GPSInstallation < Main

---+++++ Serial Installation of the GPS Units (Stereo Camera Models only -- See USB installation instructions below for Laser models)
   1 Connect the GPS
   1 Boot into the Bios (hold the *delete* key on startup) and navigate to <strong>Custom Configuration<br /></strong>
   1 As root edit the file: */var/lib/setserial/autoserial.conf* 
      * change line tty3 if irq is not what you get from BIOS. Note that COM1-COM4 is equivalent to ttyS0-ttyS3<br /> 
         * <span style="text-decoration: underline;">NEW LINE:</span> /dev/tty<strong>S3</strong> uart 16550A port 0x03e8 irq *XX* baud_base *115200* spd_normal skip_test<br /><span style="text-decoration: underline;">OLD LINE:</span> /dev/tty<strong>S3</strong> uart 16550A port 0x03e8 irq *XX* baud_base *XXX* spd_normal skip_test
         * This sets the serial configuration for that connection permanently.
         * Note: Don't mess with ttyS0 -- that is the connection to the microcontroller!
   1 Copy /usr/local/Aria/params/p3at-sh.p to /usr/local/Aria/params/p3at-sh.p.bak to backup the default parameter file
   1 Edit p3at-sh.p with your favorite editor chaging the following fields under the "GPS" category: 
      * GPSBaud 115200
      * GPSPort /dev/ttyS3 (or whatever port you put it on)
      * GPSType standard
      * Save and exit
   1 Now as root, run dpkg-reconfigure setserial. Select "auto-save once", and reboot.
   1 With cutecom, open up /dev/ttyS3 with baud 115200 and select "&lt;CR&gt;&lt;LF&gt;" in the bottom right. Note if you see garbage, try switching to baud 9600. 
      1 Send the commands: 
         * $JOFF //turns all messages off -- unit should stop outputing information
         * $JBAUD,115200 //sets the baud rate
         * $JASC,GPGGA,5 //turns on the GPGGA NMEA message, which the ArGPS class supports
         * $JSAVE //saves the configuration forever
   1 run /usr/local/Aria/examples/gpsExample (it might need to be compiled). If it connects, then the installation is complete.
<div id=":2rq"></div>
---+++++ USB Installation of the GPS Units (Laser Models only -- See Serial installation instructions above for Arm and Stereo Models)<br />
1 Connect the GPS Unit to the USB port in the rear of the laser
1 type "dmesg" |grep -i usb to see where it mounted (probably /dev/ttyUSB0 if no other usb devices are mounted)
1 Modify the /usr/local/Aria/params/p3at-sh.p file as above, except with /dev/ttyUSB0
1 Open up cutecom and configure the GPS unit as in the above instructions
1 Test using the ArGPS example. Note if the GPS doesn't mount on the expected USB port (USB is hot swappable, meaning it could be theoretically mounted anywhere -- a short script can be written to make symbolic link to the device, but I haven't done that yet), then you will have to specify the GPSPort in the Aria command line arguments when using Aria for the GPS 

-- Main.StephenFox - 2011-06-10
This topic: Main > WebHome > FordhamRoboticsAndComputerVisionLaboratory > FRCVLabMaintenance > HardwareComponent > GPSInstallation
Topic revision: r1 - 2011-06-10 - StephenFox