ardupilot/libraries/AP_GPS/AP_GPS_NOVA.h

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/*
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/>.
*/
// Novatel/Tersus/ComNav GPS driver for ArduPilot.
// Code by Michael Oborne
// Derived from http://www.novatel.com/assets/Documents/Manuals/om-20000129.pdf
#pragma once
#include "AP_GPS.h"
#include "GPS_Backend.h"
class AP_GPS_NOVA : public AP_GPS_Backend
{
public:
AP_GPS_NOVA(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; }
// Methods
bool read() override;
const char *name() const override { return "NOVA"; }
private:
bool parse(uint8_t temp);
bool process_message();
uint32_t CRC32Value(uint32_t icrc);
uint32_t CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc);
static const uint8_t NOVA_PREAMBLE1 = 0xaa;
static const uint8_t NOVA_PREAMBLE2 = 0x44;
static const uint8_t NOVA_PREAMBLE3 = 0x12;
// do we have new position information?
bool _new_position:1;
// do we have new speed information?
bool _new_speed:1;
uint32_t _last_vel_time;
uint8_t _init_blob_index = 0;
uint32_t _init_blob_time = 0;
static const char* const _initialisation_blob[6];
uint32_t crc_error_counter = 0;
struct PACKED nova_header
{
// 0
uint8_t preamble[3];
// 3
uint8_t headerlength;
// 4
uint16_t messageid;
// 6
uint8_t messagetype;
//7
uint8_t portaddr;
//8
uint16_t messagelength;
//10
uint16_t sequence;
//12
uint8_t idletime;
//13
uint8_t timestatus;
//14
uint16_t week;
//16
uint32_t tow;
//20
uint32_t recvstatus;
// 24
uint16_t resv;
//26
uint16_t recvswver;
};
struct PACKED psrdop
{
float gdop;
float pdop;
float hdop;
float htdop;
float tdop;
float cutoff;
uint32_t svcount;
// extra data for individual prns
};
struct PACKED bestpos
{
uint32_t solstat; ///< Solution status
uint32_t postype; ///< Position type
double lat; ///< latitude (deg)
double lng; ///< longitude (deg)
double hgt; ///< height above mean sea level (m)
float undulation; ///< relationship between the geoid and the ellipsoid (m)
uint32_t datumid; ///< datum id number
float latsdev; ///< latitude standard deviation (m)
float lngsdev; ///< longitude standard deviation (m)
float hgtsdev; ///< height standard deviation (m)
// 4 bytes
uint8_t stnid[4]; ///< base station id
float diffage; ///< differential position age (sec)
float sol_age; ///< solution age (sec)
uint8_t svstracked; ///< number of satellites tracked
uint8_t svsused; ///< number of satellites used in solution
uint8_t svsl1; ///< number of GPS plus GLONASS L1 satellites used in solution
uint8_t svsmultfreq; ///< number of GPS plus GLONASS L2 satellites used in solution
uint8_t resv; ///< reserved
uint8_t extsolstat; ///< extended solution status - OEMV and greater only
uint8_t galbeisigmask;
uint8_t gpsglosigmask;
};
struct PACKED bestvel
{
uint32_t solstat;
uint32_t veltype;
float latency;
float age;
double horspd;
double trkgnd;
// + up
double vertspd;
float resv;
};
union PACKED msgbuffer {
bestvel bestvelu;
bestpos bestposu;
psrdop psrdopu;
uint8_t bytes[256];
};
union PACKED msgheader {
nova_header nova_headeru;
uint8_t data[28];
};
struct PACKED nova_msg_parser
{
enum
{
PREAMBLE1 = 0,
PREAMBLE2,
PREAMBLE3,
HEADERLENGTH,
HEADERDATA,
DATA,
CRC1,
CRC2,
CRC3,
CRC4,
} nova_state;
msgbuffer data;
uint32_t crc;
msgheader header;
uint16_t read;
} nova_msg;
};