mirror of https://github.com/ArduPilot/ardupilot
139 lines
3.5 KiB
C++
139 lines
3.5 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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// Septentrio GPS driver for ArduPilot.
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// Code by Michael Oborne
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//
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#pragma once
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#include "AP_GPS.h"
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#define SBF_SETUP_MSG "\nsso, Stream1, COM1, PVTGeodetic+DOP+ExtEventPVTGeodetic, msec100\n"
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class AP_GPS_SBF : public AP_GPS_Backend
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{
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public:
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AP_GPS_SBF(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D_RTK; }
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// Methods
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bool read();
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void inject_data(uint8_t *data, uint8_t len);
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private:
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bool parse(uint8_t temp);
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bool process_message();
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static const uint8_t SBF_PREAMBLE1 = '$';
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static const uint8_t SBF_PREAMBLE2 = '@';
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uint8_t _init_blob_index = 0;
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uint32_t _init_blob_time = 0;
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const char* _initialisation_blob[5] = {
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"sso, Stream1, COM1, PVTGeodetic+DOP+ExtEventPVTGeodetic, msec100\n",
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"srd, Moderate, UAV\n",
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"sem, PVT, 5\n",
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"spm, Rover, StandAlone+SBAS+DGPS+RTK\n",
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"sso, Stream2, Dsk1, postprocess+event, msec100\n"};
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uint32_t last_hdop = 999;
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uint32_t crc_error_counter = 0;
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uint32_t last_injected_data_ms = 0;
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bool validcommand = false;
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struct PACKED msg4007
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{
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uint32_t TOW;
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uint16_t WNc;
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uint8_t Mode;
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uint8_t Error;
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double Latitude;
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double Longitude;
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double Height;
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float Undulation;
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float Vn;
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float Ve;
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float Vu;
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float COG;
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double RxClkBias;
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float RxClkDrift;
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uint8_t TimeSystem;
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uint8_t Datum;
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uint8_t NrSV;
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uint8_t WACorrInfo;
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uint16_t ReferenceID;
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uint16_t MeanCorrAge;
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uint32_t SignalInfo;
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uint8_t AlertFlag;
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// rev1
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uint8_t NrBases;
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uint16_t PPPInfo;
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// rev2
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uint16_t Latency;
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uint16_t HAccuracy;
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uint16_t VAccuracy;
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uint8_t Misc;
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};
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struct PACKED msg4001
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{
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uint32_t TOW;
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uint16_t WNc;
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uint8_t NrSV;
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uint8_t Reserved;
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uint16_t PDOP;
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uint16_t TDOP;
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uint16_t HDOP;
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uint16_t VDOP;
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float HPL;
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float VPL;
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};
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union PACKED msgbuffer {
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msg4007 msg4007u;
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msg4001 msg4001u;
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uint8_t bytes[128];
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};
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struct sbf_msg_parser_t
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{
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enum
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{
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PREAMBLE1 = 0,
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PREAMBLE2,
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CRC1,
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CRC2,
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BLOCKID1,
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BLOCKID2,
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LENGTH1,
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LENGTH2,
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DATA
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} sbf_state;
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uint16_t preamble;
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uint16_t crc;
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uint16_t blockid;
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uint16_t length;
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msgbuffer data;
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uint16_t read;
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} sbf_msg;
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void log_ExtEventPVTGeodetic(const msg4007 &temp);
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};
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