diff --git a/conf/modules/gps_ubx_ucenter.xml b/conf/modules/gps_ubx_ucenter.xml new file mode 100644 index 0000000000..58224a9c97 --- /dev/null +++ b/conf/modules/gps_ubx_ucenter.xml @@ -0,0 +1,14 @@ + + + +
+ +
+ + + + + + + + diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c new file mode 100644 index 0000000000..d86c636e67 --- /dev/null +++ b/sw/airborne/modules/gps/gps_ubx_ucenter.c @@ -0,0 +1,218 @@ +/* + * Copyright (C) 2008-2011 The Paparazzi Team + * + * 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. + */ + +#define GPS_UBX_UCENTER_RUNNING 1 +#define GPX_UBX_UCENTER_STOPPED 0 + +uint8_t gps_ubx_ucenter_status + +///////////////////////////// +// Periodic Function + +void gps_ubx_ucenter_init(void) +{ + // Start UCenter + gps_ubx_ucenter_status = GPS_UBX_UCENTER_RUNNING; +} + + + +///////////////////////////// +// Periodic Function + +void gps_ubx_ucenter_periodic(void) +{ + // Save processing time inflight + if (gps_ubx_ucenter_status == GPX_UBX_UCENTER_STOPPED) + return; + + // Autobaud + + // +} + +///////////////////////////// +// Event Function + +void gps_ubx_ucenter_event(void) +{ + // Save processing time inflight + if (gps_ubx_ucenter_status == GPX_UBX_UCENTER_STOPPED) + return; + + // Which Message + if (gps_ubx.msg_class == UBX_NAV_ID) { + if (gps_ubx.msg_id == UBX_NAV_SOL_ID) { + } + } + if (gps_ubx.msg_class == UBX_ACK_ID) { + if (gps_ubx.msg_id == UBX_ACK_ACK_ID) { + gps_status_config++; + } + } +} + + + +/* + * dynamic GPS configuration +#define NAV_DYN_STATIONARY 1 +#define NAV_DYN_PEDESTRIAN 2 +#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_4G 7 + +#define NAV5_DYN_PORTABLE 0 +#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_4G 8 + +#define NAV5_2D_ONLY 1 +#define NAV5_3D_ONLY 2 +#define NAV5_AUTO 3 + + +bool_t gps_configuring; +static uint8_t gps_status_config; + +gps_status_config = 0; +gps_configuring = TRUE; + + */ + +/* + * + * + * GPS dynamic configuration + * + * +#ifdef GPS_CONFIGURE + +#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 __UBX_GPS_BAUD(_u) _u##_BAUD +#define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u) +#define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK) + +// 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. +#if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2 +void gps_configure_uart(void) { +#ifdef FMS_PERIODIC_FREQ + UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, 38400, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); + uint8_t loop=0; + while (GpsUartRunning) { + //doesn't work unless some printfs are used, so : + if (loop<9) { + printf("."); loop++; + } else { + printf("\b"); loop--; + } + } +#else + UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, UBX_GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); + while (GpsUartRunning); // +#endif + + GpsUartInitParam(UBX_GPS_BAUD, UART_8N1, UART_FIFO_8); +} +#endif + +#if GPS_PORT_ID == GPS_PORT_DDC +void gps_configure_uart(void) { + UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); +} +#endif + +#define IGNORED 0 +#define RESERVED 0 + +#ifdef USER_GPS_CONFIGURE +#include USER_GPS_CONFIGURE +#else +static bool_t user_gps_configure(bool_t cpt) { + switch (cpt) { + case 0: + //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); + 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_MSG(UBX_NAV_ID, UBX_NAV_SOL_ID, 0, 8, 0, 0); + break; + case 6: + UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00); + break; + case 7: + UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000); + return FALSE; + } + return TRUE; // Continue, except for the last case +} +#endif // ! USER_GPS_CONFIGURE + +void gps_configure( void ) { + if (gps_ubx.msg_class == UBX_ACK_ID) { + if (gps_ubx.msg_id == UBX_ACK_ACK_ID) { + gps_status_config++; + } + } + gps_configuring = user_gps_configure(gps_status_config); +} +#endif /* GPS_CONFIGURE */ +#endif // GPS_CONFIGURE + + */ + + + diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.h b/sw/airborne/modules/gps/gps_ubx_ucenter.h new file mode 100644 index 0000000000..f2b9d3c9da --- /dev/null +++ b/sw/airborne/modules/gps/gps_ubx_ucenter.h @@ -0,0 +1,35 @@ +/* + * Copyright (C) 2008-2011 The Paparazzi Team + * + * 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 gps_ucenter_onboard.h + * @brief UBX protocol + * + */ + +#ifndef GPS_UBX_UCENTER_H +#define GPS_UBX_UCENTER_H + +extern void gps_ubx_ucenter_periodic(void); +extern void gps_ubx_ucenter_event(void); + +#endif + + diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c index bf05c01b4e..dc66f807fb 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.c +++ b/sw/airborne/subsystems/gps/gps_ubx.c @@ -387,6 +387,11 @@ void gps_configure( void ) { } #endif /* GPS_CONFIGURE */ +#ifdef GPS_UBX_UCENTER +#include GPX_UBX_UCENTER +#endif + + void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) { #ifdef GPS_LINK UbxSend_CFG_RST(bbr, reset_mode, 0x00); diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h index 14e84e4411..a3ed13cd5a 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.h +++ b/sw/airborne/subsystems/gps/gps_ubx.h @@ -78,6 +78,14 @@ extern bool_t gps_configuring; #define GpsParseOrConfigure() gps_ubx_read_message() #endif +#ifdef GPS_UBX_UCENTER +extern void gps_ubx_ucenter_periodic(void); +extern void gps_ubx_ucenter_event(void); +#else +#define gps_ubx_ucenter_event() {} +#endif + + /* Gps callback is called when receiving a VELNED or a SOL message * All position/speed messages are sent in one shot and VELNED is the last one on fixedwing * For rotorcraft, only SOL message is needed for pos/speed data @@ -88,6 +96,7 @@ extern bool_t gps_configuring; } \ if (gps_ubx.msg_available) { \ GpsParseOrConfigure(); \ + gps_ubx_ucenter_event(); \ if (gps_ubx.msg_class == UBX_NAV_ID && \ (gps_ubx.msg_id == UBX_NAV_VELNED_ID || \ (gps_ubx.msg_id == UBX_NAV_SOL_ID && \ @@ -163,4 +172,5 @@ extern void gps_configure(void); extern void gps_configure_uart(void); #endif + #endif /* GPS_UBX_H */