mirror of https://github.com/ArduPilot/ardupilot
88 lines
3.2 KiB
C++
88 lines
3.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// GPS_406.cpp - 406 GPS library for Arduino
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// Code by Michael Smith, Jason Short, Jordi Muñoz and Jose Julio. DIYDrones.com
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// This code works with boards based on ATMega168/328 ATMega1280 (Serial port 1)
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//
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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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#include "../FastSerial/FastSerial.h" // because we need to change baud rates... ugh.
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#include "AP_GPS_406.h"
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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static const char init_str[] = "$PSRF100,0,57600,8,1,0*37";
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// Constructors ////////////////////////////////////////////////////////////////
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AP_GPS_406::AP_GPS_406(Stream *s) : AP_GPS_SIRF(s)
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{
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}
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// Public Methods ////////////////////////////////////////////////////////////////////
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void AP_GPS_406::init(enum GPS_Engine_Setting nav_setting)
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{
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_change_to_sirf_protocol(); // Changes to SIRF protocol and sets baud rate
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_configure_gps(); // Function to configure GPS, to output only the desired msg's
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AP_GPS_SIRF::init(nav_setting); // let the superclass do anything it might need here
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idleTimeout = 1200;
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}
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// Private Methods //////////////////////////////////////////////////////////////
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void
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AP_GPS_406::_configure_gps(void)
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{
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const uint8_t gps_header[] = {0xA0, 0xA2, 0x00, 0x08, 0xA6, 0x00};
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const uint8_t gps_payload[] = {0x02, 0x04, 0x07, 0x09, 0x1B};
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const uint8_t gps_checksum[] = {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
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const uint8_t gps_ender[] = {0xB0, 0xB3};
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for(int16_t z = 0; z < 2; z++) {
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for(int16_t x = 0; x < 5; x++) {
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_port->write(gps_header, sizeof(gps_header)); // Prints the msg header, is the same header for all msg..
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_port->write(gps_payload[x]); // Prints the payload, is not the same for every msg
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for(int16_t y = 0; y < 6; y++) // Prints 6 zeros
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_port->write((uint8_t)0);
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_port->write(gps_checksum[x]); // Print the Checksum
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_port->write(gps_ender[0]); // Print the Ender of the string, is same on all msg's.
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_port->write(gps_ender[1]); // ender
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}
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}
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}
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// The EM406 defalts to NMEA at 4800bps. We want to switch it to SiRF binary
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// mode at a higher rate.
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//
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// The change is sticky, but only for as long as the internal supercap holds
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// settings (usually less than a week).
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//
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void
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AP_GPS_406::_change_to_sirf_protocol(void)
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{
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FastSerial *fs = (FastSerial *)_port; // this is a bit grody...
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fs->begin(4800);
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delay(300);
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_port->print(init_str);
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delay(300);
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fs->begin(9600);
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delay(300);
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_port->print(init_str);
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delay(300);
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fs->begin(GPS_406_BITRATE);
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delay(300);
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_port->print(init_str);
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delay(300);
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}
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