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LibrePilot/flight/modules/gpsp/gps9gpshandler.c

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/**
******************************************************************************
*
* @file gps9gpshandler.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief handler for GPSV9 onboard ubx gps module.
* --
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <openpilot.h>
#include <pios_struct_helper.h>
#include <pios_helpers.h>
#include <ubx_utils.h>
#include <pios_ubx_ddc.h>
#include "gps9gpshandler.h"
#include "gps9protocol.h"
uint32_t lastUnsentData = 0;
uint8_t buffer[BUFFER_SIZE];
void handleGPS()
{
bool completeSentenceSent = false;
int8_t maxCount = 2;
do {
int32_t datacounter = PIOS_UBX_DDC_GetAvailableBytes(PIOS_I2C_GPS);
if (datacounter > 0) {
uint8_t toRead = (uint32_t)datacounter > BUFFER_SIZE - lastUnsentData ? BUFFER_SIZE - lastUnsentData : (uint8_t)datacounter;
uint8_t toSend = toRead;
PIOS_UBX_DDC_ReadData(PIOS_I2C_GPS, buffer, toRead);
uint8_t *lastSentence;
uint16_t lastSentenceLength;
completeSentenceSent = ubx_getLastSentence(buffer, toRead, &lastSentence, &lastSentenceLength);
if (completeSentenceSent) {
toSend = (uint8_t)(lastSentence - buffer + lastSentenceLength);
} else {
lastUnsentData = 0;
}
PIOS_COM_SendBuffer(pios_com_main_id, buffer, toSend);
if (toRead > toSend) {
// move unsent data at the beginning of buffer to be sent next time
lastUnsentData = toRead - toSend;
memcpy(buffer, (buffer + toSend), lastUnsentData);
}
}
datacounter = PIOS_COM_ReceiveBuffer(pios_com_main_id, buffer, BUFFER_SIZE, 0);
if (datacounter > 0) {
PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, buffer, datacounter);
}
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if (maxCount) {
// Note: this delay is needed as querying too quickly the UBX module's I2C(DDC)
// port causes a lot of weird issues (it stops sending nav sentences)
vTaskDelay(2 * configTICK_RATE_HZ / 1000);
}
} while (maxCount--);
}
typedef struct {
uint8_t size;
const uint8_t *sentence;
} ubx_init_sentence;
void setupGPS()
{
CfgPrtPkt cfgprt;
cfgprt.fragments.data.portID = CFG_PRT_DATA_PORTID_DDC;
cfgprt.fragments.data.reserved0 = 0;
cfgprt.fragments.data.txReady = CFG_PRT_DATA_TXREADI_DISABLED;
cfgprt.fragments.data.mode = CFG_PRT_DATA_MODE_ADDR;
cfgprt.fragments.data.reserved3 = 0;
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cfgprt.fragments.data.inProtoMask = CFG_PRT_DATA_PROTO_UBX | CFG_PRT_DATA_PROTO_NMEA | CFG_PRT_DATA_PROTO_RTCM;
cfgprt.fragments.data.outProtoMask = CFG_PRT_DATA_PROTO_UBX;
cfgprt.fragments.data.flags = 0;
cfgprt.fragments.data.reserved5 = 0;
ubx_buildPacket(&cfgprt.packet, UBX_CFG_CLASS, UBX_CFG_PRT, sizeof(CfgPrtData));
PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, cfgprt.packet.binarystream, sizeof(CfgPrtPkt));
}