Peter Barker
3 years ago
committed by
Andrew Tridgell
9 changed files with 5 additions and 694 deletions
@ -1,218 +0,0 @@
@@ -1,218 +0,0 @@
|
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/*
|
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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. |
||||
|
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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, see <http://www.gnu.org/licenses/>.
|
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*/ |
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|
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//
|
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
|
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// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
|
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//
|
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
|
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//
|
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|
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#include "AP_GPS.h" |
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#include "AP_GPS_MTK.h" |
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|
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// initialisation blobs to send to the GPS to try to get it into the
|
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// right mode
|
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const char AP_GPS_MTK::_initialisation_blob[] = MTK_OUTPUT_5HZ SBAS_ON WAAS_ON MTK_NAVTHRES_OFF; |
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|
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AP_GPS_MTK::AP_GPS_MTK(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) : |
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AP_GPS_Backend(_gps, _state, _port) |
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{ |
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gps.send_blob_start(state.instance, _initialisation_blob, sizeof(_initialisation_blob)); |
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} |
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|
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/*
|
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send an initialisation blob to configure the GPS |
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*/ |
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void AP_GPS_MTK::send_init_blob(uint8_t instance, AP_GPS &gps) |
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{ |
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gps.send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob)); |
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} |
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|
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|
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// Process bytes available from the stream
|
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//
|
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// The stream is assumed to contain only our custom message. If it
|
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// contains other messages, and those messages contain the preamble bytes,
|
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// it is possible for this code to become de-synchronised. Without
|
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// buffering the entire message and re-processing it from the top,
|
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// this is unavoidable.
|
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//
|
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// The lack of a standard header length field makes it impossible to skip
|
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// unrecognised messages.
|
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//
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bool |
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AP_GPS_MTK::read(void) |
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{ |
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uint8_t data; |
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int16_t numc; |
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bool parsed = false; |
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|
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numc = port->available(); |
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for (int16_t i = 0; i < numc; i++) { // Process bytes received
|
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|
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// read the next byte
|
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data = port->read(); |
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|
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restart: |
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switch(_step) { |
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|
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// Message preamble, class, ID detection
|
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//
|
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// If we fail to match any of the expected bytes, we
|
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// reset the state machine and re-consider the failed
|
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// byte as the first byte of the preamble. This
|
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// improves our chances of recovering from a mismatch
|
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// and makes it less likely that we will be fooled by
|
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// the preamble appearing as data in some other message.
|
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//
|
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case 0: |
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if(PREAMBLE1 == data) |
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_step++; |
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break; |
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case 1: |
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if (PREAMBLE2 == data) { |
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_step++; |
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break; |
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} |
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_step = 0; |
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goto restart; |
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case 2: |
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if (MESSAGE_CLASS == data) { |
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_step++; |
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_ck_b = _ck_a = data; // reset the checksum accumulators
|
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} else { |
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_step = 0; // reset and wait for a message of the right class
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goto restart; |
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} |
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break; |
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case 3: |
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if (MESSAGE_ID == data) { |
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_step++; |
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_ck_b += (_ck_a += data); |
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_payload_counter = 0; |
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} else { |
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_step = 0; |
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goto restart; |
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} |
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break; |
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|
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// Receive message data
|
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//
|
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case 4: |
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_buffer[_payload_counter++] = data; |
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_ck_b += (_ck_a += data); |
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if (_payload_counter == sizeof(_buffer)) |
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_step++; |
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break; |
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|
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// Checksum and message processing
|
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//
|
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case 5: |
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_step++; |
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if (_ck_a != data) { |
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_step = 0; |
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} |
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break; |
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case 6: |
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_step = 0; |
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if (_ck_b != data) { |
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break; |
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} |
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|
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// set fix type
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if (_buffer.msg.fix_type == FIX_3D) { |
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state.status = AP_GPS::GPS_OK_FIX_3D; |
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}else if (_buffer.msg.fix_type == FIX_2D) { |
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state.status = AP_GPS::GPS_OK_FIX_2D; |
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}else{ |
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state.status = AP_GPS::NO_FIX; |
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} |
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state.location.lat = swap_int32(_buffer.msg.latitude) * 10; |
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state.location.lng = swap_int32(_buffer.msg.longitude) * 10; |
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state.location.alt = swap_int32(_buffer.msg.altitude); |
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state.ground_speed = swap_int32(_buffer.msg.ground_speed) * 0.01f; |
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state.ground_course = wrap_360(swap_int32(_buffer.msg.ground_course) * 1.0e-6f); |
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state.num_sats = _buffer.msg.satellites; |
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|
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if (state.status >= AP_GPS::GPS_OK_FIX_2D) { |
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make_gps_time(0, swap_int32(_buffer.msg.utc_time)*10); |
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} |
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// we don't change _last_gps_time as we don't know the
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// full date
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|
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fill_3d_velocity(); |
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|
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parsed = true; |
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} |
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} |
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return parsed; |
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} |
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|
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/*
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detect a MTK GPS |
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*/ |
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bool |
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AP_GPS_MTK::_detect(struct MTK_detect_state &state, uint8_t data) |
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{ |
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switch (state.step) { |
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case 1: |
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if (PREAMBLE2 == data) { |
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state.step++; |
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break; |
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} |
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state.step = 0; |
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FALLTHROUGH; |
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case 0: |
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state.ck_b = state.ck_a = state.payload_counter = 0; |
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if(PREAMBLE1 == data) |
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state.step++; |
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break; |
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case 2: |
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if (MESSAGE_CLASS == data) { |
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state.step++; |
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state.ck_b = state.ck_a = data; |
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} else { |
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state.step = 0; |
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} |
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break; |
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case 3: |
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if (MESSAGE_ID == data) { |
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state.step++; |
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state.ck_b += (state.ck_a += data); |
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state.payload_counter = 0; |
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} else { |
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state.step = 0; |
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} |
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break; |
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case 4: |
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state.ck_b += (state.ck_a += data); |
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if (++state.payload_counter == sizeof(struct diyd_mtk_msg)) |
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state.step++; |
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break; |
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case 5: |
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state.step++; |
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if (state.ck_a != data) { |
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state.step = 0; |
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} |
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break; |
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case 6: |
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state.step = 0; |
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if (state.ck_b == data) { |
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return true; |
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} |
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} |
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return false; |
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} |
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@ -1,83 +0,0 @@
@@ -1,83 +0,0 @@
|
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/*
|
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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, see <http://www.gnu.org/licenses/>.
|
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*/ |
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|
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//
|
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
|
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// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
|
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//
|
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
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//
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// Note - see AP_GPS_MTK16.h for firmware 1.6 and later.
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//
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#pragma once |
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#include "AP_GPS.h" |
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#include "GPS_Backend.h" |
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#include "AP_GPS_MTK_Common.h" |
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class AP_GPS_MTK : public AP_GPS_Backend { |
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public: |
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AP_GPS_MTK(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
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bool read(void) override; |
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static bool _detect(struct MTK_detect_state &state, uint8_t data); |
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static void send_init_blob(uint8_t instance, AP_GPS &gps); |
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const char *name() const override { return "MTK"; } |
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private: |
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struct PACKED diyd_mtk_msg { |
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int32_t latitude; |
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int32_t longitude; |
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int32_t altitude; |
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int32_t ground_speed; |
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int32_t ground_course; |
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uint8_t satellites; |
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uint8_t fix_type; |
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uint32_t utc_time; |
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}; |
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enum diyd_mtk_fix_type { |
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FIX_NONE = 1, |
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FIX_2D = 2, |
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FIX_3D = 3 |
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}; |
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enum diyd_mtk_protocol_bytes { |
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PREAMBLE1 = 0xb5, |
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PREAMBLE2 = 0x62, |
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MESSAGE_CLASS = 1, |
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MESSAGE_ID = 5 |
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}; |
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// Packet checksum accumulators
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uint8_t _ck_a; |
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uint8_t _ck_b; |
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|
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// State machine state
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uint8_t _step; |
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uint8_t _payload_counter; |
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|
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// Receive buffer
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union PACKED { |
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DEFINE_BYTE_ARRAY_METHODS |
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diyd_mtk_msg msg; |
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} _buffer; |
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|
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// Buffer parse & GPS state update
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void _parse_gps(); |
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static const char _initialisation_blob[]; |
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}; |
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@ -1,234 +0,0 @@
@@ -1,234 +0,0 @@
|
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/*
|
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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, see <http://www.gnu.org/licenses/>.
|
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*/ |
||||
|
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//
|
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
|
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// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
|
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//
|
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.6, v1.7, v1.8, v1.9"
|
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//
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// Note that this driver supports both the 1.6 and 1.9 protocol variants
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//
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#include "AP_GPS_MTK.h" |
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#include "AP_GPS_MTK19.h" |
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extern const AP_HAL::HAL& hal; |
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AP_GPS_MTK19::AP_GPS_MTK19(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) : |
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AP_GPS_Backend(_gps, _state, _port), |
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_step(0), |
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_payload_counter(0), |
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_mtk_revision(0), |
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_fix_counter(0) |
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{ |
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AP_GPS_MTK::send_init_blob(_state.instance, _gps); |
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} |
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|
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// Process bytes available from the stream
|
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//
|
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// The stream is assumed to contain only our custom message. If it
|
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// contains other messages, and those messages contain the preamble bytes,
|
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// it is possible for this code to become de-synchronised. Without
|
||||
// buffering the entire message and re-processing it from the top,
|
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// this is unavoidable.
|
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//
|
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// The lack of a standard header length field makes it impossible to skip
|
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// unrecognised messages.
|
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//
|
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bool |
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AP_GPS_MTK19::read(void) |
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{ |
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uint8_t data; |
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int16_t numc; |
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bool parsed = false; |
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|
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numc = port->available(); |
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for (int16_t i = 0; i < numc; i++) { // Process bytes received
|
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|
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// read the next byte
|
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data = port->read(); |
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|
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restart: |
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switch(_step) { |
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|
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// Message preamble, class, ID detection
|
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//
|
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// If we fail to match any of the expected bytes, we
|
||||
// reset the state machine and re-consider the failed
|
||||
// byte as the first byte of the preamble. This
|
||||
// improves our chances of recovering from a mismatch
|
||||
// and makes it less likely that we will be fooled by
|
||||
// the preamble appearing as data in some other message.
|
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//
|
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case 0: |
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if (data == PREAMBLE1_V16) { |
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_mtk_revision = MTK_GPS_REVISION_V16; |
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_step++; |
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} else if (data == PREAMBLE1_V19) { |
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_mtk_revision = MTK_GPS_REVISION_V19; |
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_step++; |
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}
|
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break; |
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case 1: |
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if (data == PREAMBLE2) { |
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_step++; |
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} else { |
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_step = 0; |
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goto restart; |
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} |
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break; |
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case 2: |
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if (sizeof(_buffer) == data) { |
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_step++; |
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_ck_b = _ck_a = data; // reset the checksum accumulators
|
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_payload_counter = 0; |
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} else { |
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_step = 0; // reset and wait for a message of the right class
|
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goto restart; |
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} |
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break; |
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|
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// Receive message data
|
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//
|
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case 3: |
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_buffer[_payload_counter++] = data; |
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_ck_b += (_ck_a += data); |
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if (_payload_counter == sizeof(_buffer)) { |
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_step++; |
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} |
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break; |
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|
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// Checksum and message processing
|
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//
|
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case 4: |
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_step++; |
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if (_ck_a != data) { |
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_step = 0; |
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goto restart; |
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} |
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break; |
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case 5: |
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_step = 0; |
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if (_ck_b != data) { |
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goto restart; |
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} |
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|
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// parse fix
|
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if (_buffer.msg.fix_type == FIX_3D || _buffer.msg.fix_type == FIX_3D_SBAS) { |
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state.status = AP_GPS::GPS_OK_FIX_3D; |
||||
}else if (_buffer.msg.fix_type == FIX_2D || _buffer.msg.fix_type == FIX_2D_SBAS) { |
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state.status = AP_GPS::GPS_OK_FIX_2D; |
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}else{ |
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state.status = AP_GPS::NO_FIX; |
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} |
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|
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if (_mtk_revision == MTK_GPS_REVISION_V16) { |
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state.location.lat = _buffer.msg.latitude * 10; // V16, V17,V18 doc says *10e7 but device says otherwise
|
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state.location.lng = _buffer.msg.longitude * 10; // V16, V17,V18 doc says *10e7 but device says otherwise
|
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} else { |
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state.location.lat = _buffer.msg.latitude; |
||||
state.location.lng = _buffer.msg.longitude; |
||||
} |
||||
state.location.alt = _buffer.msg.altitude; |
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state.ground_speed = _buffer.msg.ground_speed*0.01f; |
||||
state.ground_course = wrap_360(_buffer.msg.ground_course*0.01f); |
||||
state.num_sats = _buffer.msg.satellites; |
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state.hdop = _buffer.msg.hdop; |
||||
|
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if (state.status >= AP_GPS::GPS_OK_FIX_2D) { |
||||
if (_fix_counter == 0) { |
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uint32_t bcd_time_ms; |
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bcd_time_ms = _buffer.msg.utc_time; |
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#if 0 |
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hal.console->printf("utc_date=%lu utc_time=%lu rev=%u\n",
|
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(unsigned long)_buffer.msg.utc_date, |
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(unsigned long)_buffer.msg.utc_time, |
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(unsigned)_mtk_revision);
|
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#endif |
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make_gps_time(_buffer.msg.utc_date, bcd_time_ms); |
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state.last_gps_time_ms = AP_HAL::millis(); |
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} |
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// the _fix_counter is to reduce the cost of the GPS
|
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// BCD time conversion by only doing it every 10s
|
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// between those times we use the HAL system clock as
|
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// an offset from the last fix
|
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_fix_counter++; |
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if (_fix_counter == 50) { |
||||
_fix_counter = 0; |
||||
} |
||||
} |
||||
|
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fill_3d_velocity(); |
||||
|
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parsed = true; |
||||
} |
||||
} |
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return parsed; |
||||
} |
||||
|
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|
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/*
|
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detect a MTK16 or MTK19 GPS |
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*/ |
||||
bool |
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AP_GPS_MTK19::_detect(struct MTK19_detect_state &state, uint8_t data) |
||||
{ |
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restart: |
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switch (state.step) { |
||||
case 0: |
||||
state.ck_b = state.ck_a = state.payload_counter = 0; |
||||
if (data == PREAMBLE1_V16 || data == PREAMBLE1_V19) { |
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state.step++; |
||||
}
|
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break; |
||||
case 1: |
||||
if (PREAMBLE2 == data) { |
||||
state.step++; |
||||
} else { |
||||
state.step = 0; |
||||
goto restart; |
||||
} |
||||
break; |
||||
case 2: |
||||
if (data == sizeof(struct diyd_mtk_msg)) { |
||||
state.step++; |
||||
state.ck_b = state.ck_a = data; |
||||
} else { |
||||
state.step = 0; |
||||
goto restart; |
||||
} |
||||
break; |
||||
case 3: |
||||
state.ck_b += (state.ck_a += data); |
||||
if (++state.payload_counter == sizeof(struct diyd_mtk_msg)) |
||||
state.step++; |
||||
break; |
||||
case 4: |
||||
state.step++; |
||||
if (state.ck_a != data) { |
||||
state.step = 0; |
||||
goto restart; |
||||
} |
||||
break; |
||||
case 5: |
||||
state.step = 0; |
||||
if (state.ck_b != data) { |
||||
goto restart; |
||||
} |
||||
return true; |
||||
} |
||||
return false; |
||||
} |
||||
@ -1,84 +0,0 @@
@@ -1,84 +0,0 @@
|
||||
/*
|
||||
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, see <http://www.gnu.org/licenses/>.
|
||||
*/ |
||||
|
||||
//
|
||||
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
|
||||
// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
|
||||
//
|
||||
// GPS configuration : Custom protocol per "Customize Function Specification, 3D Robotics, v1.6, v1.7, v1.8, v1.9"
|
||||
//
|
||||
#pragma once |
||||
|
||||
#include "AP_GPS.h" |
||||
#include "GPS_Backend.h" |
||||
#include "AP_GPS_MTK_Common.h" |
||||
|
||||
#define MTK_GPS_REVISION_V16 16 |
||||
#define MTK_GPS_REVISION_V19 19 |
||||
|
||||
class AP_GPS_MTK19 : public AP_GPS_Backend { |
||||
public: |
||||
AP_GPS_MTK19(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
||||
|
||||
bool read(void) override; |
||||
|
||||
static bool _detect(struct MTK19_detect_state &state, uint8_t data); |
||||
|
||||
const char *name() const override { return "MTK19"; } |
||||
|
||||
private: |
||||
struct PACKED diyd_mtk_msg { |
||||
int32_t latitude; |
||||
int32_t longitude; |
||||
int32_t altitude; |
||||
int32_t ground_speed; |
||||
int32_t ground_course; |
||||
uint8_t satellites; |
||||
uint8_t fix_type; |
||||
uint32_t utc_date; |
||||
uint32_t utc_time; |
||||
uint16_t hdop; |
||||
}; |
||||
enum diyd_mtk_fix_type { |
||||
FIX_NONE = 1, |
||||
FIX_2D = 2, |
||||
FIX_3D = 3, |
||||
FIX_2D_SBAS = 6, |
||||
FIX_3D_SBAS = 7 |
||||
}; |
||||
|
||||
enum diyd_mtk_protocol_bytes { |
||||
PREAMBLE1_V16 = 0xd0, |
||||
PREAMBLE1_V19 = 0xd1, |
||||
PREAMBLE2 = 0xdd, |
||||
}; |
||||
|
||||
// Packet checksum accumulators
|
||||
uint8_t _ck_a; |
||||
uint8_t _ck_b; |
||||
|
||||
// State machine state
|
||||
uint8_t _step; |
||||
uint8_t _payload_counter; |
||||
uint8_t _mtk_revision; |
||||
|
||||
uint8_t _fix_counter; |
||||
|
||||
// Receive buffer
|
||||
union { |
||||
DEFINE_BYTE_ARRAY_METHODS |
||||
diyd_mtk_msg msg; |
||||
} _buffer; |
||||
}; |
||||
@ -1,40 +0,0 @@
@@ -1,40 +0,0 @@
|
||||
/*
|
||||
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, see <http://www.gnu.org/licenses/>.
|
||||
*/ |
||||
|
||||
//
|
||||
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
|
||||
// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
|
||||
//
|
||||
// Common definitions for MediaTek GPS modules.
|
||||
#pragma once |
||||
|
||||
#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n" |
||||
#define MTK_SET_NMEA "$PGCMD,16,1,1,1,1,1*6B\r\n" |
||||
|
||||
#define MTK_OUTPUT_1HZ "$PMTK220,1000*1F\r\n" |
||||
#define MTK_OUTPUT_2HZ "$PMTK220,500*2B\r\n" |
||||
#define MTK_OUTPUT_4HZ "$PMTK220,250*29\r\n" |
||||
#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n" |
||||
#define MTK_OUTPUT_10HZ "$PMTK220,100*2F\r\n" |
||||
|
||||
#define MTK_BAUD_RATE_38400 "$PMTK251,38400*27\r\n" |
||||
|
||||
#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n" // Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s
|
||||
|
||||
#define SBAS_ON "$PMTK313,1*2E\r\n" |
||||
#define SBAS_OFF "$PMTK313,0*2F\r\n" |
||||
|
||||
#define WAAS_ON "$PMTK301,2*2E\r\n" |
||||
#define WAAS_OFF "$PMTK301,0*2C\r\n" |
||||
Loading…
Reference in new issue