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Wed, 28 Jan 2009
adding a GPS to the Surveyor SVS / SRV-1
Last week, I added a Locosys LS20031 GPS to my SVS setup. At the moment, it is using UART1 at 57600 baud (standard configuration for the LS20031 from Sparkfun) on the left Blackfin, but plan to use GPIO pin 31 or 32 with a software-only UART when we have a chance to finish that code. The latest firmware (srv-blackfin-012509) has a command "$g" to dump the data from the GPS to the console, but one line in main.c has to be uncommented in order for this to work -
//init_uart1(); // use UART1 with GPS until GPIO soft-UART is ready
The setup is quite simple. I soldered a 4-pin header to the LS20031 as shown here -
and then ran a lead from the left-most pin on the GPS to pin 1 (3.3V) on the 32-pin header, a lead from the right-most pin on the GPS to pin 2 (GND) on the 32-pin header, and a lead from the pin next to GND on the GPS to pin 6 (UART1 RX) on the 32-pin header.
Finally, I put a block of non-conducting foam under the GPS to isolate it from the SVS.
This same setup works with the SRV-1. Only work remaining is to parse the incoming NMEA strings and move the RX line from UART1 to a GPIO pin once the soft-uart code is ready.
As mentioned on the robotics forum, to make this easier, we will be adding a 4-pin header for the GPS and another header for a Honeywell HMC6352 compass on the next version of the SRV-1 radio/motor board, so no wiring will be required.
Posted Wed, 28 Jan 2009 14:12 | HTML Link | see additional stories ...