mirror of https://github.com/ArduPilot/ardupilot
cleanup
git-svn-id: https://arducopter.googlecode.com/svn/trunk@316 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
673c547d91
commit
884098b74d
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@ -1,34 +1,34 @@
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/*
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GPS_UBLOX.cpp - Ublox GPS library for Arduino
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Code by Jordi Muñoz and Jose Julio. DIYDrones.com
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This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
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This code works with boards based on ATMega168 / 328 and ATMega1280 (Serial port 1)
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is free software; you can redistribute it and / or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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GPS configuration : Ublox protocol
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Baud rate : 38400
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Active messages :
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NAV-POSLLH Geodetic Position Solution, PAGE 66 of datasheet
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NAV-VELNED Velocity Solution in NED, PAGE 71 of datasheet
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NAV-STATUS Receiver Navigation Status
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or
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NAV-SOL Navigation Solution Information
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NAV - POSLLH Geodetic Position Solution, PAGE 66 of datasheet
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NAV - VELNED Velocity Solution in NED, PAGE 71 of datasheet
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NAV - STATUS Receiver Navigation Status
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or
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NAV - SOL Navigation Solution Information
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Methods:
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Init() : GPS Initialization
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Read() : Call this funcion as often as you want to ensure you read the incomming gps data
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Properties:
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Lattitude : Lattitude * 10000000 (long value)
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Longitude : Longitude * 10000000 (long value)
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Altitude : Altitude * 100 (meters) (long value)
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Ground_speed : Speed (m/s) * 100 (long value)
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Lattitude : Lattitude * 10,000,000 (long value)
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Longitude : Longitude * 10,000,000 (long value)
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Altitude : Altitude * 100 (meters) (long value)
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Ground_speed : Speed (m / s) * 100 (long value)
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Ground_course : Course (degrees) * 100 (long value)
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NewData : 1 when a new data is received.
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You need to write a 0 to NewData when you read the data
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You need to write a 0 to NewData when you read the data
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Fix : 1: GPS FIX, 0: No Fix (normal logic)
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*/
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@ -48,16 +48,16 @@ GPS_UBLOX_Class::GPS_UBLOX_Class()
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// Public Methods //////////////////////////////////////////////////////////////
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void GPS_UBLOX_Class::Init(void)
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{
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ck_a=0;
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ck_b=0;
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UBX_step=0;
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NewData=0;
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Fix=0;
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PrintErrors=0;
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GPS_timer=millis(); //Restarting timer...
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ck_a = 0;
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ck_b = 0;
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UBX_step = 0;
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NewData = 0;
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Fix = 0;
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PrintErrors = 0;
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GPS_timer = millis(); // Restarting timer...
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// Initialize serial port
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#if defined(__AVR_ATmega1280__)
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Serial1.begin(38400); // Serial port 1 on ATMega1280
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Serial1.begin(38400); // Serial port 1 on ATMega1280
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#else
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Serial.begin(38400);
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#endif
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@ -68,105 +68,105 @@ void GPS_UBLOX_Class::Init(void)
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// If we get a complete packet this function calls parse_ubx_gps() to parse and update the GPS info.
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void GPS_UBLOX_Class::Read(void)
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{
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static unsigned long GPS_timer=0;
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byte data;
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int numc;
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#if defined(__AVR_ATmega1280__) // If AtMega1280 then Serial port 1...
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static unsigned long GPS_timer = 0;
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byte data;
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int numc;
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#if defined(__AVR_ATmega1280__) // If AtMega1280 then Serial port 1...
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numc = Serial1.available();
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#else
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#else
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numc = Serial.available();
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#endif
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if (numc > 0)
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for (int i=0;i<numc;i++) // Process bytes received
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{
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#if defined(__AVR_ATmega1280__)
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data = Serial1.read();
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#else
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data = Serial.read();
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#endif
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switch(UBX_step) //Normally we start from zero. This is a state machine
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{
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case 0:
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if(data==0xB5) // UBX sync char 1
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UBX_step++; //OH first data packet is correct, so jump to the next step
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break;
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case 1:
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if(data==0x62) // UBX sync char 2
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UBX_step++; //ooh! The second data packet is correct, jump to the step 2
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else
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UBX_step=0; //Nop, is not correct so restart to step zero and try again.
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break;
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case 2:
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UBX_class=data;
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ubx_checksum(UBX_class);
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UBX_step++;
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break;
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case 3:
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UBX_id=data;
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ubx_checksum(UBX_id);
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UBX_step++;
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break;
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case 4:
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UBX_payload_length_hi=data;
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ubx_checksum(UBX_payload_length_hi);
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UBX_step++;
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#endif
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if (numc > 0)
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for (int i = 0; i < numc; i++) // Process bytes received
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{
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#if defined(__AVR_ATmega1280__)
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data = Serial1.read();
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#else
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data = Serial.read();
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#endif
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switch(UBX_step) // Normally we start from zero. This is a state machine
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{
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case 0:
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if(data == 0xB5) // UBX sync char 1
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UBX_step++; // OH first data packet is correct, so jump to the next step
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break;
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case 1:
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if(data == 0x62) // UBX sync char 2
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UBX_step++; // ooh! The second data packet is correct, jump to the step 2
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else
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UBX_step = 0; // Nop, is not correct so restart to step zero and try again.
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break;
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case 2:
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UBX_class = data;
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ubx_checksum(UBX_class);
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UBX_step++;
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break;
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case 3:
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UBX_id = data;
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ubx_checksum(UBX_id);
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UBX_step++;
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break;
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case 4:
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UBX_payload_length_hi = data;
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ubx_checksum(UBX_payload_length_hi);
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UBX_step++;
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// We check if the payload lenght is valid...
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if (UBX_payload_length_hi>=UBX_MAXPAYLOAD)
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{
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if (PrintErrors)
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if (UBX_payload_length_hi >= UBX_MAXPAYLOAD)
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{
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if (PrintErrors)
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Serial.println("ERR:GPS_BAD_PAYLOAD_LENGTH!!");
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UBX_step=0; //Bad data, so restart to step zero and try again.
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ck_a=0;
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ck_b=0;
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}
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break;
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case 5:
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UBX_payload_length_lo=data;
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ubx_checksum(UBX_payload_length_lo);
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UBX_step++;
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UBX_payload_counter=0;
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break;
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case 6: // Payload data read...
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if (UBX_payload_counter < UBX_payload_length_hi) // We stay in this state until we reach the payload_length
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{
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UBX_buffer[UBX_payload_counter] = data;
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ubx_checksum(data);
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UBX_payload_counter++;
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if (UBX_payload_counter==UBX_payload_length_hi)
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UBX_step++;
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}
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break;
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case 7:
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UBX_ck_a=data; // First checksum byte
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UBX_step++;
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break;
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case 8:
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UBX_ck_b=data; // Second checksum byte
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UBX_step = 0; // Bad data, so restart to step zero and try again.
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ck_a = 0;
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ck_b = 0;
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}
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break;
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case 5:
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UBX_payload_length_lo = data;
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ubx_checksum(UBX_payload_length_lo);
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UBX_step++;
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UBX_payload_counter = 0;
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break;
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case 6: // Payload data read...
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if (UBX_payload_counter < UBX_payload_length_hi) // We stay in this state until we reach the payload_length
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{
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UBX_buffer[UBX_payload_counter] = data;
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ubx_checksum(data);
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UBX_payload_counter++;
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if (UBX_payload_counter == UBX_payload_length_hi)
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UBX_step++;
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}
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break;
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case 7:
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UBX_ck_a = data; // First checksum byte
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UBX_step++;
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break;
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case 8:
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UBX_ck_b = data; // Second checksum byte
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// We end the GPS read...
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if((ck_a==UBX_ck_a)&&(ck_b==UBX_ck_b)) // Verify the received checksum with the generated checksum..
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parse_ubx_gps(); // Parse the new GPS packet
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else
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{
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if (PrintErrors)
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if((ck_a == UBX_ck_a) && (ck_b == UBX_ck_b)) // Verify the received checksum with the generated checksum..
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parse_ubx_gps(); // Parse the new GPS packet
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else
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{
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if (PrintErrors)
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Serial.println("ERR:GPS_CHK!!");
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}
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}
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// Variable initialization
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UBX_step=0;
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ck_a=0;
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ck_b=0;
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GPS_timer=millis(); //Restarting timer...
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break;
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}
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} // End for...
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UBX_step = 0;
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ck_a = 0;
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ck_b = 0;
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GPS_timer = millis(); // Restarting timer...
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break;
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}
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} // End for...
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// If we don´t receive GPS packets in 2 seconds => Bad FIX state
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if ((millis() - GPS_timer)>2000)
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{
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if ((millis() - GPS_timer) > 2000)
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{
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Fix = 0;
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if (PrintErrors)
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Serial.println("ERR:GPS_TIMEOUT!!");
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}
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}
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}
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/****************************************************************
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@ -175,69 +175,71 @@ void GPS_UBLOX_Class::Read(void)
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// Private Methods //////////////////////////////////////////////////////////////
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void GPS_UBLOX_Class::parse_ubx_gps(void)
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{
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int j;
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int j;
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//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes..
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//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
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if(UBX_class==0x01)
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{
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switch(UBX_id)//Checking the UBX ID
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{
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case 0x02: //ID NAV-POSLLH
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j=0;
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Time = join_4_bytes(&UBX_buffer[j]); // ms Time of week
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j+=4;
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Longitude = join_4_bytes(&UBX_buffer[j]); // lon*10000000
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j+=4;
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Lattitude = join_4_bytes(&UBX_buffer[j]); // lat*10000000
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j+=4;
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//Altitude = join_4_bytes(&UBX_buffer[j]); // elipsoid heigth mm
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j+=4;
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Altitude = (float)join_4_bytes(&UBX_buffer[j]); // MSL heigth mm
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Altitude /= 10.; // Rescale altitude to cm
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//j+=4;
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/*
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hacc = (float)join_4_bytes(&UBX_buffer[j])/(float)1000;
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j+=4;
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vacc = (float)join_4_bytes(&UBX_buffer[j])/(float)1000;
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j+=4;
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*/
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NewData=1;
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break;
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case 0x03://ID NAV-STATUS
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if(UBX_class == 0x01)
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{
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switch(UBX_id) //Checking the UBX ID
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{
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case 0x02: // ID NAV - POSLLH
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j = 0;
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Time = join_4_bytes(&UBX_buffer[j]); // ms Time of week
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j += 4;
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Longitude = join_4_bytes(&UBX_buffer[j]); // lon * 10000000
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j += 4;
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Lattitude = join_4_bytes(&UBX_buffer[j]); // lat * 10000000
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j += 4;
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//Altitude = join_4_bytes(&UBX_buffer[j]); // elipsoid heigth mm
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j += 4;
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Altitude = (float)join_4_bytes(&UBX_buffer[j]); // MSL heigth mm
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Altitude /= 10.;
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// Rescale altitude to cm
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//j+=4;
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/*
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hacc = (float)join_4_bytes(&UBX_buffer[j]) / (float)1000;
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j += 4;
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vacc = (float)join_4_bytes(&UBX_buffer[j]) / (float)1000;
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j += 4;
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*/
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NewData = 1;
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break;
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case 0x03: //ID NAV - STATUS
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//if(UBX_buffer[4] >= 0x03)
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if((UBX_buffer[4] >= 0x03)&&(UBX_buffer[5]&0x01))
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Fix=1; //valid position
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else
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Fix=0; //invalid position
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break;
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if((UBX_buffer[4] >= 0x03) && (UBX_buffer[5] & 0x01))
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Fix = 1; // valid position
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else
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Fix = 0; // invalid position
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break;
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case 0x06://ID NAV-SOL
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if((UBX_buffer[10] >= 0x03)&&(UBX_buffer[11]&0x01))
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Fix=1; //valid position
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else
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Fix=0; //invalid position
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UBX_ecefVZ=join_4_bytes(&UBX_buffer[36]); //Vertical Speed in cm/s
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NumSats=UBX_buffer[47]; //Number of sats...
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break;
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case 0x06: //ID NAV - SOL
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if((UBX_buffer[10] >= 0x03) && (UBX_buffer[11] & 0x01))
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Fix = 1; // valid position
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else
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Fix = 0; // invalid position
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UBX_ecefVZ = join_4_bytes(&UBX_buffer[36]); // Vertical Speed in cm / s
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NumSats = UBX_buffer[47]; // Number of sats...
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break;
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case 0x12:// ID NAV-VELNED
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j=16;
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Speed_3d = join_4_bytes(&UBX_buffer[j]); // cm/s
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j+=4;
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Ground_Speed = join_4_bytes(&UBX_buffer[j]); // Ground speed 2D cm/s
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j+=4;
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Ground_Course = join_4_bytes(&UBX_buffer[j]); // Heading 2D deg*100000
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Ground_Course /= 1000; // Rescale heading to deg * 100
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j+=4;
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case 0x12: // ID NAV - VELNED
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j = 16;
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Speed_3d = join_4_bytes(&UBX_buffer[j]); // cm / s
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j += 4;
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Ground_Speed = join_4_bytes(&UBX_buffer[j]); // Ground speed 2D cm / s
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j += 4;
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Ground_Course = join_4_bytes(&UBX_buffer[j]); // Heading 2D deg * 100000
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Ground_Course /= 1000; // Rescale heading to deg * 100
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j += 4;
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/*
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sacc = join_4_bytes(&UBX_buffer[j]) // Speed accuracy
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j+=4;
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headacc = join_4_bytes(&UBX_buffer[j]) // Heading accuracy
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j+=4;
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*/
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break;
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}
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}
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sacc = join_4_bytes(&UBX_buffer[j]) // Speed accuracy
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j += 4;
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headacc = join_4_bytes(&UBX_buffer[j]) // Heading accuracy
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j += 4;
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*/
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break;
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}
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}
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}
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@ -247,16 +249,16 @@ void GPS_UBLOX_Class::parse_ubx_gps(void)
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// Join 4 bytes into a long
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long GPS_UBLOX_Class::join_4_bytes(unsigned char Buffer[])
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{
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union long_union {
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union long_union {
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int32_t dword;
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uint8_t byte[4];
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uint8_t byte[4];
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} longUnion;
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longUnion.byte[0] = *Buffer;
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longUnion.byte[1] = *(Buffer+1);
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longUnion.byte[2] = *(Buffer+2);
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longUnion.byte[3] = *(Buffer+3);
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return(longUnion.dword);
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longUnion.byte[0] = *Buffer;
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longUnion.byte[1] = *(Buffer + 1);
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longUnion.byte[2] = *(Buffer + 2);
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longUnion.byte[3] = *(Buffer + 3);
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return(longUnion.dword);
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}
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/****************************************************************
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@ -265,8 +267,8 @@ long GPS_UBLOX_Class::join_4_bytes(unsigned char Buffer[])
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// Ublox checksum algorithm
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void GPS_UBLOX_Class::ubx_checksum(byte ubx_data)
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{
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ck_a+=ubx_data;
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ck_b+=ck_a;
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ck_a += ubx_data;
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ck_b += ck_a;
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}
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GPS_UBLOX_Class GPS;
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