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AP_GPS: factor out common library for GSOF 

* Add tests too

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2024-05-11 21:45:11 -06:00 committed by Andrew Tridgell
parent 7037164d08
commit f8295cb52b
2 changed files with 58 additions and 255 deletions
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272
libraries/AP_GPS/AP_GPS_GSOF.cpp
View File

@ -19,7 +19,7 @@
//
// Usage in SITL with hardware for debugging:
// sim_vehicle.py -v Plane -A "--serial3=uart:/dev/ttyUSB0" --console --map -DG
// param set GPS_TYPE 11 // GSOF
// param set GPS1_TYPE 11 // GSOF
// param set SERIAL3_PROTOCOL 5 // GPS
//
// Pure SITL usage
@ -58,8 +58,6 @@ AP_GPS_GSOF::AP_GPS_GSOF(AP_GPS &_gps,
{
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_Overview.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257COverview%257C_____0
static_assert(ARRAY_SIZE(gsofmsgreq) <= 10, "The maximum number of outputs allowed with GSOF is 10.");
msg.state = Msg_Parser::State::STARTTX;
constexpr uint8_t default_com_port = static_cast<uint8_t>(HW_Port::COM2);
params.com_port.set_default(default_com_port);
@ -101,68 +99,21 @@ AP_GPS_GSOF::read(void)
#if AP_GPS_DEBUG_LOGGING_ENABLED
log_data(&temp, 1);
#endif
ret |= parse(temp);
const int n_gsof_received = parse(temp, ARRAY_SIZE(gsofmsgreq));
if(n_gsof_received == UNEXPECTED_NUM_GSOF_PACKETS) {
state.status = AP_GPS::NO_FIX;
continue;
}
const bool got_expected_packets = n_gsof_received == ARRAY_SIZE(gsofmsgreq);
ret |= got_expected_packets;
}
if (ret) {
pack_state_data();
}
return ret;
}
bool
AP_GPS_GSOF::parse(const uint8_t temp)
{
// https://receiverhelp.trimble.com/oem-gnss/index.html#API_DataCollectorFormatPacketStructure.html
switch (msg.state)
{
default:
case Msg_Parser::State::STARTTX:
if (temp == STX)
{
msg.state = Msg_Parser::State::STATUS;
msg.read = 0;
msg.checksumcalc = 0;
}
break;
case Msg_Parser::State::STATUS:
msg.status = temp;
msg.state = Msg_Parser::State::PACKETTYPE;
msg.checksumcalc += temp;
break;
case Msg_Parser::State::PACKETTYPE:
msg.packettype = temp;
msg.state = Msg_Parser::State::LENGTH;
msg.checksumcalc += temp;
break;
case Msg_Parser::State::LENGTH:
msg.length = temp;
msg.state = Msg_Parser::State::DATA;
msg.checksumcalc += temp;
break;
case Msg_Parser::State::DATA:
msg.data[msg.read] = temp;
msg.read++;
msg.checksumcalc += temp;
if (msg.read >= msg.length)
{
msg.state = Msg_Parser::State::CHECKSUM;
}
break;
case Msg_Parser::State::CHECKSUM:
msg.checksum = temp;
msg.state = Msg_Parser::State::ENDTX;
if (msg.checksum == msg.checksumcalc)
{
return process_message();
}
break;
case Msg_Parser::State::ENDTX:
msg.endtx = temp;
msg.state = Msg_Parser::State::STARTTX;
break;
}
return false;
}
void
AP_GPS_GSOF::requestBaud(const HW_Port portindex)
{
@ -205,163 +156,6 @@ AP_GPS_GSOF::requestGSOF(const uint8_t messageType, const HW_Port portIndex, con
port->write((const uint8_t*)buffer, sizeof(buffer));
}
double
AP_GPS_GSOF::SwapDouble(const uint8_t* src, const uint32_t pos) const
{
union {
double d;
char bytes[sizeof(double)];
} doubleu;
doubleu.bytes[0] = src[pos + 7];
doubleu.bytes[1] = src[pos + 6];
doubleu.bytes[2] = src[pos + 5];
doubleu.bytes[3] = src[pos + 4];
doubleu.bytes[4] = src[pos + 3];
doubleu.bytes[5] = src[pos + 2];
doubleu.bytes[6] = src[pos + 1];
doubleu.bytes[7] = src[pos + 0];
return doubleu.d;
}
float
AP_GPS_GSOF::SwapFloat(const uint8_t* src, const uint32_t pos) const
{
union {
float f;
char bytes[sizeof(float)];
} floatu;
floatu.bytes[0] = src[pos + 3];
floatu.bytes[1] = src[pos + 2];
floatu.bytes[2] = src[pos + 1];
floatu.bytes[3] = src[pos + 0];
return floatu.f;
}
uint32_t
AP_GPS_GSOF::SwapUint32(const uint8_t* src, const uint32_t pos) const
{
uint32_t u;
memcpy(&u, &src[pos], sizeof(u));
return be32toh(u);
}
uint16_t
AP_GPS_GSOF::SwapUint16(const uint8_t* src, const uint32_t pos) const
{
uint16_t u;
memcpy(&u, &src[pos], sizeof(u));
return be16toh(u);
}
bool
AP_GPS_GSOF::process_message(void)
{
if (msg.packettype == 0x40) { // GSOF
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_TIME.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____25
#if gsof_DEBUGGING
const uint8_t trans_number = msg.data[0];
const uint8_t pageidx = msg.data[1];
const uint8_t maxpageidx = msg.data[2];
Debug("GSOF page: %u of %u (trans_number=%u)",
pageidx, maxpageidx, trans_number);
#endif
int valid = 0;
// want 1 2 8 9 12
for (uint32_t a = 3; a < msg.length; a++)
{
const uint8_t output_type = msg.data[a];
a++;
const uint8_t output_length = msg.data[a];
a++;
//Debug("GSOF type: " + output_type + " len: " + output_length);
if (output_type == 1) // pos time
{
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_TIME.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____25
state.time_week_ms = SwapUint32(msg.data, a);
state.time_week = SwapUint16(msg.data, a + 4);
state.num_sats = msg.data[a + 6];
const uint8_t posf1 = msg.data[a + 7];
const uint8_t posf2 = msg.data[a + 8];
//Debug("POSTIME: " + posf1 + " " + posf2);
if ((posf1 & 1)) { // New position
state.status = AP_GPS::GPS_OK_FIX_3D;
if ((posf2 & 1)) { // Differential position
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
if (posf2 & 2) { // Differential position method
if (posf2 & 4) {// Differential position method
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
} else {
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
}
}
}
} else {
state.status = AP_GPS::NO_FIX;
}
valid++;
}
else if (output_type == 2) // position
{
// This packet is not documented in Trimble's receiver help as of May 18, 2023
state.location.lat = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a)) * (double)1e7);
state.location.lng = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a + 8)) * (double)1e7);
state.location.alt = (int32_t)(SwapDouble(msg.data, a + 16) * 100);
state.last_gps_time_ms = AP_HAL::millis();
valid++;
}
else if (output_type == 8) // velocity
{
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_Velocity.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____32
const uint8_t vflag = msg.data[a];
if ((vflag & 1) == 1)
{
state.ground_speed = SwapFloat(msg.data, a + 1);
state.ground_course = wrap_360(degrees(SwapFloat(msg.data, a + 5)));
fill_3d_velocity();
state.velocity.z = -SwapFloat(msg.data, a + 9);
state.have_vertical_velocity = true;
}
valid++;
}
else if (output_type == 9) //dop
{
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_PDOP.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____12
state.hdop = (uint16_t)(SwapFloat(msg.data, a + 4) * 100);
valid++;
}
else if (output_type == 12) // position sigma
{
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_SIGMA.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____24
state.horizontal_accuracy = (SwapFloat(msg.data, a + 4) + SwapFloat(msg.data, a + 8)) / 2;
state.vertical_accuracy = SwapFloat(msg.data, a + 16);
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
valid++;
}
a += output_length-1u;
}
if (valid == 5) {
return true;
} else {
state.status = AP_GPS::NO_FIX;
}
}
return false;
}
bool
AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const {
switch(com_port) {
@ -373,4 +167,48 @@ AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const {
}
}
void
AP_GPS_GSOF::pack_state_data() {
// TODO should we pack time data if there is no fix?
state.time_week_ms = pos_time.time_week_ms;
state.time_week = pos_time.time_week;
state.num_sats = pos_time.num_sats;
if ((pos_time.pos_flags1 & 1)) { // New position
state.status = AP_GPS::GPS_OK_FIX_3D;
if ((pos_time.pos_flags2 & 1)) { // Differential position
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
if (pos_time.pos_flags2 & 2) { // Differential position method
if (pos_time.pos_flags2 & 4) {// Differential position method
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
} else {
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
}
}
}
} else {
state.status = AP_GPS::NO_FIX;
}
state.location.lat = (int32_t)(RAD_TO_DEG_DOUBLE * position.latitude_rad * (double)1e7);
state.location.lng = (int32_t)(RAD_TO_DEG_DOUBLE * position.longitude_rad * (double)1e7);
state.location.alt = (int32_t)(position.altitude * 100);
state.last_gps_time_ms = AP_HAL::millis();
if ((vel.velocity_flags & 1) == 1) {
state.ground_speed = vel.horizontal_velocity;
state.ground_course = wrap_360(degrees(vel.heading));
fill_3d_velocity();
state.velocity.z = -vel.vertical_velocity;
state.have_vertical_velocity = true;
}
state.hdop = (uint16_t)(dop.hdop * 100);
state.vdop = (uint16_t)(dop.vdop * 100);
state.horizontal_accuracy = (pos_sigma.sigma_east + pos_sigma.sigma_north) / 2;
state.vertical_accuracy = pos_sigma.sigma_up;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
}
#endif

41
libraries/AP_GPS/AP_GPS_GSOF.h
View File

@ -22,9 +22,10 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#include <AP_GSOF/AP_GSOF.h>
#if AP_GPS_GSOF_ENABLED
class AP_GPS_GSOF : public AP_GPS_Backend
class AP_GPS_GSOF : public AP_GPS_Backend, public AP_GSOF
{
public:
AP_GPS_GSOF(AP_GPS &_gps, AP_GPS::Params &_params, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
@ -56,9 +57,6 @@ private:
FREQ_100_HZ = 16,
};
bool parse(const uint8_t temp) WARN_IF_UNUSED;
bool process_message() WARN_IF_UNUSED;
// Send a request to the GPS to set the baud rate on the specified port.
// Note - these request functions currently ignore the ACK from the device.
// If the device is already sending serial traffic, there is no mechanism to prevent conflict.
@ -67,43 +65,10 @@ private:
// Send a request to the GPS to enable a message type on the port at the specified rate.
void requestGSOF(const uint8_t messageType, const HW_Port portIndex, const Output_Rate rateHz);
double SwapDouble(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
float SwapFloat(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
uint32_t SwapUint32(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
uint16_t SwapUint16(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
bool validate_baud(const uint8_t baud) const WARN_IF_UNUSED;
bool validate_com_port(const uint8_t com_port) const WARN_IF_UNUSED;
struct Msg_Parser
{
enum class State
{
STARTTX = 0,
STATUS,
PACKETTYPE,
LENGTH,
DATA,
CHECKSUM,
ENDTX
};
State state;
uint8_t status;
uint8_t packettype;
uint8_t length;
uint8_t data[256];
uint8_t checksum;
uint8_t endtx;
uint16_t read;
uint8_t checksumcalc;
} msg;
static const uint8_t STX = 0x02;
static const uint8_t ETX = 0x03;
void pack_state_data();
uint8_t packetcount;
uint32_t gsofmsg_time;