AP_GPS: removed the old MTK16 driver
the MTK19 driver supports both the 1.6 and 1.9 protocol
This commit is contained in:
Andrew Tridgell
parent
fb4e68f0f0
commit
727f8ff029
@ -1,230 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
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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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//
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.6, v1.7, v1.8"
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//
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#include <AP_HAL.h>
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#include "AP_GPS_MTK16.h"
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#include <stdint.h>
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extern const AP_HAL::HAL& hal;
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// Public Methods //////////////////////////////////////////////////////////////
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void
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AP_GPS_MTK16::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting)
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{
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_port = s;
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_port->flush();
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_step = 0;
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// initialize serial port for binary protocol use
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// XXX should assume binary, let GPS_AUTO handle dynamic config?
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_port->print(MTK_SET_BINARY);
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// set 5Hz update rate
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_port->print(MTK_OUTPUT_5HZ);
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// set SBAS on
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_port->print(SBAS_ON);
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// set WAAS on
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_port->print(WAAS_ON);
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// Set Nav Threshold to 0 m/s
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_port->print(MTK_NAVTHRES_OFF);
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// set initial epoch code
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_epoch = TIME_OF_DAY;
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_time_offset = 0;
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_offset_calculated = false;
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idleTimeout = 1200;
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}
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// Process bytes available from the stream
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//
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// The stream is assumed to contain only our custom message. If it
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// contains other messages, and those messages contain the preamble bytes,
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// it is possible for this code to become de-synchronised. Without
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// buffering the entire message and re-processing it from the top,
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// this is unavoidable.
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//
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// The lack of a standard header length field makes it impossible to skip
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// unrecognised messages.
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//
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bool
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AP_GPS_MTK16::read(void)
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{
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uint8_t data;
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int16_t numc;
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bool parsed = false;
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numc = _port->available();
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for (int16_t i = 0; i < numc; i++) { // Process bytes received
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// read the next byte
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data = _port->read();
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restart:
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switch(_step) {
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// Message preamble, class, ID detection
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//
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// If we fail to match any of the expected bytes, we
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// reset the state machine and re-consider the failed
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// byte as the first byte of the preamble. This
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// improves our chances of recovering from a mismatch
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// and makes it less likely that we will be fooled by
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// the preamble appearing as data in some other message.
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//
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case 0:
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if(PREAMBLE1 == data)
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_step++;
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break;
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case 1:
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if (PREAMBLE2 == data) {
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_step++;
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break;
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}
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_step = 0;
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goto restart;
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case 2:
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if (sizeof(_buffer) == data) {
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_step++;
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_ck_b = _ck_a = data; // reset the checksum accumulators
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_payload_counter = 0;
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} else {
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_step = 0; // reset and wait for a message of the right class
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goto restart;
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}
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break;
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// Receive message data
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//
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case 3:
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_buffer.bytes[_payload_counter++] = data;
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_ck_b += (_ck_a += data);
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if (_payload_counter == sizeof(_buffer))
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_step++;
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break;
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// Checksum and message processing
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//
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case 4:
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_step++;
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if (_ck_a != data) {
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_step = 0;
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}
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break;
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case 5:
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_step = 0;
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if (_ck_b != data) {
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break;
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}
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fix = ((_buffer.msg.fix_type == FIX_3D) ||
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(_buffer.msg.fix_type == FIX_3D_SBAS));
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latitude = _buffer.msg.latitude * 10; // XXX doc says *10e7 but device says otherwise
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longitude = _buffer.msg.longitude * 10; // XXX doc says *10e7 but device says otherwise
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altitude = _buffer.msg.altitude;
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ground_speed = _buffer.msg.ground_speed;
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ground_course = _buffer.msg.ground_course;
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num_sats = _buffer.msg.satellites;
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hdop = _buffer.msg.hdop;
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date = _buffer.msg.utc_date;
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// time from gps is UTC, but convert here to msToD
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int32_t time_utc = _buffer.msg.utc_time;
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int32_t temp = (time_utc/10000000);
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time_utc -= temp*10000000;
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time = temp * 3600000;
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temp = (time_utc/100000);
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time_utc -= temp*100000;
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time += temp * 60000 + time_utc;
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parsed = true;
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#ifdef FAKE_GPS_LOCK_TIME
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if (millis() > FAKE_GPS_LOCK_TIME*1000) {
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fix = true;
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latitude = -35000000UL;
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longitude = 149000000UL;
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altitude = 584;
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}
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#endif
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/* Waiting on clarification of MAVLink protocol!
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* if(!_offset_calculated && parsed) {
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* int32_t tempd1 = date;
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* int32_t day = tempd1/10000;
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* tempd1 -= day * 10000;
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* int32_t month = tempd1/100;
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* int32_t year = tempd1 - month * 100;
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* _time_offset = _calc_epoch_offset(day, month, year);
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* _epoch = UNIX_EPOCH;
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* _offset_calculated = TRUE;
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* }
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*/
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}
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}
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return parsed;
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}
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/*
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detect a MTK16 GPS
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*/
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bool
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AP_GPS_MTK16::_detect(uint8_t data)
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{
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static uint8_t payload_counter;
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static uint8_t step;
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static uint8_t ck_a, ck_b;
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switch (step) {
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case 1:
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if (PREAMBLE2 == data) {
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step++;
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break;
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}
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step = 0;
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case 0:
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ck_b = ck_a = payload_counter = 0;
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if (PREAMBLE1 == data)
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step++;
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break;
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case 2:
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if (data == sizeof(struct diyd_mtk_msg)) {
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step++;
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ck_b = ck_a = data;
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} else {
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step = 0;
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}
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break;
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case 3:
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ck_b += (ck_a += data);
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if (++payload_counter == sizeof(struct diyd_mtk_msg))
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step++;
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break;
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case 4:
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step++;
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if (ck_a != data) {
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step = 0;
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}
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break;
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case 5:
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step = 0;
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if (ck_b == data) {
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return true;
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}
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break;
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}
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return false;
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}
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@ -1,72 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
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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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//
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// GPS configuration : Custom protocol per "Customize Function Specification, 3D Robotics, v1.6, v1.7, v1.8"
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//
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#ifndef __AP_GPS_MTK16_H__
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#define __AP_GPS_MTK16_H__
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#include <AP_HAL.h>
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#include "GPS.h"
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#include "AP_GPS_MTK_Common.h"
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class AP_GPS_MTK16 : public GPS {
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public:
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virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
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virtual bool read(void);
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static bool _detect(uint8_t );
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private:
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#pragma pack(push,1)
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struct diyd_mtk_msg {
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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int32_t ground_speed;
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int32_t ground_course;
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uint8_t satellites;
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uint8_t fix_type;
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uint32_t utc_date;
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uint32_t utc_time;
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uint16_t hdop;
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};
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#pragma pack(pop)
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enum diyd_mtk_fix_type {
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FIX_NONE = 1,
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FIX_2D = 2,
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FIX_3D = 3,
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FIX_3D_SBAS = 7
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};
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enum diyd_mtk_protocol_bytes {
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PREAMBLE1 = 0xd0,
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PREAMBLE2 = 0xdd,
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};
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// Packet checksum accumulators
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uint8_t _ck_a;
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uint8_t _ck_b;
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// State machine state
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uint8_t _step;
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uint8_t _payload_counter;
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// Time from UNIX Epoch offset
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long _time_offset;
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bool _offset_calculated;
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// Receive buffer
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union {
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diyd_mtk_msg msg;
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uint8_t bytes[];
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} _buffer;
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};
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#endif // __AP_GPS_MTK16_H__
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@ -10,6 +10,8 @@
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//
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.6, v1.7, v1.8, v1.9"
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//
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// Note that this driver supports both the 1.6 and 1.9 protocol varients
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//
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#include <AP_HAL.h>
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#include "AP_GPS_MTK19.h"
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