/* * gps.c - task 4 - decode gps messages * * 1. wait for a message from sci. * 2. process the message, extracting selected data * 3. goto 1. * * see gps.h and gps_strings.h * * cat gps45xxx.output | sed 's/,.*$//' | sort | uniq * and looking at the strings[2..5] as long's, * $G PBOD --> 0x50424F44 * $G PGGA --> 0x50474741 * $G PGLL --> 0x50474C4C * $G PGSA --> 0x50475341 * $G PGSV --> 0x50475356 * $G PRMB --> 0x50524D42 * $G PRMC --> 0x50524D43 * $G PRTE --> 0x50525445 * $G PWPL --> 0x5057504C * $P GRME --> 0x47524D45 * $P GRMM --> 0x47524D4D * $P GRMZ --> 0x47524D5A * * These hex values may be used in a switch statment. * * task message queue * typedef struct msg_t { * unsigned char task; from task * unsigned char empty; are we done with it? * struct msg_t *next; linked list * unsigned char buf[80]; msg body * } msg_t; * * at 9600 baud, counting messages, * sent lost unknown * 2552 8 87 * 5104 12 146 * 7656 14 242 * * $Id: gps.c,v 1.2 2002/08/03 17:52:57 tomdean Exp $ */ #include #include #include #include unsigned char gps_stack[STACK_SIZE]; /* 111111111122222222223333333333 */ /* 0123456789012345678901234567890123456789 */ unsigned char gps_row_1 [] = "lat lon wpt brg rng "; unsigned char gps_row_2 [41]; unsigned char gps_row_3 [] = "sog cse vmg cterr date utc "; unsigned char gps_row_4 [41]; void gps() { register unsigned short loop_count = 0; unsigned long *msg_id; register unsigned char *ptr; register unsigned short idx; msg_t *msg; while (1) { hex_to_ascii_4(++loop_count, TASK4_COUNT); /* get a message from the queue */ SYS_RECV_WAIT(msg); if (msg != NULL) { ptr = msg->buf; /* All GPS messages start with '$G' or '$P' */ if ((ptr[0] == '$') && ((ptr[1] == 'G') || (ptr[1] == 'P'))) { /* process the message */ ptr+=2; msg_id = (unsigned long *)ptr; switch (*msg_id) { case 0x50424F44: /* $GPBOD */ gpbod_count++; parse_gpbod(ptr+5); break; case 0x50474741: /* $GPGGA */ gpgga_count++; parse_gpgga(ptr+5); break; case 0x50474C4C: /* $GPGLL */ gpgll_count++; parse_gpgll(ptr+5); break; case 0x50475341: /* $GPGSA */ gpgsa_count++; parse_gpgsa(ptr+5); break; case 0x50475356: /* $GPGSV */ gpgsv_count++; parse_gpgsv(ptr+5); break; case 0x50524D42: /* $GPRMB */ gprmb_count++; parse_gprmb(ptr+5); break; case 0x50524D43: /* $GPRMC */ gprmc_count++; parse_gprmc(ptr+5); break; case 0x50525445: /* $GPRTE */ gprte_count++; parse_gprte(ptr+5); break; case 0x5057504C: /* $GPWPL */ gpwpl_count++; parse_gpwpl(ptr+5); break; case 0x47524D45: /* $PGRME */ pgrme_count++; parse_pgrme(ptr+5); break; case 0x47524D4D: /* $PGRMM */ pgrmm_count++; parse_pgrmm(ptr+5); break; case 0x47524D5A: /* $PGRMZ */ pgrmz_count++; parse_pgrmz(ptr+5); break; default: /* What to do here? */ ignore_count++; for (idx=0; idx<5; idx++) error1[idx] = *ptr++; } /* end switch */ } /* end if gps message */ /* * even if this is not a GPS message, it was passed to us * and we don't know what to do with it here.... * so, mark it empty anyway!. */ msg->empty = 1; } /* end msg != NULL */ } /* end while 1 */ } /* end gps() */ /* * gps init */ void gps_init() { register unsigned short idx; gpbod_count = 0; /* defined in gps.h */ gpgga_count = 0; /* defined in gps.h */ gpgll_count = 0; /* defined in gps.h */ gpgsa_count = 0; /* defined in gps.h */ gpgsv_count = 0; /* defined in gps.h */ gprmb_count = 0; /* defined in gps.h */ gprmc_count = 0; /* defined in gps.h */ gprte_count = 0; /* defined in gps.h */ gpwpl_count = 0; /* defined in gps.h */ pgrme_count = 0; /* defined in gps.h */ pgrmm_count = 0; /* defined in gps.h */ pgrmz_count = 0; /* defined in gps.h */ ignore_count = 0; /* defined in gps.h */ for(idx=0; idx<40; idx++) { gps_row_2[idx] = ' '; gps_row_4[idx] = ' '; } return; } /* * show gps_count */ void show_gps_count(char *buf) { hex_to_ascii_2(gpbod_count,buf); hex_to_ascii_2(gpgga_count,buf+3); hex_to_ascii_2(gpgll_count,buf+6); hex_to_ascii_2(gpgsa_count,buf+9); hex_to_ascii_2(gpgsv_count,buf+12); hex_to_ascii_2(gprmb_count,buf+15); hex_to_ascii_2(gprmc_count,buf+18); hex_to_ascii_2(gprte_count,buf+21); hex_to_ascii_2(gpwpl_count,buf+24); hex_to_ascii_2(pgrme_count,buf+27); hex_to_ascii_2(pgrmm_count,buf+30); hex_to_ascii_2(pgrmz_count,buf+33); hex_to_ascii_2(ignore_count,buf+36); return; } /* * parse_gpbod - parse the gpbod record into the global gpbod_t structure */ void parse_gpbod(unsigned char *buf) { gpbod_t *gpbod_ptr; return; } /* * parse_gpgga - parse the gpgga record into the global gpgga_t structure */ void parse_gpgga(unsigned char *buf) { gpgga_t *gpgga_ptr; return; } /* * parse_gpgll - parse the gpgll record into the global gpgll_t structure */ void parse_gpgll(unsigned char *buf) { gpgll_t *gpgll_ptr; return; } /* * parse_gpgsa - parse the gpgsa record into the global gpgsa_t structure */ void parse_gpgsa(unsigned char *buf) { return; } /* * parse_gpgsv - parse the gpgsv record into the global gpgsv_t structure */ void parse_gpgsv(unsigned char *buf) { return; } /* * parse_gprmb - parse the gprmb record into the global gprmb_t structure * 111111111122222222223333333333 * 0123456789012345678901234567890123456789 * lat lon wpt brg rng * 4827.123N 12245.432W WPTNAM 090m 004.3nm * sog cse vmg cterr date utc * 002.4k 102^ -000.8k 3.20 L ddmmyy 031504 * * field, lcd_row, offset, record, recfield * wpt 2 21 gprmb 5 * brg 2 28 gprmb 11 * rng 2 33 gprmb 10 * vmg 4 12 gprmb 12 * cterr 4 20 gprmb 2 * dir 4 25 gprmb 3 * * on entry, buf points to field 1 */ void parse_gprmb(unsigned char *buf) { gprmb_t *gprmb_ptr; DEBUG_ON(BIT05); SKIP_FIELD(buf); /* don't want field 1 */ COPY_FIELD(buf, CTERR_LOC); /* cterr */ COPY_FIELD(buf, CTERR_DIR_LOC); /* cterr dir */ SKIP_FIELD(buf); /* don't want field 4 */ COPY_FIELD(buf, WPT_LOC); /* wpt */ SKIP_FIELD(buf); /* don't want field 6 */ SKIP_FIELD(buf); /* don't want field 7 */ SKIP_FIELD(buf); /* don't want field 8 */ SKIP_FIELD(buf); /* don't want field 9 */ COPY_FIELD(buf, RNG_LOC); /* rng */ COPY_FIELD(buf, BRG_LOC); /* brg */ COPY_FIELD(buf, VMG_LOC); /* vmg */ DEBUG_OFF(BIT05); return; } /* * parse_gprmc - parse the gprmc record into the global gprmc_t structure * * field, lcd_row, offset, record, recfield * utc 4 35 gprmc 1 * lat 2 0 gprmc 3 * dir 2 8 gprmc 4 * lon 2 10 gprmc 5 * dir 2 19 gprmc 6 * sog 4 0 gprmc 7 * cse 4 7 gprmc 8 * date 4 27 gprmc 9 * * on entry, buf points to field 1 */ void parse_gprmc(unsigned char *buf) { gprmc_t *gprmc_ptr; DEBUG_ON(BIT06); COPY_FIELD(buf, UTC_LOC); /* utc */ SKIP_FIELD(buf); /* don't want field 2 */ COPY_FIELD(buf, LAT_LOC); /* lat */ COPY_FIELD(buf, LAT_DIR_LOC); /* lat dir */ COPY_FIELD(buf, LON_LOC); /* lon */ COPY_FIELD(buf, LON_DIR_LOC); /* lon dir */ COPY_FIELD(buf, SOG_LOC); /* sog */ COPY_FIELD(buf, CSE_LOC); /* cse */ COPY_FIELD(buf, DATE_LOC); /* date */ DEBUG_OFF(BIT06); return; } /* * parse_gprte - parse the gprte record into the global gprte_t structure */ void parse_gprte(unsigned char *buf) { gprte_t *gprte_ptr; return; } /* * parse_gpwpl - parse the gpwpl record into the global gpwpl_t structure */ void parse_gpwpl(unsigned char *buf) { gpwpl_t *gpwpl_ptr; return; } /* * parse_pgrme - parse the pgrme record into the global pgrme_t structure */ void parse_pgrme(unsigned char *buf) { pgrme_t *pgrme_ptr; return; } /* * parse_pgrmm - parse the pgrmm record into the global pgrmm_t structure */ void parse_pgrmm(unsigned char *buf) { return; } /* * parse_pgrmz - parse the pgrmz record into the global pgrmz_t structure */ void parse_pgrmz(unsigned char *buf) { return; }