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px4-firmware/apps/gps/mtk.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Julian Oes <joes@student.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* @file MTK custom binary (3DR) protocol implementation */
#include "gps.h"
#include "mtk.h"
#include <nuttx/config.h>
#include <unistd.h>
#include <sys/prctl.h>
#include <pthread.h>
#include <poll.h>
#include <fcntl.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <mavlink/mavlink_log.h>
#define MTK_HEALTH_SUCCESS_COUNTER_LIMIT 2
#define MTK_HEALTH_FAIL_COUNTER_LIMIT 2
// XXX decrease this substantially, it should be only a few dozen bytes max.
#warning XXX trying 128 for now
#define MTK_BUFFER_SIZE 128
pthread_mutex_t *mtk_mutex;
gps_bin_mtk_state_t *mtk_state;
static struct vehicle_gps_position_s *mtk_gps;
extern bool gps_mode_try_all;
extern bool gps_mode_success;
extern bool terminate_gps_thread;
extern bool gps_baud_try_all;
extern bool gps_verbose;
extern int current_gps_speed;
void mtk_decode_init(void)
{
mtk_state->ck_a = 0;
mtk_state->ck_b = 0;
mtk_state->rx_count = 0;
mtk_state->decode_state = MTK_DECODE_UNINIT;
mtk_state->print_errors = false;
}
void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
{
*(ck_a) = *(ck_a) + b;
*(ck_b) = *(ck_b) + *(ck_a);
// printf("Checksum now: %d\n",*(ck_b));
}
int mtk_parse(uint8_t b, char *gps_rx_buffer)
{
// printf("b=%x\n",b);
// Debug output to telemetry port
// PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, &b, 1);
if (mtk_state->decode_state == MTK_DECODE_UNINIT) {
if (b == 0xd0) {
mtk_state->decode_state = MTK_DECODE_GOT_CK_A;
}
} else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_A) {
if (b == 0xdd) {
mtk_state->decode_state = MTK_DECODE_GOT_CK_B;
} else {
// Second start symbol was wrong, reset state machine
mtk_decode_init();
}
} else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_B) {
// Add to checksum
if (mtk_state->rx_count < 33) mtk_checksum(b, &(mtk_state->ck_a), &(mtk_state->ck_b));
// Fill packet buffer
gps_rx_buffer[mtk_state->rx_count] = b;
(mtk_state->rx_count)++;
// printf("Rx count: %d\n",mtk_state->rx_count);
uint8_t ret = 0;
/* Packet size minus checksum */
if (mtk_state->rx_count >= 35) {
gps_bin_mtk_packet_t *packet = (gps_bin_mtk_packet_t *) gps_rx_buffer;
/* Check if checksum is valid */
if (mtk_state->ck_a == packet->ck_a && mtk_state->ck_b == packet->ck_b) {
mtk_gps->lat = packet->latitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
mtk_gps->lon = packet->longitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
mtk_gps->alt = (int32_t)(packet->msl_altitude * 10); // conversion from centimeters to millimeters, and from uint32_t to int16_t
mtk_gps->fix_type = packet->fix_type;
mtk_gps->eph = packet->hdop;
mtk_gps->epv = 65535; //unknown in mtk custom mode
mtk_gps->vel = packet->ground_speed;
mtk_gps->cog = (uint16_t)packet->heading; //mtk: degrees *1e2, mavlink/ubx: degrees *1e2
mtk_gps->satellites_visible = packet->satellites;
/* convert time and date information to unix timestamp */
struct tm timeinfo; //TODO: test this conversion
uint32_t timeinfo_conversion_temp;
timeinfo.tm_mday = packet->date * 1e-4;
timeinfo_conversion_temp = packet->date - timeinfo.tm_mday * 1e4;
timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
timeinfo.tm_hour = packet->utc_time * 1e-7;
timeinfo_conversion_temp = packet->utc_time - timeinfo.tm_hour * 1e7;
timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
time_t epoch = mktime(&timeinfo);
mtk_gps->timestamp = hrt_absolute_time();
mtk_gps->time_gps_usec = epoch * 1e6; //TODO: test this
mtk_gps->time_gps_usec += timeinfo_conversion_temp * 1e3;
mtk_gps->counter_pos_valid++;
mtk_gps->timestamp = hrt_absolute_time();
// printf("%lu; %lu; %d.%d.%d %d:%d:%d:%d\n", packet->date, packet->utc_time,timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, timeinfo_conversion_temp);
pthread_mutex_lock(mtk_mutex);
// printf("Write timestamp /n");
mtk_state->last_message_timestamp = hrt_absolute_time();
pthread_mutex_unlock(mtk_mutex);
ret = 1;
// printf("found package\n");
} else {
if (gps_verbose) printf("[gps] Checksum invalid\r\n");
ret = 0;
}
// Reset state machine to decode next packet
mtk_decode_init();
// printf("prepared for next state\n");
return ret;
}
}
return 0; // no valid packet found
}
int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size) // returns 1 if the thread should terminate
{
// printf("in read_gps_mtk\n");
uint8_t ret = 0;
uint8_t c;
int rx_count = 0;
int gpsRxOverflow = 0;
struct pollfd fds;
fds.fd = *fd;
fds.events = POLLIN;
// This blocks the task until there is something on the buffer
while (1) {
//check if the thread should terminate
if (terminate_gps_thread == true) {
// printf("terminate_gps_thread=%u ", terminate_gps_thread);
// printf("exiting mtk thread\n");
// fflush(stdout);
ret = 1;
break;
}
if (poll(&fds, 1, 1000) > 0) {
if (read(*fd, &c, 1) > 0) {
// printf("Read %x\n",c);
if (rx_count >= buffer_size) {
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
rx_count = 0;
mtk_decode_init();
if (gps_verbose) printf("[gps] Buffer full\r\n");
} else {
//gps_rx_buffer[rx_count] = c;
rx_count++;
}
int msg_read = mtk_parse(c, gps_rx_buffer);
if (msg_read > 0) {
// printf("Found sequence\n");
break;
}
} else {
break;
}
} else {
break;
}
}
return ret;
}
int configure_gps_mtk(int *fd)
{
int success = 0;
size_t result_write;
result_write = write(*fd, MEDIATEK_REFRESH_RATE_10HZ, strlen(MEDIATEK_REFRESH_RATE_10HZ));
if (result_write != strlen(MEDIATEK_REFRESH_RATE_10HZ)) {
printf("[gps] Set update speed to 10 Hz failed\r\n");
success = 1;
} else {
if (gps_verbose) printf("[gps] Attempted to set update speed to 10 Hz..\r\n");
}
//set custom mode
result_write = write(*fd, MEDIATEK_CUSTOM_BINARY_MODE, strlen(MEDIATEK_CUSTOM_BINARY_MODE));
if (result_write != strlen(MEDIATEK_CUSTOM_BINARY_MODE)) {
//global_data_send_subsystem_info(&mtk_present);
printf("[gps] Set MTK custom mode failed\r\n");
success = 1;
} else {
//global_data_send_subsystem_info(&mtk_present_enabled);
if (gps_verbose) printf("[gps] Attempted to set MTK custom mode..\r\n");
}
return success;
}
void *mtk_loop(void *args)
{
// int oldstate;
// pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, oldstate);
//
// printf("in mtk loop\n");
/* Set thread name */
prctl(PR_SET_NAME, "gps mtk read", getpid());
/* Retrieve file descriptor and thread flag */
struct arg_struct *arguments = (struct arg_struct *)args;
int *fd = arguments->fd_ptr;
bool *thread_should_exit = arguments->thread_should_exit_ptr;
/* Initialize gps stuff */
// int buffer_size = 1000;
// char * gps_rx_buffer = malloc(buffer_size*sizeof(char));
char gps_rx_buffer[MTK_BUFFER_SIZE];
/* set parameters for mtk custom */
if (configure_gps_mtk(fd) != 0) {
printf("[gps] Could not write serial port..\r\n");
/* Write shared variable sys_status */
//global_data_send_subsystem_info(&mtk_present);
} else {
if (gps_verbose) printf("[gps] Configuration finished, awaiting GPS data..\r\n");
/* Write shared variable sys_status */
//global_data_send_subsystem_info(&mtk_present_enabled);
}
/* advertise GPS topic */
struct vehicle_gps_position_s mtk_gps_d;
mtk_gps = &mtk_gps_d;
orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), mtk_gps);
while (!(*thread_should_exit)) {
/* Parse a message from the gps receiver */
if (OK == read_gps_mtk(fd, gps_rx_buffer, MTK_BUFFER_SIZE)) {
/* publish new GPS position */
orb_publish(ORB_ID(vehicle_gps_position), gps_handle, mtk_gps);
} else {
/* de-advertise */
close(gps_handle);
break;
}
}
close(gps_handle);
if(gps_verbose) printf("[gps] mtk loop is going to terminate\n");
return NULL;
}
void *mtk_watchdog_loop(void *args)
{
// printf("in mtk watchdog loop\n");
fflush(stdout);
/* Set thread name */
prctl(PR_SET_NAME, "gps mtk watchdog", getpid());
/* Retrieve file descriptor and thread flag */
struct arg_struct *arguments = (struct arg_struct *)args;
int *fd = arguments->fd_ptr;
bool *thread_should_exit = arguments->thread_should_exit_ptr;
bool mtk_healthy = false;
uint8_t mtk_fail_count = 0;
uint8_t mtk_success_count = 0;
bool once_ok = false;
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
while (!(*thread_should_exit)) {
fflush(stdout);
/* if we have no update for a long time reconfigure gps */
pthread_mutex_lock(mtk_mutex);
uint64_t timestamp_now = hrt_absolute_time();
bool all_okay = true;
if (timestamp_now - mtk_state->last_message_timestamp > MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
all_okay = false;
}
pthread_mutex_unlock(mtk_mutex);
if (!all_okay) {
// printf("mtk unhealthy\n");
mtk_fail_count++;
/* gps error */
// if (err_skip_counter == 0)
// {
// printf("[gps] GPS module not connected or not responding..\n");
// err_skip_counter = 20;
// }
// err_skip_counter--;
// printf("gps_mode_try_all =%u, mtk_fail_count=%u, mtk_healthy=%u, once_ok=%u\n", gps_mode_try_all, mtk_fail_count, mtk_healthy, once_ok);
/* If we have too many failures and another mode or baud should be tried, exit... */
if ((gps_mode_try_all == true || gps_baud_try_all == true) && (mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) && (mtk_healthy == false) && once_ok == false) {
if (gps_verbose) printf("[gps] Connection attempt failed, no MTK module found\r\n");
gps_mode_success = false;
break;
}
if (mtk_healthy && mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) {
printf("[gps] ERROR: MTK GPS module stopped responding\r\n");
// global_data_send_subsystem_info(&mtk_present_enabled);
mavlink_log_critical(mavlink_fd, "[gps] MTK module stopped responding\n");
mtk_healthy = false;
mtk_success_count = 0;
}
/* trying to reconfigure the gps configuration */
configure_gps_mtk(fd);
fflush(stdout);
} else {
/* gps healthy */
mtk_success_count++;
mtk_fail_count = 0;
once_ok = true; // XXX Should this be true on a single success, or on same criteria as mtk_healthy?
if (!mtk_healthy && mtk_success_count >= MTK_HEALTH_SUCCESS_COUNTER_LIMIT) {
printf("[gps] MTK module found, status ok (baud=%d)\r\n", current_gps_speed);
/* MTK never has sat info */
// XXX Check if lock makes sense here
mtk_gps->satellite_info_available = 0;
// global_data_send_subsystem_info(&mtk_present_enabled_healthy);
mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n");
mtk_healthy = true;
}
}
usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);
}
if(gps_verbose) printf("[gps] mtk watchdog is going to terminate\n");
close(mavlink_fd);
return NULL;
}
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