/
gps_nmea.c
403 lines (341 loc) · 10.2 KB
/
gps_nmea.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
/*
*
* Copyright (C) 2008-2011 The Paparazzi Team
* 2014 Freek van Tienen <freek.v.tienen@gmail.com>
*
* 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.
*
*/
/**
* @file gps_nmea.c
* Parser for the NMEA protocol.
*
* TODO: THIS NMEA-PARSER IS NOT WELL TESTED AND INCOMPLETE!!!
* Status:
* Parsing GGA and RMC is complete, GSA and other records are
* incomplete.
*/
#include "subsystems/gps.h"
#include "led.h"
#if GPS_USE_LATLONG
/* currently needed to get nav_utm_zone0 */
#include "subsystems/navigation/common_nav.h"
#endif
#include "math/pprz_geodetic_float.h"
#include <inttypes.h>
#include <string.h>
#include <math.h>
#include <stdlib.h>
#ifndef NMEA_PRINT
#define NMEA_PRINT(...) {};
#endif
#if NMEA_PRINT == printf
#include <stdio.h>
#endif
struct GpsNmea gps_nmea;
static void nmea_parse_GSA(void);
static void nmea_parse_RMC(void);
static void nmea_parse_GGA(void);
void gps_impl_init(void)
{
gps.nb_channels = GPS_NB_CHANNELS;
gps_nmea.msg_available = FALSE;
gps_nmea.pos_available = FALSE;
gps_nmea.gps_nb_ovrn = 0;
gps_nmea.msg_len = 0;
nmea_parse_prop_init();
}
void gps_nmea_msg(void (* _cb)(void))
{
gps.last_msg_ticks = sys_time.nb_sec_rem;
gps.last_msg_time = sys_time.nb_sec;
nmea_parse_msg();
if (gps_nmea.pos_available) {
if (gps.fix == GPS_FIX_3D) {
gps.last_3dfix_ticks = sys_time.nb_sec_rem;
gps.last_3dfix_time = sys_time.nb_sec;
}
_cb();
}
gps_nmea.msg_available = FALSE;
}
void WEAK nmea_parse_prop_init(void)
{
}
void WEAK nmea_parse_prop_msg(void)
{
}
/**
* parse_nmea_char() has a complete line.
* Find out what type of message it is and
* hand it to the parser for that type.
*/
void nmea_parse_msg(void)
{
if (gps_nmea.msg_len > 5 && !strncmp(&gps_nmea.msg_buf[2] , "RMC", 3)) {
gps_nmea.msg_buf[gps_nmea.msg_len] = 0;
NMEA_PRINT("parsing RMC: \"%s\" \n\r", gps_nmea.msg_buf);
NMEA_PRINT("RMC");
nmea_parse_RMC();
} else if (gps_nmea.msg_len > 5 && !strncmp(&gps_nmea.msg_buf[2] , "GGA", 3)) {
gps_nmea.msg_buf[gps_nmea.msg_len] = 0;
NMEA_PRINT("parse_gps_msg() - parsing GGA gps-message \"%s\" \n\r", gps_nmea.msg_buf);
NMEA_PRINT("GGA");
nmea_parse_GGA();
} else if (gps_nmea.msg_len > 5 && !strncmp(&gps_nmea.msg_buf[2] , "GSA", 3)) {
gps_nmea.msg_buf[gps_nmea.msg_len] = 0;
NMEA_PRINT("GSA: \"%s\" \n\r", gps_nmea.msg_buf);
NMEA_PRINT("GSA");
nmea_parse_GSA();
} else {
gps_nmea.msg_buf[gps_nmea.msg_len] = 0;
NMEA_PRINT("Propriarty message: len=%i \n\r \"%s\" \n\r", gps_nmea.msg_len, gps_nmea.msg_buf);
nmea_parse_prop_msg();
}
// reset message-buffer
gps_nmea.msg_len = 0;
}
/**
* This is the actual parser.
* It reads one character at a time
* setting gps_nmea.msg_available to TRUE
* after a full line.
*/
void nmea_parse_char(uint8_t c)
{
//reject empty lines
if (gps_nmea.msg_len == 0) {
if (c == '\r' || c == '\n' || c == '$') {
return;
}
}
// fill the buffer, unless it's full
if (gps_nmea.msg_len < NMEA_MAXLEN - 1) {
// messages end with a linefeed
//AD: TRUNK: if (c == '\r' || c == '\n')
if (c == '\r' || c == '\n') {
gps_nmea.msg_available = TRUE;
} else {
gps_nmea.msg_buf[gps_nmea.msg_len] = c;
gps_nmea.msg_len ++;
}
}
if (gps_nmea.msg_len >= NMEA_MAXLEN - 1) {
gps_nmea.msg_available = TRUE;
}
}
/**
* Calculate control sum of binary buffer
*/
uint8_t nmea_calc_crc(const char *buff, int buff_sz)
{
uint8_t chsum = 0,
it;
for (it = 0; it < buff_sz; ++it) {
chsum ^= buff[it];
}
return chsum;
}
/**
* parse GPGSA-nmea-messages stored in
* nmea_msg_buf .
*/
static void nmea_parse_GSA(void)
{
int i = 6; // current position in the message, start after: GPGSA,
// attempt to reject empty packets right away
if (gps_nmea.msg_buf[i] == ',' && gps_nmea.msg_buf[i + 1] == ',') {
NMEA_PRINT("p_GPGSA() - skipping empty message\n\r");
return;
}
// get auto2D/3D
// ignored
nmea_read_until(&i);
// get 2D/3D-fix
// set gps_mode=3=3d, 2=2d, 1=no fix or 0
gps.fix = atoi(&gps_nmea.msg_buf[i]);
if (gps.fix == 1) {
gps.fix = 0;
}
NMEA_PRINT("p_GPGSA() - gps.fix=%i (3=3D)\n\r", gps.fix);
nmea_read_until(&i);
// up to 12 PRNs of satellites used for fix
int satcount = 0;
int prn_cnt;
for (prn_cnt = 0; prn_cnt < 12; prn_cnt++) {
if (gps_nmea.msg_buf[i] != ',') {
gps.svinfos[prn_cnt].svid = atoi(&gps_nmea.msg_buf[i]);
NMEA_PRINT("p_GPGSA() - PRN %i=%i\n\r", satcount, gps.svinfos[prn_cnt].svid);
satcount++;
}
else {
gps.svinfos[prn_cnt].svid = 0;
}
nmea_read_until(&i);
}
// PDOP
float pdop = strtof(&gps_nmea.msg_buf[i], NULL);
gps.pdop = pdop * 100;
NMEA_PRINT("p_GPGSA() - pdop=%f\n\r", pdop);
nmea_read_until(&i);
// HDOP
float hdop = strtof(&gps_nmea.msg_buf[i], NULL);
NMEA_PRINT("p_GPGSA() - hdop=%f\n\r", hdop);
nmea_read_until(&i);
// VDOP
float vdop = strtof(&gps_nmea.msg_buf[i], NULL);
NMEA_PRINT("p_GPGSA() - vdop=%f\n\r", vdop);
nmea_read_until(&i);
}
/**
* parse GPRMC-nmea-messages stored in
* gps_nmea.msg_buf .
*/
static void nmea_parse_RMC(void)
{
int i = 6; // current position in the message, start after: GPRMC,
// attempt to reject empty packets right away
if (gps_nmea.msg_buf[i] == ',' && gps_nmea.msg_buf[i + 1] == ',') {
NMEA_PRINT("p_GPRMC() - skipping empty message\n\r");
return;
}
// First read time (ignored)
// get warning
nmea_read_until(&i);
// get lat
nmea_read_until(&i);
// get North/South
nmea_read_until(&i);
// get lon
nmea_read_until(&i);
// get eath/west
nmea_read_until(&i);
// get speed
nmea_read_until(&i);
double speed = strtod(&gps_nmea.msg_buf[i], NULL);
gps.gspeed = speed * 1.852 * 100 / (60 * 60);
NMEA_PRINT("p_GPRMC() - ground-speed=%f knot = %d cm/s\n\r", (speed * 1000), (gps.gspeed * 1000));
// get course
nmea_read_until(&i);
double course = strtod(&gps_nmea.msg_buf[i], NULL);
gps.course = RadOfDeg(course) * 1e7;
NMEA_PRINT("COURSE: %d \n\r", gps.course);
}
/**
* parse GPGGA-nmea-messages stored in
* gps_nmea.msg_buf .
*/
static void nmea_parse_GGA(void)
{
int i = 6; // current position in the message, start after: GPGGA,
double degrees, minutesfrac;
struct LlaCoor_f lla_f;
// attempt to reject empty packets right away
if (gps_nmea.msg_buf[i] == ',' && gps_nmea.msg_buf[i + 1] == ',') {
NMEA_PRINT("p_GPGGA() - skipping empty message\n\r");
return;
}
// get UTC time [hhmmss.sss]
// ignored GpsInfo.PosLLA.TimeOfFix.f = strtod(&packet[i], NULL);
// FIXME: parse UTC time correctly
double time = strtod(&gps_nmea.msg_buf[i], NULL);
gps.tow = (uint32_t)((time + 1) * 1000);
// get latitude [ddmm.mmmmm]
nmea_read_until(&i);
double lat = strtod(&gps_nmea.msg_buf[i], NULL);
// convert to pure degrees [dd.dddd] format
minutesfrac = modf(lat / 100, °rees);
lat = degrees + (minutesfrac * 100) / 60;
// get latitute N/S
nmea_read_until(&i);
if (gps_nmea.msg_buf[i] == 'S') {
lat = -lat;
}
// convert to radians
lla_f.lat = RadOfDeg(lat);
gps.lla_pos.lat = lat * 1e7; // convert to fixed-point
NMEA_PRINT("p_GPGGA() - lat=%f gps_lat=%f\n\r", (lat * 1000), lla_f.lat);
// get longitude [ddmm.mmmmm]
nmea_read_until(&i);
double lon = strtod(&gps_nmea.msg_buf[i], NULL);
// convert to pure degrees [dd.dddd] format
minutesfrac = modf(lon / 100, °rees);
lon = degrees + (minutesfrac * 100) / 60;
// get longitude E/W
nmea_read_until(&i);
if (gps_nmea.msg_buf[i] == 'W') {
lon = -lon;
}
// convert to radians
lla_f.lon = RadOfDeg(lon);
gps.lla_pos.lon = lon * 1e7; // convert to fixed-point
NMEA_PRINT("p_GPGGA() - lon=%f gps_lon=%f time=%u\n\r", (lon * 1000), lla_f.lon, gps.tow);
// get position fix status
nmea_read_until(&i);
// 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS
// check for good position fix
if ((gps_nmea.msg_buf[i] != '0') && (gps_nmea.msg_buf[i] != ',')) {
gps_nmea.pos_available = TRUE;
NMEA_PRINT("p_GPGGA() - POS_AVAILABLE == TRUE\n\r");
} else {
gps_nmea.pos_available = FALSE;
NMEA_PRINT("p_GPGGA() - gps_pos_available == false\n\r");
}
// get number of satellites used in GPS solution
nmea_read_until(&i);
gps.num_sv = atoi(&gps_nmea.msg_buf[i]);
NMEA_PRINT("p_GPGGA() - gps_numSatlitesUsed=%i\n\r", gps.num_sv);
// get HDOP, but we use PDOP from GSA message
nmea_read_until(&i);
//float hdop = strtof(&gps_nmea.msg_buf[i], NULL);
//gps.pdop = hdop * 100;
// get altitude (in meters) above geoid (MSL)
nmea_read_until(&i);
// lla_f.alt should actuall be height above ellipsoid,
// but since we don't get that, use hmsl instead
lla_f.alt = strtof(&gps_nmea.msg_buf[i], NULL);
gps.hmsl = lla_f.alt * 1000;
gps.lla_pos.alt = gps.hmsl;
NMEA_PRINT("p_GPGGA() - gps_alt=%i\n\r", gps.hmsl);
// get altitude units (allways M)
nmea_read_until(&i);
// get geoid seperation
nmea_read_until(&i);
// get seperations units
nmea_read_until(&i);
// get DGPS age
nmea_read_until(&i);
// get DGPS station ID
#if GPS_USE_LATLONG
/* convert to utm */
struct UtmCoor_f utm_f;
utm_f.zone = nav_utm_zone0;
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
/* convert to ECEF */
struct EcefCoor_f ecef_f;
ecef_of_lla_f(&ecef_f, &lla_f);
gps.ecef_pos.x = ecef_f.x * 100;
gps.ecef_pos.y = ecef_f.y * 100;
gps.ecef_pos.z = ecef_f.z * 100;
}