Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-03 14:38:44 -04:00
Code Issues Packages Projects Releases Wiki Activity

Added support for Mediatek firmware Rev 1.9

Browse Source
This commit is contained in:
Craig@3DR 2012-12-14 18:47:35 -08:00
parent b83049bdda
commit 867192de0a
10 changed files with 380 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_GPS/AP_GPS.h
View File

@ -8,7 +8,7 @@
#include "AP_GPS_406.h"
#include "AP_GPS_UBLOX.h"
#include "AP_GPS_MTK.h"
#include "AP_GPS_MTK16.h"
#include "AP_GPS_MTK19.h"
#include "AP_GPS_None.h"
#include "AP_GPS_Auto.h"
#include "AP_GPS_HIL.h"

6
libraries/AP_GPS/AP_GPS_Auto.cpp
View File

@ -89,9 +89,9 @@ AP_GPS_Auto::_detect(void)
Serial.print_P(PSTR(" ublox "));
return new AP_GPS_UBLOX(_port);
}
if (AP_GPS_MTK16::_detect(data)) {
Serial.print_P(PSTR(" MTK16 "));
return new AP_GPS_MTK16(_port);
if (AP_GPS_MTK19::_detect(data)) {
Serial.print_P(PSTR(" MTK19 "));
return new AP_GPS_MTK19(_port);
}
if (AP_GPS_MTK::_detect(data)) {
Serial.print_P(PSTR(" MTK "));

3
libraries/AP_GPS/AP_GPS_MTK.cpp
View File

@ -138,8 +138,7 @@ restart:
break;
}
fix = ((_buffer.msg.fix_type == FIX_3D) ||
(_buffer.msg.fix_type == FIX_3D_SBAS));
fix = _buffer.msg.fix_type == FIX_3D;
latitude = _swapl(&_buffer.msg.latitude) * 10;
longitude = _swapl(&_buffer.msg.longitude) * 10;
altitude = _swapl(&_buffer.msg.altitude);

4
libraries/AP_GPS/AP_GPS_MTK.h
View File

@ -41,9 +41,7 @@ private:
enum diyd_mtk_fix_type {
FIX_NONE = 1,
FIX_2D = 2,
FIX_3D = 3,
FIX_2D_SBAS = 6,
FIX_3D_SBAS = 7
FIX_3D = 3
};
enum diyd_mtk_protocol_bytes {

4
libraries/AP_GPS/AP_GPS_MTK16.cpp
View File

@ -1,14 +1,14 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
//
// 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 : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.6, v1.7, v1.8"
//
#include <FastSerial.h>

4
libraries/AP_GPS/AP_GPS_MTK16.h
View File

@ -1,14 +1,14 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
//
// 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 : Custom protocol per "Customize Function Specification, 3D Robotics, v1.6"
// GPS configuration : Custom protocol per "Customize Function Specification, 3D Robotics, v1.6, v1.7, v1.8"
//
#ifndef AP_GPS_MTK16_h
#define AP_GPS_MTK16_h

273
libraries/AP_GPS/AP_GPS_MTK19.cpp Normal file
View File

@ -0,0 +1,273 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
//
// 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 : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.6, v1.7, v1.8"
//
#include <FastSerial.h>
#include "AP_GPS_MTK19.h"
#include <stdint.h>
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include <wiring.h>
#endif
// Constructors ////////////////////////////////////////////////////////////////
AP_GPS_MTK19::AP_GPS_MTK19(Stream *s) : GPS(s)
{
}
// Public Methods //////////////////////////////////////////////////////////////
void
AP_GPS_MTK19::init(enum GPS_Engine_Setting nav_setting)
{
_port->flush();
// set WAAS on
_port->print(WAAS_ON);
// set SBAS on
_port->print(SBAS_ON);
// Set Nav Threshold to 0 m/s
_port->print(MTK_NAVTHRES_OFF);
// set 5Hz update rate
_port->print(MTK_OUTPUT_5HZ);
// initialize serial port for binary protocol use
// XXX should assume binary, let GPS_AUTO handle dynamic config?
_port->print(MTK_SET_BINARY);
// set initial epoch code
_epoch = TIME_OF_DAY;
_time_offset = 0;
_offset_calculated = false;
idleTimeout = 1200;
}
// Process bytes available from the stream
//
// The stream is assumed to contain only our custom message. If it
// contains other messages, and those messages contain the preamble bytes,
// it is possible for this code to become de-synchronised. Without
// buffering the entire message and re-processing it from the top,
// this is unavoidable.
//
// The lack of a standard header length field makes it impossible to skip
// unrecognised messages.
//
bool
AP_GPS_MTK19::read(void)
{
uint8_t data;
int16_t numc;
bool parsed = false;
numc = _port->available();
for (int16_t i = 0; i < numc; i++) { // Process bytes received
// read the next byte
data = _port->read();
restart:
switch(_step) {
// Message preamble, class, ID detection
//
// If we fail to match any of the expected bytes, we
// reset the state machine and re-consider the failed
// byte as the first byte of the preamble. This
// improves our chances of recovering from a mismatch
// and makes it less likely that we will be fooled by
// the preamble appearing as data in some other message.
//
case 0:
if (data == PREAMBLE1_V16) {
_mtk_type_step1 = MTK_GPS_REVISION_V16;
_step++;
}
if (data == PREAMBLE1_V19) {
_mtk_type_step1 = MTK_GPS_REVISION_V19;
_step++;
}
break;
case 1:
if ((_mtk_type_step1 == MTK_GPS_REVISION_V16) && (data == PREAMBLE2_V16)){
_step++;
_mtk_type_step2 = MTK_GPS_REVISION_V16;
break;
}
if ((_mtk_type_step1 == MTK_GPS_REVISION_V19) && (data == PREAMBLE2_V19)){
_step++;
_mtk_type_step2 = MTK_GPS_REVISION_V19;
break;
}
_mtk_type_step1 = 0;
_mtk_type_step2 = 0;
_step = 0;
goto restart;
case 2:
if (sizeof(_buffer) == data) {
_step++;
_ck_b = _ck_a = data; // reset the checksum accumulators
_payload_counter = 0;
} else {
_step = 0; // reset and wait for a message of the right class
goto restart;
}
break;
// Receive message data
//
case 3:
_buffer.bytes[_payload_counter++] = data;
_ck_b += (_ck_a += data);
if (_payload_counter == sizeof(_buffer))
_step++;
break;
// Checksum and message processing
//
case 4:
_step++;
if (_ck_a != data) {
_step = 0;
}
break;
case 5:
_step = 0;
if (_ck_b != data) {
break;
}
fix = ((_buffer.msg.fix_type == FIX_3D) ||
(_buffer.msg.fix_type == FIX_3D_SBAS));
latitude = _buffer.msg.latitude;
longitude = _buffer.msg.longitude;
if (_mtk_type_step2 == MTK_GPS_REVISION_V16){
latitude = _buffer.msg.latitude * 10; // V16, V17,V18 doc says *10e7 but device says otherwise
longitude = _buffer.msg.longitude * 10; // V16, V17,V18 doc says *10e7 but device says otherwise
}
altitude = _buffer.msg.altitude;
ground_speed = _buffer.msg.ground_speed;
ground_course = _buffer.msg.ground_course;
num_sats = _buffer.msg.satellites;
hdop = _buffer.msg.hdop;
date = _buffer.msg.utc_date;
// time from gps is UTC, but convert here to msToD
int32_t time_utc = _buffer.msg.utc_time;
int32_t temp = (time_utc/10000000);
time_utc -= temp*10000000;
time = temp * 3600000;
temp = (time_utc/100000);
time_utc -= temp*100000;
time += temp * 60000 + time_utc;
parsed = true;
#ifdef FAKE_GPS_LOCK_TIME
if (millis() > FAKE_GPS_LOCK_TIME*1000) {
fix = true;
latitude = -35000000UL;
longitude = 149000000UL;
altitude = 584;
}
#endif
/* Waiting on clarification of MAVLink protocol!
* if(!_offset_calculated && parsed) {
* int32_t tempd1 = date;
* int32_t day = tempd1/10000;
* tempd1 -= day * 10000;
* int32_t month = tempd1/100;
* int32_t year = tempd1 - month * 100;
* _time_offset = _calc_epoch_offset(day, month, year);
* _epoch = UNIX_EPOCH;
* _offset_calculated = TRUE;
* }
*/
}
}
return parsed;
}
/*
detect a MTK16 GPS
*/
bool
AP_GPS_MTK19::_detect(uint8_t data)
{
static uint8_t payload_counter;
static uint8_t step;
static uint8_t mtk_type_step1, mtk_type_step2;
static uint8_t ck_a, ck_b;
switch (step) {
case 0:
ck_b = ck_a = payload_counter = 0;
if (data == PREAMBLE1_V16) {
mtk_type_step1 = MTK_GPS_REVISION_V16;
step++;
}
if (data == PREAMBLE1_V19) {
mtk_type_step1 = MTK_GPS_REVISION_V19;
step++;
}
mtk_type_step1 = 0;
break;
case 1:
if ((mtk_type_step1 == MTK_GPS_REVISION_V16) && (PREAMBLE2_V16 == data)){
step++;
mtk_type_step2 == MTK_GPS_REVISION_V16;
break;
}
if ((mtk_type_step1 == MTK_GPS_REVISION_V19) && (PREAMBLE2_V19 == data)){
step++;
mtk_type_step2 == MTK_GPS_REVISION_V19;
break;
}
mtk_type_step1 = 0;
mtk_type_step2 = 0;
step = 0;
case 2:
if (data == sizeof(struct diyd_mtk_msg)) {
step++;
ck_b = ck_a = data;
} else {
step = 0;
}
break;
case 3:
ck_b += (ck_a += data);
if (++payload_counter == sizeof(struct diyd_mtk_msg))
step++;
break;
case 4:
step++;
if (ck_a != data) {
Serial.printf("wrong ck_a\n");
step = 0;
}
break;
case 5:
step = 0;
if (ck_b == data) {
return true;
}
Serial.printf("wrong ck_b\n");
break;
}
return false;
}

83
libraries/AP_GPS/AP_GPS_MTK19.h Normal file
View File

@ -0,0 +1,83 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
//
// 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 : Custom protocol per "Customize Function Specification, 3D Robotics, v1.6, v1.7, v1.8, v1.9"
//
#ifndef AP_GPS_MTK19_h
#define AP_GPS_MTK19_h
#include "GPS.h"
#include "AP_GPS_MTK_Common.h"
#define MTK_GPS_REVISION_V16 16
#define MTK_GPS_REVISION_V19 19
class AP_GPS_MTK19 : public GPS {
public:
AP_GPS_MTK19(Stream *s);
virtual void init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
virtual bool read(void);
static bool _detect(uint8_t );
private:
// XXX this is being ignored by the compiler #pragma pack(1)
struct diyd_mtk_msg {
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_date;
uint32_t utc_time;
uint16_t hdop;
};
// #pragma pack(pop)
enum diyd_mtk_fix_type {
FIX_NONE = 1,
FIX_2D = 2,
FIX_3D = 3,
FIX_2D_SBAS = 6,
FIX_3D_SBAS = 7
};
enum diyd_mtk_protocol_bytes {
PREAMBLE1 = 0xd0,
PREAMBLE2 = 0xdd,
PREAMBLE1_V16 = 0xd0,
PREAMBLE2_V16 = 0xdd,
PREAMBLE1_V19 = 0xd1,
PREAMBLE2_V19 = 0xdd
};
// Packet checksum accumulators
uint8_t _ck_a;
uint8_t _ck_b;
// State machine state
uint8_t _step;
uint8_t _payload_counter;
uint8_t _mtk_type_step1;
uint8_t _mtk_type_step2;
// Time from UNIX Epoch offset
long _time_offset;
bool _offset_calculated;
// Receive buffer
union {
diyd_mtk_msg msg;
uint8_t bytes[];
} _buffer;
};
#endif // AP_GPS_MTK19_H

26
libraries/AP_GPS/AP_GPS_MTK_Common.h
View File

@ -1,7 +1,7 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
//
// This library is free software; you can redistribute it and / or
// modify it under the terms of the GNU Lesser General Public
@ -13,23 +13,23 @@
#ifndef AP_GPS_MTK_Common_h
#define AP_GPS_MTK_Common_h
#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n"
#define MTK_SET_NMEA "$PGCMD,16,1,1,1,1,1*6B\r\n"
#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n"
#define MTK_SET_NMEA "$PGCMD,16,1,1,1,1,1*6B\r\n"
#define MTK_OUTPUT_1HZ "$PMTK220,1000*1F\r\n"
#define MTK_OUTPUT_2HZ "$PMTK220,500*2B\r\n"
#define MTK_OUTPUT_4HZ "$PMTK220,250*29\r\n"
#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n"
#define MTK_OUTPUT_10HZ "$PMTK220,100*2F\r\n"
#define MTK_OUTPUT_1HZ "$PMTK220,1000*1F\r\n"
#define MTK_OUTPUT_2HZ "$PMTK220,500*2B\r\n"
#define MTK_OUTPUT_4HZ "$PMTK220,250*29\r\n"
#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n"
#define MTK_OUTPUT_10HZ "$PMTK220,100*2F\r\n"
#define MTK_BAUD_RATE_38400 "$PMTK251,38400*27\r\n"
#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n" // Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s
#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n" // Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s
#define SBAS_ON "$PMTK313,1*2E\r\n"
#define SBAS_OFF "$PMTK313,0*2F\r\n"
#define SBAS_ON "$PMTK313,1*2E\r\n"
#define SBAS_OFF "$PMTK313,0*2F\r\n"
#define WAAS_ON "$PMTK301,2*2E\r\n"
#define WAAS_OFF "$PMTK301,0*2C\r\n"
#define WAAS_ON "$PMTK301,2*2E\r\n"
#define WAAS_OFF "$PMTK301,0*2C\r\n"
#endif // AP_GPS_MTK_Common_h

3
libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
View File

@ -14,7 +14,7 @@
FastSerialPort0(Serial);
FastSerialPort1(Serial1);
AP_GPS_MTK16 gps(&Serial1);
AP_GPS_MTK19 gps(&Serial1);
#define T6 1000000
#define T7 10000000
@ -24,7 +24,6 @@ void setup()
Serial1.begin(38400);
stderr = stdout;
gps.print_errors = true;
Serial.println("GPS MTK library test");
gps.init(); // GPS Initialization
delay(1000);