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Merge pull request #437 from tracernz/nmea-satdata 

Add NMEA Signal Quality
This commit is contained in:
Dominic Clifton 2015-03-10 00:18:47 +01:00
parent c0c2f8e285 cda2f3169e
commit d8cd9f239c
1 changed files with 163 additions and 113 deletions
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276
src/main/io/gps.c
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@ -65,6 +65,8 @@ extern int16_t debug[4];
#define LOG_UBLOX_POSLLH 'P' #define LOG_UBLOX_POSLLH 'P'
#define LOG_UBLOX_VELNED 'V' #define LOG_UBLOX_VELNED 'V'
#define GPS_SV_MAXSATS 16
char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT]; char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];
static char *gpsPacketLogChar = gpsPacketLog; static char *gpsPacketLogChar = gpsPacketLog;
// ********************** // **********************
@ -81,11 +83,11 @@ uint16_t GPS_altitude; // altitude in 0.1m
uint16_t GPS_speed; // speed in 0.1m/s uint16_t GPS_speed; // speed in 0.1m/s
uint16_t GPS_ground_course = 0; // degrees * 10 uint16_t GPS_ground_course = 0; // degrees * 10
uint8_t GPS_numCh; // Number of channels uint8_t GPS_numCh; // Number of channels
uint8_t GPS_svinfo_chn[16]; // Channel number uint8_t GPS_svinfo_chn[GPS_SV_MAXSATS]; // Channel number
uint8_t GPS_svinfo_svid[16]; // Satellite ID uint8_t GPS_svinfo_svid[GPS_SV_MAXSATS]; // Satellite ID
uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity uint8_t GPS_svinfo_quality[GPS_SV_MAXSATS]; // Bitfield Qualtity
uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength) uint8_t GPS_svinfo_cno[GPS_SV_MAXSATS]; // Carrier to Noise Ratio (Signal Strength)
static gpsConfig_t *gpsConfig; static gpsConfig_t *gpsConfig;
@ -452,6 +454,7 @@ bool gpsNewFrame(uint8_t c)
#define NO_FRAME 0 #define NO_FRAME 0
#define FRAME_GGA 1 #define FRAME_GGA 1
#define FRAME_RMC 2 #define FRAME_RMC 2
#define FRAME_GSV 3
// This code is used for parsing NMEA data // This code is used for parsing NMEA data
@ -516,130 +519,177 @@ static uint32_t grab_fields(char *src, uint8_t mult)
return tmp; return tmp;
} }
typedef struct gpsDataNmea_s {
int32_t latitude;
int32_t longitude;
uint8_t numSat;
uint16_t altitude;
uint16_t speed;
uint16_t ground_course;
} gpsDataNmea_t;
static bool gpsNewFrameNMEA(char c) static bool gpsNewFrameNMEA(char c)
{ {
typedef struct gpsdata_s { static gpsDataNmea_t gps_Msg;
int32_t latitude;
int32_t longitude;
uint8_t numSat;
uint16_t altitude;
uint16_t speed;
uint16_t ground_course;
} gpsdata_t;
static gpsdata_t gps_Msg;
uint8_t frameOK = 0; uint8_t frameOK = 0;
static uint8_t param = 0, offset = 0, parity = 0; static uint8_t param = 0, offset = 0, parity = 0;
static char string[15]; static char string[15];
static uint8_t checksum_param, gps_frame = NO_FRAME; static uint8_t checksum_param, gps_frame = NO_FRAME;
static uint8_t svMessageNum = 0;
uint8_t svSatNum = 0, svPacketIdx = 0, svSatParam = 0;
switch (c) { switch (c) {
case '$': case '$':
param = 0; param = 0;
offset = 0; offset = 0;
parity = 0; parity = 0;
break;
case ',':
case '*':
string[offset] = 0;
if (param == 0) { //frame identification
gps_frame = NO_FRAME;
if (string[0] == 'G' && string[1] == 'P' && string[2] == 'G' && string[3] == 'G' && string[4] == 'A')
gps_frame = FRAME_GGA;
if (string[0] == 'G' && string[1] == 'P' && string[2] == 'R' && string[3] == 'M' && string[4] == 'C')
gps_frame = FRAME_RMC;
}
switch (gps_frame) {
case FRAME_GGA: //************* GPGGA FRAME parsing
switch (param) {
// case 1: // Time information
// break;
case 2:
gps_Msg.latitude = GPS_coord_to_degrees(string);
break;
case 3:
if (string[0] == 'S')
gps_Msg.latitude *= -1;
break;
case 4:
gps_Msg.longitude = GPS_coord_to_degrees(string);
break;
case 5:
if (string[0] == 'W')
gps_Msg.longitude *= -1;
break;
case 6:
if (string[0] > '0') {
ENABLE_STATE(GPS_FIX);
} else {
DISABLE_STATE(GPS_FIX);
}
break;
case 7:
gps_Msg.numSat = grab_fields(string, 0);
break;
case 9:
gps_Msg.altitude = grab_fields(string, 0); // altitude in meters added by Mis
break;
}
break; break;
case FRAME_RMC: //************* GPRMC FRAME parsing case ',':
switch (param) { case '*':
case 7: string[offset] = 0;
gps_Msg.speed = ((grab_fields(string, 1) * 5144L) / 1000L); // speed in cm/s added by Mis if (param == 0) { //frame identification
break; gps_frame = NO_FRAME;
case 8: if (string[0] == 'G' && string[1] == 'P' && string[2] == 'G' && string[3] == 'G' && string[4] == 'A')
gps_Msg.ground_course = (grab_fields(string, 1)); // ground course deg * 10 gps_frame = FRAME_GGA;
break; if (string[0] == 'G' && string[1] == 'P' && string[2] == 'R' && string[3] == 'M' && string[4] == 'C')
gps_frame = FRAME_RMC;
if (string[0] == 'G' && string[1] == 'P' && string[2] == 'G' && string[3] == 'S' && string[4] == 'V')
gps_frame = FRAME_GSV;
} }
break;
}
param++; switch (gps_frame) {
offset = 0; case FRAME_GGA: //************* GPGGA FRAME parsing
if (c == '*') switch(param) {
checksum_param = 1; // case 1: // Time information
else // break;
parity ^= c; case 2:
break; gps_Msg.latitude = GPS_coord_to_degrees(string);
case '\r': break;
case '\n': case 3:
if (checksum_param) { //parity checksum if (string[0] == 'S')
shiftPacketLog(); gps_Msg.latitude *= -1;
uint8_t checksum = 16 * ((string[0] >= 'A') ? string[0] - 'A' + 10 : string[0] - '0') + ((string[1] >= 'A') ? string[1] - 'A' + 10 : string[1] - '0'); break;
if (checksum == parity) { case 4:
*gpsPacketLogChar = LOG_IGNORED; gps_Msg.longitude = GPS_coord_to_degrees(string);
GPS_packetCount++; break;
switch (gps_frame) { case 5:
case FRAME_GGA: if (string[0] == 'W')
*gpsPacketLogChar = LOG_NMEA_GGA; gps_Msg.longitude *= -1;
frameOK = 1; break;
if (STATE(GPS_FIX)) { case 6:
GPS_coord[LAT] = gps_Msg.latitude; if (string[0] > '0') {
GPS_coord[LON] = gps_Msg.longitude; ENABLE_STATE(GPS_FIX);
GPS_numSat = gps_Msg.numSat; } else {
GPS_altitude = gps_Msg.altitude; DISABLE_STATE(GPS_FIX);
}
break;
case 7:
gps_Msg.numSat = grab_fields(string, 0);
break;
case 9:
gps_Msg.altitude = grab_fields(string, 0); // altitude in meters added by Mis
break;
} }
break; break;
case FRAME_RMC: case FRAME_RMC: //************* GPRMC FRAME parsing
*gpsPacketLogChar = LOG_NMEA_RMC; switch(param) {
GPS_speed = gps_Msg.speed; case 7:
GPS_ground_course = gps_Msg.ground_course; gps_Msg.speed = ((grab_fields(string, 1) * 5144L) / 1000L); // speed in cm/s added by Mis
break;
case 8:
gps_Msg.ground_course = (grab_fields(string, 1)); // ground course deg * 10
break;
}
break;
case FRAME_GSV:
switch(param) {
/*case 1:
// Total number of messages of this type in this cycle
break; */
case 2:
// Message number
svMessageNum = grab_fields(string, 0);
break;
case 3:
// Total number of SVs visible
GPS_numCh = grab_fields(string, 0);
break;
}
if(param < 4)
break;
svPacketIdx = (param - 4) / 4 + 1; // satellite number in packet, 1-4
svSatNum = svPacketIdx + (4 * (svMessageNum - 1)); // global satellite number
svSatParam = param - 3 - (4 * (svPacketIdx - 1)); // parameter number for satellite
if(svSatNum > GPS_SV_MAXSATS)
break;
switch(svSatParam) {
case 1:
// SV PRN number
GPS_svinfo_chn[svSatNum - 1] = svSatNum;
GPS_svinfo_svid[svSatNum - 1] = grab_fields(string, 0);
break;
/*case 2:
// Elevation, in degrees, 90 maximum
break;
case 3:
// Azimuth, degrees from True North, 000 through 359
break; */
case 4:
// SNR, 00 through 99 dB (null when not tracking)
GPS_svinfo_cno[svSatNum - 1] = grab_fields(string, 0);
GPS_svinfo_quality[svSatNum - 1] = 0; // only used by ublox
break;
}
break; break;
} // end switch
} else {
*gpsPacketLogChar = LOG_ERROR;
} }
}
checksum_param = 0; param++;
break; offset = 0;
default: if (c == '*')
if (offset < 15) checksum_param = 1;
string[offset++] = c; else
if (!checksum_param) parity ^= c;
parity ^= c; break;
case '\r':
case '\n':
if (checksum_param) { //parity checksum
shiftPacketLog();
uint8_t checksum = 16 * ((string[0] >= 'A') ? string[0] - 'A' + 10 : string[0] - '0') + ((string[1] >= 'A') ? string[1] - 'A' + 10 : string[1] - '0');
if (checksum == parity) {
*gpsPacketLogChar = LOG_IGNORED;
GPS_packetCount++;
switch (gps_frame) {
case FRAME_GGA:
*gpsPacketLogChar = LOG_NMEA_GGA;
frameOK = 1;
if (STATE(GPS_FIX)) {
GPS_coord[LAT] = gps_Msg.latitude;
GPS_coord[LON] = gps_Msg.longitude;
GPS_numSat = gps_Msg.numSat;
GPS_altitude = gps_Msg.altitude;
}
break;
case FRAME_RMC:
*gpsPacketLogChar = LOG_NMEA_RMC;
GPS_speed = gps_Msg.speed;
GPS_ground_course = gps_Msg.ground_course;
break;
} // end switch
} else {
*gpsPacketLogChar = LOG_ERROR;
}
}
checksum_param = 0;
break;
default:
if (offset < 15)
string[offset++] = c;
if (!checksum_param)
parity ^= c;
} }
return frameOK; return frameOK;
} }