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Code Issues Wiki Activity

Allow GPS SBAS mode to be configurable.

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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.
This commit is contained in:
Dominic Clifton 2014-06-03 13:32:07 +01:00
parent 09a1739ce6
commit fabd376f41
7 changed files with 67 additions and 28 deletions
Download patch file Download diff file Expand all files Collapse all files

25
src/main/io/gps.c
View file

@ -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);