gps_skytraq.c File Reference

#include "subsystems/gps.h"
#include "subsystems/abi.h"
#include "led.h"

Include dependency graph for gps_skytraq.c:

Go to the source code of this file.

Macros
#define	UNINIT   0
#define	GOT_SYNC1   1
#define	GOT_SYNC2   2
#define	GOT_LEN1   3
#define	GOT_LEN2   4
#define	GOT_ID   5
#define	GOT_PAYLOAD   6
#define	GOT_CHECKSUM   7
#define	GOT_SYNC3   8
#define	SKYTRAQ_FIX_NONE   0x00
#define	SKYTRAQ_FIX_2D   0x01
#define	SKYTRAQ_FIX_3D   0x02
#define	SKYTRAQ_FIX_3D_DGPS   0x03
#define	SKYTRAQ_SYNC1   0xA0
#define	SKYTRAQ_SYNC2   0xA1
#define	SKYTRAQ_SYNC3   0x0D
#define	SKYTRAQ_SYNC4   0x0A
#define	SKYTRAQ_NAVIGATION_DATA_FixMode(_payload)   (uint8_t) (*((uint8_t*)_payload+2-2))
#define	SKYTRAQ_NAVIGATION_DATA_NumSV(_payload)   (uint8_t) (*((uint8_t*)_payload+3-2))
#define	SKYTRAQ_NAVIGATION_DATA_WEEK(_payload)   bswap16(*(uint16_t*)&_payload[4-2])
#define	SKYTRAQ_NAVIGATION_DATA_TOW(_payload)   __builtin_bswap32(*(uint32_t*)&_payload[6-2])
#define	SKYTRAQ_NAVIGATION_DATA_LAT(_payload)   (int32_t)__builtin_bswap32(*( int32_t*)&_payload[10-2])
#define	SKYTRAQ_NAVIGATION_DATA_LON(_payload)   (int32_t)__builtin_bswap32(*( int32_t*)&_payload[14-2])
#define	SKYTRAQ_NAVIGATION_DATA_AEL(_payload)   __builtin_bswap32(*(uint32_t*)&_payload[18-2])
#define	SKYTRAQ_NAVIGATION_DATA_ASL(_payload)   __builtin_bswap32(*(uint32_t*)&_payload[22-2])
#define	SKYTRAQ_NAVIGATION_DATA_GDOP(_payload)   bswap16(*(uint16_t*)&_payload[26-2])
#define	SKYTRAQ_NAVIGATION_DATA_PDOP(_payload)   bswap16(*(uint16_t*)&_payload[28-2])
#define	SKYTRAQ_NAVIGATION_DATA_HDOP(_payload)   bswap16(*(uint16_t*)&_payload[30-2])
#define	SKYTRAQ_NAVIGATION_DATA_VDOP(_payload)   bswap16(*(uint16_t*)&_payload[32-2])
#define	SKYTRAQ_NAVIGATION_DATA_TDOP(_payload)   bswap16(*(uint16_t*)&_payload[34-2])
#define	SKYTRAQ_NAVIGATION_DATA_ECEFX(_payload)   (int32_t)__builtin_bswap32(*(uint32_t*)&_payload[36-2])
#define	SKYTRAQ_NAVIGATION_DATA_ECEFY(_payload)   (int32_t)__builtin_bswap32(*(uint32_t*)&_payload[40-2])
#define	SKYTRAQ_NAVIGATION_DATA_ECEFZ(_payload)   (int32_t)__builtin_bswap32(*(uint32_t*)&_payload[44-2])
#define	SKYTRAQ_NAVIGATION_DATA_ECEFVX(_payload)   (int32_t)__builtin_bswap32(*(uint32_t*)&_payload[48-2])
#define	SKYTRAQ_NAVIGATION_DATA_ECEFVY(_payload)   (int32_t)__builtin_bswap32(*(uint32_t*)&_payload[52-2])
#define	SKYTRAQ_NAVIGATION_DATA_ECEFVZ(_payload)   (int32_t)__builtin_bswap32(*(uint32_t*)&_payload[56-2])
#define	MAX_DISTANCE   1000000

Functions
static uint16_t	bswap16 (uint16_t a)
static int	distance_too_great (struct EcefCoor_i *ecef_ref, struct EcefCoor_i *ecef_pos)
void	gps_impl_init (void)
	GPS initialization. More...
void	gps_skytraq_msg (void)
void	gps_skytraq_read_message (void)
void	gps_skytraq_parse (uint8_t c)

Variables
struct GpsSkytraq	gps_skytraq

Macro Definition Documentation

#define GOT_CHECKSUM   7

Definition at line 42 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define GOT_ID   5

Definition at line 40 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define GOT_LEN1   3

Definition at line 38 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define GOT_LEN2   4

Definition at line 39 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define GOT_PAYLOAD   6

Definition at line 41 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define GOT_SYNC1   1

Definition at line 36 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define GOT_SYNC2   2

Definition at line 37 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define GOT_SYNC3   8

Definition at line 43 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define MAX_DISTANCE   1000000

Definition at line 90 of file gps_skytraq.c.

Referenced by distance_too_great().

#define SKYTRAQ_FIX_2D   0x01

Definition at line 46 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_FIX_3D   0x02

Definition at line 47 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_FIX_3D_DGPS   0x03

Definition at line 48 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_FIX_NONE   0x00

Definition at line 45 of file gps_skytraq.c.

#define SKYTRAQ_NAVIGATION_DATA_AEL

(

_payload

)

__builtin_bswap32(*(uint32_t*)&_payload[18-2])

Definition at line 72 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_ASL

(

_payload

)

__builtin_bswap32(*(uint32_t*)&_payload[22-2])

Definition at line 73 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_ECEFVX

(

_payload

)

(int32_t)__builtin_bswap32(*(uint32_t*)&_payload[48-2])

Definition at line 84 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_ECEFVY

(

_payload

)

(int32_t)__builtin_bswap32(*(uint32_t*)&_payload[52-2])

Definition at line 85 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_ECEFVZ

(

_payload

)

(int32_t)__builtin_bswap32(*(uint32_t*)&_payload[56-2])

Definition at line 86 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_ECEFX

(

_payload

)

(int32_t)__builtin_bswap32(*(uint32_t*)&_payload[36-2])

Definition at line 81 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_ECEFY

(

_payload

)

(int32_t)__builtin_bswap32(*(uint32_t*)&_payload[40-2])

Definition at line 82 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_ECEFZ

(

_payload

)

(int32_t)__builtin_bswap32(*(uint32_t*)&_payload[44-2])

Definition at line 83 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_FixMode

(

_payload

)

(uint8_t) (*((uint8_t*)_payload+2-2))

Definition at line 63 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_GDOP

(

_payload

)

bswap16(*(uint16_t*)&_payload[26-2])

Definition at line 75 of file gps_skytraq.c.

#define SKYTRAQ_NAVIGATION_DATA_HDOP

(

_payload

)

bswap16(*(uint16_t*)&_payload[30-2])

Definition at line 77 of file gps_skytraq.c.

#define SKYTRAQ_NAVIGATION_DATA_LAT

(

_payload

)

(int32_t)__builtin_bswap32(*( int32_t*)&_payload[10-2])

Definition at line 69 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_LON

(

_payload

)

(int32_t)__builtin_bswap32(*( int32_t*)&_payload[14-2])

Definition at line 70 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_NumSV

(

_payload

)

(uint8_t) (*((uint8_t*)_payload+3-2))

Definition at line 64 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_PDOP

(

_payload

)

bswap16(*(uint16_t*)&_payload[28-2])

Definition at line 76 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_TDOP

(

_payload

)

bswap16(*(uint16_t*)&_payload[34-2])

Definition at line 79 of file gps_skytraq.c.

#define SKYTRAQ_NAVIGATION_DATA_TOW

(

_payload

)

__builtin_bswap32(*(uint32_t*)&_payload[6-2])

Definition at line 67 of file gps_skytraq.c.

Referenced by gps_skytraq_read_message().

#define SKYTRAQ_NAVIGATION_DATA_VDOP

(

_payload

)

bswap16(*(uint16_t*)&_payload[32-2])

Definition at line 78 of file gps_skytraq.c.

#define SKYTRAQ_NAVIGATION_DATA_WEEK

(

_payload

)

bswap16(*(uint16_t*)&_payload[4-2])

Definition at line 66 of file gps_skytraq.c.

#define SKYTRAQ_SYNC1   0xA0

Definition at line 51 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define SKYTRAQ_SYNC2   0xA1

Definition at line 52 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define SKYTRAQ_SYNC3   0x0D

Definition at line 54 of file gps_skytraq.c.

Referenced by gps_skytraq_parse().

#define SKYTRAQ_SYNC4   0x0A

Definition at line 55 of file gps_skytraq.c.

#define UNINIT   0

Definition at line 35 of file gps_skytraq.c.

Referenced by gps_impl_init(), and gps_skytraq_parse().

Function Documentation

static uint16_t bswap16 ( uint16_t  a )

inlinestatic

Definition at line 58 of file gps_skytraq.c.

static int distance_too_great ( struct EcefCoor_i *  ecef_ref, struct EcefCoor_i *  ecef_pos  )

static

Definition at line 270 of file gps_skytraq.c.

References FALSE, MAX_DISTANCE, TRUE, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by gps_skytraq_read_message().

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void gps_impl_init

(

void

)

GPS initialization.

GPS model specific init implementation.

Definition at line 94 of file gps_skytraq.c.

References gps_skytraq, GpsSkytraq::status, and UNINIT.

void gps_skytraq_msg

(

void

)

Definition at line 101 of file gps_skytraq.c.

References FALSE, GpsState::fix, get_sys_time_usec(), gps, GPS_FIX_3D, gps_skytraq, GPS_SKYTRAQ_ID, gps_skytraq_read_message(), GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, GpsSkytraq::msg_available, GpsSkytraq::msg_id, sys_time::nb_sec, sys_time::nb_sec_rem, and SKYTRAQ_ID_NAVIGATION_DATA.

Referenced by GpsEvent().

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void gps_skytraq_parse

(

uint8_t

c

)

Definition at line 198 of file gps_skytraq.c.

References GpsSkytraq::checksum, GpsSkytraq::error_cnt, GpsSkytraq::error_last, GOT_CHECKSUM, GOT_ID, GOT_LEN1, GOT_LEN2, GOT_PAYLOAD, GOT_SYNC1, GOT_SYNC2, GOT_SYNC3, gps_skytraq, GPS_SKYTRAQ_ERR_CHECKSUM, GPS_SKYTRAQ_ERR_MSG_TOO_LONG, GPS_SKYTRAQ_ERR_OUT_OF_SYNC, GPS_SKYTRAQ_ERR_UNEXPECTED, GPS_SKYTRAQ_MAX_PAYLOAD, GpsSkytraq::len, GpsSkytraq::msg_available, GpsSkytraq::msg_buf, GpsSkytraq::msg_id, GpsSkytraq::msg_idx, SKYTRAQ_SYNC1, SKYTRAQ_SYNC2, SKYTRAQ_SYNC3, GpsSkytraq::status, TRUE, and UNINIT.

Referenced by GpsEvent().

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void gps_skytraq_read_message

(

void

)

Definition at line 119 of file gps_skytraq.c.

References LlaCoor_i::alt, UtmCoor_i::alt, GpsState::course, distance_too_great(), UtmCoor_f::east, UtmCoor_i::east, LtpDef_i::ecef, GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, gps, GPS_FIX_2D, GPS_FIX_3D, GPS_FIX_NONE, gps_skytraq, GpsState::gspeed, GpsState::hmsl, LlaCoor_i::lat, LED_ON, LED_TOGGLE, LLA_FLOAT_OF_BFP, GpsState::lla_pos, LlaCoor_i::lon, ltp_def_from_ecef_i(), GpsSkytraq::msg_buf, GpsSkytraq::msg_id, nav_utm_zone0, ned_of_ecef_vect_i(), GpsState::ned_vel, UtmCoor_f::north, UtmCoor_i::north, GpsState::num_sv, GpsState::pdop, GpsSkytraq::ref_ltp, SKYTRAQ_FIX_2D, SKYTRAQ_FIX_3D, SKYTRAQ_FIX_3D_DGPS, SKYTRAQ_ID_NAVIGATION_DATA, SKYTRAQ_NAVIGATION_DATA_AEL, SKYTRAQ_NAVIGATION_DATA_ASL, SKYTRAQ_NAVIGATION_DATA_ECEFVX, SKYTRAQ_NAVIGATION_DATA_ECEFVY, SKYTRAQ_NAVIGATION_DATA_ECEFVZ, SKYTRAQ_NAVIGATION_DATA_ECEFX, SKYTRAQ_NAVIGATION_DATA_ECEFY, SKYTRAQ_NAVIGATION_DATA_ECEFZ, SKYTRAQ_NAVIGATION_DATA_FixMode, SKYTRAQ_NAVIGATION_DATA_LAT, SKYTRAQ_NAVIGATION_DATA_LON, SKYTRAQ_NAVIGATION_DATA_NumSV, SKYTRAQ_NAVIGATION_DATA_PDOP, SKYTRAQ_NAVIGATION_DATA_TOW, GpsState::speed_3d, GpsState::tow, utm_of_lla_f(), GpsState::utm_pos, EcefCoor_i::x, NedCoor_i::x, EcefCoor_i::y, NedCoor_i::y, EcefCoor_i::z, NedCoor_i::z, UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by gps_skytraq_msg().

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Variable Documentation

struct GpsSkytraq gps_skytraq

Definition at line 32 of file gps_skytraq.c.

Referenced by gps_impl_init(), gps_skytraq_msg(), gps_skytraq_parse(), gps_skytraq_read_message(), and GpsEvent().