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OP-25: GPS tested and working, using TrimbleGPS 5Hz, 5 lat/lon desimals

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@386 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-03-25 19:36:52 +00:00 committed by sambas
parent b0e9e527f0
commit 9490bcdb93
6 changed files with 126 additions and 105 deletions
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5
flight/OpenPilot/Makefile
View File

@ -77,6 +77,8 @@ OPTESTS = ./Tests
OPMODULEDIR = ./Modules
MODTELEMETRY = $(OPMODULEDIR)/Telemetry
MODTELEMETRYINC = $(MODTELEMETRY)/inc
MODGPS = $(OPMODULEDIR)/GPS
MODGPSINC = $(MODGPS)/inc
PIOS = ../PiOS
PIOSINC = $(PIOS)/inc
PIOSSTM32F10X = $(PIOS)/STM32F10x
@ -104,6 +106,7 @@ DOXYGENDIR = ../Doc/Doxygen
## MODULES
SRC = $(MODTELEMETRY)/telemetry.c
SRC += $(MODGPS)/GPS.c $(MODGPS)/buffer.c
## OPENPILOT:
SRC += $(OPSYSTEM)/openpilot.c
@ -240,6 +243,8 @@ EXTRAINCDIRS += $(OPSETTINGS)
EXTRAINCDIRS += $(OPSETTINGSINC)
EXTRAINCDIRS += $(MODTELEMETRY)
EXTRAINCDIRS += $(MODTELEMETRYINC)
EXTRAINCDIRS += $(MODGPS)
EXTRAINCDIRS += $(MODGPSINC)
EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(PIOSSTM32F10X)

210
flight/OpenPilot/Modules/GPS/GPS.c
View File

@ -24,12 +24,11 @@
*/
#include "openpilot.h"
#include "gpsinfo.h"
#include "buffer.h"
// constants/macros/typdefs
#define NMEA_BUFFERSIZE 110
#define NMEA_BUFFERSIZE 128
#define MAXTOKENS 20 //token slots for nmea parser
@ -45,7 +44,7 @@
// Debugging
#define GPSDEBUG
//#define GPSDEBUG
#ifdef GPSDEBUG
#define NMEA_DEBUG_PKT ///< define to enable debug of all NMEA messages
@ -63,21 +62,21 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
// functions
void nmeaInit(void);
uint8_t* nmeaGetPacketBuffer(void);
char* nmeaGetPacketBuffer(void);
uint8_t nmeaProcess(cBuffer* rxBuffer);
void nmeaProcessGPGGA(uint8_t* packet);
void nmeaProcessGPVTG(uint8_t* packet);
void nmeaProcessGPGGA(char* packet);
void nmeaProcessGPVTG(char* packet);
cBuffer gpsRxBuffer;
static char gpsRxData[512];
static char gpsRxData[1024];
// Global variables
GpsInfoType GpsInfo;
uint8_t NmeaPacket[NMEA_BUFFERSIZE];
extern GpsInfoType GpsInfo;
char NmeaPacket[NMEA_BUFFERSIZE];
// Private constants
#define MAX_QUEUE_SIZE 20
#define STACK_SIZE 100
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
#define TASK_PRIORITY (tskIDLE_PRIORITY + 5)
#define REQ_TIMEOUT_MS 500
#define MAX_RETRIES 3
@ -96,19 +95,19 @@ static xTaskHandle gpsTaskHandle;
int32_t GpsInitialize(void)
{
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
//queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// TODO: Get gps settings object
gpsPort = COM_USART2;
// Init input buffer size 512
bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 512);
bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 1024);
// Process all registered objects and connect queue for updates
//UAVObjIterate(&registerObject);
// Start gps task
xTaskCreate(gpsTask, (signed char*)"GPS", STACK_SIZE, NULL, TASK_PRIORITY, &gpsTaskHandle);
xTaskCreate(gpsTask, (signed char*)"GPS", configMINIMAL_STACK_SIZE, NULL, TASK_PRIORITY, &gpsTaskHandle);
return 0;
}
@ -133,56 +132,7 @@ void registerObject(UAVObjHandle obj)
*/
void updateObject(UAVObjHandle obj)
{
/* UAVObjMetadata metadata;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
// Setup object depending on update mode
if(metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC)
{
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if(UAVObjIsMetaobject(obj))
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, queue, eventMask);
}
else if(metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE)
{
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if(UAVObjIsMetaobject(obj))
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, queue, eventMask);
}
else if(metadata.telemetryUpdateMode == UPDATEMODE_MANUAL)
{
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if(UAVObjIsMetaobject(obj))
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, queue, eventMask);
}
else if(metadata.telemetryUpdateMode == UPDATEMODE_NEVER)
{
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect queue
UAVObjDisconnectQueue(obj, queue);
}*/
}
/**
@ -191,6 +141,8 @@ void updateObject(UAVObjHandle obj)
static void gpsTask(void* parameters)
{
int32_t gpsRxOverflow=0;
char c;
portTickType xDelay = 70 / portTICK_RATE_MS;
// Loop forever
while(1)
@ -198,15 +150,19 @@ static void gpsTask(void* parameters)
/* This blocks the task until there is something on the buffer */
while(PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
{
if( !bufferAddToEnd(&gpsRxBuffer, PIOS_COM_ReceiveBuffer(gpsPort)) )
c=PIOS_COM_ReceiveBuffer(gpsPort);
if( !bufferAddToEnd(&gpsRxBuffer, c) )
{
// no space in buffer
// count overflow
gpsRxOverflow++;
break;
}
//PIOS_COM_SendFormattedStringNonBlocking(COM_USART1, "%d\r", PIOS_COM_ReceiveBufferUsed(gpsPort));
//vTaskDelay(xDelay);
}
nmeaProcess(&gpsRxBuffer);
vTaskDelay(xDelay);
}
}
@ -233,7 +189,7 @@ static int32_t addObject(UAVObjHandle obj)
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_MANUAL;
/*return EventPeriodicCreate(&ev, &periodicEventHandler, 0);*/
return EventPeriodicCreate(&ev, &periodicEventHandler, 0);
}
/**
@ -250,11 +206,11 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_MANUAL;/*
return EventPeriodicUpdate(&ev, &periodicEventHandler, updatePeriodMs);*/
ev.event = EV_UPDATED_MANUAL;
return EventPeriodicUpdate(&ev, &periodicEventHandler, updatePeriodMs);
}
uint8_t* nmeaGetPacketBuffer(void)
char* nmeaGetPacketBuffer(void)
{
return NmeaPacket;
}
@ -324,11 +280,12 @@ uint8_t nmeaProcess(cBuffer* rxBuffer)
//iprintf("$%s\r\n",NmeaPacket);
//
#ifdef NMEA_DEBUG_PKT
printf("$%s\r\n",NmeaPacket);
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",NmeaPacket);
#endif
// found a packet
// done with this processing session
foundpacket = NMEA_UNKNOWN;
//PIOS_LED_Toggle(LED2);
break;
}
}
@ -337,14 +294,14 @@ uint8_t nmeaProcess(cBuffer* rxBuffer)
if(foundpacket)
{
// check message type and process appropriately
if(!strncmp((char *)NmeaPacket, "GPGGA", 5))
if(!strncmp(NmeaPacket, "GPGGA", 5))
{
// process packet of this type
nmeaProcessGPGGA(NmeaPacket);
// report packet type
foundpacket = NMEA_GPGGA;
}
else if(!strncmp((char *)NmeaPacket, "GPVTG", 5))
else if(!strncmp(NmeaPacket, "GPVTG", 5))
{
// process packet of this type
nmeaProcessGPVTG(NmeaPacket);
@ -365,16 +322,19 @@ uint8_t nmeaProcess(cBuffer* rxBuffer)
* Prosesses NMEA GPGGA sentences
* \param[in] Buffer for parsed nmea GPGGA sentence
*/
void nmeaProcessGPGGA(uint8_t* packet)
void nmeaProcessGPGGA(char* packet)
{
char *p, *tokens[MAXTOKENS];
char *tokens; //*p, *tokens[MAXTOKENS];
char *last;
char *delimiter = ",";
char *pEnd;
uint8_t i=0;
long deg,desim;
double degrees, minutesfrac;
#ifdef NMEA_DEBUG_GGA
printf("NMEA: %s\r\n",packet);
//PIOS_COM_SendFormattedStringNonBlocking(COM_USART1,"NMEA: %s\r\n",packet);
#endif
// start parsing just after "GPGGA,"
@ -383,62 +343,98 @@ void nmeaProcessGPGGA(uint8_t* packet)
return;
// tokenizer for nmea sentence
for ((p = strtok_r(packet, ",", &last)); p;
/*for ((p = strtok_r(packet, ",", &last)); p;
(p = strtok_r(NULL, ",", &last)), i++) {
if (i < MAXTOKENS - 1)
tokens[i] = p;
}
}*/
//GPGGA header
tokens = strtok_r(packet, delimiter, &last);
// get UTC time [hhmmss.sss]
strcpy(GpsInfo.PosLLA.TimeOfFix.c,tokens[1]);
tokens = strtok_r(NULL, delimiter, &last);
strcpy(GpsInfo.PosLLA.TimeOfFix.c,tokens);
// next field: latitude
// next field: latitude
// get latitude [ddmm.mmmmm]
strcpy(GpsInfo.PosLLA.lat.c,tokens[2]);
tokens = strtok_r(NULL, delimiter, &last);
//strcpy(GpsInfo.PosLLA.lat.c,token);
if(1) // 5 desimal output
{
deg=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsInfo.PosLLA.lat.i=deg*100000+desim;
}
else // 4 desimal output
{
deg=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsInfo.PosLLA.lat.i=deg*10000+desim;
}
// convert to pure degrees [dd.dddd] format
/*
minutesfrac = modf(GpsInfo.PosLLA.lat.f/100, &degrees);
/* minutesfrac = modf(GpsInfo.PosLLA.lat.f/100, &degrees);
GpsInfo.PosLLA.lat.f = degrees + (minutesfrac*100)/60;
// convert to radians
GpsInfo.PosLLA.lat.f *= (M_PI/180);
GpsInfo.PosLLA.lat.f *= (M_PI/180);*/
// next field: N/S indicator
// correct latitute for N/S
if(tokens[3] == 'S') GpsInfo.PosLLA.lat.f = -GpsInfo.PosLLA.lat.f;
*/
tokens = strtok_r(NULL, delimiter, &last);
//if(*tokens[3] == 'S') GpsInfo.PosLLA.lat.f = -GpsInfo.PosLLA.lat.f;
// next field: longitude
// next field: longitude
// get longitude [ddmm.mmmmm]
strcpy(GpsInfo.PosLLA.lon.c,tokens[4]);
/*
tokens = strtok_r(NULL, delimiter, &last);
//strcpy(GpsInfo.PosLLA.lon.c,token);
if(1) // 5 desimal output
{
deg=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsInfo.PosLLA.lon.i=deg*100000+desim;
}
else // 4 desimal output
{
deg=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsInfo.PosLLA.lon.i=deg*10000+desim;
}
// convert to pure degrees [dd.dddd] format
minutesfrac = modf(GpsInfo.PosLLA.lon.f/100, &degrees);
/*minutesfrac = modf(GpsInfo.PosLLA.lon.f/100, &degrees);
GpsInfo.PosLLA.lon.f = degrees + (minutesfrac*100)/60;
// convert to radians
GpsInfo.PosLLA.lon.f *= (M_PI/180);
GpsInfo.PosLLA.lon.f *= (M_PI/180);*/
// next field: E/W indicator
// correct latitute for E/W
if(tokens[5] == 'W') GpsInfo.PosLLA.lon.f = -GpsInfo.PosLLA.lon.f;
*/
tokens = strtok_r(NULL, delimiter, &last);
//if(*tokens[5] == 'W') GpsInfo.PosLLA.lon.f = -GpsInfo.PosLLA.lon.f;
// next field: position fix status
// position fix status
// 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS
// check for good position fix
tokens = strtok_r(NULL, delimiter, &last);
//if(&tokens[6] != '0' || &tokens[6] != 0)
// GpsInfo.PosLLA.updates++;
// next field: satellites used
// get number of satellites used in GPS solution
GpsInfo.numSVs = atoi(tokens[7]);
tokens = strtok_r(NULL, delimiter, &last);
GpsInfo.numSVs = atoi(tokens);
// next field: HDOP (horizontal dilution of precision)
tokens = strtok_r(NULL, delimiter, &last);//HDOP, nein gebraucht
// next field: altitude
// get altitude (in meters)
strcpy(GpsInfo.PosLLA.alt.c,tokens[9]);
// get altitude (in meters mm.m)
tokens = strtok_r(NULL, delimiter, &last);
//strcpy(GpsInfo.PosLLA.alt.c,tokens);
//reuse variables for alt
deg=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsInfo.PosLLA.alt.i=deg*10+desim;
// next field: altitude units, always 'M'
// next field: geoid seperation
@ -452,15 +448,17 @@ void nmeaProcessGPGGA(uint8_t* packet)
* Prosesses NMEA GPVTG sentences
* \param[in] Buffer for parsed nmea GPVTG sentence
*/
void nmeaProcessGPVTG(uint8_t* packet)
void nmeaProcessGPVTG(char* packet)
{
char *p, *tokens[MAXTOKENS];
char *tokens; //*p, *tokens[MAXTOKENS];
char *last;
char *delimiter = ",";
char *pEnd;
uint8_t i=0;
#ifdef NMEA_DEBUG_VTG
printf("NMEA: %s\r\n",packet);
//PIOS_COM_SendFormattedStringNonBlocking(COM_USART1,"NMEA: %s\r\n",packet);
#endif
// start parsing just after "GPVTG,"
@ -469,29 +467,39 @@ void nmeaProcessGPVTG(uint8_t* packet)
return;
// tokenizer for nmea sentence
for ((p = strtok_r(packet, ",", &last)); p;
/*for ((p = strtok_r(packet, ",", &last)); p;
(p = strtok_r(NULL, ",", &last)), i++) {
if (i < MAXTOKENS - 1)
tokens[i] = p;
}
}*/
//GPVTG header
tokens = strtok_r(packet, delimiter, &last);
// get course (true north ref) in degrees [ddd.dd]
strcpy(GpsInfo.VelHS.heading.c,tokens[1]);
tokens = strtok_r(NULL, delimiter, &last);
strcpy(GpsInfo.VelHS.heading.c,tokens);
// next field: 'T'
tokens = strtok_r(NULL, delimiter, &last);
// next field: course (magnetic north)
// get course (magnetic north ref) in degrees [ddd.dd]
tokens = strtok_r(NULL, delimiter, &last);
//strcpy(GpsInfo.VelHS.heading.c,tokens[1]);
// next field: 'M'
tokens = strtok_r(NULL, delimiter, &last);
// next field: speed (knots)
// get speed in knots
tokens = strtok_r(NULL, delimiter, &last);
//strcpy(GpsInfo.VelHS.speed.f,tokens[5]);
// next field: 'N'
tokens = strtok_r(NULL, delimiter, &last);
// next field: speed (km/h)
// get speed in km/h
strcpy(GpsInfo.VelHS.speed.c,tokens[7]);
tokens = strtok_r(NULL, delimiter, &last);
strcpy(GpsInfo.VelHS.speed.c,tokens);
// next field: 'K'
// next field: checksum

3
flight/OpenPilot/Modules/GPS/inc/gpsinfo.h
View File

@ -32,10 +32,9 @@
// constants/macros/typdefs
typedef union union_float_u32
{
float f;
unsigned long i;
unsigned char b[4];
unsigned char c[20];
char c[12];
} float_u32;
typedef union union_double_u64

2
flight/OpenPilot/System/inc/openpilot.h
View File

@ -33,6 +33,8 @@
/* OpenPilot Modules */
#include "telemetry.h"
#include "GPS.h"
#include "gpsinfo.h"
/* OpenPilot Includes */
#include <op_config.h>

4
flight/OpenPilot/System/inc/pios_board.h
View File

@ -128,8 +128,8 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
#define PIOS_USART2_IRQ_CHANNEL USART3_IRQn
#define PIOS_USART2_IRQHANDLER_FUNC void USART3_IRQHandler(void)
#define PIOS_USART2_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
#define PIOS_USART2_NVIC_PRIO PIOS_IRQ_PRIO_HIGHEST
#define PIOS_USART2_BAUDRATE 57600
#define PIOS_USART2_NVIC_PRIO PIOS_IRQ_PRIO_HIGH
#define PIOS_USART2_BAUDRATE 38400
//-------------------------
// PIOS_USART3 (AUX) (RX5/RX6)

7
flight/OpenPilot/System/openpilot.c
View File

@ -37,6 +37,7 @@ static uint8_t sdcard_available;
FILEINFO File;
char Buffer[1024];
uint32_t Cache;
GpsInfoType GpsInfo;
/* Function Prototypes */
static void TaskTick(void *pvParameters);
@ -108,6 +109,7 @@ int main()
xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
//GpsInitialize();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
@ -135,6 +137,11 @@ static void TaskTick(void *pvParameters)
for(;;)
{
/*PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"utc: %s alt:%u\r\n",GpsInfo.PosLLA.TimeOfFix.c,GpsInfo.PosLLA.alt.i);
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"lat: %u lon:%u\r\n",GpsInfo.PosLLA.lat.i,GpsInfo.PosLLA.lon.i);
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"SV: %u\r\n",GpsInfo.numSVs);
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"Heading: %s Speed: %s\r\n",GpsInfo.VelHS.heading.c,GpsInfo.VelHS.speed.c);
*/
PIOS_LED_Toggle(LED1);
vTaskDelayUntil(&xLastExecutionTime, 1000 / portTICK_RATE_MS);
}