Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-07 17:49:49 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

Dynamic GPS configuration

Browse Source
This commit is contained in:
Pascal Brisset
2007-08-29 14:09:22 +00:00
parent 205cd1473a
commit 40ff2d0c62
6 changed files with 76 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/arm7/uart_hw.c
+1 -3
View File
@@ -185,8 +185,6 @@ void uart1_ISR(void) __attribute__((naked));
uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
static void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode);
uint8_t uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
uint16_t uart1_tx_insert_idx, uart1_tx_extract_idx;
uint8_t uart1_tx_running;
@@ -206,7 +204,7 @@ bool_t uart1_check_free_space( uint8_t len) {
void uart1_init_rx( void ) {}
static void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode) {
void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode) {
// set port pins for UART1
PINSEL0 = (PINSEL0 & ~U1_PINMASK) | U1_PINSEL;
sw/airborne/arm7/uart_hw.h
+2 -1
View File
@@ -53,6 +53,7 @@ extern uint8_t uart0_rx_buffer[UART0_RX_BUFFER_SIZE];
extern uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
extern uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
extern void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode);
#define Uart1ChAvailable() (uart1_rx_insert_idx != uart1_rx_extract_idx)
@@ -62,6 +63,6 @@ extern uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
ret; \
})
extern uint8_t uart1_tx_running;
#endif /* UART_HW_H */
sw/airborne/gps.h
+10
View File
@@ -55,15 +55,21 @@ extern int32_t gps_lat, gps_lon; /* 1e7 deg */
extern uint16_t gps_PDOP;
extern uint32_t gps_Pacc, gps_Sacc;
extern uint8_t gps_numSV;
extern uint8_t gps_status_config;
extern uint16_t last_gps_msg_t; /** cputime of the last gps message */
#define GPS_CONFIG_INIT 0
#define GPS_CONFIG_DONE 7
void gps_init( void );
void gps_configure( void );
void parse_gps_msg( void );
void estimator_update_state_gps( void );
void use_gps_pos( void );
void gps_configure_uart( void );
extern volatile uint8_t gps_msg_received;
extern bool_t gps_pos_available;
@@ -94,6 +100,10 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
#define GpsBuffer() GpsLink(ChAvailable())
#define ReadGpsBuffer() { while (GpsLink(ChAvailable())&&!gps_msg_received) parse_ubx(GpsLink(Getch())); }
#define GpsUartSend1(c) GpsLink(Transmit(c))
#define GpsUartInitParam(_a,_b,_c) GpsLink(InitParam(_a,_b,_c))
#define GpsUartRunning GpsLink(TxRunning)
#endif /** !SITL */
sw/airborne/gps_ubx.c
+50 -9
View File
@@ -102,8 +102,13 @@ static uint8_t ubx_msg_idx;
static uint8_t ck_a, ck_b;
uint8_t send_ck_a, send_ck_b;
uint8_t gps_status_config;
void gps_init( void ) {
ubx_status = UNINIT;
#ifdef GPS_CONFIGURE
gps_status_config = GPS_CONFIG_INIT;
#endif
}
@@ -115,17 +120,53 @@ void gps_init( void ) {
#define NAV_DYN_AIRBORNE_2G 6
#define NAV_DYN_AIRBORNE_4G 7
void gps_configure ( void ) {
UbxSend_CFG_PRT(0x01, 0x00, 0x0000, 0x000080C0, 19200, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0000, 0x0000);
UbxSend_CFG_NAV(NAV_DYN_AIRBORNE_2G, 3, 16, 24, 20, 5, 0, 0x3C, 0x3C, 0x14, 0x03E8 ,0x0000, 0x0, 0x17, 0x00FA, 0x00FA, 0x0064, 0x012C, 0x000F, 0x00, 0x00);
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0, 1, 0, 0);
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_STATUS_ID, 0, 1, 0, 0);
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 0, 4, 0, 0);
UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
#ifdef GPS_CONFIGURE
/* GPS dynamic configuration */
#include "uart.h"
/* Configure the GPS baud rate using the current uart baud rate. Busy
wait for the end of the transmit. Then, BEFORE waiting for the ACK,
change the uart rate. */
void gps_configure_uart ( void ) {
UbxSend_CFG_PRT(0x01, 0x0, 0x0, 0x000008D0, GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
while (GpsUartRunning) ; /* FIXME */
GpsUartInitParam( UART_BAUD(GPS_BAUD), UART_8N1, UART_FIFO_8);
}
/* GPS configuration. Must be called on ack message reception while
gps_status_config < GPS_CONFIG_DONE */
void gps_configure ( void ) {
if (ubx_class == UBX_ACK_ID) {
if (ubx_id == UBX_ACK_ACK_ID) {
gps_status_config++;
}
}
switch (gps_status_config) {
case 0:
UbxSend_CFG_NAV(NAV_DYN_AIRBORNE_2G, 3, 16, 24, 20, 5, 0, 0x3C, 0x3C, 0x14, 0x03E8 ,0x0000, 0x0, 0x17, 0x00FA, 0x00FA, 0x0064, 0x012C, 0x000F, 0x00, 0x00);
break;
case 1:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0, 1, 0, 0);
break;
case 2:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
break;
case 3:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_STATUS_ID, 0, 1, 0, 0);
break;
case 4:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 0, 4, 0, 0);
break;
case 5:
UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
break;
case 6:
UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
break;
}
}
#endif /* GPS_CONFIGURE */
void ubxsend_cfg_rst(uint16_t bbr , uint8_t val) {
UbxSend_CFG_RST(bbr, val, 0x00);
sw/airborne/main_ap.c
+10 -4
View File
@@ -655,9 +655,6 @@ void init_ap( void ) {
/** Reset the wavecard during the init pause */
wc_reset();
#endif
#if defined GPS && defined GPS_CONFIGURE
gps_configure();
#endif
/************ Internal status ***************/
h_ctl_init();
@@ -679,6 +676,10 @@ void init_ap( void ) {
init_cpt--;
}
#if defined GPS_CONFIGURE
gps_configure_uart();
#endif
#if defined DATALINK
#if DATALINK == XBEE
@@ -715,7 +716,12 @@ void event_task_ap( void ) {
#endif
if (gps_msg_received) {
/* parse and use GPS messages */
parse_gps_msg();
#ifdef GPS_CONFIGURE
if (gps_status_config < GPS_CONFIG_DONE)
gps_configure();
else
#endif
parse_gps_msg();
gps_msg_received = FALSE;
if (gps_pos_available) {
use_gps_pos();
sw/airborne/uart.h
+3
View File
@@ -63,4 +63,7 @@ bool_t uart1_check_free_space( uint8_t len);
#define Uart0SendMessage() {}
#define Uart1SendMessage() {}
#define Uart1TxRunning uart1_tx_running
#define Uart1InitParam uart1_init_param
#endif /* UART_H */