Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 04:15:44 +03:00
Code Issues Wiki Activity

GPS - fix ubox maximum packet size comparisons. Increase UBlox buffer

Browse source 
size to work with Glonass MSG-SVINFO packets.  Skip data from packets
that are too large to process without attempting to process a large
payout as packet data.  Ignore GPS presence check when enabling
passthrough mode so that it is possible to configure a GPS unit via the
FC without the GPS unit actually having communicated to the FC first.
This commit is contained in:
Dominic Clifton 2014-12-12 16:32:26 +00:00
parent e8cba5bfb6
commit 1d5c2fb13e
4 changed files with 32 additions and 17 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/io/display.c
View file

@ -329,7 +329,7 @@ void showGpsPage() {
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
tfp_sprintf(lineBuffer, "%16s", gpsPacketLog);
strncpy(lineBuffer, gpsPacketLog, GPS_PACKET_LOG_ENTRY_COUNT);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);

38
src/main/io/gps.c
View file

@ -61,8 +61,7 @@ extern int16_t debug[4];
#define LOG_UBLOX_POSLLH 'P'
#define LOG_UBLOX_VELNED 'V'
char gpsPacketLog[16];
char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];
static char *gpsPacketLogChar = gpsPacketLog;
// **********************
// GPS
@ -730,6 +729,7 @@ static uint8_t _ck_a;
static uint8_t _ck_b;
// State machine state
static bool _skip_packet;
static uint8_t _step;
static uint8_t _msg_id;
static uint16_t _payload_length;
@ -744,6 +744,23 @@ static bool _new_position;
// do we have new speed information?
static bool _new_speed;
// Example packet sizes from UBlox u-center from a Glonass capable GPS receiver.
//15:17:55 R -> UBX NAV-STATUS, Size 24, 'Navigation Status'
//15:17:55 R -> UBX NAV-POSLLH, Size 36, 'Geodetic Position'
//15:17:55 R -> UBX NAV-VELNED, Size 44, 'Velocity in WGS 84'
//15:17:55 R -> UBX NAV-CLOCK, Size 28, 'Clock Status'
//15:17:55 R -> UBX NAV-AOPSTATUS, Size 24, 'AOP Status'
//15:17:55 R -> UBX 03-09, Size 208, 'Unknown'
//15:17:55 R -> UBX 03-10, Size 336, 'Unknown'
//15:17:55 R -> UBX NAV-SOL, Size 60, 'Navigation Solution'
//15:17:55 R -> UBX NAV, Size 100, 'Navigation'
//15:17:55 R -> UBX NAV-SVINFO, Size 328, 'Satellite Status and Information'
// from the UBlox6 document, the largest payout we receive i the NAV-SVINFO and the payload size
// is calculated as 8 + 12*numCh. numCh in the case of a Glonass receiver is 28.
#define UBLOX_PAYLOAD_SIZE 344
// Receive buffer
static union {
ubx_nav_posllh posllh;
@ -751,7 +768,7 @@ static union {
ubx_nav_solution solution;
ubx_nav_velned velned;
ubx_nav_svinfo svinfo;
uint8_t bytes[200];
uint8_t bytes[UBLOX_PAYLOAD_SIZE];
} _buffer;
void _update_checksum(uint8_t *data, uint8_t len, uint8_t *ck_a, uint8_t *ck_b)
@ -841,6 +858,7 @@ static bool gpsNewFrameUBLOX(uint8_t data)
case 1: // Sync char 2 (0x62)
if (PREAMBLE2 == data) {
_step++;
_skip_packet = false;
break;
}
_step = 0;
@ -867,15 +885,14 @@ static bool gpsNewFrameUBLOX(uint8_t data)
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length += (uint16_t)(data << 8);
if (_payload_length > 512) {
_payload_length = 0;
_step = 0;
if (_payload_length > UBLOX_PAYLOAD_SIZE) {
_skip_packet = true;
}
_payload_counter = 0; // prepare to receive payload
break;
case 6:
_ck_b += (_ck_a += data); // checksum byte
if (_payload_counter < sizeof(_buffer)) {
if (_payload_counter < UBLOX_PAYLOAD_SIZE) {
_buffer.bytes[_payload_counter] = data;
}
if (++_payload_counter == _payload_length)
@ -890,6 +907,10 @@ static bool gpsNewFrameUBLOX(uint8_t data)
_step = 0;
if (_ck_b != data)
break; // bad checksum
if (_skip_packet)
break;
if (UBLOX_parse_gps())
parsed = true;
} //end switch
@ -898,9 +919,6 @@ static bool gpsNewFrameUBLOX(uint8_t data)
gpsEnablePassthroughResult_e gpsEnablePassthrough(void)
{
if (gpsData.state != GPS_RECEIVING_DATA)
return GPS_PASSTHROUGH_NO_GPS;
serialPort_t *gpsPassthroughPort = findOpenSerialPort(FUNCTION_GPS_PASSTHROUGH);
if (gpsPassthroughPort) {

5
src/main/io/gps.h
View file

@ -68,7 +68,6 @@ typedef struct gpsConfig_s {
typedef enum {
GPS_PASSTHROUGH_ENABLED = 1,
GPS_PASSTHROUGH_NO_GPS,
GPS_PASSTHROUGH_NO_SERIAL_PORT
} gpsEnablePassthroughResult_e;
@ -99,10 +98,12 @@ typedef struct gpsData_t {
gpsMessageState_e messageState;
} gpsData_t;
#define GPS_PACKET_LOG_ENTRY_COUNT 21 // To make this useful we should log as many packets as we can fit characters a single line of a OLED display.
extern char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];
extern gpsData_t gpsData;
extern int32_t GPS_coord[2]; // LAT/LON
extern char gpsPacketLog[16];
extern uint8_t GPS_numSat;
extern uint16_t GPS_hdop; // GPS signal quality
extern uint8_t GPS_update; // it's a binary toogle to distinct a GPS position update

4
src/main/io/serial_cli.c
View file

@ -949,10 +949,6 @@ static void cliGpsPassthrough(char *cmdline)
gpsEnablePassthroughResult_e result = gpsEnablePassthrough();
switch (result) {
case GPS_PASSTHROUGH_NO_GPS:
cliPrint("Error: Enable and plug in GPS first\r\n");
break;
case GPS_PASSTHROUGH_NO_SERIAL_PORT:
cliPrint("Error: Enable and plug in GPS first\r\n");
break;