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zr-v4/libraries/AP_GPS/AP_GPS_SBF.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
//
// Septentrio GPS driver for ArduPilot.
// Code by Michael Oborne
//
#include "AP_GPS.h"
#include "AP_GPS_SBF.h"
#include <DataFlash/DataFlash.h>
extern const AP_HAL::HAL& hal;
#define SBF_DEBUGGING 0
#if SBF_DEBUGGING
# define Debug(fmt, args ...) \
do { \
hal.console->printf("%s:%d: " fmt "\n", \
__FUNCTION__, __LINE__, \
## args); \
hal.scheduler->delay(1); \
} while(0)
#else
# define Debug(fmt, args ...)
#endif
AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps, AP_GPS::GPS_State &_state,
AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port)
{
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
port->write((const uint8_t*)_initialisation_blob[0], strlen(_initialisation_blob[0]));
}
// Process all bytes available from the stream
//
bool
AP_GPS_SBF::read(void)
{
uint32_t now = AP_HAL::millis();
if (_init_blob_index < (sizeof(_initialisation_blob) / sizeof(_initialisation_blob[0]))) {
const char *init_str = _initialisation_blob[_init_blob_index];
if (validcommand) {
_init_blob_index++;
validcommand = false;
_init_blob_time = 0;
}
if (now > _init_blob_time) {
port->write((const uint8_t*)init_str, strlen(init_str));
_init_blob_time = now + 1000;
}
}
bool ret = false;
while (port->available() > 0) {
uint8_t temp = port->read();
ret |= parse(temp);
}
return ret;
}
bool
AP_GPS_SBF::parse(uint8_t temp)
{
switch (sbf_msg.sbf_state)
{
default:
case sbf_msg_parser_t::PREAMBLE1:
if (temp == SBF_PREAMBLE1) {
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE2;
sbf_msg.read = 0;
} else if (temp == '$') {
// this is a command response
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE2;
}
break;
case sbf_msg_parser_t::PREAMBLE2:
if (temp == SBF_PREAMBLE2) {
sbf_msg.sbf_state = sbf_msg_parser_t::CRC1;
} else if (temp == 'R') {
validcommand = true;
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
}
else
{
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
}
break;
case sbf_msg_parser_t::CRC1:
sbf_msg.crc = temp;
sbf_msg.sbf_state = sbf_msg_parser_t::CRC2;
break;
case sbf_msg_parser_t::CRC2:
sbf_msg.crc += (uint16_t)(temp << 8);
sbf_msg.sbf_state = sbf_msg_parser_t::BLOCKID1;
break;
case sbf_msg_parser_t::BLOCKID1:
sbf_msg.blockid = temp;
sbf_msg.sbf_state = sbf_msg_parser_t::BLOCKID2;
break;
case sbf_msg_parser_t::BLOCKID2:
sbf_msg.blockid += (uint16_t)(temp << 8);
sbf_msg.sbf_state = sbf_msg_parser_t::LENGTH1;
break;
case sbf_msg_parser_t::LENGTH1:
sbf_msg.length = temp;
sbf_msg.sbf_state = sbf_msg_parser_t::LENGTH2;
break;
case sbf_msg_parser_t::LENGTH2:
sbf_msg.length += (uint16_t)(temp << 8);
sbf_msg.sbf_state = sbf_msg_parser_t::DATA;
if (sbf_msg.length % 4 != 0) {
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
Debug("bad packet length=%u\n", (unsigned)sbf_msg.length);
}
break;
case sbf_msg_parser_t::DATA:
if (sbf_msg.read >= sizeof(sbf_msg.data)) {
Debug("parse overflow length=%u\n", (unsigned)sbf_msg.read);
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
break;
}
sbf_msg.data.bytes[sbf_msg.read] = temp;
sbf_msg.read++;
if (sbf_msg.read >= (sbf_msg.length - 8)) {
uint16_t crc = crc16_ccitt((uint8_t*)&sbf_msg.blockid, 2, 0);
crc = crc16_ccitt((uint8_t*)&sbf_msg.length, 2, crc);
crc = crc16_ccitt((uint8_t*)&sbf_msg.data, sbf_msg.length - 8, crc);
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
if (sbf_msg.crc == crc) {
return process_message();
} else {
Debug("crc fail\n");
crc_error_counter++;
}
}
break;
}
return false;
}
void
AP_GPS_SBF::log_ExtEventPVTGeodetic(const msg4007 &temp)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
return;
}
uint64_t now = AP_HAL::micros64();
struct log_GPS_SBF_EVENT header = {
LOG_PACKET_HEADER_INIT(LOG_GPS_SBF_EVENT_MSG),
time_us:now,
TOW:temp.TOW,
WNc:temp.WNc,
Mode:temp.Mode,
Error:temp.Error,
Latitude:ToDeg(temp.Latitude),
Longitude:ToDeg(temp.Longitude),
Height:temp.Height,
Undulation:temp.Undulation,
Vn:temp.Vn,
Ve:temp.Ve,
Vu:temp.Vu,
COG:temp.COG
};
gps._DataFlash->WriteBlock(&header, sizeof(header));
}
bool
AP_GPS_SBF::process_message(void)
{
uint16_t blockid = (sbf_msg.blockid & 4095u);
Debug("BlockID %d", blockid);
// ExtEventPVTGeodetic
if (blockid == 4038) {
log_ExtEventPVTGeodetic(sbf_msg.data.msg4007u);
}
// PVTGeodetic
if (blockid == 4007) {
const msg4007 &temp = sbf_msg.data.msg4007u;
// Update time state
if (temp.WNc != 65535) {
state.time_week = temp.WNc;
state.time_week_ms = (uint32_t)(temp.TOW);
}
state.last_gps_time_ms = AP_HAL::millis();
state.hdop = last_hdop;
// Update velocity state (don't use −2·10^10)
if (temp.Vn > -200000) {
state.velocity.x = (float)(temp.Vn);
state.velocity.y = (float)(temp.Ve);
state.velocity.z = (float)(-temp.Vu);
state.have_vertical_velocity = true;
float ground_vector_sq = state.velocity[0] * state.velocity[0] + state.velocity[1] * state.velocity[1];
state.ground_speed = (float)safe_sqrt(ground_vector_sq);
state.ground_course = wrap_360(degrees(atan2f(state.velocity[1], state.velocity[0])));
state.horizontal_accuracy = (float)temp.HAccuracy * 0.01f;
state.vertical_accuracy = (float)temp.VAccuracy * 0.01f;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
}
// Update position state (don't use −2·10^10)
if (temp.Latitude > -200000) {
state.location.lat = (int32_t)(temp.Latitude * RAD_TO_DEG_DOUBLE * 1e7);
state.location.lng = (int32_t)(temp.Longitude * RAD_TO_DEG_DOUBLE * 1e7);
state.location.alt = (int32_t)((float)temp.Height * 1e2f);
}
if (temp.NrSV != 255) {
state.num_sats = temp.NrSV;
}
Debug("temp.Mode=0x%02x\n", (unsigned)temp.Mode);
switch (temp.Mode & 15) {
case 0: // no pvt
state.status = AP_GPS::NO_FIX;
break;
case 1: // standalone
state.status = AP_GPS::GPS_OK_FIX_3D;
break;
case 2: // dgps
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
break;
case 3: // fixed location
state.status = AP_GPS::GPS_OK_FIX_3D;
break;
case 4: // rtk fixed
state.status = AP_GPS::GPS_OK_FIX_3D_RTK;
break;
case 5: // rtk float
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
break;
case 6: // sbas
state.status = AP_GPS::GPS_OK_FIX_3D;
break;
case 7: // moving rtk fixed
state.status = AP_GPS::GPS_OK_FIX_3D_RTK;
break;
case 8: // moving rtk float
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
break;
}
if ((temp.Mode & 64) > 0) // gps is in base mode
state.status = AP_GPS::NO_FIX;
if ((temp.Mode & 128) > 0) // gps only has 2d fix
state.status = AP_GPS::GPS_OK_FIX_2D;
return true;
}
// DOP
if (blockid == 4001) {
const msg4001 &temp = sbf_msg.data.msg4001u;
last_hdop = temp.HDOP;
state.hdop = last_hdop;
}
return false;
}
void
AP_GPS_SBF::inject_data(uint8_t *data, uint8_t len)
{
if (port->txspace() > len) {
last_injected_data_ms = AP_HAL::millis();
port->write(data, len);
} else {
Debug("SBF: Not enough TXSPACE");
}
}