You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
193 lines
7.2 KiB
193 lines
7.2 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
|
|
// |
|
// Swift Navigation SBP GPS driver for ArduPilot. |
|
// Code by Niels Joubert |
|
// |
|
// Swift Binary Protocol format: http://docs.swift-nav.com/ |
|
// |
|
#pragma once |
|
|
|
#include "AP_GPS.h" |
|
#include "GPS_Backend.h" |
|
|
|
#ifndef AP_GPS_SBP_ENABLED |
|
#define AP_GPS_SBP_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED |
|
#endif |
|
|
|
#if AP_GPS_SBP_ENABLED |
|
class AP_GPS_SBP : public AP_GPS_Backend |
|
{ |
|
public: |
|
AP_GPS_SBP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
|
|
|
AP_GPS::GPS_Status highest_supported_status(void) override { return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED; } |
|
|
|
bool supports_mavlink_gps_rtk_message() const override { return true; } |
|
|
|
// Methods |
|
bool read() override; |
|
|
|
void inject_data(const uint8_t *data, uint16_t len) override; |
|
|
|
static bool _detect(struct SBP_detect_state &state, uint8_t data); |
|
|
|
const char *name() const override { return "SBP"; } |
|
|
|
private: |
|
|
|
// ************************************************************************ |
|
// Swift Navigation SBP protocol types and definitions |
|
// ************************************************************************ |
|
|
|
struct sbp_parser_state_t { |
|
enum { |
|
WAITING = 0, |
|
GET_TYPE = 1, |
|
GET_SENDER = 2, |
|
GET_LEN = 3, |
|
GET_MSG = 4, |
|
GET_CRC = 5 |
|
} state:8; |
|
uint16_t msg_type; |
|
uint16_t sender_id; |
|
uint16_t crc; |
|
uint8_t msg_len; |
|
uint8_t n_read; |
|
uint8_t msg_buff[256]; |
|
} parser_state; |
|
|
|
static const uint8_t SBP_PREAMBLE = 0x55; |
|
|
|
//Message types supported by this driver |
|
static const uint16_t SBP_STARTUP_MSGTYPE = 0xFF00; |
|
static const uint16_t SBP_HEARTBEAT_MSGTYPE = 0xFFFF; |
|
static const uint16_t SBP_GPS_TIME_MSGTYPE = 0x0100; |
|
static const uint16_t SBP_DOPS_MSGTYPE = 0x0206; |
|
static const uint16_t SBP_POS_ECEF_MSGTYPE = 0x0200; |
|
static const uint16_t SBP_POS_LLH_MSGTYPE = 0x0201; |
|
static const uint16_t SBP_BASELINE_ECEF_MSGTYPE = 0x0202; |
|
static const uint16_t SBP_BASELINE_NED_MSGTYPE = 0x0203; |
|
static const uint16_t SBP_VEL_ECEF_MSGTYPE = 0x0204; |
|
static const uint16_t SBP_VEL_NED_MSGTYPE = 0x0205; |
|
static const uint16_t SBP_TRACKING_STATE_MSGTYPE = 0x0016; |
|
static const uint16_t SBP_IAR_STATE_MSGTYPE = 0x0019; |
|
|
|
// Heartbeat |
|
// struct sbp_heartbeat_t { |
|
// uint32_t flags; //< Status flags (reserved) |
|
// }; // 4 bytes |
|
struct PACKED sbp_heartbeat_t { |
|
bool sys_error : 1; |
|
bool io_error : 1; |
|
bool nap_error : 1; |
|
uint8_t res : 5; |
|
uint8_t protocol_minor : 8; |
|
uint8_t protocol_major : 8; |
|
uint8_t res2 : 7; |
|
bool ext_antenna : 1; |
|
}; // 4 bytes |
|
|
|
// GPS Time |
|
struct PACKED sbp_gps_time_t { |
|
uint16_t wn; //< GPS week number (unit: weeks) |
|
uint32_t tow; //< GPS Time of Week rounded to the nearest ms (unit: ms) |
|
int32_t ns; //< Nanosecond remainder of rounded tow (unit: ns) |
|
uint8_t flags; //< Status flags (reserved) |
|
}; // 11 bytes |
|
|
|
// Dilution of Precision |
|
struct PACKED sbp_dops_t { |
|
uint32_t tow; //< GPS Time of Week (unit: ms) |
|
uint16_t gdop; //< Geometric Dilution of Precision (unit: 0.01) |
|
uint16_t pdop; //< Position Dilution of Precision (unit: 0.01) |
|
uint16_t tdop; //< Time Dilution of Precision (unit: 0.01) |
|
uint16_t hdop; //< Horizontal Dilution of Precision (unit: 0.01) |
|
uint16_t vdop; //< Vertical Dilution of Precision (unit: 0.01) |
|
}; // 14 bytes |
|
|
|
// Geodetic position solution. |
|
struct PACKED sbp_pos_llh_t { |
|
uint32_t tow; //< GPS Time of Week (unit: ms) |
|
double lat; //< Latitude (unit: degrees) |
|
double lon; //< Longitude (unit: degrees) |
|
double height; //< Height (unit: meters) |
|
uint16_t h_accuracy; //< Horizontal position accuracy estimate (unit: mm) |
|
uint16_t v_accuracy; //< Vertical position accuracy estimate (unit: mm) |
|
uint8_t n_sats; //< Number of satellites used in solution |
|
uint8_t flags; //< Status flags |
|
}; // 34 bytes |
|
|
|
// Velocity in NED Velocity in local North East Down (NED) coordinates. |
|
struct PACKED sbp_vel_ned_t { |
|
uint32_t tow; //< GPS Time of Week (unit: ms) |
|
int32_t n; //< Velocity North coordinate (unit: mm/s) |
|
int32_t e; //< Velocity East coordinate (unit: mm/s) |
|
int32_t d; //< Velocity Down coordinate (unit: mm/s) |
|
uint16_t h_accuracy; //< Horizontal velocity accuracy estimate (unit: mm/s) |
|
uint16_t v_accuracy; //< Vertical velocity accuracy estimate (unit: mm/s) |
|
uint8_t n_sats; //< Number of satellites used in solution |
|
uint8_t flags; //< Status flags (reserved) |
|
}; // 22 bytes |
|
|
|
// Activity and Signal-to-Noise data of a tracking channel on the GPS. |
|
struct PACKED sbp_tracking_state_t { |
|
uint8_t state; //< 0 if disabled, 1 if running |
|
uint8_t prn; //< PRN identifier of tracked satellite |
|
float cn0; //< carrier to noise power ratio. |
|
}; |
|
|
|
// Integer Ambiguity Resolution state - how is the RTK resolution doing? |
|
struct PACKED sbp_iar_state_t { |
|
uint32_t num_hypotheses; |
|
}; |
|
|
|
void _sbp_process(); |
|
void _sbp_process_message(); |
|
bool _attempt_state_update(); |
|
|
|
// ************************************************************************ |
|
// Internal Received Messages State |
|
// ************************************************************************ |
|
uint32_t last_heatbeat_received_ms; |
|
uint32_t last_injected_data_ms; |
|
|
|
struct sbp_gps_time_t last_gps_time; |
|
struct sbp_dops_t last_dops; |
|
struct sbp_pos_llh_t last_pos_llh_spp; |
|
struct sbp_pos_llh_t last_pos_llh_rtk; |
|
struct sbp_vel_ned_t last_vel_ned; |
|
uint32_t last_iar_num_hypotheses; |
|
|
|
uint32_t last_full_update_tow; |
|
uint32_t last_full_update_cpu_ms; |
|
|
|
// ************************************************************************ |
|
// Monitoring and Performance Counting |
|
// ************************************************************************ |
|
|
|
uint32_t crc_error_counter; |
|
|
|
// ************************************************************************ |
|
// Logging to AP_Logger |
|
// ************************************************************************ |
|
|
|
void logging_log_full_update(); |
|
void logging_log_raw_sbp(uint16_t msg_type, uint16_t sender_id, uint8_t msg_len, uint8_t *msg_buff); |
|
|
|
|
|
}; |
|
#endif
|
|
|