[modules] Support dual ublox GPS modules

paparazzi · Apr 25, 2024 · de3aca3 · de3aca3
1 parent 893a65f
commit de3aca3
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Showing 9 changed files with 368 additions and 426 deletions.
diff --git a/conf/airframes/tudelft/rot_wing_v3h.xml b/conf/airframes/tudelft/rot_wing_v3h.xml
@@ -80,8 +80,12 @@
             <define name="AIRSPEED_UAVCAN_SEND_ABI"         value="0" /> <!-- Read Airspeed for logging but do not use it -->
         </module>
         <module name="air_data"/>
+
+        <configure name="PRIMARY_GPS" value="ublox"/>
+        <configure name="SECONDARY_GPS" value="ublox2"/>
         <module name="gps" type="ublox">
             <configure name="UBX_GPS_BAUD" value="B460800"/>
+            <configure name="UBX2_GPS_BAUD" value="B460800"/>
             <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
         </module>
 

diff --git a/conf/boards/cube_orangeplus.makefile b/conf/boards/cube_orangeplus.makefile
@@ -68,10 +68,14 @@ RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   ?= UART3
 MODEM_PORT ?= UART2
 MODEM_BAUD ?= B57600
 
-# The GPS1 port (UART8 is GPS2)
+# The GPS1 port
 GPS_PORT ?= UART4
 GPS_BAUD ?= B57600
 
+# The GPS2 port
+GPS2_PORT ?= UART8
+GPS2_BAUD ?= B57600
+
 # InterMCU port connected to the IO processor
 INTERMCU_PORT ?= UART6
 INTERMCU_BAUD ?= B1500000

diff --git a/conf/modules/gps_ublox.xml b/conf/modules/gps_ublox.xml
@@ -19,7 +19,7 @@
   <settings>
     <dl_settings>
       <dl_settings name="gps_ublox">
-        <dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx.reset" shortname="reset"/>
+        <dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx_reset" shortname="reset"/>
       </dl_settings>
     </dl_settings>
   </settings>
@@ -36,27 +36,45 @@
   <event fun="gps_ubx_event()"/>
   <datalink message="HITL_UBX" fun="gps_ubx_parse_HITL_UBX(buf)"/> 
   <makefile target="ap|fbw">
-    <configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
-    <configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
-
     <file name="gps_ubx.c"/>
 
+    <!-- GPS Ublox 1 -->
+    <configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
+    <configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
     <define name="USE_$(UBX_GPS_PORT_UPPER)"/>
-    <define name="UBX_GPS_LINK" value="$(UBX_GPS_PORT_LOWER)"/>
+    <define name="UBX_GPS_PORT" value="$(UBX_GPS_PORT_LOWER)"/>
     <define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>
+
+    <!-- GPS Ublox 2 -->
+    <configure name="UBX2_GPS_PORT" default="$(GPS2_PORT)" case="upper|lower"/>
+    <configure name="UBX2_GPS_BAUD" default="$(GPS2_BAUD)"/>
+    <define name="USE_$(UBX2_GPS_PORT_UPPER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
+    <define name="UBX2_GPS_PORT" value="$(UBX_GPS_PORT_LOWER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
+    <define name="$(UBX2_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)" cond="ifneq ($(UBX2_GPS_BAUD)$(SECONDARY_GPS),)"/>
+    <define name="GPS_UBX_NB" value="2" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
+
     <raw>
       ifdef SECONDARY_GPS
-      ifneq (,$(findstring $(SECONDARY_GPS), ublox))
-      # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
-      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
-      else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
-      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
-      endif
+        ifneq (,$(findstring $(SECONDARY_GPS), ublox2))
+          # this is the secondary GPS
+          $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
+          $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX2
+        else ifneq (,$(findstring $(SECONDARY_GPS), ublox))
+          # this is the secondary GPS
+          $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
+          $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
+        endif
+
+        ifneq (,$(findstring $(PRIMARY_GPS), ublox2))
+          $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
+          $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX2
+        else ifneq (,$(findstring $(PRIMARY_GPS), ublox))
+          $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
+          $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
+        endif
       else
-      # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
+        # plain old single GPS usage
+        $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
       endif
     </raw>
     <test>

diff --git a/sw/airborne/modules/core/abi_sender_ids.h b/sw/airborne/modules/core/abi_sender_ids.h
@@ -296,6 +296,10 @@
 #define GPS_DW1000_ID 15
 #endif
 
+#ifndef GPS_UBX2_ID
+#define GPS_UBX2_ID 16
+#endif
+
 /*
  * IDs of IMU sensors (accel, gyro)
  */

diff --git a/sw/airborne/modules/gps/gps.c b/sw/airborne/modules/gps/gps.c
@@ -69,7 +69,6 @@ PRINT_CONFIG_VAR(SECONDARY_GPS)
 struct GpsState gps;
 struct GpsTimeSync gps_time_sync;
 struct GpsRelposNED gps_relposned;
-struct RtcmMan rtcm_man;
 
 #ifdef SECONDARY_GPS
 static uint8_t current_gps_id = GpsId(PRIMARY_GPS);
@@ -175,17 +174,6 @@ static void send_gps_rtk(struct transport_tx *trans, struct link_device *dev)
                         &gps_relposned.gnssFixOK);
 }
 
-static void send_gps_rxmrtcm(struct transport_tx *trans, struct link_device *dev)
-{
-  pprz_msg_send_GPS_RXMRTCM(trans, dev, AC_ID,
-                            &rtcm_man.Cnt105,
-                            &rtcm_man.Cnt177,
-                            &rtcm_man.Cnt187,
-                            &rtcm_man.Crc105,
-                            &rtcm_man.Crc177,
-                            &rtcm_man.Crc187);
-}
-
 static void send_gps_int(struct transport_tx *trans, struct link_device *dev)
 {
 #if PPRZLINK_DEFAULT_VER == 2 && GPS_POS_BROADCAST
@@ -364,22 +352,12 @@ void gps_init(void)
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GPS_SOL, send_gps_sol);
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_SVINFO, send_svinfo);
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GPS_RTK, send_gps_rtk);
-  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GPS_RXMRTCM, send_gps_rxmrtcm);
 #endif
 
   /* Register preflight checks */
 #if PREFLIGHT_CHECKS
   preflight_check_register(&gps_pfc, gps_preflight);
 #endif
-
-  // Initializing counter variables to count the number of Rtcm msgs in the input stream(for each msg type)
-  rtcm_man.Cnt105 = 0;
-  rtcm_man.Cnt177 = 0;
-  rtcm_man.Cnt187 = 0;
-  // Initializing counter variables to count the number of messages that failed Crc Check
-  rtcm_man.Crc105 = 0;
-  rtcm_man.Crc177 = 0;
-  rtcm_man.Crc187 = 0;
 }
 
 uint32_t gps_tow_from_sys_ticks(uint32_t sys_ticks)

diff --git a/sw/airborne/modules/gps/gps.h b/sw/airborne/modules/gps/gps.h
@@ -142,17 +142,6 @@ struct GpsRelposNED {
   uint8_t gnssFixOK;
 };
 
-struct RtcmMan {
-  uint16_t RefStation;
-  uint16_t MsgType; // Counter variables to count the number of Rtcm msgs in the input stream(for each msg type)
-  uint32_t Cnt105;
-  uint32_t Cnt177;
-  uint32_t Cnt187; // Counter variables to count the number of messages that failed Crc Check
-  uint32_t Crc105;
-  uint32_t Crc177;
-  uint32_t Crc187;
-};
-
 /** global GPS state */
 extern struct GpsState gps;