kopia lustrzana https://github.com/cyoung/stratux
simplified NMEA checksum handling, also append checksum to POGNS messages
Adrian Batzill
rodzic
0d09823943
commit
2c1a002ccb
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@ -39,6 +39,19 @@ func sendNetFLARM(msg string) {
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}
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// Append checksum and to nmea string
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func appendNmeaChecksum(nmea string) string {
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start := 0
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if nmea[0] == '$' {
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start = 1
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}
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checksum := byte(0x00)
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for i := start; i < len(nmea); i++ {
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checksum = checksum ^ byte(nmea[i])
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}
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return fmt.Sprintf("%s*%02X", nmea, checksum)
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}
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func makeFlarmPFLAUString(ti TrafficInfo) (msg string) {
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// syntax: PFLAU,<RX>,<TX>,<GPS>,<Power>,<AlarmLevel>,<RelativeBearing>,<AlarmType>,<RelativeVertical>,<RelativeDistance>,<ID>
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gpsStatus := 0
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@ -70,16 +83,12 @@ func makeFlarmPFLAUString(ti TrafficInfo) (msg string) {
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}
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// TODO: we are always airbourne for now
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if alarmLevel > 0 {
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msg = fmt.Sprintf("PFLAU,%d,1,%d,1,%d,%d,%d,%d,%d,%s", len(traffic), gpsStatus, alarmLevel, int32(bearing), alarmType, relativeVertical, int32(math.Abs(dist)), idstr)
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msg = fmt.Sprintf("$PFLAU,%d,1,%d,1,%d,%d,%d,%d,%d,%s", len(traffic), gpsStatus, alarmLevel, int32(bearing), alarmType, relativeVertical, int32(math.Abs(dist)), idstr)
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} else {
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msg = fmt.Sprintf("PFLAU,%d,1,%d,1,0,,0,,,", len(traffic), gpsStatus)
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msg = fmt.Sprintf("$PFLAU,%d,1,%d,1,0,,0,,,", len(traffic), gpsStatus)
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}
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checksumPFLAU := byte(0x00)
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for i := range msg {
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checksumPFLAU = checksumPFLAU ^ byte(msg[i])
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}
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msg = (fmt.Sprintf("$%s*%02X\r\n", msg, checksumPFLAU))
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msg = appendNmeaChecksum(msg)
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msg += "\r\n"
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return
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}
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@ -154,9 +163,8 @@ func makeFlarmPFLAAString(ti TrafficInfo) (msg string, valid bool, alarmLevel ui
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F = static object
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*/
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var idType, checksum uint8
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var idType uint8
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var relativeNorth, relativeEast, relativeVertical, groundSpeed int32
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var msg2 string
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// Addr type "NON-ICAO" mapped to Flarm ID, rest mapped to ICAO.
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// Especially SkyDemon is picky and only accepts NMEA messages with 0-2, but nothing else.
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@ -213,22 +221,14 @@ func makeFlarmPFLAAString(ti TrafficInfo) (msg string, valid bool, alarmLevel ui
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}
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if ti.Position_valid {
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msg = fmt.Sprintf("PFLAA,%d,%d,%d,%d,%d,%s,%d,%d,%d,%0.1f,%s", alarmLevel, relativeNorth, relativeEast, relativeVertical, idType, idstr, uint16(ti.Track), uint16(ti.TurnRate), groundSpeed, climbRate, acType)
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msg = fmt.Sprintf("$PFLAA,%d,%d,%d,%d,%d,%s,%d,%d,%d,%0.1f,%s", alarmLevel, relativeNorth, relativeEast, relativeVertical, idType, idstr, uint16(ti.Track), uint16(ti.TurnRate), groundSpeed, climbRate, acType)
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} else {
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msg = fmt.Sprintf("PFLAA,%d,%d,,%d,%d,%s,,,,%0.1f,%s", alarmLevel, int32(math.Abs(dist)), relativeVertical, idType, idstr, climbRate, acType) // prototype for bearingless traffic
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msg = fmt.Sprintf("$PFLAA,%d,%d,,%d,%d,%s,,,,%0.1f,%s", alarmLevel, int32(math.Abs(dist)), relativeVertical, idType, idstr, climbRate, acType) // prototype for bearingless traffic
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}
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//msg = fmt.Sprintf("PFLAA,%d,%d,%d,%d,%d,%X!%s,%d,,%d,%0.1f,%d", alarmLevel, relativeNorth, relativeEast, relativeVertical, idType, ti.Icao_addr, ti.Tail, ti.Track, groundSpeed, climbRate, acType)
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for i := range msg {
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checksum = checksum ^ byte(msg[i])
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}
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msg = (fmt.Sprintf("$%s*%02X\r\n", msg, checksum))
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msg = appendNmeaChecksum(msg)
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msg += "\r\n"
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checksum = 0 // reset for next message
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for i := range msg2 {
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checksum = checksum ^ byte(msg2[i])
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}
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msg = msg
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valid = true
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return
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}
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@ -318,16 +318,12 @@ func makeGPRMCString() string {
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var msg string
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if isGPSValid() {
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msg = fmt.Sprintf("GPRMC,%02.f%02.f%05.2f,%s,%010.5f,%s,%011.5f,%s,%.1f,%.1f,%02d%02d%02d,%s,%s,%s", hr, mins, sec, status, lat, ns, lng, ew, gs, trueCourse, dd, mm, yy, magVar, mvEW, mode)
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msg = fmt.Sprintf("$GPRMC,%02.f%02.f%05.2f,%s,%010.5f,%s,%011.5f,%s,%.1f,%.1f,%02d%02d%02d,%s,%s,%s", hr, mins, sec, status, lat, ns, lng, ew, gs, trueCourse, dd, mm, yy, magVar, mvEW, mode)
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} else {
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msg = fmt.Sprintf("GPRMC,,%s,,,,,,,%02d%02d%02d,%s,%s,%s", status, dd, mm, yy, magVar, mvEW, mode) // return null lat-lng and velocity if invalid GPS
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msg = fmt.Sprintf("$GPRMC,,%s,,,,,,,%02d%02d%02d,%s,%s,%s", status, dd, mm, yy, magVar, mvEW, mode) // return null lat-lng and velocity if invalid GPS
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}
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var checksum byte
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for i := range msg {
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checksum = checksum ^ byte(msg[i])
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}
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msg = fmt.Sprintf("$%s*%X\r\n", msg, checksum)
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msg = appendNmeaChecksum(msg)
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msg += "\r\n"
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return msg
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}
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@ -394,27 +390,21 @@ func makeGPGGAString() string {
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var msg string
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if isGPSValid() {
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msg = fmt.Sprintf("GPGGA,%02.f%02.f%05.2f,%010.5f,%s,%011.5f,%s,%d,%d,%.2f,%.1f,M,%.1f,M,,", hr, mins, sec, lat, ns, lng, ew, thisSituation.GPSFixQuality, numSV, hdop, alt, geoidSep)
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msg = fmt.Sprintf("$GPGGA,%02.f%02.f%05.2f,%010.5f,%s,%011.5f,%s,%d,%d,%.2f,%.1f,M,%.1f,M,,", hr, mins, sec, lat, ns, lng, ew, thisSituation.GPSFixQuality, numSV, hdop, alt, geoidSep)
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} else {
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msg = fmt.Sprintf("GPGGA,,,,,,0,%d,,,,,,,", numSV)
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msg = fmt.Sprintf("$GPGGA,,,,,,0,%d,,,,,,,", numSV)
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}
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var checksum byte
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for i := range msg {
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checksum = checksum ^ byte(msg[i])
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}
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msg = fmt.Sprintf("$%s*%X\r\n", msg, checksum)
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msg = appendNmeaChecksum(msg)
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msg += "\r\n"
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return msg
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}
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func makePGRMZString() string {
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msg := fmt.Sprintf("PGRMZ,%d,f,3", int(mySituation.BaroPressureAltitude))
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var checksum byte
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for i := range msg {
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checksum = checksum ^ byte(msg[i])
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}
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msg = fmt.Sprintf("$%s*%X\r\n", msg, checksum)
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msg := fmt.Sprintf("$PGRMZ,%d,f,3", int(mySituation.BaroPressureAltitude))
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msg = appendNmeaChecksum(msg)
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msg += "\r\n"
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return msg
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}
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16
main/gps.go
16
main/gps.go
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@ -546,8 +546,8 @@ func configureOgnTracker() {
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}
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gpsTimeOffsetPpsMs = 200 * time.Millisecond
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serialPort.Write([]byte("$POGNS,NavRate=5\r\n")) // Also force NavRate directly, just to make sure it's always set
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serialPort.Write([]byte("$POGNS\r\n")) // query current configuration
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serialPort.Write([]byte(appendNmeaChecksum("$POGNS,NavRate=5") + "\r\n")) // Also force NavRate directly, just to make sure it's always set
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serialPort.Write([]byte(getOgnTrackerConfigQueryString())) // query current configuration
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// Configuration for OGN Tracker T-Beam is similar to normal Ublox config, but
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@ -1698,7 +1698,13 @@ func processNMEALine(l string) (sentenceUsed bool) {
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}
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func getOgnTrackerConfigString() string {
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return fmt.Sprintf("$POGNS,Address=0x%s,AddrType=%d,AcftType=%d,Pilot=%s", globalSettings.OGNAddr, globalSettings.OGNAddrType, globalSettings.OGNAcftType, globalSettings.OGNPilot)
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msg := fmt.Sprintf("$POGNS,Address=0x%s,AddrType=%d,AcftType=%d,Pilot=%s", globalSettings.OGNAddr, globalSettings.OGNAddrType, globalSettings.OGNAcftType, globalSettings.OGNPilot)
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msg = appendNmeaChecksum(msg)
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return msg + "\r\n"
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}
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func getOgnTrackerConfigQueryString() string {
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return appendNmeaChecksum("$POGNS") + "\r\n"
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}
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func configureOgnTrackerFromSettings() {
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@ -1709,8 +1715,8 @@ func configureOgnTrackerFromSettings() {
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cfg := getOgnTrackerConfigString()
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log.Printf("Configuring OGN Tracker: " + cfg)
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serialPort.Write([]byte(cfg + "\r\n"))
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serialPort.Write([]byte("$POGNS\r\n")) // re-read settings from tracker
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serialPort.Write([]byte(getOgnTrackerConfigString()))
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serialPort.Write([]byte(getOgnTrackerConfigQueryString())) // re-read settings from tracker
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serialPort.Flush()
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}
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@ -54,7 +54,10 @@ type OgnMessage struct {
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func ognPublishNmea(nmea string) {
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if globalStatus.OGN_connected {
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ognOutgoingMsgChan <- nmea + "\r\n"
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if !strings.HasSuffix(nmea, "\r\n") {
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nmea += "\r\n"
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}
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ognOutgoingMsgChan <- nmea
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}
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}
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