPS_INT(gps_udp_read_buffer+20);
gps.ecef_pos.y = UDP_GPS_INT(gps_udp_read_buffer+24);
gps.ecef_pos.z = UDP_GPS_INT(gps_udp_read_buffer+28);
gps.ecef_vel.x = UDP_GPS_INT(gps_udp_read_buffer+32);
gps.ecef_vel.y = UDP_GPS_INT(gps_udp_read_buffer+36);
gps.ecef_vel.z = UDP_GPS_INT(gps_udp_read_buffer+40);
gps.fix = GPS_FIX_3D;
gps_available = TRUE;
#if GPS_USE_LATLONG
// Computes from (lat, long) in the referenced UTM zone
struct LlaCoor_f lla_f;
lla_f.lat = ((float) gps.lla_pos.lat) / 1e7;
lla_f.lon = ((float) gps.lla_pos.lon) / 1e7;
struct UtmCoor_f utm_f;
utm_f.zone = nav_utm_zone0;
// convert to utm
utm_of_lla_f(&utm_f, &lla_f);
// copy results of utm conversion
gps.utm_pos.east = utm_f.east*100;
gps.utm_pos.north = utm_f.north*100;
gps.utm_pos.alt = gps.lla_pos.alt;
gps.utm_pos.zone = nav_utm_zone0;
#endif
}
else
{
printf("gps_udp error: msg len invalid %d bytes\n",size);
}
memset(&gps_udp_read_buffer[0], 0, sizeof(gps_udp_read_buffer));
}
}