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https://github.com/paparazzi/paparazzi.git
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UCenter Onboard
This commit is contained in:
Christophe De Wagter
@@ -0,0 +1,14 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="gps_ubx" dir="gps">
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<header>
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<file name="gps_ubx_ucenter.h"/>
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</header>
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<init fun="gps_ubx_ucenter_init()"/>
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<periodic fun="gps_ubx_ucenter_periodic()" freq="4." autorun="TRUE"/>
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<makefile target="ap">
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<define name="GPS_UBX_UCENTER" value="\\\"modules/gps/gps_ubx_ucenter.c\\\"" />
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</makefile>
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</module>
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/*
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* Copyright (C) 2008-2011 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#define GPS_UBX_UCENTER_RUNNING 1
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#define GPX_UBX_UCENTER_STOPPED 0
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uint8_t gps_ubx_ucenter_status
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/////////////////////////////
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// Periodic Function
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void gps_ubx_ucenter_init(void)
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{
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// Start UCenter
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gps_ubx_ucenter_status = GPS_UBX_UCENTER_RUNNING;
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}
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/////////////////////////////
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// Periodic Function
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void gps_ubx_ucenter_periodic(void)
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{
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// Save processing time inflight
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if (gps_ubx_ucenter_status == GPX_UBX_UCENTER_STOPPED)
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return;
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// Autobaud
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//
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}
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/////////////////////////////
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// Event Function
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void gps_ubx_ucenter_event(void)
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{
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// Save processing time inflight
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if (gps_ubx_ucenter_status == GPX_UBX_UCENTER_STOPPED)
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return;
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// Which Message
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if (gps_ubx.msg_class == UBX_NAV_ID) {
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if (gps_ubx.msg_id == UBX_NAV_SOL_ID) {
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}
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}
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if (gps_ubx.msg_class == UBX_ACK_ID) {
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if (gps_ubx.msg_id == UBX_ACK_ACK_ID) {
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gps_status_config++;
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}
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}
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}
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/*
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* dynamic GPS configuration
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#define NAV_DYN_STATIONARY 1
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#define NAV_DYN_PEDESTRIAN 2
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#define NAV_DYN_AUTOMOTIVE 3
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#define NAV_DYN_SEA 4
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#define NAV_DYN_AIRBORNE_1G 5
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#define NAV_DYN_AIRBORNE_2G 6
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#define NAV_DYN_AIRBORNE_4G 7
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#define NAV5_DYN_PORTABLE 0
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#define NAV5_DYN_FIXED 1
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#define NAV5_DYN_STATIONARY 2
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#define NAV5_DYN_PEDESTRIAN 3
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#define NAV5_DYN_AUTOMOTIVE 4
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#define NAV5_DYN_SEA 5
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#define NAV5_DYN_AIRBORNE_1G 6
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#define NAV5_DYN_AIRBORNE_2G 7
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#define NAV5_DYN_AIRBORNE_4G 8
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#define NAV5_2D_ONLY 1
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#define NAV5_3D_ONLY 2
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#define NAV5_AUTO 3
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bool_t gps_configuring;
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static uint8_t gps_status_config;
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gps_status_config = 0;
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gps_configuring = TRUE;
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*/
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/*
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*
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*
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* GPS dynamic configuration
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*
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*
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#ifdef GPS_CONFIGURE
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#define UBX_PROTO_MASK 0x0001
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#define NMEA_PROTO_MASK 0x0002
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#define RTCM_PROTO_MASK 0x0004
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#define GPS_PORT_DDC 0x00
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#define GPS_PORT_UART1 0x01
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#define GPS_PORT_UART2 0x02
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#define GPS_PORT_USB 0x03
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#define GPS_PORT_SPI 0x04
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#ifndef GPS_PORT_ID
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#define GPS_PORT_ID GPS_PORT_UART1
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#endif
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#define __UBX_GPS_BAUD(_u) _u##_BAUD
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#define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u)
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#define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK)
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// Configure the GPS baud rate using the current uart baud rate. Busy
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// wait for the end of the transmit. Then, BEFORE waiting for the ACK,
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// change the uart rate.
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#if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2
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void gps_configure_uart(void) {
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#ifdef FMS_PERIODIC_FREQ
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UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, 38400, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
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uint8_t loop=0;
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while (GpsUartRunning) {
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//doesn't work unless some printfs are used, so :
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if (loop<9) {
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printf("."); loop++;
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} else {
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printf("\b"); loop--;
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}
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}
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#else
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UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, UBX_GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
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while (GpsUartRunning); //
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#endif
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GpsUartInitParam(UBX_GPS_BAUD, UART_8N1, UART_FIFO_8);
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}
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#endif
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#if GPS_PORT_ID == GPS_PORT_DDC
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void gps_configure_uart(void) {
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UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
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}
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#endif
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#define IGNORED 0
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#define RESERVED 0
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#ifdef USER_GPS_CONFIGURE
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#include USER_GPS_CONFIGURE
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#else
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static bool_t user_gps_configure(bool_t cpt) {
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switch (cpt) {
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case 0:
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//New ublox firmware v5 or higher uses CFG_NAV5 message, CFG_NAV is no longer available
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//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);
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UbxSend_CFG_NAV5(0x05, NAV5_DYN_AIRBORNE_2G, NAV5_3D_ONLY, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, RESERVED, RESERVED, RESERVED, RESERVED);
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break;
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case 1:
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UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0, 1, 0, 0);
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break;
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case 2:
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UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
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break;
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case 3:
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UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_STATUS_ID, 0, 1, 0, 0);
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break;
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case 4:
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UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 0, 4, 0, 0);
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break;
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case 5:
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UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SOL_ID, 0, 8, 0, 0);
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break;
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case 6:
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UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
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break;
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case 7:
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UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
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return FALSE;
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}
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return TRUE; // Continue, except for the last case
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}
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#endif // ! USER_GPS_CONFIGURE
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void gps_configure( void ) {
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if (gps_ubx.msg_class == UBX_ACK_ID) {
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if (gps_ubx.msg_id == UBX_ACK_ACK_ID) {
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gps_status_config++;
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}
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}
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gps_configuring = user_gps_configure(gps_status_config);
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}
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#endif /* GPS_CONFIGURE */
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#endif // GPS_CONFIGURE
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*/
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@@ -0,0 +1,35 @@
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/*
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* Copyright (C) 2008-2011 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/** @file gps_ucenter_onboard.h
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* @brief UBX protocol
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*
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*/
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#ifndef GPS_UBX_UCENTER_H
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#define GPS_UBX_UCENTER_H
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extern void gps_ubx_ucenter_periodic(void);
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extern void gps_ubx_ucenter_event(void);
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#endif
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@@ -387,6 +387,11 @@ void gps_configure( void ) {
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}
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#endif /* GPS_CONFIGURE */
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#ifdef GPS_UBX_UCENTER
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#include GPX_UBX_UCENTER
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#endif
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void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) {
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#ifdef GPS_LINK
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UbxSend_CFG_RST(bbr, reset_mode, 0x00);
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@@ -78,6 +78,14 @@ extern bool_t gps_configuring;
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#define GpsParseOrConfigure() gps_ubx_read_message()
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#endif
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#ifdef GPS_UBX_UCENTER
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extern void gps_ubx_ucenter_periodic(void);
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extern void gps_ubx_ucenter_event(void);
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#else
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#define gps_ubx_ucenter_event() {}
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#endif
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/* Gps callback is called when receiving a VELNED or a SOL message
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* All position/speed messages are sent in one shot and VELNED is the last one on fixedwing
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* For rotorcraft, only SOL message is needed for pos/speed data
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@@ -88,6 +96,7 @@ extern bool_t gps_configuring;
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} \
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if (gps_ubx.msg_available) { \
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GpsParseOrConfigure(); \
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gps_ubx_ucenter_event(); \
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if (gps_ubx.msg_class == UBX_NAV_ID && \
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(gps_ubx.msg_id == UBX_NAV_VELNED_ID || \
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(gps_ubx.msg_id == UBX_NAV_SOL_ID && \
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@@ -163,4 +172,5 @@ extern void gps_configure(void);
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extern void gps_configure_uart(void);
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#endif
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#endif /* GPS_UBX_H */
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