mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.6 KiB
C++
114 lines
3.6 KiB
C++
/*
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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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// Trimble GPS driver for ArduPilot.
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// Code by Michael Oborne
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// https://receiverhelp.trimble.com/oem-gnss/index.html#Welcome.html?TocPath=_____1
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#pragma once
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#include "AP_GPS.h"
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#include "GPS_Backend.h"
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#if AP_GPS_GSOF_ENABLED
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class AP_GPS_GSOF : public AP_GPS_Backend
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{
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public:
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AP_GPS_GSOF(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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AP_GPS::GPS_Status highest_supported_status(void) override WARN_IF_UNUSED {
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return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
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}
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// Methods
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bool read() override WARN_IF_UNUSED;
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const char *name() const override { return "GSOF"; }
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private:
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// A subset of the port identifiers in the GSOF protocol that are used for serial.
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// Ethernet, USB, etc are not supported by the GPS driver at this time so they are omitted.
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// These values are not documented in the API.
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enum class HW_Port {
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COM1 = 0, // RS232 serial
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COM2 = 1, // TTL serial
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};
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// A subset of the data frequencies in the GSOF protocol that are used for serial.
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// These values are not documented in the API.
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enum class Output_Rate {
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FREQ_10_HZ = 1,
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FREQ_50_HZ = 15,
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FREQ_100_HZ = 16,
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};
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bool parse(const uint8_t temp) WARN_IF_UNUSED;
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bool process_message() WARN_IF_UNUSED;
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// Send a request to the GPS to set the baud rate on the specified port.
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// Note - these request functions currently ignore the ACK from the device.
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// If the device is already sending serial traffic, there is no mechanism to prevent conflict.
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// According to the manufacturer, the best approach is to switch to ethernet.
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void requestBaud(const HW_Port portIndex);
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// Send a request to the GPS to enable a message type on the port at the specified rate.
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void requestGSOF(const uint8_t messageType, const HW_Port portIndex, const Output_Rate rateHz);
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double SwapDouble(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
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float SwapFloat(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
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uint32_t SwapUint32(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
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uint16_t SwapUint16(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
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bool validate_baud(const uint8_t baud) const WARN_IF_UNUSED;
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bool validate_com_port(const uint8_t com_port) const WARN_IF_UNUSED;
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struct Msg_Parser
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{
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enum class State
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{
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STARTTX = 0,
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STATUS,
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PACKETTYPE,
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LENGTH,
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DATA,
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CHECKSUM,
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ENDTX
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};
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State state;
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uint8_t status;
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uint8_t packettype;
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uint8_t length;
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uint8_t data[256];
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uint8_t checksum;
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uint8_t endtx;
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uint16_t read;
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uint8_t checksumcalc;
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} msg;
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static const uint8_t STX = 0x02;
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static const uint8_t ETX = 0x03;
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uint8_t packetcount;
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uint32_t gsofmsg_time;
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uint8_t gsofmsgreq_index;
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const uint8_t gsofmsgreq[5] = {1,2,8,9,12};
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};
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#endif
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