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ardupilot/libraries/AP_GPS/AP_GPS_SBP2.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/>.
*/
//
// 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_SBP2_ENABLED
class AP_GPS_SBP2 : public AP_GPS_Backend
{
public:
AP_GPS_SBP2(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;
void inject_data(const uint8_t *data, uint16_t len) override;
static bool _detect(struct SBP2_detect_state &state, uint8_t data);
const char *name() const override { return "SBP2"; }
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 = 0x0102;
static const uint16_t SBP_DOPS_MSGTYPE = 0x0208;
static const uint16_t SBP_POS_ECEF_MSGTYPE = 0x0209;
static const uint16_t SBP_POS_LLH_MSGTYPE = 0x020A;
static const uint16_t SBP_BASELINE_ECEF_MSGTYPE = 0x020B;
static const uint16_t SBP_BASELINE_NED_MSGTYPE = 0x020C;
static const uint16_t SBP_VEL_ECEF_MSGTYPE = 0x020D;
static const uint16_t SBP_VEL_NED_MSGTYPE = 0x020E;
static const uint16_t SBP_TRACKING_STATE_MSGTYPE = 0x0013;
static const uint16_t SBP_IAR_STATE_MSGTYPE = 0x0019;
static const uint16_t SBP_EXT_EVENT_MSGTYPE = 0x0101;
// Heartbeat
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 : 6;
bool ext_antenna_short : 1;
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)
struct PACKED flags {
uint8_t time_src:3; //< Fix mode (0: invalid, 1: GNSS Solution, 2: Propagated
uint8_t res:5; //< Reserved
} flags;
}; // 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)
struct PACKED flags {
uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX, 5: Undefined, 6: SBAS Position
uint8_t res:4; //< Reserved
bool raim_repair:1; //< Solution from RAIM?
} flags;
}; // 15 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
struct PACKED flags {
uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX, 5: Dead Reckoning, 6: SBAS Position
uint8_t ins_mode:2; //< Inertial navigation mode (0: none, 1: INS used)
uint8_t res:3; //< Reserved
} 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
struct PACKED flags {
uint8_t vel_mode:3; //< Velocity mode (0: Invalid, 1: Measured Doppler derived, 2: Computed Doppler derived, 3: Dead reckoning)
uint8_t ins_mode:2; //< Inertial navigation mode (0: none, 1: INS used)
uint8_t res:3; //< Reserved
} flags;
}; // 22 bytes
// Messages reporting accurately-timestamped external events, e.g. camera shutter time.
struct PACKED sbp_ext_event_t {
uint16_t wn; //< GPS week number (unit: weeks)
uint32_t tow; //< GPS Time of Week (unit: ms)
int32_t ns_residual; //< Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)
struct PACKED flags {
uint8_t level:1; //< New level of pin values (0: Low (falling edge), 1: High (rising edge))
uint8_t quality:1; //< Time quality values (0: Unknown - don't have nav solution, 1: Good (< 1 microsecond))
uint8_t res:6; //< Reserved
} flags;
uint8_t pin; //< Pin number (0-9)
}; // 12 bytes
void _sbp_process();
void _sbp_process_message();
bool _attempt_state_update();
// ************************************************************************
// Internal Received Messages State
// ************************************************************************
uint32_t last_heartbeat_received_ms;
uint32_t last_injected_data_ms;
struct sbp_heartbeat_t last_heartbeat;
struct sbp_gps_time_t last_gps_time;
struct sbp_dops_t last_dops;
struct sbp_pos_llh_t last_pos_llh;
struct sbp_vel_ned_t last_vel_ned;
struct sbp_ext_event_t last_event;
uint32_t last_full_update_tow;
uint16_t last_full_update_wn;
// ************************************************************************
// Monitoring and Performance Counting
// ************************************************************************
uint32_t crc_error_counter;
// ************************************************************************
// Logging to AP_Logger
// ************************************************************************
void logging_log_full_update();
void logging_ext_event();
void logging_log_raw_sbp(uint16_t msg_type, uint16_t sender_id, uint8_t msg_len, uint8_t *msg_buff);
int32_t distMod(int32_t tow1_ms, int32_t tow2_ms, int32_t mod);
};
#endif
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