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Add NMEA Custom commands (#12591)

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* Add NMEA Custom command

* Add delay

* Remove strdup

* more effective way by ledvinap

Update src/main/pg/gps.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

required changes

Update src/main/io/gps.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

Update src/main/io/gps.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

Update src/main/io/gps.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

Update src/main/io/gps.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

Update src/main/cli/settings.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

Update src/main/pg/gps.h

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

Update src/main/pg/gps.h

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

fix namings

* Update src/main/io/gps.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Update src/main/io/gps.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
This commit is contained in:
ASDosjani 2023-05-19 13:01:02 +02:00 • committed by GitHub
parent f841367928
commit 7a39c8037f
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 38 additions and 2 deletions
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1
src/main/cli/settings.c
View file

@ -1008,6 +1008,7 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_GPS_SET_HOME_POINT_ONCE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_set_home_point_once) },
{ PARAM_NAME_GPS_USE_3D_SPEED, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_use_3d_speed) },
{ PARAM_NAME_GPS_SBAS_INTEGRITY, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, sbas_integrity) },
{ PARAM_NAME_GPS_NMEA_CUSTOM_COMMANDS, VAR_UINT8 | MASTER_VALUE | MODE_STRING, .config.string = { 1, NMEA_CUSTOM_COMMANDS_MAX_LENGTH, STRING_FLAGS_NONE }, PG_GPS_CONFIG, offsetof(gpsConfig_t, nmeaCustomCommands) },
#ifdef USE_GPS_RESCUE
// PG_GPS_RESCUE

1
src/main/fc/parameter_names.h
View file

@ -148,6 +148,7 @@
#define PARAM_NAME_GPS_UBLOX_FLIGHT_MODEL "gps_ublox_flight_model"
#define PARAM_NAME_GPS_SET_HOME_POINT_ONCE "gps_set_home_point_once"
#define PARAM_NAME_GPS_USE_3D_SPEED "gps_use_3d_speed"
#define PARAM_NAME_GPS_NMEA_CUSTOM_COMMANDS "gps_nmea_custom_commands"
#ifdef USE_GPS_RESCUE
#define PARAM_NAME_GPS_RESCUE_MIN_START_DIST "gps_rescue_min_start_dist"

35
src/main/io/gps.c
View file

@ -415,6 +415,7 @@ void gpsInitNmea(void)
return;
}
gpsData.state_ts = now;
if (gpsData.state_position < GPS_STATE_INITIALIZING) {
serialSetBaudRate(gpsPort, baudRates[gpsInitData[gpsData.baudrateIndex].baudrateIndex]);
gpsData.state_position++;
@ -424,9 +425,39 @@ void gpsInitNmea(void)
if (!atgmRestartDone) {
atgmRestartDone = true;
serialPrint(gpsPort, "$PCAS02,100*1E\r\n"); // 10Hz refresh rate
serialPrint(gpsPort, "$PCAS10,0*1C\r\n"); // hot restart
serialPrint(gpsPort, "$PCAS10,0*1C\r\n"); // hot restart
} else {
// NMEA custom commands after ATGM336 initialization
static int commandOffset = 0;
const char *commands = gpsConfig()->nmeaCustomCommands;
const char *cmd = commands + commandOffset;
// skip leading whitespaces and get first command length
int commandLen;
while (*cmd && (commandLen = strcspn(cmd, " \0")) == 0) {
cmd++; // skip separators
}
if (*cmd) {
// Send the current command to the GPS
serialWriteBuf(gpsPort, (uint8_t *)cmd, commandLen);
serialWriteBuf(gpsPort, (uint8_t *)"\r\n", 2);
// Move to the next command
cmd += commandLen;
}
// skip trailing whitespaces
while (*cmd && strcspn(cmd, " \0") == 0) cmd++;
if (*cmd) {
// more commands to send
commandOffset = cmd - commands;
} else {
gpsData.state_position++;
commandOffset = 0;
}
}
gpsData.state_position++;
} else
#else
{

3
src/main/pg/gps.h
View file

@ -25,6 +25,8 @@
#include "pg/pg.h"
#define NMEA_CUSTOM_COMMANDS_MAX_LENGTH 64
typedef struct gpsConfig_s {
uint8_t provider;
uint8_t sbasMode;
@ -37,6 +39,7 @@ typedef struct gpsConfig_s {
bool gps_set_home_point_once;
bool gps_use_3d_speed;
bool sbas_integrity;
char nmeaCustomCommands[NMEA_CUSTOM_COMMANDS_MAX_LENGTH + 1];
} gpsConfig_t;
PG_DECLARE(gpsConfig_t, gpsConfig);