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<!DOCTYPE <h <t <link </head><body> <!-- <div <h 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00030 00031 00032 00033 00034 00035 00036 00037 00038 00039 00040 00041 00042 00043 u08 debug; 00044 00045 00046 00047 00048 00049 { 00050 00051 00052 00053 00054 00055 debug = 0; 00056 00057 00058 u08 packet[4]; 00059 00060 00061 packet[2] = 0; 00062 packet[3] = 0; 00063 00064 00065 } 00066 00067 00068 { 00069 u08 i; 00070 u08 dataIdx = 0; 00071 00072 00073 00074 00075 00076 00077 00078 { 00079 00080 { 00081 00082 00083 00084 } 00085 00086 00087 } 00088 00089 00090 00091 00092 00093 00094 } 00095 00096 00097 { 00098 00099 00100 u08 data; 00101 u08 i,j,k; 00102 00103 00104 00105 00106 00107 00108 { 00109 00110 00111 { 00112 00113 00114 00115 { 00116 00117 00118 00119 00120 } 00121 } 00122 00123 00124 00125 } 00126 00127 00128 00129 { 00130 00131 { 00132 00133 00134 { 00135 00136 00137 00138 00139 00140 00141 { 00142 00143 00144 00145 00146 00147 00148 00149 00150 00151 00152 00153 } 00154 00155 00156 00157 00158 00159 00160 { 00161 00162 00163 00164 00165 00166 00167 00168 00169 00170 00171 00172 00173 00174 } 00175 00176 00177 00178 } 00179 } 00180 } 00181 00182 00183 { 00184 00185 00186 { 00187 00188 00189 00190 00191 00192 00193 00194 00195 00196 00197 00198 } 00199 } 00200 00201 00202 } 00203 00204 00205 { 00206 00207 00208 00209 00210 00211 00212 00213 00214 00215 00216 00217 00218 } 00219 00220 00221 { 00222 00223 00224 00225 00226 00227 00228 00229 00230 00231 00232 00233 00234 00235 00236 00237 00238 00239 00240 00241 00242 00243 00244 00245 00246 } 00247 00248 00249 { 00250 } 00251 00252 00253 { 00254 00255 00256 00257 00258 00259 00260 00261 00262 00263 00264 00265 00266 00267 00268 00269 00270 00271 00272 00273 00274 00275 00276 } 00277 00278 00279 { 00280 00281 00282 00283 00284 00285 00286 00287 00288 00289 00290 00291 00292 00293 00294 00295 00296 00297 00298 00299 00300 00301 00302 } 00303 00304 00305 { 00306 00307 00308 00309 00310 00311 00312 00313 00314 00315 00316 00317 00318 00319 00320 00321 00322 00323 00324 00325 00326 00327 00328 00329 00330 } 00331 </ <a <img </body> </html>

HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> tml><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> itle>Procyon AVRlib: tsip.c Source File</title> href="dox.css" rel="stylesheet" type="text/css"> Generated by Doxygen 1.4.2 --> class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="modules.html">Modules</a> | <a class="qindex" href="annotated.html">Data Structures</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Data Fields</a> | <a class="qindex" href="globals.html">Globals</a> | <a class="qindex" href="pages.html">Related Pages</a></div> 1>tsip.c</h1><a href="tsip_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment">00001 /*! \file tsip.c \brief TSIP (Trimble Standard Interface Protocol) function library. */ //***************************************************************************** // // File Name : 'tsip.c' // Title : TSIP (Trimble Standard Interface Protocol) function library // Author : Pascal Stang - Copyright (C) 2002-2003 // Created : 2002.08.27 // Revised : 2003.07.17 // Version : 0.1 // Target MCU : Atmel AVR Series // Editor Tabs : 4 // // NOTE: This code is currently below version 1.0, and therefore is considered // to be lacking in some functionality or documentation, or may not be fully // tested. Nonetheless, you can expect most functions to work. // // This code is distributed under the GNU Public License // which can be found at http://www.gnu.org/licenses/gpl.txt // //***************************************************************************** #ifndef WIN32 #include <avr/io.h> #include <avr/pgmspace.h> #include <math.h> #include <stdlib.h> #endif #include "<a class="code" href="global_8h.html">global.h</a>" #include "<a class="code" href="buffer_8h.html">buffer.h</a>" #include "<a class="code" href="rprintf_8h.html">rprintf.h</a>" #include "<a class="code" href="uart2_8h.html">uart2.h</a>" #include "<a class="code" href="gps_8h.html">gps.h</a>" #include "<a class="code" href="tsip_8h.html">tsip.h</a>" // Program ROM constants // Global variables extern GpsInfoType GpsInfo; #define BUFFERSIZE 0x40 u08 TsipPacket[BUFFERSIZE]; // function pointer to single byte output routine static void (*TsipTxByteFunc)(unsigned char c); void tsipInit(void (*txbytefunc)(unsigned char c)) // set transmit function // (this function will be used for all SendPacket commands) TsipTxByteFunc = txbytefunc; // set debug status // compose GPS receiver configuration packet packet[0] = BV(POS_LLA); packet[1] = BV(VEL_ENU); // send configuration tsipSendPacket(TSIPTYPE_SET_IO_OPTIONS, 4, packet); void tsipSendPacket(u08 tsipType, u08 dataLength, u08* data) // start of packet TsipPacket[dataIdx++] = DLE; // packet type TsipPacket[dataIdx++] = tsipType; // add packet data for(i=0; i<dataLength; i++) if(*data == DLE) // do double-DLE escape sequence TsipPacket[dataIdx++] = *data; TsipPacket[dataIdx++] = *data++; else TsipPacket[dataIdx++] = *data++; // end of packet TsipPacket[dataIdx++] = DLE; TsipPacket[dataIdx++] = ETX; for(i=0; i<dataIdx; i++) TsipTxByteFunc(TsipPacket[i]); u08 tsipProcess(<a class="code" href="structstruct__cBuffer.html">cBuffer</a>* rxBuffer) u08 foundpacket = FALSE; u08 startFlag = FALSE; u08 TsipPacketIdx; // process the receive buffer // go through buffer looking for packets while(rxBuffer-><a class="code" href="structstruct__cBuffer.html#o2">datalength</a> > 1) // look for a potential start of TSIP packet if(<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,0) == DLE) // make sure the next byte is not DLE or ETX data = <a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,1); if((data != DLE) && (data != ETX)) // found potential start startFlag = TRUE; // done looking for start break; else // not DLE, dump character from buffer <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); // if we detected a start, look for end of packet if(startFlag) for(i=1; i<(rxBuffer-><a class="code" href="structstruct__cBuffer.html#o2">datalength</a>)-1; i++) // check for potential end of TSIP packet if((<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,i) == DLE) && (<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,i+1) == ETX)) // have a packet end // dump initial DLE <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); // copy data to TsipPacket TsipPacketIdx = 0; for(j=0; j<(i-1); j++) data = <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); if(data == DLE) { if(<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,0) == DLE) { // found double-DLE escape sequence, skip one of them <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); j++; } } TsipPacket[TsipPacketIdx++] = data; // dump ending DLE+ETX <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); // found a packet if(debug) rprintf("Rx TSIP packet type: 0x%x len: %d rawlen: %d\r\n", TsipPacket[0], TsipPacketIdx, i); for(k=0; k<TsipPacketIdx; k++) { <a class="code" href="group__rprintf.html#ga7">rprintfu08</a>(TsipPacket[k]); <a class="code" href="group__rprintf.html#ga1">rprintfChar</a>(' '); } //rprintfu08(bufferGetFromFront(rxBuffer)); rprintfChar(' '); //rprintfu08(bufferGetFromFront(rxBuffer)); rprintfChar(' '); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>(); // done with this processing session foundpacket = TRUE; break; if(foundpacket) // switch on the packet type switch(TsipPacket[0]) case TSIPTYPE_GPSTIME: tsipProcessGPSTIME(TsipPacket); break; case TSIPTYPE_POSFIX_XYZ_SP: tsipProcessPOSFIX_XYZ_SP(TsipPacket); break; case TSIPTYPE_VELFIX_XYZ: tsipProcessVELFIX_XYZ(TsipPacket); break; case TSIPTYPE_POSFIX_LLA_SP: tsipProcessPOSFIX_LLA_SP(TsipPacket); break; case TSIPTYPE_VELFIX_ENU: tsipProcessVELFIX_ENU(TsipPacket); break; case TSIPTYPE_RAWDATA: break; default: //if(debug) rprintf("Unhandled TSIP packet type: 0x%x\r\n",TsipPacket[0]); break; return foundpacket; void tsipProcessGPSTIME(u08* packet) // NOTE: check endian-ness if porting to processors other than the AVR GpsInfo.TimeOfWeek.b[3] = packet[1]; GpsInfo.TimeOfWeek.b[2] = packet[2]; GpsInfo.TimeOfWeek.b[1] = packet[3]; GpsInfo.TimeOfWeek.b[0] = packet[4]; GpsInfo.WeekNum = ((u16)packet[5]<<8)|((u16)packet[6]); GpsInfo.UtcOffset.b[3] = packet[7]; GpsInfo.UtcOffset.b[2] = packet[8]; GpsInfo.UtcOffset.b[1] = packet[9]; GpsInfo.UtcOffset.b[0] = packet[10]; void tsipProcessPOSFIX_XYZ_SP(u08* packet) // NOTE: check endian-ness if porting to processors other than the AVR GpsInfo.PosECEF.x.b[3] = packet[1]; GpsInfo.PosECEF.x.b[2] = packet[2]; GpsInfo.PosECEF.x.b[1] = packet[3]; GpsInfo.PosECEF.x.b[0] = packet[4]; GpsInfo.PosECEF.y.b[3] = packet[5]; GpsInfo.PosECEF.y.b[2] = packet[6]; GpsInfo.PosECEF.y.b[1] = packet[7]; GpsInfo.PosECEF.y.b[0] = packet[8]; GpsInfo.PosECEF.z.b[3] = packet[9]; GpsInfo.PosECEF.z.b[2] = packet[10]; GpsInfo.PosECEF.z.b[1] = packet[11]; GpsInfo.PosECEF.z.b[0] = packet[12]; GpsInfo.PosECEF.TimeOfFix.b[3] = packet[13]; GpsInfo.PosECEF.TimeOfFix.b[2] = packet[14]; GpsInfo.PosECEF.TimeOfFix.b[1] = packet[15]; GpsInfo.PosECEF.TimeOfFix.b[0] = packet[16]; GpsInfo.PosECEF.updates++; // GpsInfo.TimeOfFix_ECEF.f = *((float*)&packet[13]); void tsipProcessVELFIX_XYZ(u08* packet) void tsipProcessPOSFIX_LLA_SP(u08* packet) // NOTE: check endian-ness if porting to processors other than the AVR GpsInfo.PosLLA.lat.b[3] = packet[1]; GpsInfo.PosLLA.lat.b[2] = packet[2]; GpsInfo.PosLLA.lat.b[1] = packet[3]; GpsInfo.PosLLA.lat.b[0] = packet[4]; GpsInfo.PosLLA.lon.b[3] = packet[5]; GpsInfo.PosLLA.lon.b[2] = packet[6]; GpsInfo.PosLLA.lon.b[1] = packet[7]; GpsInfo.PosLLA.lon.b[0] = packet[8]; GpsInfo.PosLLA.alt.b[3] = packet[9]; GpsInfo.PosLLA.alt.b[2] = packet[10]; GpsInfo.PosLLA.alt.b[1] = packet[11]; GpsInfo.PosLLA.alt.b[0] = packet[12]; GpsInfo.PosLLA.TimeOfFix.b[3] = packet[17]; GpsInfo.PosLLA.TimeOfFix.b[2] = packet[18]; GpsInfo.PosLLA.TimeOfFix.b[1] = packet[18]; GpsInfo.PosLLA.TimeOfFix.b[0] = packet[20]; GpsInfo.PosLLA.updates++; void tsipProcessVELFIX_ENU(u08* packet) // NOTE: check endian-ness if porting to processors other than the AVR GpsInfo.VelENU.east.b[3] = packet[1]; GpsInfo.VelENU.east.b[2] = packet[2]; GpsInfo.VelENU.east.b[1] = packet[3]; GpsInfo.VelENU.east.b[0] = packet[4]; GpsInfo.VelENU.north.b[3] = packet[5]; GpsInfo.VelENU.north.b[2] = packet[6]; GpsInfo.VelENU.north.b[1] = packet[7]; GpsInfo.VelENU.north.b[0] = packet[8]; GpsInfo.VelENU.up.b[3] = packet[9]; GpsInfo.VelENU.up.b[2] = packet[10]; GpsInfo.VelENU.up.b[1] = packet[11]; GpsInfo.VelENU.up.b[0] = packet[12]; GpsInfo.VelENU.TimeOfFix.b[3] = packet[17]; GpsInfo.VelENU.TimeOfFix.b[2] = packet[18]; GpsInfo.VelENU.TimeOfFix.b[1] = packet[19]; GpsInfo.VelENU.TimeOfFix.b[0] = packet[20]; GpsInfo.VelENU.updates++; void tsipProcessRAWDATA(<a class="code" href="structstruct__cBuffer.html">cBuffer</a>* packet) /* char oft = 1; // process the data in TSIPdata unsigned char SVnum = TSIPdata[oft]; unsigned __int32 SNR32 = (TSIPdata[oft+5] << 24) + (TSIPdata[oft+6] << 16) + (TSIPdata[oft+7] << 8) + (TSIPdata[oft+8]); unsigned __int32 codephase32 = (TSIPdata[oft+9] << 24) + (TSIPdata[oft+10] << 16) + (TSIPdata[oft+11] << 8) + (TSIPdata[oft+12]); unsigned __int32 doppler32 = (TSIPdata[oft+13] << 24) + (TSIPdata[oft+14] << 16) + (TSIPdata[oft+15] << 8) + (TSIPdata[oft+16]); unsigned __int64 meastimeH32 = (TSIPdata[oft+17] << 24) | (TSIPdata[oft+18] << 16) | (TSIPdata[oft+19] << 8) | (TSIPdata[oft+20]); unsigned __int64 meastimeL32 = (TSIPdata[oft+21] << 24) | (TSIPdata[oft+22] << 16) | (TSIPdata[oft+23] << 8) | (TSIPdata[oft+24]); unsigned __int64 meastime64 = (meastimeH32 << 32) | (meastimeL32); float SNR = *((float*) &SNR32); float codephase = *((float*) &codephase32); float doppler = *((float*) &doppler32); double meastime = *((double*) &meastime64); // output to screen 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); //printf("SV%2d SNR: %5.2f PH: %10.4f DOP: %10.4f TIME: %I64x\n",SVnum,SNR,codephase,doppler,meastime64); // output to file fprintf( logfile, "%2d %5.2f %11.4f %11.4f %5.0I64f %7.2I64f\n",SVnum,SNR,codephase,doppler,meastime,meastime/1.5); */ pre></div><hr size="1"><address style="align: right;">Generated on Sun Oct 29 03:41:07 2006 for Procyon AVRlib by  href="http://www.doxygen.org/index.html"> src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.2 </address>

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