/* 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 . */ // // 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" #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; } #if HAL_GCS_ENABLED bool supports_mavlink_gps_rtk_message() const override { return true; } #endif // 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