mirror of https://github.com/ArduPilot/ardupilot
libs: removed unused library GPS_IMU
This commit is contained in:
Andrew Tridgell
parent
1a21c78062
commit
f221bd13ab
|
|
@ -1,283 +0,0 @@
|
|||
/*
|
||||
GPS_IMU.cpp - IMU/X-Plane GPS library for Arduino
|
||||
*/
|
||||
|
||||
#include "GPS_IMU.h"
|
||||
#include <avr/interrupt.h>
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
|
||||
// Constructors ////////////////////////////////////////////////////////////////
|
||||
GPS_IMU_Class::GPS_IMU_Class()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
// Public Methods //////////////////////////////////////////////////////////////
|
||||
void GPS_IMU_Class::Init(void)
|
||||
{
|
||||
ck_a = 0;
|
||||
ck_b = 0;
|
||||
IMU_step = 0;
|
||||
NewData = 0;
|
||||
Fix = 0;
|
||||
PrintErrors = 0;
|
||||
|
||||
IMU_timer = millis(); //Restarting timer...
|
||||
// Initialize serial port
|
||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
Serial1.begin(38400); // Serial port 1 on ATMega1280/2560
|
||||
#else
|
||||
Serial.begin(38400);
|
||||
#endif
|
||||
}
|
||||
|
||||
// optimization : This code don´t wait for data, 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.
|
||||
void GPS_IMU_Class::Read(void)
|
||||
{
|
||||
static unsigned long GPS_timer = 0;
|
||||
byte data;
|
||||
int numc = 0;
|
||||
static byte message_num = 0;
|
||||
|
||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // If AtMega1280/2560 then Serial port 1...
|
||||
numc = Serial.available();
|
||||
#else
|
||||
numc = Serial.available();
|
||||
#endif
|
||||
|
||||
if (numc > 0){
|
||||
for (int i=0;i<numc;i++){ // Process bytes received
|
||||
|
||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
data = Serial.read();
|
||||
#else
|
||||
data = Serial.read();
|
||||
#endif
|
||||
|
||||
switch(IMU_step){ //Normally we start from zero. This is a state machine
|
||||
case 0:
|
||||
if(data == 0x44) // IMU sync char 1
|
||||
IMU_step++; //OH first data packet is correct, so jump to the next IMU_step
|
||||
break;
|
||||
|
||||
case 1:
|
||||
if(data == 0x49) // IMU sync char 2
|
||||
IMU_step++; //ooh! The second data packet is correct, jump to the IMU_step 2
|
||||
else
|
||||
IMU_step=0; //Nop, is not correct so restart to IMU_step zero and try again.
|
||||
break;
|
||||
|
||||
case 2:
|
||||
if(data == 0x59) // IMU sync char 3
|
||||
IMU_step++; //ooh! The second data packet is correct, jump to the IMU_step 2
|
||||
else
|
||||
IMU_step=0; //Nop, is not correct so restart to IMU_step zero and try again.
|
||||
break;
|
||||
|
||||
case 3:
|
||||
if(data == 0x64) // IMU sync char 4
|
||||
IMU_step++; //ooh! The second data packet is correct, jump to the IMU_step 2
|
||||
else
|
||||
IMU_step=0; //Nop, is not correct so restart to IMU_step zero and try again.
|
||||
break;
|
||||
|
||||
case 4:
|
||||
payload_length = data;
|
||||
checksum(payload_length);
|
||||
IMU_step++;
|
||||
if (payload_length > 28){
|
||||
IMU_step = 0; //Bad data, so restart to IMU_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);
|
||||
IMU_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) {
|
||||
IMU_step++;
|
||||
}
|
||||
break;
|
||||
|
||||
case 7:
|
||||
IMU_ck_a = data; // First checksum byte
|
||||
IMU_step++;
|
||||
break;
|
||||
|
||||
case 8:
|
||||
IMU_ck_b = data; // Second checksum byte
|
||||
|
||||
// We end the IMU/GPS read...
|
||||
// Verify the received checksum with the generated checksum..
|
||||
if((ck_a == IMU_ck_a) && (ck_b == IMU_ck_b)) {
|
||||
if (message_num == 0x02) {
|
||||
IMU_join_data();
|
||||
IMU_timer = millis();
|
||||
} else if (message_num == 0x03) {
|
||||
GPS_join_data();
|
||||
GPS_timer = millis();
|
||||
} else if (message_num == 0x04) {
|
||||
IMU2_join_data();
|
||||
IMU_timer = millis();
|
||||
} else if (message_num == 0x0a) {
|
||||
//PERF_join_data();
|
||||
} else {
|
||||
Serial.print("Invalid message number = ");
|
||||
Serial.println(message_num,DEC);
|
||||
}
|
||||
} else {
|
||||
Serial.println("XXX Checksum error"); //bad checksum
|
||||
//imu_checksum_error_count++;
|
||||
}
|
||||
// Variable initialization
|
||||
IMU_step = 0;
|
||||
payload_counter = 0;
|
||||
ck_a = 0;
|
||||
ck_b = 0;
|
||||
IMU_timer = millis(); //Restarting timer...
|
||||
break;
|
||||
}
|
||||
}// End for...
|
||||
}
|
||||
// If we don't receive GPS packets in 2 seconds => Bad FIX state
|
||||
if ((millis() - GPS_timer) > 3000){
|
||||
Fix = 0;
|
||||
}
|
||||
if (PrintErrors){
|
||||
Serial.println("ERR:GPS_TIMEOUT!!");
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************
|
||||
*
|
||||
****************************************************************/
|
||||
|
||||
void GPS_IMU_Class::IMU_join_data(void)
|
||||
{
|
||||
int j;
|
||||
|
||||
|
||||
//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
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
roll_sensor = intUnion.word;
|
||||
|
||||
//Storing IMU pitch
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
pitch_sensor = intUnion.word;
|
||||
|
||||
//Storing IMU heading (yaw)
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
Ground_Course = intUnion.word;
|
||||
imu_ok = true;
|
||||
}
|
||||
|
||||
void GPS_IMU_Class::IMU2_join_data()
|
||||
{
|
||||
int j=0;
|
||||
|
||||
//Storing IMU roll
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
roll_sensor = intUnion.word;
|
||||
|
||||
//Storing IMU pitch
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
pitch_sensor = intUnion.word;
|
||||
|
||||
//Storing IMU heading (yaw)
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
Ground_Course = (unsigned int)intUnion.word;
|
||||
|
||||
//Storing airspeed
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
airspeed = intUnion.word;
|
||||
|
||||
imu_ok = true;
|
||||
|
||||
}
|
||||
|
||||
void GPS_IMU_Class::GPS_join_data(void)
|
||||
{
|
||||
//gps_messages_received++;
|
||||
int j = 0;
|
||||
|
||||
Longitude = join_4_bytes(&buffer[j]); // Lat and Lon * 10**7
|
||||
j += 4;
|
||||
|
||||
Lattitude = join_4_bytes(&buffer[j]);
|
||||
j += 4;
|
||||
|
||||
//Storing GPS Height above the sea level
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
Altitude = (long)intUnion.word * 10; // Altitude in meters * 100
|
||||
|
||||
//Storing Speed (3-D)
|
||||
intUnion.byte[0] = buffer[j++];
|
||||
intUnion.byte[1] = buffer[j++];
|
||||
Speed_3d = Ground_Speed = (float)intUnion.word; // Speed in M/S * 100
|
||||
|
||||
//We skip the gps ground course because we use yaw value from the IMU for ground course
|
||||
j += 2;
|
||||
Time = join_4_bytes(&buffer[j]); // Time of Week in milliseconds
|
||||
j +=4;
|
||||
imu_health = buffer[j++];
|
||||
|
||||
NewData = 1;
|
||||
Fix = 1;
|
||||
|
||||
}
|
||||
|
||||
|
||||
/****************************************************************
|
||||
*
|
||||
****************************************************************/
|
||||
// Join 4 bytes into a long
|
||||
long GPS_IMU_Class::join_4_bytes(unsigned char Buffer[])
|
||||
{
|
||||
longUnion.byte[0] = *Buffer;
|
||||
longUnion.byte[1] = *(Buffer+1);
|
||||
longUnion.byte[2] = *(Buffer+2);
|
||||
longUnion.byte[3] = *(Buffer+3);
|
||||
return(longUnion.dword);
|
||||
}
|
||||
|
||||
|
||||
/****************************************************************
|
||||
*
|
||||
****************************************************************/
|
||||
// checksum algorithm
|
||||
void GPS_IMU_Class::checksum(byte IMU_data)
|
||||
{
|
||||
ck_a+=IMU_data;
|
||||
ck_b+=ck_a;
|
||||
}
|
||||
|
||||
GPS_IMU_Class GPS;
|
||||
|
|
@ -1,69 +0,0 @@
|
|||
#ifndef GPS_IMU_h
|
||||
#define GPS_IMU_h
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
#define IMU_MAXPAYLOAD 32
|
||||
|
||||
class GPS_IMU_Class
|
||||
{
|
||||
private:
|
||||
// Internal variables
|
||||
union int_union {
|
||||
int16_t word;
|
||||
uint8_t byte[2];
|
||||
} intUnion;
|
||||
|
||||
union long_union {
|
||||
int32_t dword;
|
||||
uint8_t byte[4];
|
||||
} longUnion;
|
||||
|
||||
uint8_t ck_a; // Packet checksum
|
||||
uint8_t ck_b;
|
||||
uint8_t IMU_ck_a;
|
||||
uint8_t IMU_ck_b;
|
||||
uint8_t IMU_step;
|
||||
uint8_t IMU_class;
|
||||
uint8_t message_num;
|
||||
uint8_t payload_length;
|
||||
uint8_t payload_counter;
|
||||
uint8_t buffer[IMU_MAXPAYLOAD];
|
||||
|
||||
long IMU_timer;
|
||||
long IMU_ecefVZ;
|
||||
void IMU_join_data();
|
||||
void IMU2_join_data();
|
||||
void GPS_join_data();
|
||||
void checksum(unsigned char IMU_data);
|
||||
long join_4_bytes(unsigned char Buffer[]);
|
||||
|
||||
public:
|
||||
// Methods
|
||||
GPS_IMU_Class();
|
||||
void Init();
|
||||
void Read();
|
||||
|
||||
// Properties
|
||||
long roll_sensor; // how much we're turning in deg * 100
|
||||
long pitch_sensor; // our angle of attack in deg * 100
|
||||
int airspeed;
|
||||
float imu_health;
|
||||
uint8_t imu_ok;
|
||||
|
||||
long Time; //GPS Millisecond Time of Week
|
||||
long Lattitude; // Geographic coordinates
|
||||
long Longitude;
|
||||
long Altitude;
|
||||
long Ground_Speed;
|
||||
long Ground_Course;
|
||||
long Speed_3d;
|
||||
|
||||
uint8_t NumSats; // Number of visible satelites
|
||||
uint8_t Fix; // 1:GPS FIX 0:No FIX (normal logic)
|
||||
uint8_t NewData; // 1:New GPS Data
|
||||
uint8_t PrintErrors; // 1: To Print GPS Errors (for debug)
|
||||
};
|
||||
|
||||
extern GPS_IMU_Class GPS;
|
||||
#endif
|
||||
|
|
@ -1,44 +0,0 @@
|
|||
/*
|
||||
Example of GPS IMU library.
|
||||
Code by Jordi Munoz, Jose Julio and, Jason Short . DIYDrones.com
|
||||
|
||||
Works with Ardupilot Mega Hardware (GPS on Serial Port1)
|
||||
and with standard ATMega168 and ATMega328 on Serial Port 0
|
||||
*/
|
||||
|
||||
#include <GPS_IMU.h> // GPS Library
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(38400);
|
||||
Serial.println("GPS IMU library test");
|
||||
GPS.Init(); // GPS Initialization
|
||||
delay(1000);
|
||||
}
|
||||
void loop()
|
||||
{
|
||||
GPS.Read();
|
||||
if (1){ // New GPS data?
|
||||
|
||||
Serial.print("GPS:");
|
||||
Serial.print(" Lat:");
|
||||
Serial.print(GPS.Lattitude);
|
||||
Serial.print(" Lon:");
|
||||
Serial.print(GPS.Longitude);
|
||||
Serial.print(" Alt:");
|
||||
Serial.print((float)GPS.Altitude/100.0);
|
||||
Serial.print(" GSP:");
|
||||
Serial.print((float)GPS.Ground_Speed/100.0);
|
||||
Serial.print(" COG:");
|
||||
Serial.print(GPS.Ground_Course/1000000);
|
||||
Serial.print(" SAT:");
|
||||
Serial.print((int)GPS.NumSats);
|
||||
Serial.print(" FIX:");
|
||||
Serial.print((int)GPS.Fix);
|
||||
Serial.print(" TIM:");
|
||||
Serial.print(GPS.Time);
|
||||
Serial.println();
|
||||
GPS.NewData = 0; // We have read the data
|
||||
}
|
||||
delay(20);
|
||||
}
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
GPS KEYWORD1
|
||||
GPS_IMU KEYWORD1
|
||||
Init KEYWORD2
|
||||
Read KEYWORD2
|
||||
Time KEYWORD2
|
||||
Lattitude KEYWORD2
|
||||
Longitude KEYWORD2
|
||||
Altitude KEYWORD2
|
||||
Ground_Speed KETWORD2
|
||||
Ground_Course KEYWORD2
|
||||
Speed_3d KEYWORD2
|
||||
NumSats KEYWORD2
|
||||
Fix KEYWORD2
|
||||
NewData KEYWORD2
|
||||
|
||||
|
||||
Loading…
Reference in New Issue