ardupilot/libraries/AP_GPS/AP_GPS_IMU.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
* GPS_MTK.cpp - Ublox GPS library for Arduino
* Code by Jordi Mu<EFBFBD>oz and Jose Julio. DIYDrones.com
* This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* GPS configuration : Costum protocol
* Baud rate : 38400
*
* Methods:
* init() : GPS initialization
* update() : Call this funcion as often as you want to ensure you read the incomming gps data
*
* Properties:
* lattitude : lattitude * 10000000 (int32_t value)
* longitude : longitude * 10000000 (int32_t value)
* altitude : altitude * 100 (meters) (int32_t value)
* ground_speed : Speed (m/s) * 100 (int32_t value)
* ground_course : Course (degrees) * 100 (int32_t value)
* new_data : 1 when a new data is received.
* You need to write a 0 to new_data when you read the data
* fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix.
*
*/
#include <AP_HAL.h>
#include "AP_GPS_IMU.h"
// Constructors ////////////////////////////////////////////////////////////////
AP_GPS_IMU::AP_GPS_IMU(AP_HAL::UARTDriver *s) : GPS(s)
{
}
// Public Methods //////////////////////////////////////////////////////////////
void
AP_GPS_IMU::init(enum GPS_Engine_Setting nav_setting)
{
// we expect the stream to already be open at the corret bitrate
idleTimeout = 1200;
}
// optimization : This code doesn't wait for data. It only proccess the data available.
// We can call this function on the main loop (50Hz loop)
// If we get a complete packet this function calls parse_IMU_gps() to parse and update the GPS info.
bool
AP_GPS_IMU::read(void)
{
uint8_t data;
int16_t numc = 0;
numc = _port->available();
if (numc > 0) {
for (int16_t i=0; i<numc; i++) { // Process bytes received
data = _port->read();
switch(step) { //Normally we start from zero. This is a state machine
case 0:
if(data == 0x44) // IMU sync char 1
step++; //OH first data packet is correct, so jump to the next step
break;
case 1:
if(data == 0x49) // IMU sync char 2
step++; //ooh! The second data packet is correct, jump to the step 2
else
step=0; //Nop, is not correct so restart to step zero and try again.
break;
case 2:
if(data == 0x59) // IMU sync char 3
step++; //ooh! The second data packet is correct, jump to the step 2
else
step=0; //Nop, is not correct so restart to step zero and try again.
break;
case 3:
if(data == 0x64) // IMU sync char 4
step++; //ooh! The second data packet is correct, jump to the step 2
else
step=0; //Nop, is not correct so restart to step zero and try again.
break;
case 4:
payload_length = data;
checksum(payload_length);
step++;
if (payload_length > 28) {
step = 0; //Bad data, so restart to step zero and try again.
payload_counter = 0;
ck_a = 0;
ck_b = 0;
//payload_error_count++;
}
break;
case 5:
message_num = data;
checksum(data);
step++;
break;
case 6: // Payload data read...
// We stay in this state until we reach the payload_length
buffer[payload_counter] = data;
checksum(data);
payload_counter++;
if (payload_counter >= payload_length) {
step++;
}
break;
case 7:
GPS_ck_a = data; // First checksum byte
step++;
break;
case 8:
GPS_ck_b = data; // Second checksum byte
// We end the IMU/GPS read...
// Verify the received checksum with the generated checksum..
if((ck_a == GPS_ck_a) && (ck_b == GPS_ck_b)) {
if (message_num == 0x02) {
join_data();
} else if (message_num == 0x03) {
GPS_join_data();
} else if (message_num == 0x04) {
join_data_xplane();
} else if (message_num == 0x0a) {
//PERF_join_data();
} else {
// _error("Invalid message number = %d\n", (int)message_num);
}
} else {
// _error("XXX Checksum error\n"); //bad checksum
//imu_checksum_error_count++;
}
// Variable initialization
step = 0;
payload_counter = 0;
ck_a = 0;
ck_b = 0;
break;
}
} // End for...
}
return true;
}
/****************************************************************
*
****************************************************************/
void AP_GPS_IMU::join_data(void)
{
//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other IMU classes..
//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
//Storing IMU roll
memcpy(&roll_sensor, &buffer[0], sizeof(roll_sensor));
//Storing IMU pitch
memcpy(&pitch_sensor, &buffer[2], sizeof(pitch_sensor));
//Storing IMU heading (yaw)
memcpy(&ground_course, &buffer[4], sizeof(ground_course));
imu_ok = true;
}
void AP_GPS_IMU::join_data_xplane()
{
//Storing IMU roll
memcpy(&roll_sensor, &buffer[0], sizeof(roll_sensor));
//Storing IMU pitch
memcpy(&pitch_sensor, &buffer[2], sizeof(pitch_sensor));
//Storing IMU heading (yaw)
memcpy(&ground_course, &buffer[4], sizeof(ground_course));
//Storing airspeed
memcpy(&airspeed, &buffer[6], sizeof(airspeed));
imu_ok = true;
}
void AP_GPS_IMU::GPS_join_data(void)
{
memcpy(&longitude, &buffer[0], sizeof(longitude));// degrees * 10e7
latitude = *(int32_t *)&buffer[4];
//Storing GPS Height above the sea level
int16_t tmp_altitude;
memcpy(&tmp_altitude, &buffer[8], sizeof(tmp_altitude));
altitude = (int32_t) tmp_altitude * 10;
//Storing Speed
int16_t tmp_speed;
memcpy(&tmp_speed, &buffer[10], sizeof(tmp_speed));
ground_speed = (float)tmp_speed;
speed_3d = ground_speed;
//We skip the gps ground course because we use yaw value from the IMU for ground course
memcpy(&time, &buffer[14], sizeof(time));
imu_health = buffer[15];
new_data = true;
fix = true;
}
/****************************************************************
*
****************************************************************/
// checksum algorithm
void AP_GPS_IMU::checksum(unsigned char data)
{
ck_a += data;
ck_b += ck_a;
}
/****************************************************************
* Unused
****************************************************************/
void AP_GPS_IMU::setHIL(uint32_t _time, float _latitude, float _longitude, float _altitude,
float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats) {
};