2014-04-04 20:05:54 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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//
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// Swift Navigation GPS driver for ArduPilot
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// Origin code by Niels Joubert njoubert.com
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//
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#include <AP_GPS.h>
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#include "AP_GPS_SBP.h"
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#include <DataFlash.h>
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#define SBP_DEBUGGING 0
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#define SBP_FAKE_3DLOCK 0
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extern const AP_HAL::HAL& hal;
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#define SBP_MILLIS_BETWEEN_HEALTHCHECKS 1500
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#define SBP_DEBUGGING 0
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#if SBP_DEBUGGING
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# define Debug(fmt, args ...) do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
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#else
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# define Debug(fmt, args ...)
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#endif
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/*
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only do detailed hardware logging on boards likely to have more log
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storage space
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*/
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
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#define SBP_HW_LOGGING 1
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#else
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#define SBP_HW_LOGGING 0
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#endif
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2014-04-20 08:44:14 -03:00
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bool AP_GPS_SBP::logging_started = false;
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2014-04-04 20:05:54 -03:00
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AP_GPS_SBP::AP_GPS_SBP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
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AP_GPS_Backend(_gps, _state, _port),
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has_updated_pos(false),
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has_updated_vel(false),
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pos_msg_counter(0),
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vel_msg_counter(0),
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dops_msg_counter(0),
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baseline_msg_counter(0),
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crc_error_counter(0),
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2014-04-20 08:44:14 -03:00
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last_healthcheck_millis(0)
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2014-04-04 20:05:54 -03:00
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{
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Debug("Initializing SBP Driver");
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port->begin(115200, 256, 16);
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port->flush();
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parser_state.state = sbp_parser_state_t::WAITING;
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state.status = AP_GPS::NO_FIX;
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state.have_vertical_velocity = true;
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}
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bool
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AP_GPS_SBP::read(void)
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{
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//First we process all data waiting for the queue.
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sbp_process();
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uint32_t now = hal.scheduler->millis();
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uint32_t elapsed = now - last_healthcheck_millis;
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if (elapsed > SBP_MILLIS_BETWEEN_HEALTHCHECKS) {
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last_healthcheck_millis = now;
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#if SBP_DEBUGGING || SBP_HW_LOGGING
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float pos_msg_hz = pos_msg_counter / (float) elapsed * 1000.0;
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float vel_msg_hz = vel_msg_counter / (float) elapsed * 1000.0;
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float dops_msg_hz = dops_msg_counter / (float) elapsed * 1000.0;
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float baseline_msg_hz = baseline_msg_counter / (float) elapsed * 1000.0;
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float crc_error_hz = crc_error_counter / (float) elapsed * 1000.0;
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pos_msg_counter = 0;
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vel_msg_counter = 0;
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dops_msg_counter = 0;
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baseline_msg_counter = 0;
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crc_error_counter = 0;
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Debug("SBP GPS perf: CRC=(%.2fHz) Pos=(%.2fHz) Vel=(%.2fHz) Dops=(%.2fHz) Baseline=(%.2fHz)\n",
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crc_error_hz,
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pos_msg_hz,
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vel_msg_hz,
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dops_msg_hz,
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baseline_msg_hz);
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#if SBP_HW_LOGGING
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logging_log_health(pos_msg_hz,
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vel_msg_hz,
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dops_msg_hz,
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baseline_msg_hz,
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crc_error_hz);
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#endif
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#endif
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}
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//Now we check whether we've done a full update - is all the sticky bits set?
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if (has_updated_pos && has_updated_vel) {
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state.status = AP_GPS::GPS_OK_FIX_3D;
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has_updated_pos = false;
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has_updated_vel = false;
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return true;
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}
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return false;
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}
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//This attempts to read all the SBP messages from the incoming port.
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void
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AP_GPS_SBP::sbp_process()
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{
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while (port->available() > 0) {
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uint8_t temp = port->read();
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uint16_t crc;
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//This switch reads one character at a time,
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//parsing it into buffers until a full message is dispatched
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switch(parser_state.state) {
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case sbp_parser_state_t::WAITING:
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if (temp == SBP_PREAMBLE) {
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parser_state.n_read = 0;
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parser_state.state = sbp_parser_state_t::GET_TYPE;
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}
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break;
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case sbp_parser_state_t::GET_TYPE:
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*((uint8_t*)&(parser_state.msg_type) + parser_state.n_read) = temp;
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parser_state.n_read += 1;
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if (parser_state.n_read >= 2) {
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parser_state.n_read = 0;
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parser_state.state = sbp_parser_state_t::GET_SENDER;
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}
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break;
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case sbp_parser_state_t::GET_SENDER:
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*((uint8_t*)&(parser_state.sender_id) + parser_state.n_read) = temp;
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parser_state.n_read += 1;
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if (parser_state.n_read >= 2) {
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parser_state.n_read = 0;
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parser_state.state = sbp_parser_state_t::GET_LEN;
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}
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break;
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case sbp_parser_state_t::GET_LEN:
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parser_state.msg_len = temp;
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parser_state.n_read = 0;
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parser_state.state = sbp_parser_state_t::GET_MSG;
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break;
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case sbp_parser_state_t::GET_MSG:
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*((uint8_t*)&(parser_state.msg_buff) + parser_state.n_read) = temp;
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parser_state.n_read += 1;
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if (parser_state.n_read >= parser_state.msg_len) {
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parser_state.n_read = 0;
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parser_state.state = sbp_parser_state_t::GET_CRC;
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}
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break;
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case sbp_parser_state_t::GET_CRC:
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*((uint8_t*)&(parser_state.crc) + parser_state.n_read) = temp;
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parser_state.n_read += 1;
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if (parser_state.n_read >= 2) {
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parser_state.state = sbp_parser_state_t::WAITING;
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crc = crc16_ccitt((uint8_t*)&(parser_state.msg_type), 2, 0);
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crc = crc16_ccitt((uint8_t*)&(parser_state.sender_id), 2, crc);
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crc = crc16_ccitt(&(parser_state.msg_len), 1, crc);
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crc = crc16_ccitt(parser_state.msg_buff, parser_state.msg_len, crc);
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if (parser_state.crc == crc) {
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//OK, we have a valid message. Dispatch the appropriate function:
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switch(parser_state.msg_type) {
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case SBP_GPS_TIME_MSGTYPE:
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sbp_process_gpstime(parser_state.msg_buff);
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break;
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case SBP_DOPS_MSGTYPE:
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sbp_process_dops(parser_state.msg_buff);
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break;
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case SBP_POS_ECEF_MSGTYPE:
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sbp_process_pos_ecef(parser_state.msg_buff);
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break;
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case SBP_POS_LLH_MSGTYPE:
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sbp_process_pos_llh(parser_state.msg_buff);
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break;
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case SBP_BASELINE_ECEF_MSGTYPE:
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sbp_process_baseline_ecef(parser_state.msg_buff);
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break;
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case SBP_BASELINE_NED_MSGTYPE:
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sbp_process_baseline_ned(parser_state.msg_buff);
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break;
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case SBP_VEL_ECEF_MSGTYPE:
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sbp_process_vel_ecef(parser_state.msg_buff);
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break;
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case SBP_VEL_NED_MSGTYPE:
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sbp_process_vel_ned(parser_state.msg_buff);
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break;
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default:
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Debug("Unknown message received: msg_type=0x%x", parser_state.msg_type);
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}
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} else {
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Debug("CRC Error Occurred!\n");
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crc_error_counter += 1;
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}
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}
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break;
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default:
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parser_state.state = sbp_parser_state_t::WAITING;
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break;
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}
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}
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//We have parsed all the waiting messages
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return;
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}
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void
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AP_GPS_SBP::sbp_process_gpstime(uint8_t* msg)
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{
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struct sbp_gps_time_t* t = (struct sbp_gps_time_t*)msg;
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state.time_week = t->wn;
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state.time_week_ms = t->tow;
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state.last_gps_time_ms = hal.scheduler->millis();
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}
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void
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AP_GPS_SBP::sbp_process_dops(uint8_t* msg)
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{
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struct sbp_dops_t* d = (struct sbp_dops_t*) msg;
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state.time_week_ms = d->tow;
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state.last_gps_time_ms = hal.scheduler->millis();
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state.hdop = d->hdop;
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dops_msg_counter += 1;
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}
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void
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AP_GPS_SBP::sbp_process_pos_ecef(uint8_t* msg)
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{
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//Ideally we'd like this data in LLH format, not ECEF
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}
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void
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AP_GPS_SBP::sbp_process_pos_llh(uint8_t* msg)
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{
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struct sbp_pos_llh_t* pos = (struct sbp_pos_llh_t*)msg;
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state.time_week_ms = pos->tow;
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state.last_gps_time_ms = hal.scheduler->millis();
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state.location.lat = (int32_t) (pos->lat*1e7);
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state.location.lng = (int32_t) (pos->lon*1e7);
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state.location.alt = (int32_t) (pos->height*1e2);
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state.num_sats = pos->n_sats;
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pos_msg_counter += 1;
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has_updated_pos = true;
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}
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void
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AP_GPS_SBP::sbp_process_baseline_ecef(uint8_t* msg)
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{
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struct sbp_baseline_ecef_t* b = (struct sbp_baseline_ecef_t*)msg;
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baseline_msg_counter += 1;
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#if SBP_HW_LOGGING
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logging_log_baseline(b);
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#endif
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}
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void
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AP_GPS_SBP::sbp_process_baseline_ned(uint8_t* msg)
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{
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//Ideally we'd like this data in ECEF format, not NED
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}
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void
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AP_GPS_SBP::sbp_process_vel_ecef(uint8_t* msg)
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{
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//Ideally we'd like this data in NED format, not ECEF
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}
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void
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AP_GPS_SBP::sbp_process_vel_ned(uint8_t* msg)
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{
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struct sbp_vel_ned_t* vel = (struct sbp_vel_ned_t*)msg;
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state.time_week_ms = vel->tow;
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state.last_gps_time_ms = hal.scheduler->millis();
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state.velocity[0] = (float)vel->n / 1000.0;
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state.velocity[1] = (float)vel->e / 1000.0;
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state.velocity[2] = (float)vel->d / 1000.0;
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state.num_sats = vel->n_sats;
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float ground_vector_sq = state.velocity[0]*state.velocity[0] + state.velocity[1]*state.velocity[1];
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state.ground_speed = safe_sqrt(ground_vector_sq);
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state.ground_course_cd = (int32_t) 100*ToDeg(atan2f(state.velocity[1], state.velocity[0]));
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if (state.ground_course_cd < 0) {
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state.ground_course_cd += 36000;
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}
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vel_msg_counter += 1;
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has_updated_vel = true;
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}
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bool
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AP_GPS_SBP::_detect(struct SBP_detect_state &state, uint8_t data)
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{
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//This switch reads one character at a time,
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//if we find something that looks like our preamble
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//we'll try to read the full message length, calculating the CRC.
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//If the CRC matches, we have a SBP GPS!
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switch(state.state) {
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case SBP_detect_state::WAITING:
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if (data == SBP_PREAMBLE) {
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state.n_read = 0;
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state.crc_so_far = 0;
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state.state = SBP_detect_state::GET_TYPE;
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}
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break;
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case SBP_detect_state::GET_TYPE:
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state.crc_so_far = crc16_ccitt(&data, 1, state.crc_so_far);
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state.n_read += 1;
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if (state.n_read >= 2) {
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state.n_read = 0;
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state.state = SBP_detect_state::GET_SENDER;
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}
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break;
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case SBP_detect_state::GET_SENDER:
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state.crc_so_far = crc16_ccitt(&data, 1, state.crc_so_far);
|
|
|
|
state.n_read += 1;
|
|
|
|
if (state.n_read >= 2) {
|
|
|
|
state.n_read = 0;
|
|
|
|
state.state = SBP_detect_state::GET_LEN;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case SBP_detect_state::GET_LEN:
|
|
|
|
state.crc_so_far = crc16_ccitt(&data, 1, state.crc_so_far);
|
|
|
|
state.msg_len = data;
|
|
|
|
state.n_read = 0;
|
|
|
|
state.state = SBP_detect_state::GET_MSG;
|
|
|
|
break;
|
|
|
|
|
|
|
|
case SBP_detect_state::GET_MSG:
|
|
|
|
state.crc_so_far = crc16_ccitt(&data, 1, state.crc_so_far);
|
|
|
|
state.n_read += 1;
|
|
|
|
if (state.n_read >= state.msg_len) {
|
|
|
|
state.n_read = 0;
|
|
|
|
state.state = SBP_detect_state::GET_CRC;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case SBP_detect_state::GET_CRC:
|
|
|
|
*((uint8_t*)&(state.crc) + state.n_read) = data;
|
|
|
|
state.n_read += 1;
|
|
|
|
if (state.n_read >= 2) {
|
|
|
|
state.state = SBP_detect_state::WAITING;
|
|
|
|
return state.crc == state.crc_so_far;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
state.state = SBP_detect_state::WAITING;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
#if SBP_HW_LOGGING
|
|
|
|
|
|
|
|
#define LOG_MSG_SBPHEALTH 202
|
|
|
|
#define LOG_MSG_SBPBASELINE 203
|
|
|
|
|
|
|
|
struct PACKED log_SbpHealth {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint32_t timestamp;
|
|
|
|
float pos_msg_hz;
|
|
|
|
float vel_msg_hz;
|
|
|
|
float dops_msg_hz;
|
|
|
|
float baseline_msg_hz;
|
|
|
|
float crc_error_hz;
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED log_SbpBaseline {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint32_t timestamp;
|
|
|
|
uint32_t tow;
|
|
|
|
int32_t baseline_x;
|
|
|
|
int32_t baseline_y;
|
|
|
|
int32_t baseline_z;
|
|
|
|
uint16_t baseline_accuracy;
|
|
|
|
uint8_t num_sats;
|
|
|
|
uint8_t flags;
|
|
|
|
};
|
|
|
|
|
|
|
|
static const struct LogStructure sbp_log_structures[] PROGMEM = {
|
|
|
|
{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth),
|
|
|
|
"SBPH", "Ifffff", "TimeMS,PosHz,VelHz,DopsHz,BaseHz,CrcHz" },
|
|
|
|
{ LOG_MSG_SBPBASELINE, sizeof(log_SbpBaseline),
|
|
|
|
"SBPB", "IIiiiHBB", "TimeMS,tow,bx,by,bz,bacc,num_sats,flags" }
|
|
|
|
};
|
|
|
|
|
|
|
|
void AP_GPS_SBP::logging_write_headers(void)
|
|
|
|
{
|
|
|
|
if (!logging_started) {
|
|
|
|
logging_started = true;
|
|
|
|
gps._DataFlash->AddLogFormats(sbp_log_structures, sizeof(sbp_log_structures) / sizeof(LogStructure));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void AP_GPS_SBP::logging_log_health(float pos_msg_hz, float vel_msg_hz, float dops_msg_hz, float baseline_msg_hz, float crc_error_hz)
|
|
|
|
{
|
|
|
|
|
|
|
|
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
logging_write_headers();
|
|
|
|
|
|
|
|
struct log_SbpHealth pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPHEALTH),
|
|
|
|
timestamp : hal.scheduler->millis(),
|
|
|
|
pos_msg_hz : pos_msg_hz,
|
|
|
|
vel_msg_hz : vel_msg_hz,
|
|
|
|
dops_msg_hz : dops_msg_hz,
|
|
|
|
baseline_msg_hz : baseline_msg_hz,
|
|
|
|
crc_error_hz : crc_error_hz
|
|
|
|
};
|
|
|
|
gps._DataFlash->WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
void AP_GPS_SBP::logging_log_baseline(struct sbp_baseline_ecef_t* b)
|
|
|
|
{
|
|
|
|
|
|
|
|
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
logging_write_headers();
|
|
|
|
|
|
|
|
struct log_SbpBaseline pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPBASELINE),
|
|
|
|
timestamp : hal.scheduler->millis(),
|
|
|
|
tow : b->tow,
|
|
|
|
baseline_x : b->x,
|
|
|
|
baseline_y : b->y,
|
|
|
|
baseline_z : b->z,
|
|
|
|
baseline_accuracy : b->accuracy,
|
|
|
|
num_sats : b->n_sats,
|
|
|
|
flags : b->flags
|
|
|
|
};
|
|
|
|
gps._DataFlash->WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif // SBP_HW_LOGGING
|