Added MTK 1.6, works after some seconds, work in progress

3 files changed, 320 insertions, 15 deletions

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
index 3e1aca810..c749e8b7f 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/apps/drivers/gps/gps.cpp
@@ -77,7 +77,7 @@
 #define SEND_BUFFER_LENGTH 100
 #define TIMEOUT 1000000 //1s
 
-#define NUMBER_OF_BAUDRATES 4
+#define NUMBER_OF_TRIES 5
 #define CONFIG_TIMEOUT 2000000
 
 /* oddly, ERROR is not defined for c++ */
@@ -113,7 +113,8 @@ private:
 	int				_serial_fd;					///< serial interface to GPS
 	unsigned			_baudrate;					///< current baudrate
 	char				_port[20];					///< device / serial port path
-	const unsigned			_baudrates_to_try[NUMBER_OF_BAUDRATES];		///< try different baudrates that GPS could be set to
+	const unsigned			_baudrates_to_try[NUMBER_OF_TRIES];		///< try different baudrates that GPS could be set to
+	const gps_driver_mode_t	_modes_to_try[NUMBER_OF_TRIES];			///< try different modes
 	volatile int			_task;						//< worker task
 	bool				_config_needed;					///< flag to signal that configuration of GPS is needed
 	bool 				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
@@ -170,11 +171,11 @@ GPS	*g_dev;
 GPS::GPS(const char* uart_path) :
 	CDev("gps", GPS_DEVICE_PATH),
 	_task_should_exit(false),
-	_baudrates_to_try({9600, 38400, 57600, 115200}),
+	_baudrates_to_try({9600, 38400, 57600, 115200, 38400}),
+	_modes_to_try({GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_MTK}),
 	_config_needed(true),
 	_baudrate_changed(false),
-	_mode_changed(true),
-	_mode(GPS_DRIVER_MODE_UBX),
+	_mode_changed(false),
 	_Helper(nullptr),
 	_report_pub(-1),
 	_rate(0.0f)
@@ -295,8 +296,10 @@ GPS::task_main()
 	/* lock against the ioctl handler */
 	lock();
 
-	unsigned baud_i = 0;
-	_baudrate = _baudrates_to_try[baud_i];
+	unsigned try_i = 0;
+	_baudrate = _baudrates_to_try[try_i];
+	_mode = _modes_to_try[try_i];
+	_mode_changed = true;
 	set_baudrate(_baudrate);
 
 	uint64_t time_before_configuration = hrt_absolute_time();
@@ -310,6 +313,23 @@ GPS::task_main()
 	/* loop handling received serial bytes and also configuring in between */
 	while (!_task_should_exit) {
 
+		/* If a configuration does not finish in the config timeout, change the baudrate */
+		if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
+			/* loop through possible modes/baudrates */
+			try_i = (try_i + 1) % NUMBER_OF_TRIES;
+			_baudrate = _baudrates_to_try[try_i];
+			set_baudrate(_baudrate);
+			if (_mode != _modes_to_try[try_i]) {
+				_mode_changed = true;
+			}
+			_mode = _modes_to_try[try_i];
+
+			if (_Helper != nullptr) {
+				_Helper->reset();
+			}
+			time_before_configuration = hrt_absolute_time();
+		}
+
 		if (_mode_changed) {
 			if (_Helper != nullptr) {
 				delete(_Helper);
@@ -333,14 +353,7 @@ GPS::task_main()
 			_mode_changed = false;
 		}
 
-		/* If a configuration does not finish in the config timeout, change the baudrate */
-		if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
-			baud_i = (baud_i+1)%NUMBER_OF_BAUDRATES;
-			_baudrate = _baudrates_to_try[baud_i];
-			set_baudrate(_baudrate);
-			_Helper->reset();
-			time_before_configuration = hrt_absolute_time();
-		}
+
 
 		/* during configuration, the timeout should be small, so that we can send config messages in between parsing,
 		 * but during normal operation, it should never timeout because updates should arrive with 5Hz */
diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp
new file mode 100644
index 000000000..555fb7a51
--- /dev/null
+++ b/apps/drivers/gps/mtk.cpp
@@ -0,0 +1,184 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* @file mkt.cpp */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+#include <assert.h>
+#include <systemlib/err.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <drivers/drv_hrt.h>
+
+#include "mtk.h"
+
+
+MTK::MTK()
+{
+	decodeInit();
+}
+
+MTK::~MTK()
+{
+}
+
+void
+MTK::reset()
+{
+
+}
+
+void
+MTK::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate)
+{
+	if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ)))
+		warnx("mtk: config write failed");
+	usleep(10000);
+
+	if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY)))
+		warnx("mtk: config write failed");
+	usleep(10000);
+
+	if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON)))
+		warnx("mtk: config write failed");
+	usleep(10000);
+
+	if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON)))
+		warnx("mtk: config write failed");
+	usleep(10000);
+
+	if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF)))
+		warnx("mtk: config write failed");
+
+	return;
+}
+
+void
+MTK::decodeInit(void)
+{
+	_rx_ck_a = 0;
+	_rx_ck_b = 0;
+	_rx_count = 0;
+	_decode_state = MTK_DECODE_UNINIT;
+}
+
+void
+MTK::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_needed, bool &pos_updated)
+{
+	if (_decode_state == MTK_DECODE_UNINIT) {
+
+		if (b == 0xd0) {
+			_decode_state = MTK_DECODE_GOT_CK_A;
+			config_needed = false;
+		}
+
+	} else if (_decode_state == MTK_DECODE_GOT_CK_A) {
+		if (b == 0xdd) {
+			_decode_state = MTK_DECODE_GOT_CK_B;
+
+		} else {
+			// Second start symbol was wrong, reset state machine
+			decodeInit();
+		}
+
+	} else if (_decode_state == MTK_DECODE_GOT_CK_B) {
+		// Add to checksum
+		if (_rx_count < 33)
+			addByteToChecksum(b);
+
+		// Fill packet buffer
+		_rx_buffer[_rx_count] = b;
+		_rx_count++;
+
+		/* Packet size minus checksum */
+		if (_rx_count >= 35) {
+			type_gps_mtk_packet *packet = (type_gps_mtk_packet *) _rx_buffer;;
+
+			/* Check if checksum is valid */
+			if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
+				gps_position->lat = packet->latitude * 10; // from degrees*1e6 to degrees*1e7
+				gps_position->lon = packet->longitude * 10; // from degrees*1e6 to degrees*1e7
+				gps_position->alt = (int32_t)(packet->msl_altitude * 10); // from cm to mm
+				gps_position->fix_type = packet->fix_type;
+				gps_position->eph_m = packet->hdop;
+				gps_position->epv_m = 0.0; //unknown in mtk custom mode
+				gps_position->vel_m_s = ((float)packet->ground_speed)*1e-2f; // from cm/s to m/s
+				gps_position->cog_rad = ((float)packet->heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
+				gps_position->satellites_visible = packet->satellites;
+
+				/* convert time and date information to unix timestamp */
+				struct tm timeinfo; //TODO: test this conversion
+				uint32_t timeinfo_conversion_temp;
+
+				timeinfo.tm_mday = packet->date * 1e-4;
+				timeinfo_conversion_temp = packet->date - timeinfo.tm_mday * 1e4;
+				timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
+				timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
+
+				timeinfo.tm_hour = packet->utc_time * 1e-7;
+				timeinfo_conversion_temp = packet->utc_time - timeinfo.tm_hour * 1e7;
+				timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
+				timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
+				timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
+				timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
+				time_t epoch = mktime(&timeinfo);
+
+				gps_position->time_gps_usec = epoch * 1e6; //TODO: test this
+				gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3;
+				gps_position->timestamp_position = gps_position->timestamp_time = hrt_absolute_time();
+
+				pos_updated = true;
+
+
+			} else {
+				warnx("mtk Checksum invalid, 0x%x, 0x%x instead of 0x%x, 0x%x", _rx_ck_a, packet->ck_a, _rx_ck_b, packet->ck_b);
+			}
+
+			// Reset state machine to decode next packet
+			decodeInit();
+		}
+	}
+	return;
+}
+
+void
+MTK::addByteToChecksum(uint8_t b)
+{
+	_rx_ck_a = _rx_ck_a + b;
+	_rx_ck_b = _rx_ck_b + _rx_ck_a;
+}
diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h
new file mode 100644
index 000000000..8929eb041
--- /dev/null
+++ b/apps/drivers/gps/mtk.h
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* @file mtk.h */
+
+#ifndef MTK_H_
+#define MTK_H_
+
+#include "gps_helper.h"
+
+#define MTK_SYNC1 0xd0
+#define MTK_SYNC2 0xdd
+
+#define MTK_OUTPUT_5HZ		"$PMTK220,200*2C\r\n"
+#define MTK_SET_BINARY		"$PGCMD,16,0,0,0,0,0*6A\r\n"
+#define SBAS_ON	        	"$PMTK313,1*2E\r\n"
+#define WAAS_ON				"$PMTK301,2*2E\r\n"
+#define MTK_NAVTHRES_OFF 	"$PMTK397,0*23\r\n"
+
+typedef enum {
+	MTK_DECODE_UNINIT = 0,
+	MTK_DECODE_GOT_CK_A = 1,
+	MTK_DECODE_GOT_CK_B = 2
+} mtk_decode_state_t;
+
+/** the structures of the binary packets */
+#pragma pack(push, 1)
+
+typedef struct {
+	uint8_t payload; ///< Number of payload bytes
+	int32_t latitude;  ///< Latitude in degrees * 10^7
+	int32_t longitude; ///< Longitude in degrees * 10^7
+	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
+	uint32_t ground_speed; ///< FIXME SPEC UNCLEAR
+	int32_t heading;
+	uint8_t satellites;
+	uint8_t fix_type;
+	uint32_t date;
+	uint32_t utc_time;
+	uint16_t hdop;
+	uint8_t ck_a;
+	uint8_t ck_b;
+} type_gps_mtk_packet;
+
+#pragma pack(pop)
+
+#define MTK_RECV_BUFFER_SIZE 40
+
+class MTK : public GPS_Helper
+{
+public:
+	MTK();
+	~MTK();
+	void				reset(void);
+	void				configure(const int &fd, bool &baudrate_changed, unsigned &baudrate);
+	void 				parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated);
+
+private:
+	/**
+	 * Reset the parse state machine for a fresh start
+	 */
+	void				decodeInit(void);
+
+	/**
+	 * While parsing add every byte (except the sync bytes) to the checksum
+	 */
+	void				addByteToChecksum(uint8_t);
+
+	mtk_decode_state_t _decode_state;
+	uint8_t				_rx_buffer[MTK_RECV_BUFFER_SIZE];
+	unsigned			_rx_count;
+	uint8_t 			_rx_ck_a;
+	uint8_t				_rx_ck_b;
+};
+
+#endif /* MTK_H_ */