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Removed GPS_CONFIGURE + added I2C config: please use the UCENTER module now

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This commit is contained in:
Christophe De Wagter
2011-09-08 15:54:19 +02:00
parent 9362fe2fbd
commit b715f408f8
4 changed files with 15 additions and 176 deletions
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sw/airborne/firmwares/fixedwing/main_ap.c
-6
View File
@@ -581,12 +581,6 @@ void init_ap( void ) {
/** wait 0.5s (historical :-) */
sys_time_usleep(500000);
#ifdef GPS_CONFIGURE
#ifndef SITL
gps_configure_uart();
#endif
#endif
#if defined DATALINK
#if DATALINK == XBEE
sw/airborne/modules/gps/gps_ubx_ucenter.c
+9 -5
View File
@@ -197,10 +197,6 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
#define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u)
#define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK)
#if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2
#else
#endif
#define IGNORED 0
#define RESERVED 0
@@ -238,7 +234,15 @@ static bool_t user_gps_configure(uint8_t nr) {
// Use old baudrate to issue a baudrate change command
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);
// 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, 38400, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
#endif
break;
case 6:
// Now the GPS baudrate should have changed
sw/airborne/subsystems/gps/gps_ubx.c
-120
View File
@@ -79,20 +79,11 @@
struct GpsUbx gps_ubx;
#ifdef GPS_CONFIGURE
bool_t gps_configuring;
static uint8_t gps_status_config;
#endif
void gps_impl_init(void) {
gps_ubx.status = UNINIT;
gps_ubx.msg_available = FALSE;
gps_ubx.error_cnt = 0;
gps_ubx.error_last = GPS_UBX_ERR_NONE;
#ifdef GPS_CONFIGURE
gps_status_config = 0;
gps_configuring = TRUE;
#endif
gps_ubx.have_velned = 0;
}
@@ -276,117 +267,6 @@ void gps_ubx_parse( uint8_t c ) {
return;
}
/*
*
*
* 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); /* FIXME */
#endif
GpsUartSetBaudrate(UBX_GPS_BAUD);
}
#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
/* GPS configuration. Must be called on ack message reception while
gps_status_config < GPS_CONFIG_DONE */
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 */
#ifdef GPS_UBX_UCENTER
#include GPS_UBX_UCENTER
#endif
sw/airborne/subsystems/gps/gps_ubx.h
+6 -45
View File
@@ -27,6 +27,10 @@
#ifndef GPS_UBX_H
#define GPS_UBX_H
#ifdef GPS_CONFIGURE
#warning "Please use gps_ubx_ucenter.xml module instead"
#endif
#include "mcu_periph/uart.h"
/** Includes macros generated from ubx.xml */
@@ -66,18 +70,6 @@ extern struct GpsUbx gps_ubx;
#define GpsBuffer() GpsLink(ChAvailable())
#ifdef GPS_CONFIGURE
extern bool_t gps_configuring;
#define GpsParseOrConfigure() { \
if (gps_configuring) \
gps_configure(); \
else \
gps_ubx_read_message(); \
}
#else
#define GpsParseOrConfigure() gps_ubx_read_message()
#endif
#ifndef GPS_UBX_UCENTER
#define gps_ubx_ucenter_event() {}
#endif
@@ -92,8 +84,8 @@ extern bool_t gps_configuring;
ReadGpsBuffer(); \
} \
if (gps_ubx.msg_available) { \
GpsParseOrConfigure(); \
gps_ubx_ucenter_event(); \
gps_ubx_read_message(); \
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 && \
@@ -139,35 +131,4 @@ extern void ubxsend_cfg_rst(uint16_t, uint8_t);
}
/*
* dynamic GPS configuration
*/
#ifdef GPS_CONFIGURE
#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
extern void gps_configure(void);
extern void gps_configure_uart(void);
#endif
#endif /* GPS_UBX_H */