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updates - Ublox now working

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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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31
libraries/AP_GPS/AP_GPS_MTK.cpp
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@ -1,9 +1,9 @@
/* /*
AP_GPS_MTK.cpp - Ublox GPS library for Arduino AP_GPS_MTK.cpp - Ublox GPS library for Arduino
Code by Jordi MuÒoz and Jose Julio. DIYDrones.com 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 This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. version 2.1 of the License, or (at your option) any later version.
@ -26,8 +26,8 @@
fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix. fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix.
*/ */
#include "AP_GPS_MTK.h"
#include "AP_GPS_MTK.h"
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
AP_GPS_MTK::AP_GPS_MTK() AP_GPS_MTK::AP_GPS_MTK()
@ -38,12 +38,13 @@ AP_GPS_MTK::AP_GPS_MTK()
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void AP_GPS_MTK::init(void) void AP_GPS_MTK::init(void)
{ {
new_data = 0;
ck_a = 0; ck_a = 0;
ck_b = 0; ck_b = 0;
step = 0; step = 0;
new_data = 0;
fix = 0; fix = 0;
print_errors = 0; print_errors = 0;
// initialize serial port // initialize serial port
#if defined(__AVR_ATmega1280__) #if defined(__AVR_ATmega1280__)
Serial1.begin(38400); // Serial port 1 on ATMega1280 Serial1.begin(38400); // Serial port 1 on ATMega1280
@ -66,7 +67,7 @@ void AP_GPS_MTK::update(void)
numc = Serial.available(); numc = Serial.available();
#endif #endif
if (numc > 0) 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__) #if defined(__AVR_ATmega1280__)
data = Serial1.read(); data = Serial1.read();
#else #else
@ -75,15 +76,15 @@ void AP_GPS_MTK::update(void)
switch(step){ switch(step){
case 0: case 0:
if(data==0xB5) // UBX sync char 1 if(data == 0xB5)
step++; //OH first data packet is correct, so jump to the next step step++;
break; break;
case 1: case 1:
if(data==0x62) // UBX sync char 2 if(data == 0x62)
step++; //ooh! The second data packet is correct, jump to the step 2 step++;
else else
step=0; //Nop, is not correct so restart to step zero and try again. step = 0;
break; break;
case 2: case 2:
@ -128,8 +129,8 @@ void AP_GPS_MTK::update(void)
ck_a = 0; ck_a = 0;
ck_b = 0; ck_b = 0;
break; break;
}// End switch } // End switch
}// End for } // End for
} }
@ -143,11 +144,11 @@ AP_GPS_MTK::parse_gps(void)
if(msg_class == 0x01) { if(msg_class == 0x01) {
switch(id){ switch(id){
//Checking the UBX ID //Checking the UBX ID
case 0x05: //ID Custom case 0x05: // ID Custom
j = 0; j = 0;
lattitude= join_4_bytes(&buffer[j]); // lon*10000000 lattitude= join_4_bytes(&buffer[j]); // lon * 10000000
j += 4; j += 4;
longitude = join_4_bytes(&buffer[j]); // lat*10000000 longitude = join_4_bytes(&buffer[j]); // lat * 10000000
j += 4; j += 4;
altitude = join_4_bytes(&buffer[j]); // MSL altitude = join_4_bytes(&buffer[j]); // MSL
j += 4; j += 4;

45
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -1,7 +1,7 @@
/* /*
AP_GPS_UBLOX.cpp - Ublox GPS library for Arduino AP_GPS_UBLOX.cpp - Ublox GPS library for Arduino
Code by Jordi Muñoz and Jose Julio. DIYDrones.com 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 This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public modify it under the terms of the GNU Lesser General Public
@ -25,8 +25,8 @@
Lattitude : Lattitude * 10000000 (long value) Lattitude : Lattitude * 10000000 (long value)
Longitude : Longitude * 10000000 (long value) Longitude : Longitude * 10000000 (long value)
altitude : altitude * 100 (meters) (long value) altitude : altitude * 100 (meters) (long value)
Ground_speed : Speed (m / s) * 100 (long value) ground_speed : Speed (m/s) * 100 (long value)
Ground_course : Course (degrees) * 100 (long value) ground_course : Course (degrees) * 100 (long value)
new_data : 1 when a new data is received. new_data : 1 when a new data is received.
You need to write a 0 to new_data when you read the data You need to write a 0 to new_data when you read the data
fix : 1: GPS FIX, 0: No fix (normal logic) fix : 1: GPS FIX, 0: No fix (normal logic)
@ -35,14 +35,13 @@
#include "AP_GPS_UBLOX.h" #include "AP_GPS_UBLOX.h"
// Constructors // /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// // // Constructors ////////////////////////////////////////////////////////////////
AP_GPS_UBLOX::AP_GPS_UBLOX() AP_GPS_UBLOX::AP_GPS_UBLOX()
{ {
print_errors = 1;
} }
// Public Methods // /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// // Public Methods ////////////////////////////////////////////////////////////////////
void AP_GPS_UBLOX::init(void) void AP_GPS_UBLOX::init(void)
{ {
ck_a = 0; ck_a = 0;
@ -52,7 +51,6 @@ void AP_GPS_UBLOX::init(void)
fix = 0; fix = 0;
print_errors = 0; print_errors = 0;
// initialize serial port // initialize serial port
#if defined(__AVR_ATmega1280__) #if defined(__AVR_ATmega1280__)
Serial1.begin(38400); // Serial port 1 on ATMega1280 Serial1.begin(38400); // Serial port 1 on ATMega1280
@ -74,30 +72,26 @@ void AP_GPS_UBLOX::update(void)
#else #else
numc = Serial.available(); numc = Serial.available();
#endif #endif
Serial.print("numc ");
Serial.println(numc,DEC);
if (numc > 0){ if (numc > 0){
Serial.println(" ");
for (int i = 0;i < numc;i++){ // Process bytes received for (int i = 0;i < numc;i++){ // Process bytes received
#if defined(__AVR_ATmega1280__) #if defined(__AVR_ATmega1280__)
data = Serial1.read(); data = Serial1.read();
#else #else
data = Serial.read(); data = Serial.read();
#endif #endif
Serial.print(data,HEX);
Serial.println(","); switch(step){
switch(step){ // Normally we start from zero. This is a state machine
case 0: case 0:
if(data == 0xB5) // UBX sync char 1 if(data == 0xB5)
step++; // OH first data packet is correct, so jump to the next step step++;
break; break;
case 1: case 1:
if(data == 0x62) // UBX sync char 2 if(data == 0x62)
step++; // ooh! The second data packet is correct, jump to the step 2 step++;
else else
step = 0; // Nop, is not correct so restart to step zero and try again. step = 0;
break; break;
case 2: case 2:
@ -166,26 +160,25 @@ void AP_GPS_UBLOX::update(void)
} }
// Private Methods ////////////////////////////////////////////////////////////// // Private Methods //////////////////////////////////////////////////////////////
void AP_GPS_UBLOX::parse_gps(void) void
AP_GPS_UBLOX::parse_gps(void)
{ {
int j; 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.. //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. // 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) if(msg_class == 0x01){
{ switch(id) {//Checking the UBX ID
switch(id) //Checking the UBX ID
{
case 0x02: // ID NAV - POSLLH case 0x02: // ID NAV - POSLLH
j = 0; j = 0;
time = join_4_bytes(&buffer[j]); // ms Time of week time = join_4_bytes(&buffer[j]); // ms Time of week
j += 4; j += 4;
longitude = join_4_bytes(&buffer[j]); // lon * 10000000 longitude = join_4_bytes(&buffer[j]); // lon * 10,000,000
j += 4; j += 4;
lattitude = join_4_bytes(&buffer[j]); // lat * 10000000 lattitude = join_4_bytes(&buffer[j]); // lat * 10,000,000
j += 4; j += 4;
//altitude = join_4_bytes(&buffer[j]); // elipsoid heigth mm //altitude = join_4_bytes(&buffer[j]); // elipsoid heigth mm
j += 4; 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; //j+=4;
/* /*
hacc = (float)join_4_bytes(&buffer[j]) / (float)1000; hacc = (float)join_4_bytes(&buffer[j]) / (float)1000;

1
libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
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@ -10,6 +10,7 @@
AP_GPS_MTK gps; AP_GPS_MTK gps;
#define T6 1000000 #define T6 1000000
#define T7 10000000
void setup() void setup()
{ {

2
libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
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@ -10,7 +10,7 @@
AP_GPS_NMEA gps; AP_GPS_NMEA gps;
#define T6 1000000 #define T6 1000000
#define T7 1000000 #define T7 10000000
void setup() void setup()
{ {

2
libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
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@ -10,7 +10,7 @@
AP_GPS_UBLOX gps; AP_GPS_UBLOX gps;
#define T6 1000000 #define T6 1000000
#define T7 1000000 #define T7 10000000
void setup() void setup()
{ {