gps_nmea module

NMEA GPS (UART)

Driver for GPS modules using the NMEA protocol.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="gps_nmea">
  b'<configure name="NMEA_GPS_PORT" value="UARTx" />\n    '
  b'<configure name="NMEA_GPS_BAUD" value="B38400" />\n  '
</module>

Module configuration options

Configure Options

• name: NMEA_GPS_PORT value: UARTx
  Description: UART where the GPS is connected to (UART1, UART2, etc
• name: NMEA_GPS_BAUD value: B38400
  Description: UART baud rate

Module functions

Init Functions

These initialization functions are called once on startup.

• gps_nmea_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• gps_nmea_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• gps_nmea_periodic_check()
  • Frequency in Hz: 1.
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• gps.h

Source Files

• modules/gps/gps_nmea.c

Raw gps_nmea.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_nmea" dir="gps" task="sensors">
  <doc>
    <description>
      NMEA GPS (UART)
      Driver for GPS modules using the NMEA protocol.
    </description>
    <configure name="NMEA_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
    <configure name="NMEA_GPS_BAUD" value="B38400" description="UART baud rate"/>
  </doc>
  <dep>
    <depends>uart,gps</depends>
    <provides>gps</provides>
  </dep>
  <header>
    <file name="gps.h"/>
  </header>
  <init fun="gps_nmea_init()"/>
  <periodic fun="gps_nmea_periodic_check()" freq="1." autorun="TRUE"/>
  <event fun="gps_nmea_event()"/>
  <makefile target="ap|fbw">
    <configure name="NMEA_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
    <configure name="NMEA_GPS_BAUD" default="$(GPS_BAUD)"/>
 
    <file name="gps_nmea.c"/>
 
    <define name="USE_$(NMEA_GPS_PORT_UPPER)"/>
    <define name="NMEA_GPS_LINK" value="$(NMEA_GPS_PORT_LOWER)"/>
    <define name="$(NMEA_GPS_PORT_UPPER)_BAUD" value="$(NMEA_GPS_BAUD)"/>
    <raw>
      ifdef SECONDARY_GPS
      ifneq (,$(findstring $(SECONDARY_GPS), nmea))
      # this is the secondary GPS
      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_nmea.h\"
      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_NMEA
      else
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\"
      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_NMEA
      endif
      else
      # plain old single GPS usage
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\"
      endif
    </raw>
    <test>
      <define name="PRIMARY_GPS" value="GPS_NMEA"/>
      <define name="NMEA_GPS_PORT" value="uart2"/>
      <define name="NMEA_GPS_BAUD" value="115200"/>
      <define name="USE_UART2"/>
      <define name="NMEA_GPS_LINK" value="uart2"/>
    </test>
  </makefile>
  <makefile target="fbw">
    <define name="USE_GPS"/>
  </makefile>
</module>