[gps] Add Furuno NMEA based GPS

conf/firmwares/subsystems/fixedwing/gps_furuno.makefile

@@ -0,0 +1,32 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# Furuno NMEA GPS unit
+
+GPS_LED ?= none
+
+ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
+ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DUSE_$(GPS_PORT)
+ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DNMEA_PARSE_PROP
+
+ifneq ($(GPS_LED),none)
+  ap.CFLAGS += -DGPS_LED=$(GPS_LED)
+endif
+
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
+
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+
+sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
+sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+
+jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
+
+nps.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
+nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
+nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
+nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c

conf/firmwares/subsystems/rotorcraft/gps_furuno.makefile

@@ -0,0 +1,24 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# Furuno NMEA GPS unit
+
+
+ap.CFLAGS += -DUSE_GPS
+ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DUSE_$(GPS_PORT)
+ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DNMEA_PARSE_PROP
+
+ifneq ($(GPS_LED),none)
+  ap.CFLAGS += -DGPS_LED=$(GPS_LED)
+endif
+
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
+
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+
+nps.CFLAGS += -DUSE_GPS
+nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+

sw/airborne/subsystems/gps/gps_furuno.c

@@ -0,0 +1,109 @@
+/*
+ *
+ * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/**
+ * @file subsystems/gps/gps_furuno.c
+ * GPS furuno based NMEA parser
+ */
+
+#include "gps_nmea.h"
+#include "subsystems/gps.h"
+#include <stdio.h>
+#include <string.h>
+
+#define GPS_FURUNO_SETTINGS_NB    10
+static const char *gps_furuno_settings[GPS_FURUNO_SETTINGS_NB] = {
+  "PERDAPI,FIXPERSEC,5",        // Receive position every 5 Hz
+  "PERDAPI,CROUT,ALLOFF",       // Disable all propriarty output
+  "PERDCFG,NMEAOUT,GGA,1",      // Enable GGA every fix
+  "PERDCFG,NMEAOUT,RMC,1",      // Enable RMC every fix
+  "PERDCFG,NMEAOUT,GSA,1",      // Enable GSA every fix
+  "PERDCFG,NMEAOUT,GNS,0",      // Disable GSA
+  "PERDCFG,NMEAOUT,ZDA,0",      // Disable ZDA
+  "PERDCFG,NMEAOUT,GSV,0",      // Disable GSV
+  "PERDCFG,NMEAOUT,GST,0",      // Disable ZDA
+  "PERDAPI,CROUT,V"             // Enable raw velocity
+};
+
+static void nmea_parse_perdcrv(void);
+
+void nmea_parse_prop_init(void)
+{
+  static uint8_t i = 0;
+  uint8_t j, len, crc;
+  char buf[128];
+
+  // Return when doen
+  if (i == GPS_FURUNO_SETTINGS_NB) {
+    return;
+  }
+
+  for (; i < GPS_FURUNO_SETTINGS_NB; i++) {
+    len = strlen(gps_furuno_settings[i]);
+    crc = nmea_calc_crc(gps_furuno_settings[i], len);
+    sprintf(buf, "$%s*%02X\r\n", gps_furuno_settings[i], crc);
+
+    // Check if there is enough space to send the config msg
+    if (GpsLink(CheckFreeSpace(len + 6))) {
+      for (j = 0; j < len + 6; j++) {
+        GpsLink(Transmit(buf[j]));
+      }
+    } else {
+      break;
+    }
+  }
+}
+
+void nmea_parse_prop_msg(void)
+{
+  if (gps_nmea.msg_len > 5 && !strncmp(gps_nmea.msg_buf , "PERDCRV", 7)) {
+    nmea_parse_perdcrv();
+  }
+}
+
+void nmea_parse_perdcrv(void)
+{
+  int i = 8;
+
+  // Ignore reserved
+  nmea_read_until(&i);
+
+  // Ignore reserved
+  nmea_read_until(&i);
+
+  //EAST VEL
+  double east_vel = strtod(&gps_nmea.msg_buf[i], NULL);
+  gps.ned_vel.y = east_vel * 100; // in cm/s
+
+  // Ignore reserved
+  nmea_read_until(&i);
+
+  // NORTH VEL
+  double north_vel = strtod(&gps_nmea.msg_buf[i], NULL);
+  gps.ned_vel.x = north_vel * 100; // in cm/s
+
+  //Convert velocity to ecef
+  struct LtpDef_i ltp;
+  ltp_def_from_ecef_i(&ltp, &gps.ecef_pos);
+  ecef_of_ned_vect_i(&gps.ecef_vel, &ltp, &gps.ned_vel);
+}

sw/airborne/subsystems/gps/gps_nmea.h

@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2004-2011 The Paparazzi Team
+ *               2014 Freek van Tienen <freek.v.tienen@gmail.com>
  *
  * This file is part of paparazzi.
  *
@@ -31,11 +32,7 @@
 
 #include "mcu_periph/uart.h"
 
-#define GPS_NB_CHANNELS 16
+#ifndef DEBUG_NMEA
-
-#ifdef DEBUG_NMEA
-#define NMEA_PRINT(...) {  UsbSPrintString( __VA_ARGS__);};
-#else
 #define NMEA_PRINT(...) {};
 #endif
 
@@ -62,6 +59,7 @@ extern struct GpsNmea gps_nmea;
 #define GpsBuffer() GpsLink(ChAvailable())
 
 #define GpsEvent(_sol_available_callback) {             \
+    nmea_parse_prop_init();                             \
     if (GpsBuffer()) {                                  \
       ReadGpsBuffer();                                  \
     }                                                   \
@@ -80,19 +78,27 @@ extern struct GpsNmea gps_nmea;
     }                                                   \
   }
 
-#define ReadGpsBuffer() {					\
+#define ReadGpsBuffer() {         \
-    while (GpsLink(ChAvailable())&&!gps_nmea.msg_available)	\
+    while (GpsLink(ChAvailable())&&!gps_nmea.msg_available) \
-      nmea_parse_char(GpsLink(Getch()));			\
+      nmea_parse_char(GpsLink(Getch()));      \
   }
 
 
-
 /** The function to be called when a characted friom the device is available */
 extern void nmea_parse_char(uint8_t c);
-
 extern void nmea_parse_msg(void);
+extern uint8_t nmea_calc_crc(const char *buff, int buff_sz);
+void nmea_parse_prop_init(void);
+void nmea_parse_prop_msg(void);
 
-
+/** Read until a certain character, placed here for proprietary includes */
-#define gps_nmea_Reset(_val) { }
+static inline void nmea_read_until(int *i)
+{
+  while (gps_nmea.msg_buf[*i++] != ',') {
+    if (*i >= gps_nmea.msg_len) {
+      return;
+    }
+  }
+}
 
 #endif /* GPS_NMEA_H */