forked from Archive/PX4-Autopilot
336 lines
9.4 KiB
C
336 lines
9.4 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Julian Oes <joes@student.ethz.ch>
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* Thomas Gubler <thomasgubler@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/* @file NMEA protocol implementation */
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#include "nmea_helper.h"
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#include <sys/prctl.h>
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#include <poll.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <mavlink/mavlink_log.h>
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#define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2
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#define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2
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#define NMEA_BUFFER_SIZE 1000
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pthread_mutex_t *nmea_mutex;
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gps_bin_nmea_state_t *nmea_state;
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static struct vehicle_gps_position_s *nmea_gps;
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extern bool gps_mode_try_all;
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extern bool gps_mode_success;
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extern bool terminate_gps_thread;
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extern bool gps_baud_try_all;
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extern bool gps_verbose;
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extern int current_gps_speed;
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int read_gps_nmea(int fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser)
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{
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int ret = 1;
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char c;
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int start_flag = 0;
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int found_cr = 0;
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int rx_count = 0;
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int gpsRxOverflow = 0;
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struct pollfd fds;
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fds.fd = fd;
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fds.events = POLLIN;
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// NMEA or SINGLE-SENTENCE GPS mode
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while (1) {
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//check if the thread should terminate
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if (terminate_gps_thread == true) {
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// printf("terminate_gps_thread=%u ", terminate_gps_thread);
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// printf("exiting mtk thread\n");
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// fflush(stdout);
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ret = 2;
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break;
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}
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if (poll(&fds, 1, 1000) > 0) {
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if (read(fd, &c, 1) > 0) {
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// detect start while acquiring stream
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// printf("Char = %c\n", c);
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if (!start_flag && (c == '$')) {
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start_flag = 1;
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found_cr = 0;
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rx_count = 0;
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} else if (!start_flag) { // keep looking for start sign
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continue;
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}
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if (rx_count >= buffer_size) {
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// The buffer is already full and we haven't found a valid NMEA sentence.
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// Flush the buffer and note the overflow event.
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gpsRxOverflow++;
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start_flag = 0;
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found_cr = 0;
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rx_count = 0;
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if (gps_verbose) printf("\t[gps] Buffer full\n");
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} else {
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// store chars in buffer
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gps_rx_buffer[rx_count] = c;
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rx_count++;
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}
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// look for carriage return CR
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if (start_flag && c == 0x0d) {
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found_cr = 1;
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}
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// and then look for line feed LF
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if (start_flag && found_cr && c == 0x0a) {
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// parse one NMEA line, use buffer up to rx_count
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if (nmea_parse(parser, gps_rx_buffer, rx_count, info) > 0) {
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ret = 0;
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}
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break;
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}
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} else {
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break;
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}
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} else {
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break;
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}
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}
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// As soon as one NMEA message has been parsed, we break out of the loop and end here
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return(ret);
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}
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/**
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* \brief Convert NDEG (NMEA degree) to fractional degree
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*/
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float ndeg2degree(float val)
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{
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float deg = ((int)(val / 100));
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val = deg + (val - deg * 100) / 60;
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return val;
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}
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void *nmea_loop(void *arg)
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{
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/* Set thread name */
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prctl(PR_SET_NAME, "gps nmea read", getpid());
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/* Retrieve file descriptor */
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int fd = *((int *)arg);
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/* Initialize gps stuff */
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nmeaINFO info_d;
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nmeaINFO *info = &info_d;
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char gps_rx_buffer[NMEA_BUFFER_SIZE];
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/* gps parser (nmea) */
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nmeaPARSER parser;
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nmea_parser_init(&parser);
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nmea_zero_INFO(info);
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/* advertise GPS topic */
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struct vehicle_gps_position_s nmea_gps_d = {0};
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nmea_gps = &nmea_gps_d;
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orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
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while (1) {
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/* Parse a message from the gps receiver */
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uint8_t read_res = read_gps_nmea(fd, gps_rx_buffer, NMEA_BUFFER_SIZE, info, &parser);
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if (0 == read_res) {
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/* convert data, ready it for publishing */
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/* convert nmea utc time to usec */
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struct tm timeinfo;
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timeinfo.tm_year = info->utc.year;
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timeinfo.tm_mon = info->utc.mon;
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timeinfo.tm_mday = info->utc.day;
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timeinfo.tm_hour = info->utc.hour;
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timeinfo.tm_min = info->utc.min;
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timeinfo.tm_sec = info->utc.sec;
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time_t epoch = mktime(&timeinfo);
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// printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, info->utc.hsec);
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nmea_gps->timestamp = hrt_absolute_time();
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nmea_gps->time_gps_usec = epoch * 1e6 + info->utc.hsec * 1e4;
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nmea_gps->fix_type = (uint8_t)info->fix;
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nmea_gps->lat = (int32_t)ndeg2degree(info->lat) * 1e7;
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nmea_gps->lon = (int32_t)ndeg2degree(info->lon) * 1e7;
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nmea_gps->alt = (int32_t)(info->elv * 1e3);
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nmea_gps->eph = (uint16_t)(info->HDOP * 100); //TODO:test scaling
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nmea_gps->epv = (uint16_t)(info->VDOP * 100); //TODO:test scaling
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nmea_gps->vel = (uint16_t)(info->speed * 1000 / 36); //*1000/3600*100
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nmea_gps->cog = 65535;
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nmea_gps->satellites_visible = (uint8_t)info->satinfo.inview;
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int i = 0;
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/* Write info about individual satellites */
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for (i = 0; i < 12; i++) {
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nmea_gps->satellite_prn[i] = (uint8_t)info->satinfo.sat[i].id;
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nmea_gps->satellite_used[i] = (uint8_t)info->satinfo.sat[i].in_use;
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nmea_gps->satellite_elevation[i] = (uint8_t)info->satinfo.sat[i].elv;
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nmea_gps->satellite_azimuth[i] = (uint8_t)info->satinfo.sat[i].azimuth;
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nmea_gps->satellite_snr[i] = (uint8_t)info->satinfo.sat[i].sig;
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}
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if (nmea_gps->satellites_visible > 0) {
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nmea_gps->satellite_info_available = 1;
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} else {
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nmea_gps->satellite_info_available = 0;
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}
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nmea_gps->counter_pos_valid++;
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nmea_gps->timestamp = hrt_absolute_time();
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nmea_gps->counter++;
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pthread_mutex_lock(nmea_mutex);
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nmea_state->last_message_timestamp = hrt_absolute_time();
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pthread_mutex_unlock(nmea_mutex);
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/* publish new GPS position */
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orb_publish(ORB_ID(vehicle_gps_position), gps_handle, nmea_gps);
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} else if (read_res == 2) { //termination
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/* de-advertise */
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close(gps_handle);
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break;
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}
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}
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//destroy gps parser
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nmea_parser_destroy(&parser);
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return NULL;
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}
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void *nmea_watchdog_loop(void *arg)
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{
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/* Set thread name */
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prctl(PR_SET_NAME, "gps nmea watchdog", getpid());
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bool nmea_healthy = false;
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uint8_t nmea_fail_count = 0;
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uint8_t nmea_success_count = 0;
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bool once_ok = false;
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int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
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while (1) {
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// printf("nmea_watchdog_loop : while ");
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/* if we have no update for a long time print warning (in nmea mode there is no reconfigure) */
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pthread_mutex_lock(nmea_mutex);
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uint64_t timestamp_now = hrt_absolute_time();
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bool all_okay = true;
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if (timestamp_now - nmea_state->last_message_timestamp > NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
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all_okay = false;
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}
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pthread_mutex_unlock(nmea_mutex);
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if (!all_okay) {
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/* gps error */
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nmea_fail_count++;
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// printf("nmea error, nmea_fail_count=%u\n", nmea_fail_count);
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// fflush(stdout);
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/* If we have too many failures and another mode or baud should be tried, exit... */
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if ((gps_mode_try_all == true || gps_baud_try_all == true) && (nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) && (nmea_healthy == false) && once_ok == false) {
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if (gps_verbose) printf("\t[gps] no NMEA module found\n");
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gps_mode_success = false;
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break;
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}
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if (nmea_healthy && nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) {
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printf("\t[gps] ERROR: NMEA GPS module stopped responding\n");
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// global_data_send_subsystem_info(&nmea_present_enabled);
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mavlink_log_critical(mavlink_fd, "[gps] NMEA module stopped responding\n");
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nmea_healthy = false;
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nmea_success_count = 0;
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}
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fflush(stdout);
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sleep(1);
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} else {
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/* gps healthy */
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// printf("\t[gps] nmea success\n");
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nmea_success_count++;
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if (!nmea_healthy && nmea_success_count >= NMEA_HEALTH_SUCCESS_COUNTER_LIMIT) {
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printf("[gps] NMEA module found, status ok (baud=%d)\r\n", current_gps_speed);
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// global_data_send_subsystem_info(&nmea_present_enabled_healthy);
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mavlink_log_info(mavlink_fd, "[gps] NMEA module found, status ok\n");
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nmea_healthy = true;
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nmea_fail_count = 0;
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once_ok = true;
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}
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}
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usleep(NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS);
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}
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close(mavlink_fd);
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return NULL;
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}
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