diff --git a/conf/airframes/CDW/tiny2_chimu_spi_pt.xml b/conf/airframes/CDW/tiny2_chimu_spi_pt.xml index 17b6b3f252..581f81cdd8 100644 --- a/conf/airframes/CDW/tiny2_chimu_spi_pt.xml +++ b/conf/airframes/CDW/tiny2_chimu_spi_pt.xml @@ -160,9 +160,7 @@ - - - + diff --git a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml index cfccc53017..43f6965d5c 100644 --- a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml +++ b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml @@ -169,7 +169,6 @@ ap.CFLAGS += -DMODEM_BAUD=B57600 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7eu.h\" ap.CFLAGS += -DGPS_USE_LATLONG -ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1 include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile diff --git a/conf/modules/gps_i2c.xml b/conf/modules/gps_i2c.xml index 7d4ea3a13b..f809e73c90 100644 --- a/conf/modules/gps_i2c.xml +++ b/conf/modules/gps_i2c.xml @@ -16,7 +16,6 @@ - diff --git a/conf/modules/gps_ubx_ucenter.xml b/conf/modules/gps_ubx_ucenter.xml index c64a4c1846..7905c8d0a2 100644 --- a/conf/modules/gps_ubx_ucenter.xml +++ b/conf/modules/gps_ubx_ucenter.xml @@ -10,14 +10,12 @@ Automatically configure any Ublox GPS for paparazzi. - configures all the messages, and the rates - automatic baudrate detection -Warning: you still need to tell the driver -1. Which paparazzi uart you use -2. Inside the ublox gps there are also many ports. - The tiny/ppzgps use ublox_internal_port1 (UART1) but if for instance you use a LS-SAM - or I2C device you need to set this by defining GPS_PORT_ID. +Warning: you still need to tell the driver, which paparazzi port you use. - +
diff --git a/conf/ubx.xml b/conf/ubx.xml index d0fcf18940..9dd55c7239 100644 --- a/conf/ubx.xml +++ b/conf/ubx.xml @@ -114,6 +114,9 @@ + + + @@ -207,6 +210,14 @@ + diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c index 7167c7dd59..05d5069544 100644 --- a/sw/airborne/modules/gps/gps_ubx_ucenter.c +++ b/sw/airborne/modules/gps/gps_ubx_ucenter.c @@ -29,6 +29,8 @@ #include "gps_ubx_ucenter.h" #include "subsystems/gps/gps_ubx.h" +#include "subsystems/datalink/downlink.h" +#include ////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////// @@ -46,6 +48,7 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr); #define GPS_UBX_UCENTER_REPLY_ACK 1 #define GPS_UBX_UCENTER_REPLY_NACK 2 #define GPS_UBX_UCENTER_REPLY_VERSION 3 +#define GPS_UBX_UCENTER_REPLY_CFG_PRT 4 // All U-Center data struct gps_ubx_ucenter_struct gps_ubx_ucenter; @@ -84,37 +87,47 @@ void gps_ubx_ucenter_periodic(void) { switch (gps_ubx_ucenter.status) { - // Save processing time inflight - case GPS_UBX_UCENTER_STATUS_STOPPED: - return; + // Save processing time inflight + case GPS_UBX_UCENTER_STATUS_STOPPED: + return; // Automatically Determine Current Baudrate - case GPS_UBX_UCENTER_STATUS_AUTOBAUD: - if (gps_ubx_ucenter_autobaud(gps_ubx_ucenter.cnt) == FALSE) + case GPS_UBX_UCENTER_STATUS_AUTOBAUD: + if (gps_ubx_ucenter_autobaud(gps_ubx_ucenter.cnt) == FALSE) + { + gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG; + gps_ubx_ucenter.cnt = 0; +#if DEBUG_GPS_UBX_UCENTER + if (gps_ubx_ucenter.baud_init > 0) { - gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG; - gps_ubx_ucenter.cnt = 0; + printf("Initial ublox baudrate found: %u\n", gps_ubx_ucenter.baud_init); } else { - gps_ubx_ucenter.cnt++; + printf("WARNING: Unable to determine the ublox baudrate. Autoconfiguration is unlikely to work.\n"); } - break; +#endif + } + else + { + gps_ubx_ucenter.cnt++; + } + break; // Send Configuration - case GPS_UBX_UCENTER_STATUS_CONFIG: - if (gps_ubx_ucenter_configure(gps_ubx_ucenter.cnt) == FALSE) - { - gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_STOPPED; - gps_ubx_ucenter.cnt = 0; - } - else - { - gps_ubx_ucenter.cnt++; - } - break; - default: - // stop this module now... - // todo - break; + case GPS_UBX_UCENTER_STATUS_CONFIG: + if (gps_ubx_ucenter_configure(gps_ubx_ucenter.cnt) == FALSE) + { + gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_STOPPED; + gps_ubx_ucenter.cnt = 0; + } + else + { + gps_ubx_ucenter.cnt++; + } + break; + default: + // stop this module now... + // todo + break; } } @@ -129,17 +142,23 @@ void gps_ubx_ucenter_event(void) return; // Read Configuration Reply's - if (gps_ubx.msg_class == UBX_ACK_ID) { + switch (gps_ubx.msg_class) + { + case UBX_ACK_ID: if (gps_ubx.msg_id == UBX_ACK_ACK_ID) { gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_ACK; +#if DEBUG_GPS_UBX_UCENTER + printf("ACK\n"); +#endif } - else - { + else { gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NACK; +#if DEBUG_GPS_UBX_UCENTER + printf("NACK\n"); +#endif } - } - // Version info - else if (gps_ubx.msg_class == UBX_MON_ID) { + break; + case UBX_MON_ID: if (gps_ubx.msg_id == UBX_MON_VER_ID ) { gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_VERSION; gps_ubx_ucenter.sw_ver_h = UBX_MON_VER_c(gps_ubx.msg_buf,0) - '0'; @@ -149,7 +168,23 @@ void gps_ubx_ucenter_event(void) gps_ubx_ucenter.hw_ver_h += 10*(UBX_MON_VER_c(gps_ubx.msg_buf,32) - '0'); gps_ubx_ucenter.hw_ver_l = UBX_MON_VER_c(gps_ubx.msg_buf,37) - '0'; gps_ubx_ucenter.hw_ver_l += 10*(UBX_MON_VER_c(gps_ubx.msg_buf,36) - '0'); +#if DEBUG_GPS_UBX_UCENTER + printf("ublox sw_ver: %u.%u\n", gps_ubx_ucenter.sw_ver_h, gps_ubx_ucenter.sw_ver_l); + printf("ublox hw_ver: %u.%u\n", gps_ubx_ucenter.hw_ver_h, gps_ubx_ucenter.hw_ver_l); +#endif } + break; + case UBX_CFG_ID: + if (gps_ubx.msg_id == UBX_CFG_PRT_ID) { + gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_CFG_PRT; + gps_ubx_ucenter.port_id = UBX_CFG_PRT_PortId(gps_ubx.msg_buf,0); + gps_ubx_ucenter.baud_run = UBX_CFG_PRT_Baudrate(gps_ubx.msg_buf,0); +#if DEBUG_GPS_UBX_UCENTER + printf("gps_ubx_ucenter.baud_run: %u\n", gps_ubx_ucenter.baud_run); + printf("gps_ubx_ucenter.port_id: %u\n", gps_ubx_ucenter.port_id); +#endif + } + break; } } @@ -159,7 +194,18 @@ void gps_ubx_ucenter_event(void) // UCENTER Configuration Functions /** - * Enable u-blox message at desired rate (Hz). Will enable the message on the port + * Polls the u-blox port configuration + * When the payload is omitted (zero length), the configuration for the incoming + * (currently used) port is reported. + * + */ +static inline void gps_ubx_ucenter_config_port_poll(void) +{ + UbxSend_CFG_PRT_POLL(); +} + +/** + * Enable u-blox message at desired period. Will enable the message on the port * that this command is received on. For example, sending this configuration message * over UART1 will cause the desired message to be published on UART1. * @@ -168,13 +214,21 @@ void gps_ubx_ucenter_event(void) * * @param class u-blox message class * @param id u-blox message ID - * @param rate Desired rate in cycles per second (Hz) + * @param rate Desired period to send message. Example: Setting 3 would send the message on every 3rd navigation solution. */ static inline void gps_ubx_ucenter_enable_msg(uint8_t class, uint8_t id, uint8_t rate) { - UbxSend_CFG_MSG(class, id, rate); + UbxSend_CFG_MSG(class, id, rate); } +/** + * Automatically determine the baudrate of the u-blox module. + * Only needed when connecting to a UART port on the u-blox. + * The discovered baudrate is copied to gps_ubx_ucenter.baud_init. + * + * @param nr Autobaud step number to perform + * @return FALSE when completed + */ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) { switch (nr) @@ -187,48 +241,58 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) case 2: gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; GpsUartSetBaudrate(B38400); // Try the most common first? - gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1); + gps_ubx_ucenter_config_port_poll(); break; case 3: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { - gps_ubx_ucenter.baud_init = 38400; + gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; return FALSE; } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; GpsUartSetBaudrate(B9600); // Maybe the factory default? - gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1); + gps_ubx_ucenter_config_port_poll(); break; case 4: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { - gps_ubx_ucenter.baud_init = 9600; + gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; return FALSE; } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; GpsUartSetBaudrate(B57600); // The high-rate default? - gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1); + gps_ubx_ucenter_config_port_poll(); break; case 5: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { - gps_ubx_ucenter.baud_init = 57600; + gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; return FALSE; - } + } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; - GpsUartSetBaudrate(B4800); // Default NMEA baudrate finally? - gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1); + GpsUartSetBaudrate(B4800); // Default NMEA baudrate? + gps_ubx_ucenter_config_port_poll(); break; case 6: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { - gps_ubx_ucenter.baud_init = 4800; + gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; return FALSE; - } + } + gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; + GpsUartSetBaudrate(B115200); // Last possible option for ublox + gps_ubx_ucenter_config_port_poll(); + break; + case 7: + if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) + { + gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; + return FALSE; + } // Autoconfig Failed... let's setup the failsafe baudrate // Should we try even a different baudrate? - gps_ubx_ucenter.baud_init = 0; + gps_ubx_ucenter.baud_init = 0; // Set as zero to indicate that we couldn't verify the baudrate GpsUartSetBaudrate(B9600); return FALSE; default: @@ -245,37 +309,52 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) #define NAV_DYN_AUTOMOTIVE 3 #define NAV_DYN_SEA 4 #define NAV_DYN_AIRBORNE_1G 5 -#define NAV_DYN_AIRBORNE_2G 6 +#define NAV_DYN_AIRBORNE_2G 6 // paparazzi default #define NAV_DYN_AIRBORNE_4G 7 -#define NAV5_DYN_PORTABLE 0 +#define NAV5_DYN_PORTABLE 0 // ublox default #define NAV5_DYN_FIXED 1 #define NAV5_DYN_STATIONARY 2 #define NAV5_DYN_PEDESTRIAN 3 #define NAV5_DYN_AUTOMOTIVE 4 #define NAV5_DYN_SEA 5 #define NAV5_DYN_AIRBORNE_1G 6 -#define NAV5_DYN_AIRBORNE_2G 7 +#define NAV5_DYN_AIRBORNE_2G 7 // paparazzi default #define NAV5_DYN_AIRBORNE_4G 8 +#ifndef GPS_UBX_NAV5_DYNAMICS +#define GPS_UBX_NAV5_DYNAMICS NAV5_DYN_AIRBORNE_2G +#endif + +#define NAV5_MASK 0x05 // Apply dynamic model and position fix mode settings + #define NAV5_2D_ONLY 1 -#define NAV5_3D_ONLY 2 -#define NAV5_AUTO 3 +#define NAV5_3D_ONLY 2 // paparazzi default +#define NAV5_AUTO 3 // ublox default + +#define NAV5_DEFAULT_MIN_ELEV 5 // deg +#define NAV5_DEFAULT_PDOP_MASK 25 // no units +#define NAV5_DEFAULT_TDOP_MASK 25 // no units +#define NAV5_DEFAULT_P_ACC 100 // m +#define NAV5_DEFAULT_T_ACC 300 // m +#define NAV5_DEFAULT_STATIC_HOLD_THRES 0 // cm/s #define IGNORED 0 #define RESERVED 0 static inline void gps_ubx_ucenter_config_nav(void) { - //New ublox firmware v5 or higher uses CFG_NAV5 message, CFG_NAV is no longer available - 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); - } + //New ublox firmware v5 or higher uses CFG_NAV5 message, CFG_NAV is no longer available + 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(NAV5_MASK, GPS_UBX_NAV5_DYNAMICS, NAV5_3D_ONLY, IGNORED, IGNORED, NAV5_DEFAULT_MIN_ELEV, RESERVED, + NAV5_DEFAULT_PDOP_MASK, NAV5_DEFAULT_TDOP_MASK, NAV5_DEFAULT_P_ACC, NAV5_DEFAULT_T_ACC, + NAV5_DEFAULT_STATIC_HOLD_THRES, RESERVED, RESERVED, RESERVED, RESERVED); + } } @@ -283,41 +362,60 @@ static inline void gps_ubx_ucenter_config_nav(void) ///////////////////////////////////// // UBlox port and protocol GPS configuration +#ifdef GPS_PORT_ID +#warning "GPS_PORT_ID is no longer needed by the ublox ucenter for automatically configuration. Please remove this defined variable and double check that autoconfig is working as expected." +#endif + +// UART mode: 8N1 with reserved1 set for compatability with A4 +#define UBX_UART_MODE_MASK 0x000008D0 + #define UBX_PROTO_MASK 0x0001 #define NMEA_PROTO_MASK 0x0002 #define RTCM_PROTO_MASK 0x0004 -#define GPS_PORT_DDC 0x00 -#define GPS_PORT_UART1 0x01 -#define GPS_PORT_UART2 0x02 -#define GPS_PORT_USB 0x03 -#define GPS_PORT_SPI 0x04 - -#ifndef GPS_PORT_ID -#define GPS_PORT_ID GPS_PORT_UART1 -#endif +#define GPS_PORT_DDC 0x00 +#define GPS_PORT_UART1 0x01 +#define GPS_PORT_UART2 0x02 +#define GPS_PORT_USB 0x03 +#define GPS_PORT_SPI 0x04 +#define GPS_PORT_RESERVED 0x05 #define __UBX_GPS_BAUD(_u) _u##_BAUD #define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u) #define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK) #ifndef GPS_UBX_UCENTER_RATE -#define GPS_UBX_UCENTER_RATE 0x00FA +#define GPS_UBX_UCENTER_RATE 0x00FA // In milliseconds. 0x00FA = 250ms = 4Hz #endif static inline void gps_ubx_ucenter_config_port(void) { - // I2C Interface - #if GPS_PORT_ID == GPS_PORT_DDC - UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); - #endif - // UART Interface - #if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2 - UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, UART_SPEED(UBX_GPS_BAUD), UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); - #endif - #if GPS_PORT_ID == GPS_PORT_USB - UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x0, 0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); - #endif + switch(gps_ubx_ucenter.port_id) + { + // I2C Interface + case GPS_PORT_DDC: +#ifdef GPS_I2C + UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); +#else + printf("WARNING: Please include the gps_i2c module.\n"); +#endif + break; + // UART Interface + case GPS_PORT_UART1: + case GPS_PORT_UART2: + UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, UBX_UART_MODE_MASK, UART_SPEED(UBX_GPS_BAUD), UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); + break; + // USB Interface + case GPS_PORT_USB: + UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, 0x0, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); + break; + case GPS_PORT_SPI: + printf("WARNING: ublox SPI port is currently not supported.\n"); + break; + default: + printf("WARNING: Unknown ublox port id: %u\n", gps_ubx_ucenter.port_id); + break; + } } #define GPS_SBAS_ENABLED 0x01 @@ -326,38 +424,59 @@ static inline void gps_ubx_ucenter_config_port(void) #define GPS_SBAS_CORRECTIONS 0x02 #define GPS_SBAS_INTEGRITY 0x04 +#define GPS_SBAS_MAX_SBAS 1 // Default ublox setting uses 3 SBAS channels(?) + +#define GPS_SBAS_AUTOSCAN 0x00 + static inline void gps_ubx_ucenter_config_sbas(void) { // Since March 2nd 2011 EGNOS is released for aviation purposes - const uint8_t nrofsat = 1; - UbxSend_CFG_SBAS(GPS_SBAS_ENABLED, GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY, nrofsat, 0x00, 0x00); + UbxSend_CFG_SBAS(GPS_SBAS_ENABLED, GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY, GPS_SBAS_MAX_SBAS, GPS_SBAS_AUTOSCAN, GPS_SBAS_AUTOSCAN); //UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00); } // Text Telemetry for Debugging #undef GOT_PAYLOAD -#include "subsystems/datalink/downlink.h" static bool_t gps_ubx_ucenter_configure(uint8_t nr) { +#if DEBUG_GPS_UBX_UCENTER + printf("gps_ubx_ucenter_configure nr: %u\n",nr); +#endif + // Store the reply of the last configuration step and reset if (nr < GPS_UBX_UCENTER_CONFIG_STEPS) gps_ubx_ucenter.replies[nr] = gps_ubx_ucenter.reply; - gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; - switch (nr) { case 0: - UbxSend_MON_GET_VER(); + // Use old baudrate to issue a baudrate change command + gps_ubx_ucenter_config_port(); break; case 1: +#if DEBUG_GPS_UBX_UCENTER + if (gps_ubx_ucenter.reply != GPS_UBX_UCENTER_REPLY_ACK) + { + printf("ublox did not acknowledge port configuration.\n"); + } + else + { + printf("Changed ublox baudrate to: %u\n", UART_SPEED(UBX_GPS_BAUD)); + } +#endif + // Now the GPS baudrate should have changed + GpsUartSetBaudrate(UBX_GPS_BAUD); + gps_ubx_ucenter.baud_run = UART_SPEED(UBX_GPS_BAUD); + UbxSend_MON_GET_VER(); + break; case 2: case 3: case 4: - // UBX_G5010 takes 0.7 seconds to answer a firmware request - // Version info is important for porper configuration as different firmwares have different settings - break; case 5: + // UBX_G5010 takes 0.7 seconds to answer a firmware request + // Version info is important for proper configuration as different firmwares have different settings + break; + case 6: // Send some debugging info: detected baudrate, software version etc... gps_ubx_ucenter.replies[0] = (gps_ubx_ucenter.baud_init/1000); gps_ubx_ucenter.replies[1] = (gps_ubx_ucenter.baud_init - 1000 * gps_ubx_ucenter.replies[0]) / 100; @@ -368,32 +487,27 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr) #if DEBUG_GPS_UBX_UCENTER DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,6,gps_ubx_ucenter.replies); #endif - - ////////////////////////////////// - // Actual configuration start - - // Use old baudrate to issue a baudrate change command - gps_ubx_ucenter_config_port(); - break; - case 6: - // Now the GPS baudrate should have changed - GpsUartSetBaudrate(UBX_GPS_BAUD); - gps_ubx_ucenter.baud_run = UART_SPEED(UBX_GPS_BAUD); + // Configure CFG-NAV(5) message gps_ubx_ucenter_config_nav(); break; case 7: + // Geodetic Position Solution gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSLLH_ID,1); break; case 8: + // Velocity Solution in NED gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1); break; case 9: + // Receiver Navigation Status gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_STATUS_ID, 1); break; case 10: + // Space Vehicle Information gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 4); break; case 11: + // Navigation Solution Information #if GPS_UBX_UCENTER_SLOW_NAV_SOL gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 8); #else @@ -405,17 +519,21 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr) gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0); break; case 13: + // SBAS Configuration gps_ubx_ucenter_config_sbas(); break; case 14: + // Poll Navigation/Measurement Rate Settings UbxSend_CFG_RATE(GPS_UBX_UCENTER_RATE, 0x0001, 0x0000); break; case 15: + // Raw Measurement Data #if USE_GPS_UBX_RXM_RAW gps_ubx_ucenter_enable_msg(UBX_RXM_ID, UBX_RXM_RAW_ID, 1); #endif break; case 16: + // Subframe Buffer #if USE_GPS_UBX_RXM_SFRB gps_ubx_ucenter_enable_msg(UBX_RXM_ID, UBX_RXM_SFRB_ID, 1); #endif @@ -427,11 +545,18 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr) case 18: #if DEBUG_GPS_UBX_UCENTER // Debug Downlink the result of all configuration steps: see messages + // To view, enable DEBUG message in your telemetry configuration .xml DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,GPS_UBX_UCENTER_CONFIG_STEPS,gps_ubx_ucenter.replies); + for (int i = 0; i < GPS_UBX_UCENTER_CONFIG_STEPS; i++) + { + printf("%u\n", gps_ubx_ucenter.replies[i]); + } #endif return FALSE; default: break; } + + gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; return TRUE; // Continue, except for the last case } diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.h b/sw/airborne/modules/gps/gps_ubx_ucenter.h index ae2084b72c..d7c92ab1df 100644 --- a/sw/airborne/modules/gps/gps_ubx_ucenter.h +++ b/sw/airborne/modules/gps/gps_ubx_ucenter.h @@ -39,8 +39,8 @@ struct gps_ubx_ucenter_struct uint8_t reply; uint8_t cnt; - uint32_t baud_init; - uint32_t baud_run; + uint32_t baud_init; // Initial baudrate of the ublox module + uint32_t baud_run; // Current baudrate of the ublox module uint8_t sw_ver_h; uint8_t sw_ver_l; @@ -48,6 +48,9 @@ struct gps_ubx_ucenter_struct uint16_t hw_ver_h; uint16_t hw_ver_l; + /// Port identifier number + uint8_t port_id; + char replies[GPS_UBX_UCENTER_CONFIG_STEPS]; }; diff --git a/sw/airborne/modules/gps_i2c/gps_i2c.h b/sw/airborne/modules/gps_i2c/gps_i2c.h index 0ccdc25429..9414a4add8 100644 --- a/sw/airborne/modules/gps_i2c/gps_i2c.h +++ b/sw/airborne/modules/gps_i2c/gps_i2c.h @@ -25,6 +25,7 @@ #include "std.h" +/// Default address for u-blox (and others?) #define GPS_I2C_SLAVE_ADDR (0x42 << 1) #define GPS_I2C_BUF_SIZE 256