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ardupilot/libraries/AP_GPS/AP_GPS_GSOF.cpp

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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/>.
*/
//
// Trimble GPS driver for ArduPilot.
// Code by Michael Oborne
//
// 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 SERIAL3_PROTOCOL 5 // GPS
//
// Pure SITL usage
// param set SIM_GPS_TYPE 11 // GSOF
#define ALLOW_DOUBLE_MATH_FUNCTIONS
#include "AP_GPS.h"
#include "AP_GPS_GSOF.h"
#include <AP_Logger/AP_Logger.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <GCS_MAVLink/GCS.h>
#if AP_GPS_GSOF_ENABLED
extern const AP_HAL::HAL& hal;
// Set this to 1 to enable debug messages
#define gsof_DEBUGGING 0
#if gsof_DEBUGGING
# define Debug(fmt, args ...) \
do { \
hal.console->printf("%u %s:%s:%d: " fmt "\n", \
AP_HAL::millis(), \
__FILE__, \
__FUNCTION__, __LINE__, \
## args); \
hal.scheduler->delay(1); \
} while(0)
#else
# define Debug(fmt, args ...)
#endif
AP_GPS_GSOF::AP_GPS_GSOF(AP_GPS &_gps, AP_GPS::GPS_State &_state,
AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port)
{
// 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.");
static_assert(sizeof(gsofmsgreq) != 0, "gsofmsgreq is not empty");
}
// Process all bytes available from the stream
//
bool
AP_GPS_GSOF::read(void)
{
if (!is_baud_configured) {
// Debug("Baud not configured, not ready to read()");
constexpr uint8_t default_com_port = static_cast<uint8_t>(HW_Port::COM2);
gps._com_port[state.instance].set_default(default_com_port);
const auto com_port = gps._com_port[state.instance].get();
if (!validate_com_port(com_port)) {
// The user parameter for COM port is not a valid GSOF port
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GSOF instance %d has invalid COM port setting of %d", state.instance, com_port);
return false;
}
const HW_Baud baud = HW_Baud::BAUD115K;
// Start by disabling output during config
if (!disableOutput(static_cast<HW_Port>(com_port))) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GSOF instance %d cannot disable output on port %d", state.instance, com_port);
return false;
}
is_baud_configured = requestBaud(static_cast<HW_Port>(com_port), baud);
if (!is_baud_configured) {
// Don't try further configuration if the baud request fails.
return false;
}
}
while (gsofmsgreq_index < sizeof(gsofmsgreq)) {
const auto com_port = gps._com_port[state.instance].get();
if (!validate_com_port(com_port)) {
// The user parameter for COM port is not a valid GSOF port.
return false;
}
const auto success = requestGSOF(gsofmsgreq[gsofmsgreq_index], static_cast<HW_Port>(com_port), Output_Rate::FREQ_10_HZ);
if (!success) {
// Try again to do the rest of the configuration next time.
return false;
} else {
if (gsofmsgreq_index == sizeof(gsofmsgreq) - 1) {
gsof_configured = true;
}
}
gsofmsgreq_index++;
}
if (!gsof_configured) {
Debug("Failed to requestGSOF()");
return false;
}
bool ret = false;
while (port->available() > 0) {
const uint8_t temp = port->read();
#if AP_GPS_DEBUG_LOGGING_ENABLED
log_data(&temp, 1);
#endif
ret |= parse(temp);
}
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;
}
bool
AP_GPS_GSOF::requestBaud(const HW_Port portIndex, const HW_Baud baudRate)
{
Debug("Requesting baud on port %u", (uint8_t)portIndex);
// GSOF is supported on the following bauds:
// 2400, 4800, 9600, 19200, 38400, 115200, 230400
// This packet is not documented in the API.
uint8_t buffer[19] = {0x02,0x00,0x64,0x0d,0x00,0x00,0x00, // application file record
0x03, 0x00, 0x01, 0x00, // file control information block
0x02, 0x04, static_cast<uint8_t>(portIndex), static_cast<uint8_t>(baudRate), 0x00,0x00, // serial port baud format
0x00,0x03
};
populateOutgoingTransNumber(buffer);
populateChecksum(buffer, sizeof(buffer));
return requestResponse(buffer, sizeof(buffer));
}
bool
AP_GPS_GSOF::requestGSOF(const uint8_t messageType, const HW_Port portIndex, const Output_Rate rateHz)
{
Debug("Requesting gsof #%u on port %u", messageType, (uint8_t)portIndex);
// This packet is not documented in the API.
uint8_t buffer[21] = {0x02,0x00,0x64,0x0f,0x00,0x00,0x00, // application file record
0x03,0x00,0x01,0x00, // file control information block
0x07,0x06,0x0a,static_cast<uint8_t>(portIndex),static_cast<uint8_t>(rateHz),0x00,messageType,0x00, // output message record
0x00,0x03
};
populateOutgoingTransNumber(buffer);
populateChecksum(buffer, sizeof(buffer));
return requestResponse(buffer, sizeof(buffer));
}
bool
AP_GPS_GSOF::disableOutput(const HW_Port portIndex) {
Debug("Disabling output on on port %u", (uint8_t)portIndex);
switch(portIndex) {
case HW_Port::COM1:
{
constexpr uint8_t cmd[8] = {
STX,
0x00,
0x51,
0x02,
0x0A,
0x01,
0x5E,
ETX
};
// The checksum is hard-coded.
// No need to calculate it.
return requestResponse(cmd, sizeof(cmd));
}
case HW_Port::COM2:
{
constexpr uint8_t cmd[8] = {
STX,
0x00,
0x51,
0x02,
0x0A,
0x02,
0x5F,
ETX
};
return requestResponse(cmd, sizeof(cmd));
}
}
return false;
}
bool
AP_GPS_GSOF::requestResponse(const uint8_t* buf, const uint8_t len) {
if (!port->is_initialized()) {
Debug("Port not initialized");
return false;
}
for (int attempt = 0; attempt <= configuration_attempts; attempt++) {
// Clear input buffer before doing configuration
if (!port->discard_input()) {
Debug("Failed to discard input");
return false;
};
port->write((const uint8_t*)buf, len);
constexpr uint16_t expected_bytes = 1;
// TODO use wait_timeout instead once HAL_SITL has it implemented.
const auto start_wait = AP_HAL::millis();
auto now = start_wait;
while (now - start_wait <= configuration_wait_time_ms) {
if (port->available() >= expected_bytes) {
break;
}
constexpr uint16_t delay_us = 100;
hal.scheduler->delay_microseconds(delay_us);
now = AP_HAL::millis();
}
const auto available_bytes = port->available();
if (available_bytes != expected_bytes) {
Debug("Didn't get expected bytes, got %u bytes back", available_bytes);
return false;
}
uint8_t resp_code;
if(port->read(resp_code) && resp_code == ACK) {
Debug("Got ack");
return true;
} else {
Debug("Didn't get ACK, got 0x%02x", resp_code);
}
}
return false;
}
void
AP_GPS_GSOF::populateChecksum(uint8_t* buf, const uint8_t len)
{
// The buffer is of size len.
// If ETX is not element buf[len-1], the buf/len numbers are wrong.
// Same problem if the len is too small for a valid packet.
if (len <= 3 || buf[len - 1] != ETX) {
return;
}
// The checksum field is at buf[len - 2]
uint8_t checksum = 0;
const uint8_t payload_size = len - 2;
for (uint8_t i = 1; i < payload_size; i++) {
checksum += buf[i];
}
buf[len -2] = checksum;
}
void
AP_GPS_GSOF::populateOutgoingTransNumber(uint8_t* buf) {
buf[4] = packetOutboundTransNumber++;
}
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
//trans_number is functionally the sequence number.
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 = 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_baud(const uint8_t baud) const {
switch(baud) {
case static_cast<uint8_t>(HW_Baud::BAUD230K):
case static_cast<uint8_t>(HW_Baud::BAUD115K):
return true;
default:
return false;
}
}
bool
AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const {
switch(com_port) {
case static_cast<uint8_t>(HW_Port::COM1):
case static_cast<uint8_t>(HW_Port::COM2):
return true;
default:
return false;
}
}
#endif
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