mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
104 lines
3.8 KiB
C
104 lines
3.8 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @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);
|
|
}
|
|
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;
|
|
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));
|
|
}
|