i2c-gps-nav Sonar Support - Code included

[snowzach]

I was tinkering with the code today and added the remaining code to support Sonar from the i2c-gps-nav "coprocessor". Works well for me.

If someone that has access wants to review and commit it, that'd be swell... This is based off of the most current version of i2c-gps-nav. I've added a few line on each of them for context. Hopefully this is easy to understand.

config.h approx line 656 (Will assume we want disabled by default for most folks)

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    /* I2C GPS device made with an independant arduino + GPS device
       including some navigation functions
       contribution from EOSBandi   http://code.google.com/p/i2c-gps-nav/ 
       You have to use at least I2CGpsNav code r33 */
    //#define I2C_GPS
    // If your I2C GPS board has Sonar support enabled
    //#define I2C_GPS_SONAR

def.h approx line 1451

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#if defined(SRF02) || defined(SRF08) || defined(SRF10) || defined(SRC235) || defined(TINY_GPS_SONAR) || defined(I2C_GPS_SONAR)
  #define SONAR 1
#else
  #define SONAR 0
#endif

def.h approx line 1683

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#define I2C_GPS_WP13                                206
#define I2C_GPS_WP14                                217
#define I2C_GPS_WP15                                228

#define I2C_GPS_SONAR_ALT                       239
///////////////////////////////////////////////////////////////////////////////////////////////////
// End register definition 
///////////////////////////////////////////////////////////////////////////////////////////////////

GPS approx line 399

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        //GPS_ground_course
        varptr = (uint8_t *)&GPS_ground_course;
        *varptr++ = i2c_readAck();
        *varptr   = i2c_readNak();

#if defined(I2C_GPS_SONAR)
        i2c_rep_start(I2C_GPS_ADDRESS<<1);
        i2c_write(I2C_GPS_SONAR_ALT);          
        i2c_rep_start((I2C_GPS_ADDRESS<<1)|1);

        varptr = (uint8_t *)&sonarAlt;          // altitude (in cm? maybe)
        *varptr++ = i2c_readAck();
        *varptr   = i2c_readNak();
#endif

        if (!f.GPS_FIX_HOME) {     //If we don't have home set, do not display anything
          GPS_distanceToHome = 0;
          GPS_directionToHome = 0;
        }

[EOSBandi]

Thanks a lot,
I'm so swamped, that sometimes elementary things left out... I'll commit it to _shared.
Regards,
EOS

[snowzach]

BAHhhhh... Sorry sorry... I just realized a typo... The second i2c_readAck() should have been a i2c_readNak() otherwise it may cause problems...

I revised my post above... This is the section I changed if you already committed it.

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        //GPS_ground_course
        varptr = (uint8_t *)&GPS_ground_course;
        *varptr++ = i2c_readAck();
        *varptr   = i2c_readNak();

#if defined(I2C_GPS_SONAR)
        i2c_rep_start(I2C_GPS_ADDRESS<<1);
        i2c_write(I2C_GPS_SONAR_ALT);         
        i2c_rep_start((I2C_GPS_ADDRESS<<1)|1);

        varptr = (uint8_t *)&sonarAlt;          // altitude (in cm? maybe)
        *varptr++ = i2c_readAck();
        *varptr   = i2c_readNak();
#endif

[Mazz1]

Hello! is this working for altitude hold with sonar? i try it but i cant make it work.
Thank you !!

[Mazz1]

Hello! is this working for altitude hold with sonar? i try it but i cant make it work.
Thank you !!

Im sorry, this is not the right place to ask.