WebSVN – svnkaklik – /programy/C/avr/gps/tsip.c

/*! \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 "global.h"
#include "buffer.h"
#include "rprintf.h"
#include "uart2.h"
#include "gps.h"

#include "tsip.h"

// Program ROM constants

// Global variables
extern GpsInfoType GpsInfo;
#define BUFFERSIZE 0x40
u08 TsipPacket[BUFFERSIZE];
u08 debug;

// 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
        debug = 0;

        // compose GPS receiver configuration packet
        u08 packet[4];
        packet[0] = BV(POS_LLA);
        packet[1] = BV(VEL_ENU);
        packet[2] = 0;
        packet[3] = 0;
        // send configuration
        tsipSendPacket(TSIPTYPE_SET_IO_OPTIONS, 4, packet);
}

void tsipSendPacket(u08 tsipType, u08 dataLength, u08* data)
{
        u08 i;
        u08 dataIdx = 0;

        // 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(cBuffer* rxBuffer)
{
        u08 foundpacket = FALSE;
        u08 startFlag = FALSE;
        u08 data;
        u08 i,j,k;

        u08 TsipPacketIdx;
        
        // process the receive buffer
        // go through buffer looking for packets
        while(rxBuffer->datalength > 1)
        {
                // look for a potential start of TSIP packet
                if(bufferGetAtIndex(rxBuffer,0) == DLE)
                {
                        // make sure the next byte is not DLE or ETX
                        data = bufferGetAtIndex(rxBuffer,1);
                        if((data != DLE) && (data != ETX))
                        {
                                // found potential start
                                startFlag = TRUE;
                                // done looking for start
                                break;
                        }
                }
                else
                        // not DLE, dump character from buffer
                        bufferGetFromFront(rxBuffer);
        }
        
        // if we detected a start, look for end of packet
        if(startFlag)
        {
                for(i=1; i<(rxBuffer->datalength)-1; i++)
                {
                        // check for potential end of TSIP packet
                        if((bufferGetAtIndex(rxBuffer,i) == DLE) && (bufferGetAtIndex(rxBuffer,i+1) == ETX))
                        {
                                // have a packet end
                                // dump initial DLE
                                bufferGetFromFront(rxBuffer);
                                // copy data to TsipPacket
                                TsipPacketIdx = 0;
                                for(j=0; j<(i-1); j++)
                                {
                                        data = bufferGetFromFront(rxBuffer);
                                        if(data == DLE)
                                        {
                                                if(bufferGetAtIndex(rxBuffer,0) == DLE)
                                                {
                                                        // found double-DLE escape sequence, skip one of them
                                                        bufferGetFromFront(rxBuffer);
                                                        j++;
                                                }
                                        }
                                        TsipPacket[TsipPacketIdx++] = data;
                                }
                                // dump ending DLE+ETX
                                bufferGetFromFront(rxBuffer);
                                bufferGetFromFront(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++)
                                        {
                                                rprintfu08(TsipPacket[k]);
                                                rprintfChar(' ');
                                        }
                                        //rprintfu08(bufferGetFromFront(rxBuffer)); rprintfChar(' ');
                                        //rprintfu08(bufferGetFromFront(rxBuffer)); rprintfChar(' ');

                                        rprintfCRLF();
                                }
                                // 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(cBuffer* 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);
*/
}
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(root)/programy/C/avr/gps/tsip.c @ 906 – Rev 507
