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AP_GPS: removed GPS_406 driver 

this driver was untested and badly structured. If we want to support
the 406 we can revive it and do it properly
master
Andrew Tridgell 11 years ago
parent
5fb3b031f1
commit
3c4389180e
2 changed files with 0 additions and 134 deletions
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  1. 89
      libraries/AP_GPS/AP_GPS_406.cpp
  2. 45
      libraries/AP_GPS/AP_GPS_406.h

89
libraries/AP_GPS/AP_GPS_406.cpp
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@ -1,89 +0,0 @@ @@ -1,89 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
//
// GPS_406.cpp - 406 GPS library for Arduino
// Code by Michael Smith, Jason Short, Jordi Muñoz and Jose Julio. DIYDrones.com
// This code works with boards based on ATMega168/328 ATMega1280 (Serial port 1)
//
#include <AP_HAL.h>
#include "AP_GPS_406.h"
extern const AP_HAL::HAL& hal;
static const char init_str[] = "$PSRF100,0,57600,8,1,0*37";
// Public Methods ////////////////////////////////////////////////////////////////////
void AP_GPS_406::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting, DataFlash_Class *DataFlash)
{
_change_to_sirf_protocol(); // Changes to SIRF protocol and sets baud rate
_configure_gps(); // Function to configure GPS, to output only the desired msg's
AP_GPS_SIRF::init(s, nav_setting, DataFlash); // let the superclass do anything it might need here
}
// Private Methods //////////////////////////////////////////////////////////////
void
AP_GPS_406::_configure_gps(void)
{
const uint8_t gps_header[] = {0xA0, 0xA2, 0x00, 0x08, 0xA6, 0x00};
const uint8_t gps_payload[] = {0x02, 0x04, 0x07, 0x09, 0x1B};
const uint8_t gps_checksum[] = {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
const uint8_t gps_ender[] = {0xB0, 0xB3};
for(int16_t z = 0; z < 2; z++) {
for(int16_t x = 0; x < 5; x++) {
_port->write(gps_header, sizeof(gps_header)); // Prints the msg header, is the same header for all msg..
_port->write(gps_payload[x]); // Prints the payload, is not the same for every msg
for(int16_t y = 0; y < 6; y++) // Prints 6 zeros
_port->write((uint8_t)0);
_port->write(gps_checksum[x]); // Print the Checksum
_port->write(gps_ender[0]); // Print the Ender of the string, is same on all msg's.
_port->write(gps_ender[1]); // ender
}
}
}
// The EM406 defalts to NMEA at 4800bps. We want to switch it to SiRF binary
// mode at a higher rate.
//
// The change is sticky, but only for as long as the internal supercap holds
// settings (usually less than a week).
//
void
AP_GPS_406::_change_to_sirf_protocol(void)
{
// this is a bit grody...
AP_HAL::UARTDriver *fs = (AP_HAL::UARTDriver*)_port;
fs->begin(4800);
hal.scheduler->delay(300);
_port->print(init_str);
hal.scheduler->delay(300);
fs->begin(9600);
hal.scheduler->delay(300);
_port->print(init_str);
hal.scheduler->delay(300);
fs->begin(GPS_406_BITRATE);
hal.scheduler->delay(300);
_port->print(init_str);
hal.scheduler->delay(300);
}

45
libraries/AP_GPS/AP_GPS_406.h
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@ -1,45 +0,0 @@ @@ -1,45 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
//
// EM406 GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jason Short, Jordi Muñoz and Jose Julio. DIYDrones.com
//
#ifndef __AP_GPS_406_H__
#define __AP_GPS_406_H__
#include <AP_HAL.h>
#include "AP_GPS_SIRF.h"
#define GPS_406_BITRATE 57600
class AP_GPS_406 : public AP_GPS_SIRF
{
public:
AP_GPS_406() : AP_GPS_SIRF() {}
// Methods
virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting, DataFlash_Class *DataFlash);
private:
void _change_to_sirf_protocol(void);
void _configure_gps(void);
};
#endif // __AP_HAL_GPS_406_H__
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