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updates - Ublox now working 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@313 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-08-25 17:32:55 +00:00
parent d681c067a1
commit 241b710001
5 changed files with 54 additions and 59 deletions
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47
libraries/AP_GPS/AP_GPS_MTK.cpp
View File

@ -1,12 +1,12 @@
/*
AP_GPS_MTK.cpp - Ublox GPS library for Arduino
Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
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.
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
@ -26,8 +26,8 @@
fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix.
*/
#include "AP_GPS_MTK.h"
#include "AP_GPS_MTK.h"
// Constructors ////////////////////////////////////////////////////////////////
AP_GPS_MTK::AP_GPS_MTK()
@ -38,12 +38,13 @@ AP_GPS_MTK::AP_GPS_MTK()
// Public Methods //////////////////////////////////////////////////////////////
void AP_GPS_MTK::init(void)
{
new_data = 0;
ck_a = 0;
ck_b = 0;
step = 0;
fix = 0;
ck_a = 0;
ck_b = 0;
step = 0;
new_data = 0;
fix = 0;
print_errors = 0;
// initialize serial port
#if defined(__AVR_ATmega1280__)
Serial1.begin(38400); // Serial port 1 on ATMega1280
@ -66,7 +67,7 @@ void AP_GPS_MTK::update(void)
numc = Serial.available();
#endif
if (numc > 0)
for (int i=0;i<numc;i++){ // Process bytes received
for (int i = 0; i < numc; i++){ // Process bytes received
#if defined(__AVR_ATmega1280__)
data = Serial1.read();
#else
@ -74,16 +75,16 @@ void AP_GPS_MTK::update(void)
#endif
switch(step){
case 0:
if(data==0xB5) // UBX sync char 1
step++; //OH first data packet is correct, so jump to the next step
case 0:
if(data == 0xB5)
step++;
break;
case 1:
if(data==0x62) // UBX sync char 2
step++; //ooh! The second data packet is correct, jump to the step 2
if(data == 0x62)
step++;
else
step=0; //Nop, is not correct so restart to step zero and try again.
step = 0;
break;
case 2:
@ -128,8 +129,8 @@ void AP_GPS_MTK::update(void)
ck_a = 0;
ck_b = 0;
break;
}// End switch
}// End for
} // End switch
} // End for
}
@ -143,11 +144,11 @@ AP_GPS_MTK::parse_gps(void)
if(msg_class == 0x01) {
switch(id){
//Checking the UBX ID
case 0x05: //ID Custom
case 0x05: // ID Custom
j = 0;
lattitude= join_4_bytes(&buffer[j]); // lon*10000000
lattitude= join_4_bytes(&buffer[j]); // lon * 10000000
j += 4;
longitude = join_4_bytes(&buffer[j]); // lat*10000000
longitude = join_4_bytes(&buffer[j]); // lat * 10000000
j += 4;
altitude = join_4_bytes(&buffer[j]); // MSL
j += 4;

61
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -1,7 +1,7 @@
/*
AP_GPS_UBLOX.cpp - Ublox GPS library for Arduino
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
This code works with boards based on ATMega168 / 328 and ATMega1280 (Serial port 1)
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
@ -25,8 +25,8 @@
Lattitude : Lattitude * 10000000 (long value)
Longitude : Longitude * 10000000 (long value)
altitude : altitude * 100 (meters) (long value)
Ground_speed : Speed (m / s) * 100 (long value)
Ground_course : Course (degrees) * 100 (long value)
ground_speed : Speed (m/s) * 100 (long value)
ground_course : Course (degrees) * 100 (long 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 FIX, 0: No fix (normal logic)
@ -35,14 +35,13 @@
#include "AP_GPS_UBLOX.h"
// Constructors // /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// //
// Constructors ////////////////////////////////////////////////////////////////
AP_GPS_UBLOX::AP_GPS_UBLOX()
{
print_errors = 1;
}
// Public Methods // /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// ///
// Public Methods ////////////////////////////////////////////////////////////////////
void AP_GPS_UBLOX::init(void)
{
ck_a = 0;
@ -51,13 +50,12 @@ void AP_GPS_UBLOX::init(void)
new_data = 0;
fix = 0;
print_errors = 0;
// initialize serial port
#if defined(__AVR_ATmega1280__)
Serial1.begin(38400); // Serial port 1 on ATMega1280
#else
Serial.begin(38400);
Serial.begin(38400);
#endif
}
@ -70,34 +68,30 @@ void AP_GPS_UBLOX::update(void)
int numc;
#if defined(__AVR_ATmega1280__) // If AtMega1280 then Serial port 1...
numc = Serial1.available();
numc = Serial1.available();
#else
numc = Serial.available();
numc = Serial.available();
#endif
Serial.print("numc ");
Serial.println(numc,DEC);
if (numc > 0){
Serial.println(" ");
for (int i = 0;i < numc;i++){ // Process bytes received
#if defined(__AVR_ATmega1280__)
data = Serial1.read();
#else
data = Serial.read();
#endif
Serial.print(data,HEX);
Serial.println(",");
switch(step){ // Normally we start from zero. This is a state machine
case 0:
if(data == 0xB5) // UBX sync char 1
step++; // OH first data packet is correct, so jump to the next step
switch(step){
case 0:
if(data == 0xB5)
step++;
break;
case 1:
if(data == 0x62) // UBX sync char 2
step++; // ooh! The second data packet is correct, jump to the step 2
if(data == 0x62)
step++;
else
step = 0; // Nop, is not correct so restart to step zero and try again.
step = 0;
break;
case 2:
@ -166,26 +160,25 @@ void AP_GPS_UBLOX::update(void)
}
// Private Methods //////////////////////////////////////////////////////////////
void AP_GPS_UBLOX::parse_gps(void)
void
AP_GPS_UBLOX::parse_gps(void)
{
int j;
//Verifing if we are in msg_class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes..
// In this case all the message im using are in msg_class 1, to know more about classes check PAGE 60 of DataSheet.
if(msg_class == 0x01)
{
switch(id) //Checking the UBX ID
{
if(msg_class == 0x01){
switch(id) {//Checking the UBX ID
case 0x02: // ID NAV - POSLLH
j = 0;
time = join_4_bytes(&buffer[j]); // ms Time of week
j += 4;
longitude = join_4_bytes(&buffer[j]); // lon * 10000000
longitude = join_4_bytes(&buffer[j]); // lon * 10,000,000
j += 4;
lattitude = join_4_bytes(&buffer[j]); // lat * 10000000
lattitude = join_4_bytes(&buffer[j]); // lat * 10,000,000
j += 4;
//altitude = join_4_bytes(&buffer[j]); // elipsoid heigth mm
j += 4;
altitude = (float)join_4_bytes(&buffer[j]); // MSL heigth mm
altitude = (float)join_4_bytes(&buffer[j]) / 10; // MSL heigth mm
//j+=4;
/*
hacc = (float)join_4_bytes(&buffer[j]) / (float)1000;
@ -198,7 +191,7 @@ void AP_GPS_UBLOX::parse_gps(void)
case 0x03: //ID NAV - STATUS
//if(buffer[4] >= 0x03)
if((buffer[4] >= 0x03) && (buffer[5] & 0x01))
if((buffer[4] >= 0x03) && (buffer[5] & 0x01))
fix = 1; // valid position
else
fix = 0; // invalid position
@ -223,8 +216,8 @@ void AP_GPS_UBLOX::parse_gps(void)
ground_course /= 1000; // Rescale heading to deg * 100
j += 4;
break;
}
}
}
}
}
// Join 4 bytes into a long

1
libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
View File

@ -10,6 +10,7 @@
AP_GPS_MTK gps;
#define T6 1000000
#define T7 10000000
void setup()
{

2
libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
View File

@ -10,7 +10,7 @@
AP_GPS_NMEA gps;
#define T6 1000000
#define T7 1000000
#define T7 10000000
void setup()
{

2
libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
View File

@ -10,7 +10,7 @@
AP_GPS_UBLOX gps;
#define T6 1000000
#define T7 1000000
#define T7 10000000
void setup()
{