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U-Center Onboard Ready

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This commit is contained in:
Christophe De Wagter
2011-09-08 14:30:19 +02:00
parent d0ae546fe6
commit 9362fe2fbd
1 changed files with 58 additions and 14 deletions
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sw/airborne/modules/gps/gps_ubx_ucenter.c
+58 -14
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@@ -17,6 +17,8 @@
* 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.
*
* Initial author: C. De Wagter
*/
#include "gps_ubx_ucenter.h"
@@ -30,7 +32,9 @@
#define GPS_UBX_UCENTER_REPLY_NACK 2
#define GPS_UBX_UCENTER_REPLY_VERSION 3
/** Space Vehicle Information */
#define GPS_UBX_UCENTER_CONFIG_STEPS 17
/** U-Center Variables */
struct gps_ubx_ucenter_t {
uint8_t status;
uint8_t reply;
@@ -45,6 +49,9 @@ struct gps_ubx_ucenter_t {
uint16_t hw_ver_h;
uint16_t hw_ver_l;
char replies[GPS_UBX_UCENTER_CONFIG_STEPS];
char msg[16];
} gps_ubx_ucenter;
@@ -75,6 +82,11 @@ void gps_ubx_ucenter_init(void)
gps_ubx_ucenter.hw_ver_h = 0;
gps_ubx_ucenter.hw_ver_l = 0;
for (int i=0; i<GPS_UBX_UCENTER_CONFIG_STEPS; i++)
{
gps_ubx_ucenter.replies[i] = 0;
}
sprintf(gps_ubx_ucenter.msg,"UCenter Onboard");
DOWNLINK_SEND_DEBUG(DefaultChannel,16,gps_ubx_ucenter.msg);
}
@@ -197,6 +209,9 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
#include USER_GPS_CONFIGURE
#else
static bool_t user_gps_configure(uint8_t nr) {
if (nr < GPS_UBX_UCENTER_CONFIG_STEPS)
gps_ubx_ucenter.replies[nr] = gps_ubx_ucenter.reply;
switch (nr) {
//////////////////////////////////
// Startup and baudrate
@@ -209,13 +224,7 @@ static bool_t user_gps_configure(uint8_t nr) {
case 2:
case 3:
// UBX_G5010 takes 0.7 seconds to answer a firmware request
break;
case 4:
if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_VERSION)
{
//gps_ubx_ucenter.msg[2] = 'V';
//DOWNLINK_SEND_DEBUG(DefaultChannel,3,gps_ubx_ucenter.msg);
}
break;
case 5:
gps_ubx_ucenter.msg[2] = gps_ubx_ucenter.sw_ver_h;
@@ -223,41 +232,76 @@ static bool_t user_gps_configure(uint8_t nr) {
gps_ubx_ucenter.msg[4] = gps_ubx_ucenter.hw_ver_h;
gps_ubx_ucenter.msg[5] = gps_ubx_ucenter.hw_ver_l;
DOWNLINK_SEND_DEBUG(DefaultChannel,6,gps_ubx_ucenter.msg);
//////////////////////////////////
// Actual configuration start
// Use old baudrate to issue a baudrate change command
//GpsUartSetBaudrate(B9600);
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, 38400, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
break;
case 6:
// Now the GPS baudrate should have changed
GpsUartSetBaudrate(B38400);
//////////////////////////////////
// Actual configuration
//New ublox firmware v5 or higher uses CFG_NAV5 message, CFG_NAV is no longer available
//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_NAV5(0x05, NAV5_DYN_AIRBORNE_2G, NAV5_3D_ONLY, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, RESERVED, RESERVED, RESERVED, RESERVED);
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
if (gps_ubx_ucenter.sw_ver_h < 5)
{
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);
}
else
{
UbxSend_CFG_NAV5(0x05, NAV5_DYN_AIRBORNE_2G, NAV5_3D_ONLY, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, RESERVED, RESERVED, RESERVED, RESERVED);
}
break;
case 7:
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSLLH_ID, 0, 1, 0, 0);
break;
case 8:
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
break;
case 9:
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_STATUS_ID, 0, 1, 0, 0);
break;
case 10:
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 0, 4, 0, 0);
break;
case 11:
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SOL_ID, 0, 8, 0, 0);
break;
case 12:
UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
// Disable UTM on old Lea4P
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0, 0, 0, 0);
break;
case 13:
// Since March 2nd 2011 EGNOS is released for aviation purposes
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
{
const uint8_t enable = 0x01;
const uint8_t nrofsat = 1;
// 1 Ranging - 2 Correction - 4 Integrity
UbxSend_CFG_SBAS(enable, 0x07, nrofsat, 0x00, 0x00);
}
//UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
break;
case 14:
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
break;
case 15:
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
// Try to save on non-ROM devices...
UbxSend_CFG_CFG(0x00000000,0xffffffff,0x00000000);
break;
case 16:
DOWNLINK_SEND_DEBUG(DefaultChannel,GPS_UBX_UCENTER_CONFIG_STEPS,gps_ubx_ucenter.replies);
return FALSE;
default:
break;