Merge branch 'master' of github.com:paparazzi/paparazzi

conf/autopilot/fixedwing.xml

@@ -34,7 +34,7 @@
    <configure name="ADC_IR_TOP"     value="ADC_0"/><!-- this is already the default if not set, change if needed -->
    <configure name="ADC_IR_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
  </subsystem>
- <subsystem name="gps" 		    types="ublox_lea4p|lea5h">
+ <subsystem name="gps" 		    types="ublox_lea4p|lea5h|nmea">
    <configure name="GPS_BAUD"       values="B9600|B38400|B57600|B115200"/>
    <configure name="GPS_LED"        values="1,2,3,4,none"/>
  </subsystem>

conf/autopilot/subsystems/fixedwing/gps_nmea.makefile

@@ -0,0 +1,15 @@
+# Manta NMEA GPS unit
+
+
+ap.CFLAGS += -DUSE_GPS  -DNMEA -DGPS_USE_LATLONG
+ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
+ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
+ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
+
+ifneq ($(GPS_LED),none)
+  ap.CFLAGS += -DGPS_LED=$(GPS_LED)
+endif
+
+ap.srcs   += $(SRC_FIXEDWING)/gps_nmea.c
+
+$(TARGET).srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c

sw/airborne/gps_nmea.h

@@ -0,0 +1,72 @@
+/*
+ * Paparazzi autopilot $Id: gps_ubx.h 6376 2010-11-07 04:30:44Z flixr $
+ *
+ * Copyright (C) 2004-2006  Pascal Brisset, Antoine Drouin
+ *
+ * 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_nmea.h
+ * \brief NMEA protocol specific code
+ *
+*/
+
+
+#ifndef GPS_NMEA_H
+#define GPS_NMEA_H
+
+#define GPS_NB_CHANNELS 16
+#include "gps.h"
+
+#ifdef DEBUG_NMEA
+#define NMEA_PRINT(...) {  UsbSPrintString( __VA_ARGS__);};
+#else
+#define NMEA_PRINT(...) {};
+#endif
+
+void parse_nmea_GPGSA(void);
+void parse_nmea_GPRMC(void);
+void parse_nmea_GPGGA(void);
+
+extern uint16_t gps_reset;
+
+
+
+/** The function to be called when a characted friom the device is available */
+void parse_nmea_char( uint8_t c );
+
+
+#define GpsParse(_gps_buffer, _gps_buffer_size) { \
+  uint8_t i; \
+  for(i = 0; i < _gps_buffer_size; i++) { \
+    parse_ubx(_gps_buffer[i]); \
+  } \
+}
+
+#define GpsFixValid() (gps_mode == 3)
+
+#define gps_nmea_Reset(_val) { \
+  gps_reset = _val; \
+}
+
+#ifdef GPS_TIMESTAMP
+uint32_t itow_from_ticks(uint32_t clock_ticks);
+#endif
+#define ubxsend_cfg_rst(a,b) {};
+#endif /* GPS_NMEA_H */