flight/modules/gpsp/gps9gpshandler.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       gps9gpshandler.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   6  * @brief      handler for GPSV9 onboard ubx gps module.
   7  *             --
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26
  27 #include <openpilot.h>
  28 #include <pios_struct_helper.h>
  29 #include <pios_helpers.h>
  30 #include <ubx_utils.h>
  31 #include <pios_ubx_ddc.h>
  32
  33 #include "gps9gpshandler.h"
  34 #include "gps9protocol.h"
  35
  36 uint32_t lastUnsentData = 0;
  37 uint8_t buffer[BUFFER_SIZE];
  38
  39 void handleGPS()
  40 {
  41     bool completeSentenceSent = false;
  42     int8_t maxCount = 2;
  43
  44     do {
  45         int32_t datacounter = PIOS_UBX_DDC_GetAvailableBytes(PIOS_I2C_GPS);
  46         if (datacounter > 0) {
  47             uint8_t toRead = (uint32_t)datacounter > BUFFER_SIZE - lastUnsentData ? BUFFER_SIZE - lastUnsentData : (uint8_t)datacounter;
  48             uint8_t toSend = toRead;
  49             PIOS_UBX_DDC_ReadData(PIOS_I2C_GPS, buffer, toRead);
  50
  51             uint8_t *lastSentence;
  52             uint16_t lastSentenceLength;
  53             completeSentenceSent = ubx_getLastSentence(buffer, toRead, &lastSentence, &lastSentenceLength);
  54             if (completeSentenceSent) {
  55                 toSend = (uint8_t)(lastSentence - buffer + lastSentenceLength);
  56             } else {
  57                 lastUnsentData = 0;
  58             }
  59
  60             PIOS_COM_SendBuffer(pios_com_main_id, buffer, toSend);
  61
  62             if (toRead > toSend) {
  63                 // move unsent data at the beginning of buffer to be sent next time
  64                 lastUnsentData = toRead - toSend;
  65                 memcpy(buffer, (buffer + toSend), lastUnsentData);
  66             }
  67         }
  68
  69         datacounter = PIOS_COM_ReceiveBuffer(pios_com_main_id, buffer, BUFFER_SIZE, 0);
  70         if (datacounter > 0) {
  71             PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, buffer, datacounter);
  72         }
  73         if (maxCount) {
  74             // Note: this delay is needed as querying too quickly the UBX module's I2C(DDC)
  75             // port causes a lot of weird issues (it stops sending nav sentences)
  76             vTaskDelay(2 * configTICK_RATE_HZ / 1000);
  77         }
  78     } while (maxCount--);
  79 }
  80
  81 typedef struct {
  82     uint8_t size;
  83     const uint8_t *sentence;
  84 } ubx_init_sentence;
  85
  86
  87 void setupGPS()
  88 {
  89     CfgPrtPkt cfgprt;
  90
  91     cfgprt.fragments.data.portID       = CFG_PRT_DATA_PORTID_DDC;
  92     cfgprt.fragments.data.reserved0    = 0;
  93     cfgprt.fragments.data.txReady      = CFG_PRT_DATA_TXREADI_DISABLED;
  94     cfgprt.fragments.data.mode = CFG_PRT_DATA_MODE_ADDR;
  95     cfgprt.fragments.data.reserved3    = 0;
  96     cfgprt.fragments.data.inProtoMask  = CFG_PRT_DATA_PROTO_UBX | CFG_PRT_DATA_PROTO_NMEA | CFG_PRT_DATA_PROTO_RTCM;
  97     cfgprt.fragments.data.outProtoMask = CFG_PRT_DATA_PROTO_UBX;
  98     cfgprt.fragments.data.flags = 0;
  99     cfgprt.fragments.data.reserved5    = 0;
 100
 101     ubx_buildPacket(&cfgprt.packet, UBX_CFG_CLASS, UBX_CFG_PRT, sizeof(CfgPrtData));
 102     PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, cfgprt.packet.binarystream, sizeof(CfgPrtPkt));
 103 }