mirror of https://github.com/ArduPilot/ardupilot
236 lines
7.6 KiB
C++
236 lines
7.6 KiB
C++
// -*- 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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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
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//
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.6, v1.7, v1.8, v1.9"
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//
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// Note that this driver supports both the 1.6 and 1.9 protocol varients
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//
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#include "AP_GPS_MTK.h"
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#include "AP_GPS_MTK19.h"
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extern const AP_HAL::HAL& hal;
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AP_GPS_MTK19::AP_GPS_MTK19(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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_step(0),
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_payload_counter(0),
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_mtk_revision(0),
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_fix_counter(0)
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{
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AP_GPS_MTK::send_init_blob(_state.instance, _gps);
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}
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// Process bytes available from the stream
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//
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// The stream is assumed to contain only our custom message. If it
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// contains other messages, and those messages contain the preamble bytes,
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// it is possible for this code to become de-synchronised. Without
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// buffering the entire message and re-processing it from the top,
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// this is unavoidable.
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//
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// The lack of a standard header length field makes it impossible to skip
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// unrecognised messages.
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//
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bool
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AP_GPS_MTK19::read(void)
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{
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uint8_t data;
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int16_t numc;
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bool parsed = false;
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numc = port->available();
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for (int16_t i = 0; i < numc; i++) { // Process bytes received
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// read the next byte
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data = port->read();
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restart:
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switch(_step) {
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// Message preamble, class, ID detection
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//
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// If we fail to match any of the expected bytes, we
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// reset the state machine and re-consider the failed
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// byte as the first byte of the preamble. This
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// improves our chances of recovering from a mismatch
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// and makes it less likely that we will be fooled by
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// the preamble appearing as data in some other message.
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//
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case 0:
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if (data == PREAMBLE1_V16) {
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_mtk_revision = MTK_GPS_REVISION_V16;
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_step++;
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} else if (data == PREAMBLE1_V19) {
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_mtk_revision = MTK_GPS_REVISION_V19;
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_step++;
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}
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break;
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case 1:
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if (data == PREAMBLE2) {
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_step++;
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} else {
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_step = 0;
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goto restart;
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}
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break;
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case 2:
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if (sizeof(_buffer) == data) {
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_step++;
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_ck_b = _ck_a = data; // reset the checksum accumulators
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_payload_counter = 0;
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} else {
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_step = 0; // reset and wait for a message of the right class
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goto restart;
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}
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break;
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// Receive message data
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//
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case 3:
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_buffer.bytes[_payload_counter++] = data;
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_ck_b += (_ck_a += data);
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if (_payload_counter == sizeof(_buffer)) {
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_step++;
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}
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break;
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// Checksum and message processing
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//
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case 4:
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_step++;
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if (_ck_a != data) {
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_step = 0;
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goto restart;
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}
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break;
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case 5:
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_step = 0;
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if (_ck_b != data) {
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goto restart;
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}
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// parse fix
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if (_buffer.msg.fix_type == FIX_3D || _buffer.msg.fix_type == FIX_3D_SBAS) {
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state.status = AP_GPS::GPS_OK_FIX_3D;
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}else if (_buffer.msg.fix_type == FIX_2D || _buffer.msg.fix_type == FIX_2D_SBAS) {
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state.status = AP_GPS::GPS_OK_FIX_2D;
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}else{
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state.status = AP_GPS::NO_FIX;
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}
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if (_mtk_revision == MTK_GPS_REVISION_V16) {
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state.location.lat = _buffer.msg.latitude * 10; // V16, V17,V18 doc says *10e7 but device says otherwise
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state.location.lng = _buffer.msg.longitude * 10; // V16, V17,V18 doc says *10e7 but device says otherwise
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} else {
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state.location.lat = _buffer.msg.latitude;
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state.location.lng = _buffer.msg.longitude;
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}
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state.location.alt = _buffer.msg.altitude;
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state.ground_speed = _buffer.msg.ground_speed*0.01f;
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state.ground_course = wrap_360(_buffer.msg.ground_course*0.01f);
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state.num_sats = _buffer.msg.satellites;
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state.hdop = _buffer.msg.hdop;
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if (state.status >= AP_GPS::GPS_OK_FIX_2D) {
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if (_fix_counter == 0) {
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uint32_t bcd_time_ms;
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bcd_time_ms = _buffer.msg.utc_time;
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#if 0
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hal.console->printf("utc_date=%lu utc_time=%lu rev=%u\n",
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(unsigned long)_buffer.msg.utc_date,
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(unsigned long)_buffer.msg.utc_time,
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(unsigned)_mtk_revision);
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#endif
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make_gps_time(_buffer.msg.utc_date, bcd_time_ms);
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state.last_gps_time_ms = AP_HAL::millis();
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}
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// the _fix_counter is to reduce the cost of the GPS
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// BCD time conversion by only doing it every 10s
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// between those times we use the HAL system clock as
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// an offset from the last fix
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_fix_counter++;
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if (_fix_counter == 50) {
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_fix_counter = 0;
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}
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}
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fill_3d_velocity();
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parsed = true;
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}
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}
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return parsed;
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}
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/*
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detect a MTK16 or MTK19 GPS
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*/
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bool
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AP_GPS_MTK19::_detect(struct MTK19_detect_state &state, uint8_t data)
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{
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restart:
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switch (state.step) {
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case 0:
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state.ck_b = state.ck_a = state.payload_counter = 0;
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if (data == PREAMBLE1_V16 || data == PREAMBLE1_V19) {
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state.step++;
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}
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break;
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case 1:
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if (PREAMBLE2 == data) {
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state.step++;
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} else {
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state.step = 0;
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goto restart;
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}
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break;
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case 2:
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if (data == sizeof(struct diyd_mtk_msg)) {
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state.step++;
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state.ck_b = state.ck_a = data;
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} else {
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state.step = 0;
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goto restart;
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}
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break;
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case 3:
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state.ck_b += (state.ck_a += data);
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if (++state.payload_counter == sizeof(struct diyd_mtk_msg))
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state.step++;
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break;
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case 4:
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state.step++;
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if (state.ck_a != data) {
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state.step = 0;
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goto restart;
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}
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break;
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case 5:
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state.step = 0;
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if (state.ck_b != data) {
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goto restart;
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}
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return true;
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}
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return false;
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}
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