2913b74b3a
corrected units on MTK test program git-svn-id: https://arducopter.googlecode.com/svn/trunk@383 f9c3cf11-9bcb-44bc-f272-b75c42450872
283 lines
7.2 KiB
C++
283 lines
7.2 KiB
C++
/*
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GPS_406.cpp - 406 GPS library for Arduino
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Code by 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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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 : 406 protocol
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Baud rate : 57600
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Methods:
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init() : GPS initialization
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update() : 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 * 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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new_data : 1 when a new data is received.
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You need to write a 0 to new_data 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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#include "AP_GPS_406.h"
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#include "WProgram.h"
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uint8_t AP_GPS_406::buffer[MAXPAYLOAD] = {0x24,0x50,0x53,0x52,0x46,0x31,0x30,0x30,0x2C,0x30,0x2C,0x35,0x37,0x36,0x30,0x30,0x2C,0x38,0x2C,0x31,0x2C,0x30,0x2A,0x33,0x37,0x0D,0x0A};
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#define PAYLOAD_LENGTH 92
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#define BAUD_RATE 57600
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// Constructors ////////////////////////////////////////////////////////////////
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AP_GPS_406::AP_GPS_406()
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{
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}
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// Public Methods ////////////////////////////////////////////////////////////////////
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void AP_GPS_406::init(void)
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{
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change_to_sirf_protocol(); //Changes to SIFR protocol and sets baud rate
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delay(100); //Waits fot the GPS to start_UP
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configure_gps(); //Function to configure GPS, to output only the desired msg's
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step = 0;
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new_data = 0;
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fix = 0;
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print_errors = 0;
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}
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// optimization : This code don´t wait for data, only proccess the data available
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// We can call this function on the main loop (50Hz loop)
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// If we get a complete packet this function calls parse_gps() to parse and update the GPS info.
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void AP_GPS_406::update(void)
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{
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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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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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#if defined(__AVR_ATmega1280__)
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data = Serial1.read();
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//Serial.print(data,HEX);
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//Serial.println(" ");
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#else
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data = Serial.read();
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#endif
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switch(step){
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case 0:
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if(data == 0xA0)
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step++;
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break;
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case 1:
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if(data == 0xA2)
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step++;
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else
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step = 0;
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break;
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/* case 2:
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if(data == 0xA2)
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step++;
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else
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step = 0;
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break;
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*/
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case 2:
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if(data == 0x00)
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step++;
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else
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step = 0;
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break;
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case 3:
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if(data == 0x5B)
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step++;
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else
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step = 0;
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break;
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case 4:
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if(data == 0x29){
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payload_counter = 0;
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step++;
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}else
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step = 0;
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break;
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case 5: // Payload data read...
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if (payload_counter <= PAYLOAD_LENGTH){ // We stay in this state until we reach the payload_length
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buffer[payload_counter] = data;
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payload_counter++;
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if (payload_counter == PAYLOAD_LENGTH){
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parse_gps();
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step = 0;
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}
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}
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break;
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}
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} // End for...
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}
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}
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// Private Methods //////////////////////////////////////////////////////////////
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void
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AP_GPS_406::parse_gps(void)
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{
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uint8_t j;
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fix = (buffer[1] > 0) ? 0:1;
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j = 22;
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lattitude = join_4_bytes(&buffer[j]); // lat * 10, 000, 000
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j = 26;
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longitude = join_4_bytes(&buffer[j]); // lon * 10, 000, 000
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j = 34;
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altitude = join_4_bytes(&buffer[j]); // alt in meters * 100
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j = 39;
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ground_speed = join_2_bytes(&buffer[j]); // meters / second * 100
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if(ground_speed >= 50){
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//Only updates data if we are really moving...
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j = 41;
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ground_course = (unsigned int)join_2_bytes(&buffer[j]); // meters / second * 100
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}
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j = 45;
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//climb_rate = join_2_bytes(&buffer[j]); // meters / second * 100
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if(lattitude == 0){
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new_data = false;
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fix = 0;
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}else{
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new_data = true;
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}
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}
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// Join 4 bytes into a long
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int32_t
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AP_GPS_406::join_4_bytes(unsigned char Buffer[])
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{
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longUnion.byte[3] = *Buffer;
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longUnion.byte[2] = *(Buffer + 1);
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longUnion.byte[1] = *(Buffer + 2);
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longUnion.byte[0] = *(Buffer + 3);
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return(longUnion.dword);
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}
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// Join 2 bytes into an int
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int16_t
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AP_GPS_406::join_2_bytes(unsigned char Buffer[])
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{
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intUnion.byte[1] = *Buffer;
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intUnion.byte[0] = *(Buffer + 1);
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return(intUnion.word);
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}
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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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const uint8_t cero = 0x00;
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#if defined(__AVR_ATmega1280__)
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for(int z = 0; z < 2; z++){
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for(int x = 0; x < 5; x++){
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for(int y = 0; y < 6; y++){
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Serial1.print(gps_header[y]); // Prints the msg header, is the same header for all msg..
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}
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Serial1.print(gps_payload[x]); // Prints the payload, is not the same for every msg
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for(int y = 0; y < 6; y++){
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Serial1.print(cero); // Prints 6 zeros
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}
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Serial1.print(gps_checksum[x]); // Print the Checksum
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Serial1.print(gps_ender[0]); // Print the Ender of the string, is same on all msg's.
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Serial1.print(gps_ender[1]); // ender
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}
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}
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#else
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for(int z = 0; z < 2; z++){
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for(int x = 0; x < 5; x++){
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for(int y = 0; y < 6; y++){
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Serial.print(gps_header[y]); // Prints the msg header, is the same header for all msg..
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}
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Serial.print(gps_payload[x]); // Prints the payload, is not the same for every msg
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for(int y = 0; y < 6; y++){
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Serial.print(cero); // Prints 6 zeros
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}
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Serial.print(gps_checksum[x]); // Print the Checksum
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Serial.print(gps_ender[0]); // Print the Ender of the string, is same on all msg's.
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Serial.print(gps_ender[1]); // ender
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}
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}
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#endif
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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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#if defined(__AVR_ATmega1280__)
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Serial1.begin(4800); // Serial port 1 on ATMega1280 First try in 4800
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delay(300);
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for (byte x = 0; x <= 28; x++){
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Serial1.print(buffer[x]); // Sending special bytes declared at the beginning
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}
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delay(300);
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Serial1.begin(9600); // Then try in 9600
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delay(300);
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for (byte x = 0; x <= 28; x++){
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Serial1.print(buffer[x]);
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}
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delay(300);
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Serial1.begin(BAUD_RATE); //
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delay(300);
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for (byte x = 0; x <= 28; x++){
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Serial1.print(buffer[x]);
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}
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delay(300);
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#else
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Serial.begin(4800); // Serial port (0) on AT168/328 First try in 4800
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delay(300);
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for (byte x = 0; x <= 28; x++){
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Serial.print(buffer[x]); // Sending special bytes declared at the beginning
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}
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delay(300);
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Serial.begin(9600); // Then try in 9600
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delay(300);
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for (byte x = 0; x <= 28; x++){
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Serial.print(buffer[x]);
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}
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Serial.begin(BAUD_RATE); // Universal Sincronus Asyncronus Receiveing Transmiting
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#endif
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}
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