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8 <h1>tsip.c</h1><a href="tsip_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment">00001 <span class="comment">/*! \file tsip.c \brief TSIP (Trimble Standard Interface Protocol) function library. */</span>
9 00002 <span class="comment">//*****************************************************************************</span>
10 00003 <span class="comment">//</span>
11 00004 <span class="comment">// File Name : 'tsip.c'</span>
12 00005 <span class="comment">// Title : TSIP (Trimble Standard Interface Protocol) function library</span>
13 00006 <span class="comment">// Author : Pascal Stang - Copyright (C) 2002-2003</span>
14 00007 <span class="comment">// Created : 2002.08.27</span>
15 00008 <span class="comment">// Revised : 2003.07.17</span>
16 00009 <span class="comment">// Version : 0.1</span>
17 00010 <span class="comment">// Target MCU : Atmel AVR Series</span>
18 00011 <span class="comment">// Editor Tabs : 4</span>
19 00012 <span class="comment">//</span>
20 00013 <span class="comment">// NOTE: This code is currently below version 1.0, and therefore is considered</span>
21 00014 <span class="comment">// to be lacking in some functionality or documentation, or may not be fully</span>
22 00015 <span class="comment">// tested. Nonetheless, you can expect most functions to work.</span>
23 00016 <span class="comment">//</span>
24 00017 <span class="comment">// This code is distributed under the GNU Public License</span>
25 00018 <span class="comment">// which can be found at http://www.gnu.org/licenses/gpl.txt</span>
26 00019 <span class="comment">//</span>
27 00020 <span class="comment">//*****************************************************************************</span>
28 00021
29 00022 <span class="preprocessor">#ifndef WIN32</span>
30 00023 <span class="preprocessor"></span><span class="preprocessor"> #include &lt;avr/io.h&gt;</span>
31 00024 <span class="preprocessor"> #include &lt;avr/pgmspace.h&gt;</span>
32 00025 <span class="preprocessor"> #include &lt;math.h&gt;</span>
33 00026 <span class="preprocessor"> #include &lt;stdlib.h&gt;</span>
34 00027 <span class="preprocessor">#endif</span>
35 00028 <span class="preprocessor"></span>
36 00029 <span class="preprocessor">#include "<a class="code" href="global_8h.html">global.h</a>"</span>
37 00030 <span class="preprocessor">#include "<a class="code" href="buffer_8h.html">buffer.h</a>"</span>
38 00031 <span class="preprocessor">#include "<a class="code" href="rprintf_8h.html">rprintf.h</a>"</span>
39 00032 <span class="preprocessor">#include "<a class="code" href="uart2_8h.html">uart2.h</a>"</span>
40 00033 <span class="preprocessor">#include "<a class="code" href="gps_8h.html">gps.h</a>"</span>
41 00034
42 00035 <span class="preprocessor">#include "<a class="code" href="tsip_8h.html">tsip.h</a>"</span>
43 00036
44 00037 <span class="comment">// Program ROM constants</span>
45 00038
46 00039 <span class="comment">// Global variables</span>
47 00040 <span class="keyword">extern</span> GpsInfoType GpsInfo;
48 00041 <span class="preprocessor">#define BUFFERSIZE 0x40</span>
49 00042 <span class="preprocessor"></span>u08 TsipPacket[BUFFERSIZE];
50 00043 u08 debug;
51 00044
52 00045 <span class="comment">// function pointer to single byte output routine</span>
53 00046 <span class="keyword">static</span> void (*TsipTxByteFunc)(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c);
54 00047
55 00048 <span class="keywordtype">void</span> tsipInit(<span class="keywordtype">void</span> (*txbytefunc)(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c))
56 00049 {
57 00050 <span class="comment">// set transmit function</span>
58 00051 <span class="comment">// (this function will be used for all SendPacket commands)</span>
59 00052 TsipTxByteFunc = txbytefunc;
60 00053
61 00054 <span class="comment">// set debug status</span>
62 00055 debug = 0;
63 00056
64 00057 <span class="comment">// compose GPS receiver configuration packet</span>
65 00058 u08 packet[4];
66 00059 packet[0] = BV(POS_LLA);
67 00060 packet[1] = BV(VEL_ENU);
68 00061 packet[2] = 0;
69 00062 packet[3] = 0;
70 00063 <span class="comment">// send configuration</span>
71 00064 tsipSendPacket(TSIPTYPE_SET_IO_OPTIONS, 4, packet);
72 00065 }
73 00066
74 00067 <span class="keywordtype">void</span> tsipSendPacket(u08 tsipType, u08 dataLength, u08* data)
75 00068 {
76 00069 u08 i;
77 00070 u08 dataIdx = 0;
78 00071
79 00072 <span class="comment">// start of packet</span>
80 00073 TsipPacket[dataIdx++] = DLE;
81 00074 <span class="comment">// packet type</span>
82 00075 TsipPacket[dataIdx++] = tsipType;
83 00076 <span class="comment">// add packet data</span>
84 00077 <span class="keywordflow">for</span>(i=0; i&lt;dataLength; i++)
85 00078 {
86 00079 <span class="keywordflow">if</span>(*data == DLE)
87 00080 {
88 00081 <span class="comment">// do double-DLE escape sequence</span>
89 00082 TsipPacket[dataIdx++] = *data;
90 00083 TsipPacket[dataIdx++] = *data++;
91 00084 }
92 00085 <span class="keywordflow">else</span>
93 00086 TsipPacket[dataIdx++] = *data++;
94 00087 }
95 00088 <span class="comment">// end of packet</span>
96 00089 TsipPacket[dataIdx++] = DLE;
97 00090 TsipPacket[dataIdx++] = ETX;
98 00091
99 00092 <span class="keywordflow">for</span>(i=0; i&lt;dataIdx; i++)
100 00093 TsipTxByteFunc(TsipPacket[i]);
101 00094 }
102 00095
103 00096 u08 tsipProcess(<a class="code" href="structstruct__cBuffer.html">cBuffer</a>* rxBuffer)
104 00097 {
105 00098 u08 foundpacket = FALSE;
106 00099 u08 startFlag = FALSE;
107 00100 u08 data;
108 00101 u08 i,j,k;
109 00102
110 00103 u08 TsipPacketIdx;
111 00104
112 00105 <span class="comment">// process the receive buffer</span>
113 00106 <span class="comment">// go through buffer looking for packets</span>
114 00107 <span class="keywordflow">while</span>(rxBuffer-&gt;<a class="code" href="structstruct__cBuffer.html#o2">datalength</a> &gt; 1)
115 00108 {
116 00109 <span class="comment">// look for a potential start of TSIP packet</span>
117 00110 <span class="keywordflow">if</span>(<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,0) == DLE)
118 00111 {
119 00112 <span class="comment">// make sure the next byte is not DLE or ETX</span>
120 00113 data = <a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,1);
121 00114 <span class="keywordflow">if</span>((data != DLE) &amp;&amp; (data != ETX))
122 00115 {
123 00116 <span class="comment">// found potential start</span>
124 00117 startFlag = TRUE;
125 00118 <span class="comment">// done looking for start</span>
126 00119 <span class="keywordflow">break</span>;
127 00120 }
128 00121 }
129 00122 <span class="keywordflow">else</span>
130 00123 <span class="comment">// not DLE, dump character from buffer</span>
131 00124 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer);
132 00125 }
133 00126
134 00127 <span class="comment">// if we detected a start, look for end of packet</span>
135 00128 <span class="keywordflow">if</span>(startFlag)
136 00129 {
137 00130 <span class="keywordflow">for</span>(i=1; i&lt;(rxBuffer-&gt;<a class="code" href="structstruct__cBuffer.html#o2">datalength</a>)-1; i++)
138 00131 {
139 00132 <span class="comment">// check for potential end of TSIP packet</span>
140 00133 <span class="keywordflow">if</span>((<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,i) == DLE) &amp;&amp; (<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,i+1) == ETX))
141 00134 {
142 00135 <span class="comment">// have a packet end</span>
143 00136 <span class="comment">// dump initial DLE</span>
144 00137 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer);
145 00138 <span class="comment">// copy data to TsipPacket</span>
146 00139 TsipPacketIdx = 0;
147 00140 <span class="keywordflow">for</span>(j=0; j&lt;(i-1); j++)
148 00141 {
149 00142 data = <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer);
150 00143 <span class="keywordflow">if</span>(data == DLE)
151 00144 {
152 00145 <span class="keywordflow">if</span>(<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,0) == DLE)
153 00146 {
154 00147 <span class="comment">// found double-DLE escape sequence, skip one of them</span>
155 00148 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer);
156 00149 j++;
157 00150 }
158 00151 }
159 00152 TsipPacket[TsipPacketIdx++] = data;
160 00153 }
161 00154 <span class="comment">// dump ending DLE+ETX</span>
162 00155 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer);
163 00156 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer);
164 00157
165 00158 <span class="comment">// found a packet</span>
166 00159 <span class="keywordflow">if</span>(debug)
167 00160 {
168 00161 rprintf(<span class="stringliteral">"Rx TSIP packet type: 0x%x len: %d rawlen: %d\r\n"</span>,
169 00162 TsipPacket[0],
170 00163 TsipPacketIdx,
171 00164 i);
172 00165 <span class="keywordflow">for</span>(k=0; k&lt;TsipPacketIdx; k++)
173 00166 {
174 00167 <a class="code" href="group__rprintf.html#ga7">rprintfu08</a>(TsipPacket[k]);
175 00168 <a class="code" href="group__rprintf.html#ga1">rprintfChar</a>(<span class="charliteral">' '</span>);
176 00169 }
177 00170 <span class="comment">//rprintfu08(bufferGetFromFront(rxBuffer)); rprintfChar(' ');</span>
178 00171 <span class="comment">//rprintfu08(bufferGetFromFront(rxBuffer)); rprintfChar(' ');</span>
179 00172
180 00173 <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
181 00174 }
182 00175 <span class="comment">// done with this processing session</span>
183 00176 foundpacket = TRUE;
184 00177 <span class="keywordflow">break</span>;
185 00178 }
186 00179 }
187 00180 }
188 00181
189 00182 <span class="keywordflow">if</span>(foundpacket)
190 00183 {
191 00184 <span class="comment">// switch on the packet type</span>
192 00185 <span class="keywordflow">switch</span>(TsipPacket[0])
193 00186 {
194 00187 <span class="keywordflow">case</span> TSIPTYPE_GPSTIME: tsipProcessGPSTIME(TsipPacket); <span class="keywordflow">break</span>;
195 00188 <span class="keywordflow">case</span> TSIPTYPE_POSFIX_XYZ_SP: tsipProcessPOSFIX_XYZ_SP(TsipPacket); <span class="keywordflow">break</span>;
196 00189 <span class="keywordflow">case</span> TSIPTYPE_VELFIX_XYZ: tsipProcessVELFIX_XYZ(TsipPacket); <span class="keywordflow">break</span>;
197 00190
198 00191 <span class="keywordflow">case</span> TSIPTYPE_POSFIX_LLA_SP: tsipProcessPOSFIX_LLA_SP(TsipPacket); <span class="keywordflow">break</span>;
199 00192 <span class="keywordflow">case</span> TSIPTYPE_VELFIX_ENU: tsipProcessVELFIX_ENU(TsipPacket); <span class="keywordflow">break</span>;
200 00193
201 00194 <span class="keywordflow">case</span> TSIPTYPE_RAWDATA: <span class="keywordflow">break</span>;
202 00195 <span class="keywordflow">default</span>:
203 00196 <span class="comment">//if(debug) rprintf("Unhandled TSIP packet type: 0x%x\r\n",TsipPacket[0]);</span>
204 00197 <span class="keywordflow">break</span>;
205 00198 }
206 00199 }
207 00200
208 00201 <span class="keywordflow">return</span> foundpacket;
209 00202 }
210 00203
211 00204 <span class="keywordtype">void</span> tsipProcessGPSTIME(u08* packet)
212 00205 {
213 00206 <span class="comment">// NOTE: check endian-ness if porting to processors other than the AVR</span>
214 00207 GpsInfo.TimeOfWeek.b[3] = packet[1];
215 00208 GpsInfo.TimeOfWeek.b[2] = packet[2];
216 00209 GpsInfo.TimeOfWeek.b[1] = packet[3];
217 00210 GpsInfo.TimeOfWeek.b[0] = packet[4];
218 00211
219 00212 GpsInfo.WeekNum = ((u16)packet[5]&lt;&lt;8)|((u16)packet[6]);
220 00213
221 00214 GpsInfo.UtcOffset.b[3] = packet[7];
222 00215 GpsInfo.UtcOffset.b[2] = packet[8];
223 00216 GpsInfo.UtcOffset.b[1] = packet[9];
224 00217 GpsInfo.UtcOffset.b[0] = packet[10];
225 00218 }
226 00219
227 00220 <span class="keywordtype">void</span> tsipProcessPOSFIX_XYZ_SP(u08* packet)
228 00221 {
229 00222 <span class="comment">// NOTE: check endian-ness if porting to processors other than the AVR</span>
230 00223 GpsInfo.PosECEF.x.b[3] = packet[1];
231 00224 GpsInfo.PosECEF.x.b[2] = packet[2];
232 00225 GpsInfo.PosECEF.x.b[1] = packet[3];
233 00226 GpsInfo.PosECEF.x.b[0] = packet[4];
234 00227
235 00228 GpsInfo.PosECEF.y.b[3] = packet[5];
236 00229 GpsInfo.PosECEF.y.b[2] = packet[6];
237 00230 GpsInfo.PosECEF.y.b[1] = packet[7];
238 00231 GpsInfo.PosECEF.y.b[0] = packet[8];
239 00232
240 00233 GpsInfo.PosECEF.z.b[3] = packet[9];
241 00234 GpsInfo.PosECEF.z.b[2] = packet[10];
242 00235 GpsInfo.PosECEF.z.b[1] = packet[11];
243 00236 GpsInfo.PosECEF.z.b[0] = packet[12];
244 00237
245 00238 GpsInfo.PosECEF.TimeOfFix.b[3] = packet[13];
246 00239 GpsInfo.PosECEF.TimeOfFix.b[2] = packet[14];
247 00240 GpsInfo.PosECEF.TimeOfFix.b[1] = packet[15];
248 00241 GpsInfo.PosECEF.TimeOfFix.b[0] = packet[16];
249 00242
250 00243 GpsInfo.PosECEF.updates++;
251 00244
252 00245 <span class="comment">// GpsInfo.TimeOfFix_ECEF.f = *((float*)&amp;packet[13]);</span>
253 00246 }
254 00247
255 00248 <span class="keywordtype">void</span> tsipProcessVELFIX_XYZ(u08* packet)
256 00249 {
257 00250 }
258 00251
259 00252 <span class="keywordtype">void</span> tsipProcessPOSFIX_LLA_SP(u08* packet)
260 00253 {
261 00254 <span class="comment">// NOTE: check endian-ness if porting to processors other than the AVR</span>
262 00255 GpsInfo.PosLLA.lat.b[3] = packet[1];
263 00256 GpsInfo.PosLLA.lat.b[2] = packet[2];
264 00257 GpsInfo.PosLLA.lat.b[1] = packet[3];
265 00258 GpsInfo.PosLLA.lat.b[0] = packet[4];
266 00259
267 00260 GpsInfo.PosLLA.lon.b[3] = packet[5];
268 00261 GpsInfo.PosLLA.lon.b[2] = packet[6];
269 00262 GpsInfo.PosLLA.lon.b[1] = packet[7];
270 00263 GpsInfo.PosLLA.lon.b[0] = packet[8];
271 00264
272 00265 GpsInfo.PosLLA.alt.b[3] = packet[9];
273 00266 GpsInfo.PosLLA.alt.b[2] = packet[10];
274 00267 GpsInfo.PosLLA.alt.b[1] = packet[11];
275 00268 GpsInfo.PosLLA.alt.b[0] = packet[12];
276 00269
277 00270 GpsInfo.PosLLA.TimeOfFix.b[3] = packet[17];
278 00271 GpsInfo.PosLLA.TimeOfFix.b[2] = packet[18];
279 00272 GpsInfo.PosLLA.TimeOfFix.b[1] = packet[18];
280 00273 GpsInfo.PosLLA.TimeOfFix.b[0] = packet[20];
281 00274
282 00275 GpsInfo.PosLLA.updates++;
283 00276 }
284 00277
285 00278 <span class="keywordtype">void</span> tsipProcessVELFIX_ENU(u08* packet)
286 00279 {
287 00280 <span class="comment">// NOTE: check endian-ness if porting to processors other than the AVR</span>
288 00281 GpsInfo.VelENU.east.b[3] = packet[1];
289 00282 GpsInfo.VelENU.east.b[2] = packet[2];
290 00283 GpsInfo.VelENU.east.b[1] = packet[3];
291 00284 GpsInfo.VelENU.east.b[0] = packet[4];
292 00285
293 00286 GpsInfo.VelENU.north.b[3] = packet[5];
294 00287 GpsInfo.VelENU.north.b[2] = packet[6];
295 00288 GpsInfo.VelENU.north.b[1] = packet[7];
296 00289 GpsInfo.VelENU.north.b[0] = packet[8];
297 00290
298 00291 GpsInfo.VelENU.up.b[3] = packet[9];
299 00292 GpsInfo.VelENU.up.b[2] = packet[10];
300 00293 GpsInfo.VelENU.up.b[1] = packet[11];
301 00294 GpsInfo.VelENU.up.b[0] = packet[12];
302 00295
303 00296 GpsInfo.VelENU.TimeOfFix.b[3] = packet[17];
304 00297 GpsInfo.VelENU.TimeOfFix.b[2] = packet[18];
305 00298 GpsInfo.VelENU.TimeOfFix.b[1] = packet[19];
306 00299 GpsInfo.VelENU.TimeOfFix.b[0] = packet[20];
307 00300
308 00301 GpsInfo.VelENU.updates++;
309 00302 }
310 00303
311 00304 <span class="keywordtype">void</span> tsipProcessRAWDATA(<a class="code" href="structstruct__cBuffer.html">cBuffer</a>* packet)
312 00305 {
313 00306 <span class="comment">/*</span>
314 00307 <span class="comment"> char oft = 1;</span>
315 00308 <span class="comment"> // process the data in TSIPdata</span>
316 00309 <span class="comment"> unsigned char SVnum = TSIPdata[oft];</span>
317 00310 <span class="comment"> unsigned __int32 SNR32 = (TSIPdata[oft+5] &lt;&lt; 24) + (TSIPdata[oft+6] &lt;&lt; 16) + (TSIPdata[oft+7] &lt;&lt; 8) + (TSIPdata[oft+8]);</span>
318 00311 <span class="comment"> unsigned __int32 codephase32 = (TSIPdata[oft+9] &lt;&lt; 24) + (TSIPdata[oft+10] &lt;&lt; 16) + (TSIPdata[oft+11] &lt;&lt; 8) + (TSIPdata[oft+12]);</span>
319 00312 <span class="comment"> unsigned __int32 doppler32 = (TSIPdata[oft+13] &lt;&lt; 24) + (TSIPdata[oft+14] &lt;&lt; 16) + (TSIPdata[oft+15] &lt;&lt; 8) + (TSIPdata[oft+16]);</span>
320 00313 <span class="comment"> </span>
321 00314 <span class="comment"> unsigned __int64 meastimeH32 = (TSIPdata[oft+17] &lt;&lt; 24) | (TSIPdata[oft+18] &lt;&lt; 16) | (TSIPdata[oft+19] &lt;&lt; 8) | (TSIPdata[oft+20]);</span>
322 00315 <span class="comment"> unsigned __int64 meastimeL32 = (TSIPdata[oft+21] &lt;&lt; 24) | (TSIPdata[oft+22] &lt;&lt; 16) | (TSIPdata[oft+23] &lt;&lt; 8) | (TSIPdata[oft+24]);</span>
323 00316 <span class="comment"> unsigned __int64 meastime64 = (meastimeH32 &lt;&lt; 32) | (meastimeL32);</span>
324 00317 <span class="comment"> </span>
325 00318 <span class="comment"> float SNR = *((float*) &amp;SNR32);</span>
326 00319 <span class="comment"> float codephase = *((float*) &amp;codephase32);</span>
327 00320 <span class="comment"> float doppler = *((float*) &amp;doppler32);</span>
328 00321 <span class="comment"> double meastime = *((double*) &amp;meastime64);</span>
329 00322 <span class="comment"> </span>
330 00323 <span class="comment"> // output to screen</span>
331 00324 <span class="comment"> printf("SV%2d SNR: %5.2f PH: %11.4f DOP: %11.4f TIME: %5.0I64f EPOCH: %7.2I64f\n",SVnum,SNR,codephase,doppler,meastime,meastime/1.5);</span>
332 00325 <span class="comment"> //printf("SV%2d SNR: %5.2f PH: %10.4f DOP: %10.4f TIME: %I64x\n",SVnum,SNR,codephase,doppler,meastime64);</span>
333 00326 <span class="comment"></span>
334 00327 <span class="comment"> // output to file</span>
335 00328 <span class="comment"> fprintf( logfile, "%2d %5.2f %11.4f %11.4f %5.0I64f %7.2I64f\n",SVnum,SNR,codephase,doppler,meastime,meastime/1.5);</span>
336 00329 <span class="comment">*/</span>
337 00330 }
338 00331
339 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Sun Oct 29 03:41:07 2006 for Procyon AVRlib by&nbsp;
340 <a href="http://www.doxygen.org/index.html">
341 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.2 </small></address>
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