Merge branch 'gps_ucenter' into dev

paparazzi · Sep 18, 2011 · 9045c05 · 9045c05
2 parents 3113ebe + e3e854d
commit 9045c05
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Showing 12 changed files with 546 additions and 197 deletions.
diff --git a/conf/modules/gps_ubx_ucenter.xml b/conf/modules/gps_ubx_ucenter.xml
@@ -0,0 +1,29 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+
+	Automatically configure any Ublox GPS for paparazzi
+
+	-configures all the messages, and the rates
+	-automatic baudrate detection
+
+	Warning: you still need to tell the driver 
+	a) which paparazzi uart you use
+	b) inside the ublox gps there are also many ports. the tiny/ppzgps use ublox_internal_port1 but if for instance you use a LS-SAM or I2C device you need to configure:
+
+	<define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
+
+-->
+
+<module name="gps_ubx" dir="gps">
+  <header>
+    <file name="gps_ubx_ucenter.h"/>
+  </header>
+  <init fun="gps_ubx_ucenter_init()"/>
+  <periodic fun="gps_ubx_ucenter_periodic()" start="gps_ubx_ucenter_init()" freq="4." autorun="TRUE"/>
+  <makefile target="ap">
+    <define name="GPS_UBX_UCENTER" value="\\\"modules/gps/gps_ubx_ucenter.c\\\"" />
+  </makefile>
+</module>
+
+
diff --git a/conf/settings/gps_ubx_ucenter.xml b/conf/settings/gps_ubx_ucenter.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings NAME="ublox">
+
+    <dl_settings name="ucenter">
+      <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.sw_ver_h" shortname="sw_h"/>
+      <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.sw_ver_l" shortname="sw_l"/>
+      <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.hw_ver_h" shortname="hw_h"/>
+      <dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.hw_ver_l" shortname="hw_l"/>
+      <dl_setting MAX="115200" MIN="4800" STEP="100" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.baud_init" shortname="inibaud"/>
+      <dl_setting MAX="115200" MIN="4800" STEP="100" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.baud_run" shortname="baud"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/ubx.xml b/conf/ubx.xml
@@ -205,4 +205,17 @@
 
  </class>
 
+ <class name="MON" ID="0x0A">
+
+  <message name="GET_VER" ID="0x04" length="0">
+  </message>
+
+  <message name="VER" ID="0x04">
+    <block length="1">
+      <field name="c" format="U1"/>
+    </block>
+  </message>
+
+ </class>
+
 </ubx>
diff --git a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
@@ -33,6 +33,7 @@
 
 #define B1200         UART_BAUD(1200)
 #define B2400         UART_BAUD(2400)
+#define B4800         UART_BAUD(4800)
 #define B9600         UART_BAUD(9600)
 #define B19200        UART_BAUD(19200)
 #define B38400        UART_BAUD(38400)

diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
@@ -31,6 +31,7 @@
 
 #include "std.h"
 
+#define B4800     4800
 #define B9600     9600
 #define B38400   38400
 #define B57600   57600

diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -581,12 +581,6 @@ void init_ap( void ) {
   /** wait 0.5s (historical :-) */
   sys_time_usleep(500000);
 
-#ifdef GPS_CONFIGURE
-#ifndef SITL
-  gps_configure_uart();
-#endif
-#endif
-
 #if defined DATALINK
 
 #if DATALINK == XBEE

diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
@@ -92,7 +92,7 @@ extern void uart0_init(void);
 #define UART0ChAvailable    Uart0ChAvailable
 #define UART0Getch          Uart0Getch
 #define UART0TxRunning      Uart0TxRunning
-#define UART0InitParam      Uart0InitParam
+#define UART0SetBaudrate    Uart0SetBaudrate
 
 #endif // USE_UART0
 
@@ -117,7 +117,7 @@ extern void uart1_init(void);
 #define UART1ChAvailable    Uart1ChAvailable
 #define UART1Getch          Uart1Getch
 #define UART1TxRunning      Uart1TxRunning
-#define UART1InitParam      Uart1InitParam
+#define UART1SetBaudrate    Uart1SetBaudrate
 
 #endif // USE_UART1
 
@@ -142,7 +142,7 @@ extern void uart2_init(void);
 #define UART2ChAvailable    Uart2ChAvailable
 #define UART2Getch          Uart2Getch
 #define UART2TxRunning      Uart2TxRunning
-#define UART2InitParam      Uart2InitParam
+#define UART2SetBaudrate    Uart2SetBaudrate
 
 #endif // USE_UART2
 
@@ -167,7 +167,7 @@ extern void uart3_init(void);
 #define UART3ChAvailable    Uart3ChAvailable
 #define UART3Getch          Uart3Getch
 #define UART3TxRunning      Uart3TxRunning
-#define UART3InitParam      Uart3InitParam
+#define UART3SetBaudrate    Uart3SetBaudrate
 
 #endif // USE_UART3
 
@@ -192,7 +192,7 @@ extern void uart5_init(void);
 #define UART5ChAvailable    Uart5ChAvailable
 #define UART5Getch          Uart5Getch
 #define UART5TxRunning      Uart5TxRunning
-#define UART5InitParam      Uart5InitParam
+#define UART5SetBaudrate    Uart5SetBaudrate
 
 #endif // USE_UART5