From fabd376f41e141769f58c2e655fb012d57fb5514 Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Tue, 3 Jun 2014 13:32:07 +0100 Subject: [PATCH] Allow GPS SBAS mode to be configurable. It was noticed that GPS startup time increased when the change was made from using EGNOS by default to using AUTO by default. The default is still AUTO but faster GPS startup times may be achieved by telling the GPS receiver what region you are in. This also removes more unfinished MTK gps provider support. --- docs/Gps.md | 28 ++++++++++++++++++++++++++++ src/main/config/config.c | 3 ++- src/main/config/config_master.h | 3 +-- src/main/io/gps.c | 25 ++++++++----------------- src/main/io/gps.h | 26 +++++++++++++++++++++----- src/main/io/serial_cli.c | 6 +++++- src/main/main.c | 4 ++-- 7 files changed, 67 insertions(+), 28 deletions(-) create mode 100644 docs/Gps.md diff --git a/docs/Gps.md b/docs/Gps.md new file mode 100644 index 0000000000..815aad401f --- /dev/null +++ b/docs/Gps.md @@ -0,0 +1,28 @@ +# GPS + +Two GPS protocols are supported. NMEA text and UBLOX Binary. + +## GPS Provider + +Set the `gps_provider` appropriately. + +| Value | Meaning | +| ----- | -------- | +| 0 | NMEA | +| 1 | UBLOX | + +## SBAS + +When using a UBLOX GPS the SBAS mode can be configured using `gps_sbas_mode`. + +The default is AUTO. + +| Value | Meaning | Region | +| ----- | -------- | ------------- | +| 0 | AUTO | Global | +| 1 | EGNOS | Europe | +| 2 | WAAS | North America | +| 3 | MSAS | Asia | +| 4 | GAGAN | India | + +If you use a regional specific setting you may achieve a faster GPS lock than using AUTO. diff --git a/src/main/config/config.c b/src/main/config/config.c index 6bcd9d829a..cdee7d0591 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -235,7 +235,8 @@ static void resetConf(void) masterConfig.servo_pwm_rate = 50; // gps/nav stuff - masterConfig.gps_provider = GPS_NMEA; + masterConfig.gpsConfig.provider = GPS_NMEA; + masterConfig.gpsConfig.sbasMode = SBAS_AUTO; resetSerialConfig(&masterConfig.serialConfig); diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index 6efb7ed04a..160824c966 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -46,8 +46,7 @@ typedef struct master_t { airplaneConfig_t airplaneConfig; int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign - // gps-related stuff - gpsProvider_e gps_provider; + gpsConfig_t gpsConfig; serialConfig_t serialConfig; diff --git a/src/main/io/gps.c b/src/main/io/gps.c index f31ae823dd..b836934152 100644 --- a/src/main/io/gps.c +++ b/src/main/io/gps.c @@ -60,7 +60,7 @@ static int16_t nav_rated[2]; // Adding a rate controller to the na int8_t nav_mode = NAV_MODE_NONE; // Navigation mode -static uint8_t gpsProvider; +static gpsConfig_t *gpsConfig; // GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2.5second) #define GPS_TIMEOUT (2500) @@ -113,20 +113,13 @@ static const uint8_t ubloxInit[] = { // 31.21 CFG-SBAS (0x06 0x16), Page 142/210 // A.10 SBAS Configuration (UBX-CFG-SBAS), Page 198/210 - GPS.G6-SW-10018-F -typedef enum { - SBAS_AUTO = 0, - SBAS_EGNOS, - SBAS_WAAS, - SBAS_MSAS, - SBAS_GAGAN -} sbasMode_e; - #define UBLOX_SBAS_MESSAGE_LENGTH 16 typedef struct ubloxSbas_s { sbasMode_e mode; uint8_t message[UBLOX_SBAS_MESSAGE_LENGTH]; } ubloxSbas_t; +// Note: these must be defined in the same order is sbasMode_e since no lookup table is used. static const ubloxSbas_t ubloxSbas[] = { { SBAS_AUTO, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x31, 0xE5}}, { SBAS_EGNOS, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x51, 0x08, 0x00, 0x00, 0x8A, 0x41}}, @@ -188,7 +181,7 @@ void gpsUseProfile(gpsProfile_t *gpsProfileToUse) } // When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit() -void gpsInit(serialConfig_t *initialSerialConfig, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile) +void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile) { serialConfig = initialSerialConfig; @@ -201,7 +194,7 @@ void gpsInit(serialConfig_t *initialSerialConfig, uint8_t initialGpsProvider, gp } } - gpsProvider = initialGpsProvider; + gpsConfig = initialGpsConfig; gpsUseProfile(initialGpsProfile); // init gpsData structure. if we're not actually enabled, don't bother doing anything else @@ -212,7 +205,7 @@ void gpsInit(serialConfig_t *initialSerialConfig, uint8_t initialGpsProvider, gp portMode_t mode = MODE_RXTX; // only RX is needed for NMEA-style GPS - if (gpsProvider == GPS_NMEA) + if (gpsConfig->provider == GPS_NMEA) mode = MODE_RX; gpsUsePIDs(pidProfile); @@ -289,9 +282,8 @@ void gpsInitUblox(void) } if (gpsData.messageState == GPS_MESSAGE_STATE_SBAS) { - uint8_t sbasIndex = SBAS_AUTO; // TODO allow configuration if (gpsData.state_position < UBLOX_SBAS_MESSAGE_LENGTH) { - serialWrite(gpsPort, ubloxSbas[sbasIndex].message[gpsData.state_position]); + serialWrite(gpsPort, ubloxSbas[gpsConfig->sbasMode].message[gpsData.state_position]); gpsData.state_position++; } else { gpsData.messageState++; @@ -308,7 +300,7 @@ void gpsInitUblox(void) void gpsInitHardware(void) { - switch (gpsProvider) { + switch (gpsConfig->provider) { case GPS_NMEA: gpsInitNmea(); break; @@ -365,9 +357,8 @@ void gpsThread(void) static bool gpsNewFrame(uint8_t c) { - switch (gpsProvider) { + switch (gpsConfig->provider) { case GPS_NMEA: // NMEA - case GPS_MTK_NMEA: // MTK in NMEA mode return gpsNewFrameNMEA(c); case GPS_UBLOX: // UBX binary return gpsNewFrameUBLOX(c); diff --git a/src/main/io/gps.h b/src/main/io/gps.h index df3c13f329..f88abe974d 100644 --- a/src/main/io/gps.h +++ b/src/main/io/gps.h @@ -5,20 +5,31 @@ typedef enum { GPS_NMEA = 0, - GPS_UBLOX, - GPS_MTK_NMEA, - GPS_PROVIDER_MAX = GPS_MTK_NMEA, + GPS_UBLOX } gpsProvider_e; +#define GPS_PROVIDER_MAX GPS_UBLOX + +typedef enum { + SBAS_AUTO = 0, + SBAS_EGNOS, + SBAS_WAAS, + SBAS_MSAS, + SBAS_GAGAN +} sbasMode_e; + +#define SBAS_MODE_MAX SBAS_GAGAN + typedef enum { GPS_BAUDRATE_115200 = 0, GPS_BAUDRATE_57600, GPS_BAUDRATE_38400, GPS_BAUDRATE_19200, - GPS_BAUDRATE_9600, - GPS_BAUDRATE_MAX = GPS_BAUDRATE_9600 + GPS_BAUDRATE_9600 } gpsBaudRate_e; +#define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600 + // Serial GPS only variables // navigation mode typedef enum { @@ -37,6 +48,11 @@ typedef struct gpsProfile_s { uint16_t ap_mode; // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS } gpsProfile_t; +typedef struct gpsConfig_s { + gpsProvider_e provider; + sbasMode_e sbasMode; +} gpsConfig_t; + typedef enum { GPS_PASSTHROUGH_ENABLED = 1, GPS_PASSTHROUGH_NO_GPS, diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index b2e772646b..bd54be3368 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -173,6 +173,9 @@ const clivalue_t valueTable[] = { { "serial_port_2_scenario", VAR_UINT8, &masterConfig.serialConfig.serial_port_2_scenario, 0, SERIAL_PORT_SCENARIO_MAX }, { "serial_port_3_scenario", VAR_UINT8, &masterConfig.serialConfig.serial_port_3_scenario, 0, SERIAL_PORT_SCENARIO_MAX }, { "serial_port_4_scenario", VAR_UINT8, &masterConfig.serialConfig.serial_port_4_scenario, 0, SERIAL_PORT_SCENARIO_MAX }, +#if (SERIAL_PORT_COUNT > 4) + { "serial_port_5_scenario", VAR_UINT8, &masterConfig.serialConfig.serial_port_5_scenario, 0, SERIAL_PORT_SCENARIO_MAX }, +#endif { "reboot_character", VAR_UINT8, &masterConfig.serialConfig.reboot_character, 48, 126 }, { "msp_baudrate", VAR_UINT32, &masterConfig.serialConfig.msp_baudrate, 1200, 115200 }, @@ -180,7 +183,8 @@ const clivalue_t valueTable[] = { { "gps_baudrate", VAR_UINT32, &masterConfig.serialConfig.gps_baudrate, 0, 115200 }, { "gps_passthrough_baudrate", VAR_UINT32, &masterConfig.serialConfig.gps_passthrough_baudrate, 1200, 115200 }, - { "gps_provider", VAR_UINT8, &masterConfig.gps_provider, 0, GPS_PROVIDER_MAX }, + { "gps_provider", VAR_UINT8, &masterConfig.gpsConfig.provider, 0, GPS_PROVIDER_MAX }, + { "gps_sbas_mode", VAR_UINT8, &masterConfig.gpsConfig.sbasMode, 0, SBAS_MODE_MAX }, { "serialrx_provider", VAR_UINT8, &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX }, diff --git a/src/main/main.c b/src/main/main.c index 503117a245..eeef54971c 100755 --- a/src/main/main.c +++ b/src/main/main.c @@ -62,7 +62,7 @@ failsafe_t* failsafeInit(rxConfig_t *intialRxConfig); void pwmInit(drv_pwm_config_t *init); void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe); void buzzerInit(failsafe_t *initialFailsafe); -void gpsInit(serialConfig_t *serialConfig, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile); +void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile); bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig); void imuInit(void); @@ -183,7 +183,7 @@ void init(void) if (feature(FEATURE_GPS)) { gpsInit( &masterConfig.serialConfig, - masterConfig.gps_provider, + &masterConfig.gpsConfig, ¤tProfile.gpsProfile, ¤tProfile.pidProfile );