forked from Archive/PX4-Autopilot
Code style fix
This commit is contained in:
Denis Yeldandi
parent
1bf1cec567
commit
09b5206404
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@ -18,78 +18,99 @@
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typedef double float64_t;
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typedef float float32_t;
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char* str_scanDec(const char *pos, int8_t sign, int8_t n_max_digit, int32_t *result)
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char *str_scanDec(const char *pos, int8_t sign, int8_t n_max_digit, int32_t *result)
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{
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int8_t n=0;
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int32_t d=0;
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int8_t n = 0;
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int32_t d = 0;
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int8_t neg = 0;
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if(*pos == '-') { neg = 1; pos++; }
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else if(*pos == '+') { pos++; }
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else if(sign) return(NULL);
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while(*pos >= '0' && *pos <= '9')
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{
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d = d*10 + (*(pos++) - '0');
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if (*pos == '-') { neg = 1; pos++; }
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else if (*pos == '+') { pos++; }
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else if (sign) { return (NULL); }
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while (*pos >= '0' && *pos <= '9') {
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d = d * 10 + (*(pos++) - '0');
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n++;
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if(n_max_digit>0 && n==n_max_digit) break;
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if (n_max_digit > 0 && n == n_max_digit) { break; }
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}
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if(n==0 || n>10) return(NULL);
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if(neg) *result = -d;
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else *result = d;
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return((char *)pos);
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if (n == 0 || n > 10) { return (NULL); }
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if (neg) { *result = -d; }
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else { *result = d; }
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return ((char *)pos);
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}
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char* scanFloat64(const char *pos, int8_t sign, int8_t n_max_int, int8_t n_max_frac,
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char *scanFloat64(const char *pos, int8_t sign, int8_t n_max_int, int8_t n_max_frac,
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float64_t *result)
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{
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float64_t f=0.0, div=1.0;
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float64_t f = 0.0, div = 1.0;
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int32_t d_int;
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int8_t n=0, isneg= 0;
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int8_t n = 0, isneg = 0;
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if( *pos == '-' ) isneg= 1;
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if((pos = str_scanDec(pos, sign, n_max_int, &d_int)) == NULL) return(NULL);
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if(*(pos) == '.')
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{
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if (*pos == '-') { isneg = 1; }
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if ((pos = str_scanDec(pos, sign, n_max_int, &d_int)) == NULL) { return (NULL); }
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if (*(pos) == '.') {
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pos++;
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while(*pos >= '0' && *pos <= '9')
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{
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f = f*(10.0) + (float64_t)(*(pos++) - '0');
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while (*pos >= '0' && *pos <= '9') {
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f = f * (10.0) + (float64_t)(*(pos++) - '0');
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div *= (0.1);
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n++;
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if(n_max_frac>0 && n==n_max_frac) break;
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if (n_max_frac > 0 && n == n_max_frac) { break; }
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}
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}
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else if(n_max_frac > 0) return(NULL);
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if( isneg ) *result = (float64_t)d_int - f*div;
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else *result = (float64_t)d_int + f*div;
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return((char *)pos);
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} else if (n_max_frac > 0) { return (NULL); }
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if (isneg) { *result = (float64_t)d_int - f * div; }
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else { *result = (float64_t)d_int + f * div; }
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return ((char *)pos);
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}
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ASHTECH::ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info):
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_fd(fd),
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_satellite_info(satellite_info),
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_gps_position(gps_position)
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_fd(fd),
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_satellite_info(satellite_info),
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_gps_position(gps_position)
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{
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decode_init();
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_decode_state = NME_DECODE_UNINIT;
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_rx_buffer_bytes = 0;
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}
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ASHTECH::~ASHTECH(){
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ASHTECH::~ASHTECH()
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{
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}
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//All NMEA descriptions are taken from
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//http://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_MessageOverview.html
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int ASHTECH::handle_message(int len){
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if(len < 7) return 0;
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int uiCalcComma = 0;
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for(int i = 0 ; i < len; i++){
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if(_rx_buffer[i] == ',')uiCalcComma++;
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}
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char* bufptr = (char*)( _rx_buffer+6);
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if((memcmp(_rx_buffer+3, "ZDA,",3) == 0)&&(uiCalcComma == 6)){
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/*
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* All NMEA descriptions are taken from
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* http://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_MessageOverview.html
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*/
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int ASHTECH::handle_message(int len)
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{
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if (len < 7) { return 0; }
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int uiCalcComma = 0;
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for (int i = 0 ; i < len; i++) {
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if (_rx_buffer[i] == ',') { uiCalcComma++; }
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}
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char *bufptr = (char *)(_rx_buffer + 6);
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if ((memcmp(_rx_buffer + 3, "ZDA,", 3) == 0) && (uiCalcComma == 6)) {
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/*
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UTC day, month, and year, and local time zone offset
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An example of the ZDA message string is:
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@ -109,19 +130,27 @@ int ASHTECH::handle_message(int len){
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Fields 5 and 6 together yield the total offset. For example, if field 5 is -5 and field 6 is +15, local time is 5 hours and 15 minutes earlier than GMT.
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*/
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float64_t ashtech_time = 0.0;
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int day = 0, month = 0,year = 0,local_time_off_hour = 0,local_time_off_min = 0;
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ashtech_time);
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &day);
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &month);
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &year);
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &local_time_off_hour);
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &local_time_off_min);
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int day = 0, month = 0, year = 0, local_time_off_hour = 0, local_time_off_min = 0;
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ashtech_time); }
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &day); }
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &month); }
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &year); }
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &local_time_off_hour); }
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &local_time_off_min); }
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int ashtech_hour = ashtech_time/10000;
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int ashtech_minute = (ashtech_time - ashtech_hour*10000)/100;
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float64_t ashtech_sec = ashtech_time - ashtech_hour*10000 - ashtech_minute*100;
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//convert to unix timestamp
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int ashtech_hour = ashtech_time / 10000;
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int ashtech_minute = (ashtech_time - ashtech_hour * 10000) / 100;
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float64_t ashtech_sec = ashtech_time - ashtech_hour * 10000 - ashtech_minute * 100;
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/*
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* convert to unix timestamp
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*/
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struct tm timeinfo;
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timeinfo.tm_year = year - 1900;
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timeinfo.tm_mon = month - 1;
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@ -136,7 +165,7 @@ int ASHTECH::handle_message(int len){
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_gps_position->timestamp_time = hrt_absolute_time();
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}
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else if((memcmp(_rx_buffer+3, "GGA,",3) == 0)&&(uiCalcComma == 14)){
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else if ((memcmp(_rx_buffer + 3, "GGA,", 3) == 0) && (uiCalcComma == 14)) {
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/*
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Time, position, and fix related data
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An example of the GBS message string is:
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@ -175,35 +204,47 @@ int ASHTECH::handle_message(int len){
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Note - If a user-defined geoid model, or an inclined
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*/
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float64_t ashtech_time = 0.0, lat = 0.0, lon = 0.0, alt = 0.0;
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int num_of_sv = 0, fix_quality=0;
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int num_of_sv = 0, fix_quality = 0;
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float64_t hdop = 99.9;
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char ns = '?', ew = '?';
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ashtech_time);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lat);
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if(bufptr && *(++bufptr) != ',') ns = *(bufptr++);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lon);
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if(bufptr && *(++bufptr) != ',') ew = *(bufptr++);
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &fix_quality);
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &num_of_sv);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&hdop);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&alt);
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ashtech_time); }
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if(ns == 'S')
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lat); }
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if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lon); }
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if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); }
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &fix_quality); }
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &num_of_sv); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &hdop); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &alt); }
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if (ns == 'S') {
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lat = -lat;
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if(ew == 'W')
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lon = -lon;
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}
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_gps_position->lat = (int(lat*0.01) + (lat*0.01 - int(lat*0.01))*100.0/60.0)*10000000;
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_gps_position->lon = (int(lon*0.01) + (lon*0.01 - int(lon*0.01))*100.0/60.0)*10000000;
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_gps_position->alt = alt*1000;
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if (ew == 'W') {
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lon = -lon;
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}
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_gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000;
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_gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000;
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_gps_position->alt = alt * 1000;
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_rate_count_lat_lon++;
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if((lat == 0.0) && (lon == 0.0) && (alt == 0.0)){
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if ((lat == 0.0) && (lon == 0.0) && (alt == 0.0)) {
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_gps_position->fix_type = 0;
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}
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else
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} else {
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_gps_position->fix_type = 3 + fix_quality;
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}
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_gps_position->timestamp_position = hrt_absolute_time();
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@ -211,13 +252,14 @@ int ASHTECH::handle_message(int len){
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_gps_position->vel_n_m_s = 0; /**< GPS ground speed in m/s */
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_gps_position->vel_e_m_s = 0; /**< GPS ground speed in m/s */
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_gps_position->vel_d_m_s = 0; /**< GPS ground speed in m/s */
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_gps_position->cog_rad = 0; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
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_gps_position->cog_rad =
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0; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
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_gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */
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_gps_position->c_variance_rad = 0.1;
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_gps_position->timestamp_velocity = hrt_absolute_time();
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return 1;
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}
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else if ((memcmp(_rx_buffer, "$PASHR,POS,", 11) == 0) && (uiCalcComma == 18)) {
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} else if ((memcmp(_rx_buffer, "$PASHR,POS,", 11) == 0) && (uiCalcComma == 18)) {
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/*
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Example $PASHR,POS,2,10,125410.00,5525.8138702,N,03833.9587380,E,131.555,1.0,0.0,0.007,-0.001,2.0,1.0,1.7,1.0,*34
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@ -247,45 +289,64 @@ int ASHTECH::handle_message(int len){
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s17 Reserved no data
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*cc Checksum
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*/
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bufptr = (char*)( _rx_buffer+10);
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bufptr = (char *)(_rx_buffer + 10);
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float64_t ashtech_time = 0.0, lat = 0.0, lon = 0.0, alt = 0.0;
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int num_of_sv = 0, fix_quality=0;
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int num_of_sv = 0, fix_quality = 0;
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float64_t track_true = 0.0, ground_speed = 0.0 , age_of_corr = 0.0;
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float64_t hdop = 99.9, vdop = 99.9, pdop = 99.9, tdop = 99.9,vertic_vel = 0.0;
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float64_t hdop = 99.9, vdop = 99.9, pdop = 99.9, tdop = 99.9, vertic_vel = 0.0;
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char ns = '?', ew = '?';
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &fix_quality);
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if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &num_of_sv);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ashtech_time);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lat);
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if(bufptr && *(++bufptr) != ',') ns = *(bufptr++);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lon);
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if(bufptr && *(++bufptr) != ',') ew = *(bufptr++);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&alt);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&age_of_corr);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&track_true);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ground_speed);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&vertic_vel);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&pdop);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&hdop);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&vdop);
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if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&tdop);
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &fix_quality); }
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if(ns == 'S')
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if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &num_of_sv); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ashtech_time); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lat); }
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if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lon); }
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if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &alt); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &age_of_corr); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &track_true); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ground_speed); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &vertic_vel); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &pdop); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &hdop); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &vdop); }
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if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &tdop); }
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if (ns == 'S') {
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lat = -lat;
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if(ew == 'W')
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lon = -lon;
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}
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_gps_position->lat = (int(lat*0.01) + (lat*0.01 - int(lat*0.01))*100.0/60.0)*10000000;
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_gps_position->lon = (int(lon*0.01) + (lon*0.01 - int(lon*0.01))*100.0/60.0)*10000000;
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_gps_position->alt = alt*1000;
|
||||
if (ew == 'W') {
|
||||
lon = -lon;
|
||||
}
|
||||
|
||||
_gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000;
|
||||
_gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000;
|
||||
_gps_position->alt = alt * 1000;
|
||||
_rate_count_lat_lon++;
|
||||
|
||||
if((lat == 0.0) && (lon == 0.0) && (alt == 0.0)){
|
||||
if ((lat == 0.0) && (lon == 0.0) && (alt == 0.0)) {
|
||||
_gps_position->fix_type = 0;
|
||||
}
|
||||
else
|
||||
|
||||
} else {
|
||||
_gps_position->fix_type = 3 + fix_quality;
|
||||
}
|
||||
|
||||
_gps_position->timestamp_position = hrt_absolute_time();
|
||||
|
||||
|
|
@ -301,14 +362,14 @@ int ASHTECH::handle_message(int len){
|
|||
_gps_position->vel_n_m_s = velocity_north; /**< GPS ground speed in m/s */
|
||||
_gps_position->vel_e_m_s = velocity_east; /**< GPS ground speed in m/s */
|
||||
_gps_position->vel_d_m_s = -vertic_vel; /**< GPS ground speed in m/s */
|
||||
_gps_position->cog_rad = track_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
|
||||
_gps_position->cog_rad =
|
||||
track_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
|
||||
_gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */
|
||||
_gps_position->c_variance_rad = 0.1;
|
||||
_gps_position->timestamp_velocity = hrt_absolute_time();
|
||||
return 1;
|
||||
|
||||
}
|
||||
else if((memcmp(_rx_buffer+3, "GST,",3) == 0)&&(uiCalcComma == 8)){
|
||||
} else if ((memcmp(_rx_buffer + 3, "GST,", 3) == 0) && (uiCalcComma == 8)) {
|
||||
/*
|
||||
Position error statistics
|
||||
An example of the GST message string is:
|
||||
|
|
@ -336,22 +397,29 @@ int ASHTECH::handle_message(int len){
|
|||
float64_t ashtech_time = 0.0, lat_err = 0.0, lon_err = 0.0, alt_err = 0.0;
|
||||
float64_t min_err = 0.0, maj_err = 0.0, deg_from_north = 0.0, rms_err = 0.0;
|
||||
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ashtech_time);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&rms_err);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&maj_err);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&min_err);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,°_from_north);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lat_err);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lon_err);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&alt_err);
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ashtech_time); }
|
||||
|
||||
_gps_position->eph = sqrt(lat_err*lat_err +lon_err*lon_err);
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &rms_err); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &maj_err); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &min_err); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, °_from_north); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lat_err); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lon_err); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &alt_err); }
|
||||
|
||||
_gps_position->eph = sqrt(lat_err * lat_err + lon_err * lon_err);
|
||||
_gps_position->epv = alt_err;
|
||||
|
||||
_gps_position->s_variance_m_s = 0;
|
||||
_gps_position->timestamp_variance = hrt_absolute_time();
|
||||
}
|
||||
else if((memcmp(_rx_buffer+3, "VTG,",3) == 0)&&(uiCalcComma == 9)){
|
||||
|
||||
} else if ((memcmp(_rx_buffer + 3, "VTG,", 3) == 0) && (uiCalcComma == 9)) {
|
||||
/*
|
||||
Track made good and speed over ground
|
||||
An example of the VTG message string is:
|
||||
|
|
@ -387,8 +455,7 @@ int ASHTECH::handle_message(int len){
|
|||
float64_t tan_C = tan(track_true * dPI / 180.0);
|
||||
float64_t lat_ = sqrt(ground_speed*ground_speed/ (1+tan_C)); //km/hour
|
||||
float64_t lon_ = lat_*tan_C; // //km/hour*/
|
||||
}
|
||||
else if((memcmp(_rx_buffer+3, "GSV,",3) == 0)){
|
||||
} else if ((memcmp(_rx_buffer + 3, "GSV,", 3) == 0)) {
|
||||
/*
|
||||
The GSV message string identifies the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values. An example of the GSV message string is:
|
||||
|
||||
|
|
@ -409,16 +476,21 @@ int ASHTECH::handle_message(int len){
|
|||
16-19 Information about fourth SV, same format as fields 4 through 7
|
||||
20 The checksum data, always begins with *
|
||||
*/
|
||||
// currently process only gps, because do not know what
|
||||
// Global satellite ID I should use for non GPS sats
|
||||
/*
|
||||
* currently process only gps, because do not know what
|
||||
* Global satellite ID I should use for non GPS sats
|
||||
*/
|
||||
bool bGPS = false;
|
||||
if(memcmp(_rx_buffer, "$GP",3) != 0)
|
||||
|
||||
if (memcmp(_rx_buffer, "$GP", 3) != 0) {
|
||||
return 0;
|
||||
else
|
||||
|
||||
} else {
|
||||
bGPS = true;
|
||||
}
|
||||
|
||||
int all_msg_num, this_msg_num, tot_sv_visible;
|
||||
struct gsv_sat{
|
||||
struct gsv_sat {
|
||||
int svid;
|
||||
int elevation;
|
||||
int azimuth;
|
||||
|
|
@ -426,38 +498,47 @@ int ASHTECH::handle_message(int len){
|
|||
} sat[4];
|
||||
memset(sat, 0, sizeof(sat));
|
||||
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &all_msg_num);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &this_msg_num);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &tot_sv_visible);
|
||||
if((this_msg_num<1) || (this_msg_num>all_msg_num)){
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &all_msg_num); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &this_msg_num); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &tot_sv_visible); }
|
||||
|
||||
if ((this_msg_num < 1) || (this_msg_num > all_msg_num)) {
|
||||
return 0;
|
||||
}
|
||||
if((this_msg_num == 0)&&(bGPS == true)){
|
||||
memset(_satellite_info->svid, 0,sizeof(_satellite_info->svid));
|
||||
memset(_satellite_info->used, 0,sizeof(_satellite_info->used));
|
||||
memset(_satellite_info->snr, 0,sizeof(_satellite_info->snr));
|
||||
memset(_satellite_info->elevation,0,sizeof(_satellite_info->elevation));
|
||||
memset(_satellite_info->azimuth, 0,sizeof(_satellite_info->azimuth));
|
||||
|
||||
if ((this_msg_num == 0) && (bGPS == true)) {
|
||||
memset(_satellite_info->svid, 0, sizeof(_satellite_info->svid));
|
||||
memset(_satellite_info->used, 0, sizeof(_satellite_info->used));
|
||||
memset(_satellite_info->snr, 0, sizeof(_satellite_info->snr));
|
||||
memset(_satellite_info->elevation, 0, sizeof(_satellite_info->elevation));
|
||||
memset(_satellite_info->azimuth, 0, sizeof(_satellite_info->azimuth));
|
||||
}
|
||||
|
||||
int end = 4;
|
||||
if(this_msg_num == all_msg_num){
|
||||
end = tot_sv_visible - (this_msg_num-1)*4;
|
||||
|
||||
if (this_msg_num == all_msg_num) {
|
||||
end = tot_sv_visible - (this_msg_num - 1) * 4;
|
||||
_gps_position->satellites_used = tot_sv_visible;
|
||||
_satellite_info->count = SAT_INFO_MAX_SATELLITES;
|
||||
_satellite_info->timestamp = hrt_absolute_time();
|
||||
}
|
||||
for(int y = 0 ; y < end ;y++){
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &sat[y].svid);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &sat[y].elevation);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &sat[y].azimuth);
|
||||
if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &sat[y].snr);
|
||||
|
||||
_satellite_info->svid[y+(this_msg_num-1)*4] = sat[y].svid;
|
||||
_satellite_info->used[y+(this_msg_num-1)*4] = ((sat[y].snr>0)? true: false);
|
||||
_satellite_info->snr[y+(this_msg_num-1)*4] = sat[y].snr;
|
||||
_satellite_info->elevation[y+(this_msg_num-1)*4] = sat[y].elevation;
|
||||
_satellite_info->azimuth[y+(this_msg_num-1)*4] = sat[y].azimuth;
|
||||
for (int y = 0 ; y < end ; y++) {
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &sat[y].svid); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &sat[y].elevation); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &sat[y].azimuth); }
|
||||
|
||||
if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &sat[y].snr); }
|
||||
|
||||
_satellite_info->svid[y + (this_msg_num - 1) * 4] = sat[y].svid;
|
||||
_satellite_info->used[y + (this_msg_num - 1) * 4] = ((sat[y].snr > 0) ? true : false);
|
||||
_satellite_info->snr[y + (this_msg_num - 1) * 4] = sat[y].snr;
|
||||
_satellite_info->elevation[y + (this_msg_num - 1) * 4] = sat[y].elevation;
|
||||
_satellite_info->azimuth[y + (this_msg_num - 1) * 4] = sat[y].azimuth;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -465,8 +546,9 @@ int ASHTECH::handle_message(int len){
|
|||
}
|
||||
|
||||
|
||||
int ASHTECH::receive(unsigned timeout){
|
||||
int ASHTECH::receive(unsigned timeout)
|
||||
{
|
||||
{
|
||||
/* poll descriptor */
|
||||
pollfd fds[1];
|
||||
fds[0].fd = _fd;
|
||||
|
|
@ -484,17 +566,21 @@ int ASHTECH::receive(unsigned timeout){
|
|||
|
||||
/* pass received bytes to the packet decoder */
|
||||
while (j < count) {
|
||||
int l=0;
|
||||
int l = 0;
|
||||
|
||||
if ((l = parse_char(buf[j])) > 0) {
|
||||
/* return to configure during configuration or to the gps driver during normal work
|
||||
* if a packet has arrived */
|
||||
if (handle_message(l) > 0)
|
||||
if (handle_message(l) > 0) {
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
/* in case we keep trying but only get crap from GPS */
|
||||
if (time_started + timeout*1000*2 < hrt_absolute_time() ) {
|
||||
if (time_started + timeout * 1000 * 2 < hrt_absolute_time()) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
j++;
|
||||
}
|
||||
|
||||
|
|
@ -502,7 +588,7 @@ int ASHTECH::receive(unsigned timeout){
|
|||
j = count = 0;
|
||||
|
||||
/* then poll for new data */
|
||||
int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout*2);
|
||||
int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout * 2);
|
||||
|
||||
if (ret < 0) {
|
||||
/* something went wrong when polling */
|
||||
|
|
@ -524,7 +610,7 @@ int ASHTECH::receive(unsigned timeout){
|
|||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
#define HEXDIGIT_CHAR(d) ((char)((d) + (((d) < 0xA) ? '0' : 'A'-0xA)))
|
||||
|
|
@ -557,8 +643,9 @@ int ASHTECH::parse_char(uint8_t b)
|
|||
_decode_state = NME_DECODE_UNINIT;
|
||||
_rx_buffer_bytes = 0;
|
||||
|
||||
} else
|
||||
} else {
|
||||
_rx_buffer[_rx_buffer_bytes++] = b;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
|
|
@ -573,7 +660,7 @@ int ASHTECH::parse_char(uint8_t b)
|
|||
uint8_t *buffer = _rx_buffer + 1;
|
||||
uint8_t *bufend = _rx_buffer + _rx_buffer_bytes - 3;
|
||||
|
||||
for (; buffer < bufend; buffer++) checksum ^= *buffer;
|
||||
for (; buffer < bufend; buffer++) { checksum ^= *buffer; }
|
||||
|
||||
if ((HEXDIGIT_CHAR(checksum >> 4) == *(_rx_buffer + _rx_buffer_bytes - 2)) &&
|
||||
(HEXDIGIT_CHAR(checksum & 0x0F) == *(_rx_buffer + _rx_buffer_bytes - 1))) {
|
||||
|
|
@ -588,12 +675,15 @@ int ASHTECH::parse_char(uint8_t b)
|
|||
return iRet;
|
||||
}
|
||||
|
||||
void ASHTECH::decode_init(void){
|
||||
void ASHTECH::decode_init(void)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
//ashtech boad configuration script
|
||||
//char comm[] = "$PASHS,NME,GGA,A,ON,0.1\r\n"
|
||||
/*
|
||||
* ashtech boad configuration script
|
||||
*/
|
||||
|
||||
char comm[] = "$PASHS,POP,20\r\n"\
|
||||
"$PASHS,NME,ZDA,B,ON,3\r\n"\
|
||||
"$PASHS,NME,GGA,B,OFF\r\n"\
|
||||
|
|
@ -601,17 +691,18 @@ char comm[] = "$PASHS,POP,20\r\n"\
|
|||
"$PASHS,NME,POS,B,ON,0.05\r\n"\
|
||||
"$PASHS,NME,GSV,B,ON,3\r\n"\
|
||||
"$PASHS,SPD,A,8\r\n"\
|
||||
"$PASHS,SPD,B,9\r\n"; // default baud is 7
|
||||
"$PASHS,SPD,B,9\r\n";
|
||||
|
||||
int ASHTECH::configure(unsigned &baudrate){
|
||||
int ASHTECH::configure(unsigned &baudrate)
|
||||
{
|
||||
/* try different baudrates */
|
||||
const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200};
|
||||
|
||||
|
||||
for (int baud_i = 0; baud_i < sizeof(baudrates_to_try)/sizeof(baudrates_to_try[0]); baud_i++) {
|
||||
for (int baud_i = 0; baud_i < sizeof(baudrates_to_try) / sizeof(baudrates_to_try[0]); baud_i++) {
|
||||
baudrate = baudrates_to_try[baud_i];
|
||||
set_baudrate(_fd, baudrate);
|
||||
write(_fd, (uint8_t*)comm, sizeof(comm));
|
||||
write(_fd, (uint8_t *)comm, sizeof(comm));
|
||||
}
|
||||
|
||||
set_baudrate(_fd, 115200);
|
||||
|
|
|
|||
|
|
@ -67,8 +67,8 @@ class ASHTECH : public GPS_Helper
|
|||
bool _parse_error; // parse error flag
|
||||
char *_parse_pos; // parse position
|
||||
|
||||
bool _gsv_in_progress; // Indicates that gsv data parsing is in progress
|
||||
//int _satellites_count; // Number of satellites info parsed.
|
||||
bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */
|
||||
//int _satellites_count; /**< Number of satellites info parsed. */
|
||||
uint8_t count; /**< Number of satellites in satellite info */
|
||||
uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
|
||||
uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
|
||||
|
|
|
|||
|
|
@ -343,7 +343,6 @@ GPS::task_main()
|
|||
break;
|
||||
|
||||
case GPS_DRIVER_MODE_ASHTECH:
|
||||
|
||||
_Helper = new ASHTECH(_serial_fd, &_report_gps_pos, _p_report_sat_info);
|
||||
break;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue