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Code Issues Releases Activity

OP-1370 - Add an option to store the configuration onto GPS

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This commit is contained in:
Alessio Morale 2014-08-22 23:16:38 +02:00
parent 5bf866c96e
commit 5a3ea5fde0
5 changed files with 53 additions and 23 deletions
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3
flight/modules/GPS/GPS.c
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@ -443,7 +443,8 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
GPSSettingsUBXRateGet(&newconfig.navRate);
GPSSettingsUBXDynamicModelGet(&ubxDynamicModel);
newconfig.autoconfigEnabled = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_TRUE ? true : false;
newconfig.autoconfigEnabled = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_FALSE ? false : true;
newconfig.storeSettings = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_STORE;
newconfig.dynamicModel = ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PORTABLE ? UBX_DYNMODEL_PORTABLE :
ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_STATIONARY ? UBX_DYNMODEL_STATIONARY :
ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PEDESTRIAN ? UBX_DYNMODEL_PEDESTRIAN :

9
flight/modules/GPS/inc/UBX.h
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@ -36,11 +36,11 @@
#include "auxmagsensor.h"
#include "GPS.h"
#define UBX_HW_VERSION_8 80000
#define UBX_HW_VERSION_7 70000
#define UBX_HW_VERSION_8 80000
#define UBX_HW_VERSION_7 70000
#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
#define UBX_SYNC2 0x62
#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
#define UBX_SYNC2 0x62
// From u-blox6 receiver protocol specification
@ -79,6 +79,7 @@ typedef enum {
UBX_ID_CFG_NAV5 = 0x24,
UBX_ID_CFG_RATE = 0x08,
UBX_ID_CFG_MSG = 0x01,
UBX_ID_CFG_CFG = 0x09,
} ubx_class_cfg_id;
typedef enum {

9
flight/modules/GPS/inc/ubx_autoconfig.h
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@ -61,11 +61,17 @@ typedef enum {
typedef struct {
bool autoconfigEnabled;
bool storeSettings;
int8_t navRate;
ubx_config_dynamicmodel_t dynamicModel;
} ubx_autoconfig_settings_t;
// Sent messages for configuration support
typedef struct {
uint32_t clearMask;
uint32_t saveMask;
uint32_t loadMask;
} __attribute__((packed)) ubx_cfg_cfg_t;
typedef struct {
uint16_t mask;
@ -112,9 +118,10 @@ typedef union {
struct {
UBXSentHeader_t header;
union {
ubx_cfg_cfg_t cfg_cfg;
ubx_cfg_msg_t cfg_msg;
ubx_cfg_nav5_t cfg_nav5;
ubx_cfg_rate_t cfg_rate;
ubx_cfg_msg_t cfg_msg;
} payload;
uint8_t resvd[2]; // added space for checksum bytes
} message;

50
flight/modules/GPS/ubx_autoconfig.c
View File

@ -35,10 +35,10 @@ typedef enum {
INIT_STEP_START,
INIT_STEP_ASK_VER,
INIT_STEP_WAIT_VER,
INIT_STEP_CONFIGURE,
INIT_STEP_CONFIGURE_WAIT_ACK,
INIT_STEP_ENABLE_SENTENCES,
INIT_STEP_ENABLE_SENTENCES_WAIT_ACK,
INIT_STEP_CONFIGURE,
INIT_STEP_CONFIGURE_WAIT_ACK,
INIT_STEP_DONE,
INIT_STEP_ERROR,
} initSteps_t;
@ -155,6 +155,15 @@ void config_nav(uint16_t *bytes_to_send)
status->requiredAck.msgID = UBX_ID_CFG_NAV5;
}
void config_save(uint16_t *bytes_to_send)
{
memset(status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_cfg_t));
// mask LSB=ioPort|msgConf|infMsg|navConf|rxmConf|||||rinvConf|antConf|....|= MSB
status->working_packet.message.payload.cfg_cfg.saveMask = 0x01 | 0x08; // msgConf + navConf
*bytes_to_send = prepare_packet(&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_CFG, sizeof(ubx_cfg_cfg_t));
status->requiredAck.clsID = UBX_CLASS_CFG;
status->requiredAck.msgID = UBX_ID_CFG_CFG;
}
static void configure(uint16_t *bytes_to_send)
{
switch (status->lastConfigSent) {
@ -163,6 +172,13 @@ static void configure(uint16_t *bytes_to_send)
break;
case LAST_CONFIG_SENT_START + 1:
config_nav(bytes_to_send);
if (!status->currentSettings.storeSettings) {
// skips saving
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
}
break;
case LAST_CONFIG_SENT_START + 2:
config_save(bytes_to_send);
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
return;
@ -190,6 +206,7 @@ static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send)
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
}
}
void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
{
*bytes_to_send = 0;
@ -213,7 +230,7 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
case INIT_STEP_WAIT_VER:
if (ubxHwVersion > 0) {
status->lastConfigSent = LAST_CONFIG_SENT_START;
status->currentStep = INIT_STEP_CONFIGURE;
status->currentStep = INIT_STEP_ENABLE_SENTENCES;
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
return;
}
@ -236,7 +253,7 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
if (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) {
status->lastConfigSent = LAST_CONFIG_SENT_START;
status->currentStep = step_configure ? INIT_STEP_ENABLE_SENTENCES : INIT_STEP_DONE;
status->currentStep = step_configure ? INIT_STEP_DONE : INIT_STEP_CONFIGURE;
} else {
status->currentStep = step_configure ? INIT_STEP_CONFIGURE_WAIT_ACK : INIT_STEP_ENABLE_SENTENCES_WAIT_ACK;
}
@ -288,20 +305,23 @@ void ubx_autoconfig_set(ubx_autoconfig_settings_t config)
}
}
int32_t ubx_autoconfig_get_status(){
if(!status){
int32_t ubx_autoconfig_get_status()
{
if (!status) {
return UBX_AUTOCONFIG_STATUS_DISABLED;
}
switch (status->currentStep) {
case INIT_STEP_ERROR:
return UBX_AUTOCONFIG_STATUS_ERROR;
case INIT_STEP_DISABLED:
return UBX_AUTOCONFIG_STATUS_DISABLED;
case INIT_STEP_DONE:
return UBX_AUTOCONFIG_STATUS_DONE;
default:
break;
case INIT_STEP_ERROR:
return UBX_AUTOCONFIG_STATUS_ERROR;
case INIT_STEP_DISABLED:
return UBX_AUTOCONFIG_STATUS_DISABLED;
case INIT_STEP_DONE:
return UBX_AUTOCONFIG_STATUS_DONE;
default:
break;
}
return UBX_AUTOCONFIG_STATUS_RUNNING;
}

5
shared/uavobjectdefinition/gpssettings.xml
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@ -4,8 +4,9 @@
<field name="DataProtocol" units="" type="enum" elements="1" options="NMEA,UBX" defaultvalue="UBX"/>
<field name="MinSattelites" units="" type="uint8" elements="1" defaultvalue="7"/>
<field name="MaxPDOP" units="" type="float" elements="1" defaultvalue="3.5"/>
<!-- ubx self configuration. Enable to allow the flight board to auto configure ubx GPS options -->
<field name="UBXAutoConfig" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<!-- ubx self configuration. Enable to allow the flight board to auto configure ubx GPS options,
store does AutoConfig and save GPS settings (i.e. to prevent issues if gps is power cycled) -->
<field name="UBXAutoConfig" units="" type="enum" elements="1" options="FALSE,TRUE,STORE" defaultvalue="FALSE"/>
<!-- ubx position rate, -1 for auto -->
<field name="UBXRate" units="Hz" type="int8" elements="1" defaultvalue="5" />
<!-- Ubx dynamic model, see UBX datasheet for more details -->