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105 lines
4.1 KiB
C
105 lines
4.1 KiB
C
/**
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******************************************************************************
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*
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* @file gps9gpshandler.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief handler for GPSV9 onboard ubx gps module.
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* --
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <openpilot.h>
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#include <pios_struct_helper.h>
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#include <pios_helpers.h>
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#include <ubx_utils.h>
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#include <pios_ubx_ddc.h>
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#include "gps9gpshandler.h"
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#include "gps9protocol.h"
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uint32_t lastUnsentData = 0;
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uint8_t gpsBuffer[GPS_BUFFER_SIZE];
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uint8_t fcBuffer[FC_BUFFER_SIZE];
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void handleGPS()
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{
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bool completeSentenceInBuffer = false;
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int8_t maxCount = 2;
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do {
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int32_t datacounter = PIOS_UBX_DDC_GetAvailableBytes(PIOS_I2C_GPS);
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if (datacounter > 0) {
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uint8_t toRead = (uint32_t)datacounter > GPS_BUFFER_SIZE - lastUnsentData ? GPS_BUFFER_SIZE - lastUnsentData : (uint8_t)datacounter;
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uint8_t toSend = toRead + lastUnsentData;
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PIOS_UBX_DDC_ReadData(PIOS_I2C_GPS, gpsBuffer + lastUnsentData, toRead);
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uint8_t *lastSentence;
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uint16_t lastSentenceLength;
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completeSentenceInBuffer = ubx_getLastSentence(gpsBuffer, toSend, &lastSentence, &lastSentenceLength);
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if (completeSentenceInBuffer) {
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toSend = (uint8_t)(lastSentence - gpsBuffer + lastSentenceLength);
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PIOS_COM_SendBuffer(pios_com_main_id, gpsBuffer, toSend);
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// move unsent data to the beginning of gpsBuffer to be sent next time
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lastUnsentData = lastUnsentData > toSend ? lastUnsentData - toSend : 0;
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if (lastUnsentData > 0) {
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memcpy(gpsBuffer, (gpsBuffer + toSend), lastUnsentData);
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}
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} else {
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// toss the buffer contents if it's full and there are no complete
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// ublox sentences in it. This happens if the module is sending NMEA
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lastUnsentData = toSend < GPS_BUFFER_SIZE ? toSend : 0;
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}
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}
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datacounter = PIOS_COM_ReceiveBuffer(pios_com_main_id, fcBuffer, FC_BUFFER_SIZE, 0);
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if (datacounter > 0) {
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PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, fcBuffer, datacounter);
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}
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if (maxCount) {
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// Note: this delay is needed as querying too quickly the UBX module's I2C(DDC)
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// port causes a lot of weird issues (it stops sending nav sentences)
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vTaskDelay(2 * configTICK_RATE_HZ / 1000);
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}
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} while (maxCount--);
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}
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typedef struct {
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uint8_t size;
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const uint8_t *sentence;
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} ubx_init_sentence;
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void setupGPS()
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{
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CfgPrtPkt cfgprt;
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cfgprt.fragments.data.portID = CFG_PRT_DATA_PORTID_DDC;
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cfgprt.fragments.data.reserved0 = 0;
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cfgprt.fragments.data.txReady = CFG_PRT_DATA_TXREADI_DISABLED;
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cfgprt.fragments.data.mode = CFG_PRT_DATA_MODE_ADDR;
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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;
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cfgprt.fragments.data.outProtoMask = CFG_PRT_DATA_PROTO_UBX;
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cfgprt.fragments.data.flags = 0;
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cfgprt.fragments.data.reserved5 = 0;
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ubx_buildPacket(&cfgprt.packet, UBX_CFG_CLASS, UBX_CFG_PRT, sizeof(CfgPrtData));
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PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, cfgprt.packet.binarystream, sizeof(CfgPrtPkt));
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}
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