kopia lustrzana https://github.com/cyoung/stratux
Formatting.
Christopher Young
rodzic
052b4e2855
commit
60e143bd36
318
main/ry835ai.go
318
main/ry835ai.go
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@ -29,15 +29,15 @@ type SituationData struct {
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Lat float32
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Lng float32
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quality uint8
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GeoidSep float32 // geoid separation, ft, MSL minus HAE (used in altitude calculation)
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Satellites uint16 // satellites used in solution
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SatellitesTracked uint16 // satellites tracked (almanac data received)
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SatellitesSeen uint16 // satellites seen (signal received)
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GeoidSep float32 // geoid separation, ft, MSL minus HAE (used in altitude calculation)
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Satellites uint16 // satellites used in solution
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SatellitesTracked uint16 // satellites tracked (almanac data received)
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SatellitesSeen uint16 // satellites seen (signal received)
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Accuracy float32 // 95% confidence for horizontal position, meters.
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NACp uint8 // NACp categories are defined in AC 20-165A
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Alt float32 // Feet MSL
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AccuracyVert float32 // 95% confidence for vertical position, meters
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GPSVertVel float32 // GPS vertical velocity, feet per second
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GPSVertVel float32 // GPS vertical velocity, feet per second
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LastFixLocalTime time.Time
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TrueCourse uint16
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GroundSpeed uint16
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@ -110,54 +110,54 @@ func initGPSSerial() bool {
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}
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log.Printf("Using %s for GPS\n", device)
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/* Developer option -- uncomment to allow "hot" configuration of GPS (assuming 38.4 kpbs on warm start)
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serialConfig = &serial.Config{Name: device, Baud: 38400}
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p, err := serial.OpenPort(serialConfig)
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if err != nil {
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log.Printf("serial port err: %s\n", err.Error())
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return false
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} else { // reset port to 9600 baud for configuration
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cfg1 := make([]byte, 20)
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cfg1[0] = 0x01 // portID.
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cfg1[1] = 0x00 // res0.
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cfg1[2] = 0x00 // res1.
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cfg1[3] = 0x00 // res1.
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/* Developer option -- uncomment to allow "hot" configuration of GPS (assuming 38.4 kpbs on warm start)
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serialConfig = &serial.Config{Name: device, Baud: 38400}
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p, err := serial.OpenPort(serialConfig)
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if err != nil {
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log.Printf("serial port err: %s\n", err.Error())
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return false
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} else { // reset port to 9600 baud for configuration
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cfg1 := make([]byte, 20)
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cfg1[0] = 0x01 // portID.
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cfg1[1] = 0x00 // res0.
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cfg1[2] = 0x00 // res1.
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cfg1[3] = 0x00 // res1.
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// [ 7 ] [ 6 ] [ 5 ] [ 4 ]
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// 0000 0000 0000 0000 1000 0000 1100 0000
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// UART mode. 0 stop bits, no parity, 8 data bits. Little endian order.
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cfg1[4] = 0xC0
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cfg1[5] = 0x08
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cfg1[6] = 0x00
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cfg1[7] = 0x00
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// [ 7 ] [ 6 ] [ 5 ] [ 4 ]
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// 0000 0000 0000 0000 1000 0000 1100 0000
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// UART mode. 0 stop bits, no parity, 8 data bits. Little endian order.
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cfg1[4] = 0xC0
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cfg1[5] = 0x08
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cfg1[6] = 0x00
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cfg1[7] = 0x00
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// Baud rate. Little endian order.
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bdrt1 := uint32(9600)
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cfg1[11] = byte((bdrt1 >> 24) & 0xFF)
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cfg1[10] = byte((bdrt1 >> 16) & 0xFF)
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cfg1[9] = byte((bdrt1 >> 8) & 0xFF)
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cfg1[8] = byte(bdrt1 & 0xFF)
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// Baud rate. Little endian order.
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bdrt1 := uint32(9600)
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cfg1[11] = byte((bdrt1 >> 24) & 0xFF)
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cfg1[10] = byte((bdrt1 >> 16) & 0xFF)
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cfg1[9] = byte((bdrt1 >> 8) & 0xFF)
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cfg1[8] = byte(bdrt1 & 0xFF)
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// inProtoMask. NMEA and UBX. Little endian.
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cfg1[12] = 0x03
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cfg1[13] = 0x00
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// inProtoMask. NMEA and UBX. Little endian.
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cfg1[12] = 0x03
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cfg1[13] = 0x00
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// outProtoMask. NMEA. Little endian.
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cfg1[14] = 0x02
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cfg1[15] = 0x00
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// outProtoMask. NMEA. Little endian.
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cfg1[14] = 0x02
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cfg1[15] = 0x00
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cfg1[16] = 0x00 // flags.
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cfg1[17] = 0x00 // flags.
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cfg1[16] = 0x00 // flags.
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cfg1[17] = 0x00 // flags.
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cfg1[18] = 0x00 //pad.
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cfg1[19] = 0x00 //pad.
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cfg1[18] = 0x00 //pad.
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cfg1[19] = 0x00 //pad.
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p.Write(makeUBXCFG(0x06, 0x00, 20, cfg1))
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p.Close()
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}
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p.Write(makeUBXCFG(0x06, 0x00, 20, cfg1))
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p.Close()
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}
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-- End developer option */
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-- End developer option */
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// Open port at 9600 baud for config.
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serialConfig = &serial.Config{Name: device, Baud: 9600}
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p, err := serial.OpenPort(serialConfig)
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@ -169,7 +169,6 @@ func initGPSSerial() bool {
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// Set 10Hz update. Little endian order.
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p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00}))
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// Set navigation settings.
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nav := make([]byte, 36)
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nav[0] = 0x05 // Set dyn and fixMode only.
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@ -180,19 +179,18 @@ func initGPSSerial() bool {
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p.Write(makeUBXCFG(0x06, 0x24, 36, nav))
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// GNSS configuration CFG-GNSS for ublox 7 higher, p. 125 (v8)
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//
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//
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// NOTE: Max position rate = 5 Hz if GPS+GLONASS used.
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// Disable GLONASS to enable 10 Hz solution rate. GLONASS is not used
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// for SBAS (WAAS), so little real-world impact.
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cfgGnss := []byte{0x00, 0x20, 0x20, 0x05}
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gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01}
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sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01}
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beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01}
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qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}
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glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01}
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cfgGnss := []byte{0x00, 0x20, 0x20, 0x05}
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gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01}
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sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01}
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beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01}
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qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}
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glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01}
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cfgGnss = append(cfgGnss, gps...)
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cfgGnss = append(cfgGnss, sbas...)
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cfgGnss = append(cfgGnss, beidou...)
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@ -205,20 +203,20 @@ func initGPSSerial() bool {
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// Message output configuration -- disable standard NMEA messages except 1Hz GGA
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// Msg DDC UART1 UART2 USB I2C Res
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x00, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x01})) // GGA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GLL
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x00, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x01})) // GGA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GLL
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSV
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // RMC
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // VGT
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GRS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // RMC
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // VGT
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GRS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GST
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // ZDA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GBS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // DTM
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GNS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // ???
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // VLW
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // ZDA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GBS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // DTM
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GNS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // ???
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // VLW
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00})) // Ublox,0
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x00})) // Ublox,3
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@ -230,8 +228,8 @@ func initGPSSerial() bool {
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cfg[1] = 0x00 // res0.
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cfg[2] = 0x00 // res1.
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cfg[3] = 0x00 // res1.
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// [ 7 ] [ 6 ] [ 5 ] [ 4 ]
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// [ 7 ] [ 6 ] [ 5 ] [ 4 ]
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// 0000 0000 0000 0000 1000 0000 1100 0000
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// UART mode. 0 stop bits, no parity, 8 data bits. Little endian order.
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cfg[4] = 0xC0
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@ -290,15 +288,15 @@ func validateNMEAChecksum(s string) (string, bool) {
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return "Invalid NMEA message", false
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}
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// strip leading "$" and split at "*"
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// strip leading "$" and split at "*"
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s_split := strings.Split(strings.TrimPrefix(s, "$"), "*")
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s_out := s_split[0]
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s_cs := s_split[1]
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if (len(s_cs) < 2) {
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if len(s_cs) < 2 {
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return "Missing checksum. Fewer than two bytes after asterisk", false
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}
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cs, err := strconv.ParseUint(s_cs[:2], 16, 8)
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if err != nil {
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return "Invalid checksum", false
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@ -308,34 +306,32 @@ func validateNMEAChecksum(s string) (string, bool) {
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for i := range s_out {
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cs_calc = cs_calc ^ byte(s_out[i])
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}
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if (cs_calc != byte(cs)) {
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if cs_calc != byte(cs) {
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return fmt.Sprintf("Checksum failed. Calculated %#X; expected %#X", cs_calc, cs), false
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}
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return s_out, true
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}
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func processNMEALine(l string) bool {
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replayLog(l, MSGCLASS_GPS)
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l_valid, validNMEAcs := validateNMEAChecksum(l)
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if (!validNMEAcs) {
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if !validNMEAcs {
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log.Printf("GPS error. Invalid NMEA string: %s\n", l_valid) // remove log message once validation complete
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return false
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}
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x := strings.Split(l_valid, ",")
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if (x[0] == "PUBX") { // UBX proprietary message
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if (x[1] == "00") { // position message
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if len (x) < 20 {
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return false
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}
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if x[0] == "PUBX" { // UBX proprietary message
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if x[1] == "00" { // position message
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if len(x) < 20 {
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return false
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}
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mySituation.mu_GPS.Lock()
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defer mySituation.mu_GPS.Unlock()
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mySituation.mu_GPS.Lock()
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defer mySituation.mu_GPS.Unlock()
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// field 2 = time
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if len(x[2]) < 9 {
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return false
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@ -392,52 +388,50 @@ func processNMEALine(l string) bool {
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// field 8 = nav status
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// DR = dead reckoning, G2= 2D GPS, G3 = 3D GPS, D2= 2D diff, D3 = 3D diff, RK = GPS+DR, TT = time only
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if (x[8] == "D2" || x[8] == "D3") {
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if x[8] == "D2" || x[8] == "D3" {
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mySituation.quality = 2
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} else if (x[8] == "G2" || x[8] == "G3") {
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} else if x[8] == "G2" || x[8] == "G3" {
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mySituation.quality = 1
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} else if (x[8] == "DR" || x[8] == "RK") {
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} else if x[8] == "DR" || x[8] == "RK" {
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mySituation.quality = 6
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} else if (x[8] == "NF") {
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} else if x[8] == "NF" {
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mySituation.quality = 0
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return false // return false if no valid fix.
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} else {
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mySituation.quality = 0
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mySituation.quality = 0
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}
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// field 9 = horizontal accuracy, m
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hAcc, err := strconv.ParseFloat(x[9], 32)
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if err != nil {
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return false
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}
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mySituation.Accuracy = float32(hAcc*2) // UBX reports 1-sigma variation; NACp is 95% confidence (2-sigma)
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// NACp estimate.
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if mySituation.Accuracy < 3 {
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mySituation.NACp = 11
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} else if mySituation.Accuracy < 10 {
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mySituation.NACp = 10
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} else if mySituation.Accuracy < 30 {
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mySituation.NACp = 9
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} else if mySituation.Accuracy < 92.6 {
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mySituation.NACp = 8
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} else if mySituation.Accuracy < 185.2 {
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mySituation.NACp = 7
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} else if mySituation.Accuracy < 555.6 {
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mySituation.NACp = 6
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} else {
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mySituation.NACp = 0
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}
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hAcc, err := strconv.ParseFloat(x[9], 32)
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if err != nil {
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return false
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}
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mySituation.Accuracy = float32(hAcc * 2) // UBX reports 1-sigma variation; NACp is 95% confidence (2-sigma)
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// NACp estimate.
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if mySituation.Accuracy < 3 {
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mySituation.NACp = 11
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} else if mySituation.Accuracy < 10 {
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mySituation.NACp = 10
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} else if mySituation.Accuracy < 30 {
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mySituation.NACp = 9
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} else if mySituation.Accuracy < 92.6 {
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mySituation.NACp = 8
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} else if mySituation.Accuracy < 185.2 {
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mySituation.NACp = 7
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} else if mySituation.Accuracy < 555.6 {
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mySituation.NACp = 6
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} else {
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mySituation.NACp = 0
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}
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// field 10 = vertical accuracy, m
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vAcc, err := strconv.ParseFloat(x[10], 32)
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if err != nil {
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return false
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}
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mySituation.AccuracyVert = float32(vAcc*2) // UBX reports 1-sigma variation; we want 95% confidence
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|
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vAcc, err := strconv.ParseFloat(x[10], 32)
|
||||
if err != nil {
|
||||
return false
|
||||
}
|
||||
mySituation.AccuracyVert = float32(vAcc * 2) // UBX reports 1-sigma variation; we want 95% confidence
|
||||
|
||||
// field 11 = groundspeed, km/h
|
||||
groundspeed, err := strconv.ParseFloat(x[11], 32)
|
||||
|
|
@ -445,7 +439,7 @@ func processNMEALine(l string) bool {
|
|||
return false
|
||||
}
|
||||
groundspeed = groundspeed * 0.540003 // convert to knots
|
||||
|
||||
|
||||
// field 12 = track, deg
|
||||
trueCourse := uint16(0)
|
||||
if len(x[12]) > 0 && groundspeed > 3 {
|
||||
|
|
@ -464,25 +458,20 @@ func processNMEALine(l string) bool {
|
|||
mySituation.GroundSpeed = 0
|
||||
mySituation.LastGroundTrackTime = time.Time{}
|
||||
}
|
||||
|
||||
|
||||
mySituation.TrueCourse = uint16(trueCourse)
|
||||
mySituation.GroundSpeed = uint16(groundspeed)
|
||||
mySituation.GroundSpeed = uint16(groundspeed)
|
||||
mySituation.LastGroundTrackTime = time.Now()
|
||||
|
||||
|
||||
|
||||
// field 13 = vertical velocity, m/s
|
||||
vv, err := strconv.ParseFloat(x[13], 32)
|
||||
if err != nil {
|
||||
return false
|
||||
}
|
||||
mySituation.GPSVertVel = float32(vv*-3.28084) // convert to ft/sec and positive = up
|
||||
|
||||
|
||||
vv, err := strconv.ParseFloat(x[13], 32)
|
||||
if err != nil {
|
||||
return false
|
||||
}
|
||||
mySituation.GPSVertVel = float32(vv * -3.28084) // convert to ft/sec and positive = up
|
||||
|
||||
// field 14 = age of diff corrections
|
||||
|
||||
|
||||
// field 18 = number of satellites
|
||||
sat, err1 := strconv.Atoi(x[18])
|
||||
if err1 != nil {
|
||||
|
|
@ -492,38 +481,37 @@ func processNMEALine(l string) bool {
|
|||
|
||||
mySituation.LastFixLocalTime = time.Now()
|
||||
|
||||
} else if (x[1] == "03") { // satellite status message
|
||||
} else if x[1] == "03" { // satellite status message
|
||||
|
||||
// field 2 = number of satellites tracked
|
||||
satSeen := 0 // satellites seen (signal present)
|
||||
satTracked, err := strconv.Atoi(x[2])
|
||||
if err != nil {
|
||||
return false
|
||||
}
|
||||
mySituation.SatellitesTracked = uint16(satTracked)
|
||||
|
||||
// fields 3-8 are repeated block
|
||||
for i:= 0; i < satTracked; i++ {
|
||||
if (x[7+6*i] != "") {
|
||||
if err != nil {
|
||||
return false
|
||||
}
|
||||
mySituation.SatellitesTracked = uint16(satTracked)
|
||||
|
||||
// fields 3-8 are repeated block
|
||||
for i := 0; i < satTracked; i++ {
|
||||
if x[7+6*i] != "" {
|
||||
satSeen++
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
mySituation.SatellitesSeen = uint16(satSeen)
|
||||
// log.Printf("Satellites with signal: %v\n",mySituation.SatellitesSeen)
|
||||
|
||||
mySituation.SatellitesSeen = uint16(satSeen)
|
||||
// log.Printf("Satellites with signal: %v\n",mySituation.SatellitesSeen)
|
||||
|
||||
/* Reference for future constellation tracking
|
||||
for i:= 0; i < satTracked; i++ {
|
||||
x[3+6*i] // sv number
|
||||
x[4+6*i] // status [ U | e | - ] for used / ephemeris / not used
|
||||
x[5+6*i] // azimuth, deg, 0-359
|
||||
x[6+6*i] // elevation, deg, 0-90
|
||||
x[7+6*i] // signal strength dB-Hz
|
||||
x[8+6*i] // lock time, sec, 0-64
|
||||
for i:= 0; i < satTracked; i++ {
|
||||
x[3+6*i] // sv number
|
||||
x[4+6*i] // status [ U | e | - ] for used / ephemeris / not used
|
||||
x[5+6*i] // azimuth, deg, 0-359
|
||||
x[6+6*i] // elevation, deg, 0-90
|
||||
x[7+6*i] // signal strength dB-Hz
|
||||
x[8+6*i] // lock time, sec, 0-64
|
||||
*/
|
||||
|
||||
} else if (x[1] == "04") { // clock message
|
||||
} else if x[1] == "04" { // clock message
|
||||
|
||||
// field 2 is UTC time
|
||||
if len(x[2]) < 9 {
|
||||
|
|
@ -536,7 +524,7 @@ func processNMEALine(l string) bool {
|
|||
return false
|
||||
}
|
||||
mySituation.lastFixSinceMidnightUTC = uint32((hr * 60 * 60) + (min * 60) + sec)
|
||||
|
||||
|
||||
// field 3 is date
|
||||
|
||||
if len(x[3]) == 6 {
|
||||
|
|
@ -553,9 +541,9 @@ func processNMEALine(l string) bool {
|
|||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// otherwise look for NMEA standard messages and process them
|
||||
// otherwise look for NMEA standard messages and process them
|
||||
} else if (x[0] == "GNVTG") || (x[0] == "GPVTG") { // Ground track information.
|
||||
mySituation.mu_GPS.Lock()
|
||||
defer mySituation.mu_GPS.Unlock()
|
||||
|
|
@ -688,7 +676,7 @@ func processNMEALine(l string) bool {
|
|||
mySituation.NACp = 0
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
// Altitude.
|
||||
alt, err1 := strconv.ParseFloat(x[9], 32)
|
||||
if err1 != nil {
|
||||
|
|
@ -699,11 +687,11 @@ func processNMEALine(l string) bool {
|
|||
// Geoid separation (Sep = HAE - MSL)
|
||||
// (needed for proper MSL offset on PUBX,00 altitudes)
|
||||
|
||||
geoidSep, err1 := strconv.ParseFloat(x[11], 32)
|
||||
if err1 != nil {
|
||||
return false
|
||||
}
|
||||
mySituation.GeoidSep = float32(geoidSep * 3.28084) // Convert to feet.
|
||||
geoidSep, err1 := strconv.ParseFloat(x[11], 32)
|
||||
if err1 != nil {
|
||||
return false
|
||||
}
|
||||
mySituation.GeoidSep = float32(geoidSep * 3.28084) // Convert to feet.
|
||||
|
||||
// Timestamp.
|
||||
mySituation.LastFixLocalTime = time.Now()
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue