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GPS driver rewrite #195

Merged
merged 20 commits into from
Feb 15, 2013
Merged

GPS driver rewrite #195

merged 20 commits into from
Feb 15, 2013

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LorenzMeier
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This is based on Julian's work, with some additional minor cleanup. Does not reflect the most recent state on Julians branch as not stable.

Before merging this needs more cleanup and work, but its a good time to start the review and actively test it.

px4dev
px4dev reviewed Feb 4, 2013
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apps/drivers/gps/gps_helper.h
*
****************************************************************************/

/* @file U-Blox protocol definitions */
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lies!

@julianoes
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Yes I've corrected a lot of stuff in my cleanup which I have no tested yet. But as Lorenz took my old state and started messing around with it, a lot of wrong stuff is back here. There is really no point in checking it in detail yet. I need to merge first and then you review would be helpful.

@julianoes
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No let me correct, thanks for the comments. Most of it is not yet corrected and I can check and correct it.
Just sad that you miss all the comments and cleanup I added, I guess I'll have to include that at first next time.

@julianoes
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Ok, I did the merge, the reason the parser would mess up the checksum was that I removed the returns in the parser and the rx_count got messed up (see 039d394#L3R750).

CPU usage is now at 3% and the gps status info works:

nsh> gps status
state @ 2000c390
gps: protocol: UBX
gps: baudrate: 38400, status: OK
gps: position lock: 3D, last update 0.13 seconds ago
gps: lat: 32XXXXXXX, lon: -117XXXXXXX, alt: 116086
gps: update rate:   5.05 Hz

I'll try to go through px4dev's comments now.

@LorenzMeier
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Thanks Julian, the last two commits really (again) improved things. Lets keep this moving. I've commented the few locations that may need a second pass.

LorenzMeier and others added 9 commits February 5, 2013 13:47
@LorenzMeier
Added option to select port name, minor tweaks to status printing, sa…
368ba00 
…crificied 20 bytes for better status / user debuggability
@LorenzMeier
Update on every position change, do not wait for other measurements
fbbeef7
Changed parse interface, differentiation between config needed and po…
a79ad17 
…sition updated, working but might be solved more elegant
Changed gps position topic mostly to SI units and float, removed coun…
fc4be3e 
…ters and added specifig timestamps
Removed some unnecessairy flags, home position back working
d962e6c
Merged mtk16 and mtk19 helper classes, configure() now writes directl…
6ed5d97 
…y instead of buffering
Added MTK 1.6, works after some seconds, work in progress
0d54661
Added support for MTK revision 19, working condition but configuratio…
b620136 
…n of MTK is very slow and needs improvement
Sped up MTK configuration but the detection time can still be improve…
d36eb8a 
…d: timeouts/usleeps
PX4BuildBot added a commit that referenced this pull request Apr 26, 2022
@PX4BuildBot
Update submodule libcanard to latest Tue Apr 26 00:38:56 UTC 2022
18b9d19 
    - libcanard in PX4/Firmware (10dd69e): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request Apr 27, 2022
@PX4BuildBot
Update submodule libcanard to latest Wed Apr 27 00:39:00 UTC 2022
86af8ae 
    - libcanard in PX4/Firmware (9c29877): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request Apr 28, 2022
@PX4BuildBot
Update submodule libcanard to latest Thu Apr 28 00:38:19 UTC 2022
acaf4e3 
    - libcanard in PX4/Firmware (a4df1d3): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request Apr 28, 2022
@PX4BuildBot
Update submodule libcanard to latest Thu Apr 28 12:38:56 UTC 2022
0d721c4 
    - libcanard in PX4/Firmware (d11b94a): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request Apr 29, 2022
@PX4BuildBot
Update submodule libcanard to latest Fri Apr 29 00:43:41 UTC 2022
ff28211 
    - libcanard in PX4/Firmware (a4cb1f9): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request Apr 29, 2022
@PX4BuildBot
Update submodule libcanard to latest Fri Apr 29 12:38:39 UTC 2022
3cd23b6 
    - libcanard in PX4/Firmware (f6ccf7e): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request Apr 30, 2022
@PX4BuildBot
Update submodule libcanard to latest Sat Apr 30 12:39:38 UTC 2022
f677ffe 
    - libcanard in PX4/Firmware (fa2cbcf): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 1, 2022
@PX4BuildBot
Update submodule libcanard to latest Sun May 1 00:38:50 UTC 2022
ead4350 
    - libcanard in PX4/Firmware (872ef01): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 2, 2022
@PX4BuildBot
Update submodule libcanard to latest Mon May 2 00:38:48 UTC 2022
a60dcfe 
    - libcanard in PX4/Firmware (b8706fc): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 2, 2022
@PX4BuildBot
Update submodule libcanard to latest Mon May 2 12:38:58 UTC 2022
edaeb79 
    - libcanard in PX4/Firmware (c595c72): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 3, 2022
@PX4BuildBot
Update submodule libcanard to latest Tue May 3 00:38:51 UTC 2022
a55bdb5 
    - libcanard in PX4/Firmware (504755f): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 3, 2022
@PX4BuildBot
Update submodule libcanard to latest Tue May 3 12:38:50 UTC 2022
19ea7ac 
    - libcanard in PX4/Firmware (e827051): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 4, 2022
@PX4BuildBot
Update submodule libcanard to latest Wed May 4 00:38:53 UTC 2022
102457d 
    - libcanard in PX4/Firmware (ff9d8e1): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 5, 2022
@PX4BuildBot
Update submodule libcanard to latest Thu May 5 00:38:51 UTC 2022
16a0c28 
    - libcanard in PX4/Firmware (f4b5589): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 5, 2022
@PX4BuildBot
Update submodule libcanard to latest Thu May 5 12:38:56 UTC 2022
d84b462 
    - libcanard in PX4/Firmware (fda5de6): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 6, 2022
@PX4BuildBot
Update submodule libcanard to latest Fri May 6 00:38:22 UTC 2022
ad0fda9 
    - libcanard in PX4/Firmware (1f64d0b): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 7, 2022
@PX4BuildBot
Update submodule libcanard to latest Sat May 7 00:39:38 UTC 2022
4fbc9ca 
    - libcanard in PX4/Firmware (723396b): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 8, 2022
@PX4BuildBot
Update submodule libcanard to latest Sun May 8 00:38:51 UTC 2022
48447c1 
    - libcanard in PX4/Firmware (d5ac15e): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 8, 2022
@PX4BuildBot
Update submodule libcanard to latest Sun May 8 12:38:55 UTC 2022
5218907 
    - libcanard in PX4/Firmware (45b6959): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 9, 2022
@PX4BuildBot
Update submodule libcanard to latest Mon May 9 00:38:53 UTC 2022
6bbf184 
    - libcanard in PX4/Firmware (ddf5d80): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 10, 2022
@PX4BuildBot
Update submodule libcanard to latest Tue May 10 00:38:55 UTC 2022
db4eaa7 
    - libcanard in PX4/Firmware (4fe4e23): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
PX4BuildBot added a commit that referenced this pull request May 10, 2022
@PX4BuildBot
Update submodule libcanard to latest Tue May 10 12:38:55 UTC 2022
e3efff7 
    - libcanard in PX4/Firmware (7aa8296): OpenCyphal/libcanard@2d44945
    - libcanard current upstream: OpenCyphal/libcanard@db87ea3
    - Changes: OpenCyphal/libcanard@2d44945...db87ea3

    db87ea3 2022-04-12 Kalyan Sriram - readme: update v3.0 release notes (#195)
75bb34c 2022-04-12 Pavel Kirienko - branding: UAVCAN -> OpenCyphal (#194)
d128f4e 2022-03-28 Kalyan Sriram - MISRA/AUTOSAR: remove flexible array (#192)
224adff 2021-12-04 Kalyan Sriram - readme: update canardFilter example typo
cf0a8bc 2021-12-04 Pavel Kirienko - Libcanard v2.0 (#182)
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3 participants
@LorenzMeier @julianoes @px4dev