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U-Center now also works fine on other ports than UBLOX_UART1

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This commit is contained in:
Christophe De Wagter
2011-09-09 13:19:24 +02:00
parent adbfa95b9e
commit e3e854d080
2 changed files with 35 additions and 6 deletions
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conf/modules/gps_ubx_ucenter.xml
+15
View File
@@ -1,5 +1,20 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!--
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
a) which paparazzi uart you use
b) inside the ublox gps there are also many ports. the tiny/ppzgps use ublox_internal_port1 but if for instance you use a LS-SAM or I2C device you need to configure:
<define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
-->
<module name="gps_ubx" dir="gps">
<header>
<file name="gps_ubx_ucenter.h"/>
sw/airborne/modules/gps/gps_ubx_ucenter.c
+20 -6
View File
@@ -304,6 +304,20 @@ static inline void gps_ubx_ucenter_config_sbas(void)
//UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
}
static inline void gps_ubx_ucenter_enable_msg(uint8_t class, uint8_t id, uint8_t rate)
{
#if GPS_PORT_ID == GPS_PORT_UART1
UbxSend_CFG_MSG(class, id, 0, rate, 0, 0);
#endif
#if GPS_PORT_ID == GPS_PORT_UART2
UbxSend_CFG_MSG(class, id, 0, 0, rate, 0);
#endif
#if GPS_PORT_ID == GPS_PORT_DDC
UbxSend_CFG_MSG(class, id, rate, 0, 0, 0);
#endif
}
// Text Telemetry for Debugging
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
@@ -353,23 +367,23 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
gps_ubx_ucenter_config_nav();
break;
case 7:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSLLH_ID, 0, 1, 0, 0);
gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSLLH_ID,1);
break;
case 8:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 0, 1, 0, 0);
gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1);
break;
case 9:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_STATUS_ID, 0, 1, 0, 0);
gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_STATUS_ID, 1);
break;
case 10:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 0, 4, 0, 0);
gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 4);
break;
case 11:
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SOL_ID, 0, 8, 0, 0);
gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 8);
break;
case 12:
// Disable UTM on old Lea4P
UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0, 0, 0, 0);
gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0);
break;
case 13:
gps_ubx_ucenter_config_sbas();