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ardupilot/libraries/AP_GPS/AP_GPS_UAVCAN.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/>.
*/
//
// UAVCAN GPS driver
//
#include <AP_HAL/AP_HAL.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_GPS_UAVCAN.h"
#include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp>
#include <uavcan/equipment/gnss/Auxiliary.hpp>
extern const AP_HAL::HAL& hal;
#define LOG_TAG "GPS"
UC_REGISTRY_BINDER(FixCb, uavcan::equipment::gnss::Fix);
UC_REGISTRY_BINDER(Fix2Cb, uavcan::equipment::gnss::Fix2);
UC_REGISTRY_BINDER(AuxCb, uavcan::equipment::gnss::Auxiliary);
AP_GPS_UAVCAN::DetectedModules AP_GPS_UAVCAN::_detected_modules[] = {0};
HAL_Semaphore AP_GPS_UAVCAN::_sem_registry;
// Member Methods
AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state) :
AP_GPS_Backend(_gps, _state, nullptr)
{}
AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
{
WITH_SEMAPHORE(_sem_registry);
_detected_modules[_detected_module].driver = nullptr;
}
void AP_GPS_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
{
if (ap_uavcan == nullptr) {
return;
}
auto* node = ap_uavcan->get_node();
uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCb> *gnss_fix;
gnss_fix = new uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCb>(*node);
const int gnss_fix_start_res = gnss_fix->start(FixCb(ap_uavcan, &handle_fix_msg_trampoline));
if (gnss_fix_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2Cb> *gnss_fix2;
gnss_fix2 = new uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2Cb>(*node);
const int gnss_fix2_start_res = gnss_fix2->start(Fix2Cb(ap_uavcan, &handle_fix2_msg_trampoline));
if (gnss_fix2_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxCb> *gnss_aux;
gnss_aux = new uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxCb>(*node);
const int gnss_aux_start_res = gnss_aux->start(AuxCb(ap_uavcan, &handle_aux_msg_trampoline));
if (gnss_aux_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
}
AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* backend = nullptr;
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) {
backend = new AP_GPS_UAVCAN(_gps, _state);
if (backend == nullptr) {
AP::can().log_text(AP_CANManager::LOG_ERROR,
LOG_TAG,
"Failed to register UAVCAN GPS Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index());
} else {
_detected_modules[i].driver = backend;
backend->_detected_module = i;
AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
"Registered UAVCAN GPS Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index());
}
break;
}
}
return backend;
}
AP_GPS_UAVCAN* AP_GPS_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id)
{
if (ap_uavcan == nullptr) {
return nullptr;
}
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[i].driver != nullptr &&
_detected_modules[i].ap_uavcan == ap_uavcan &&
_detected_modules[i].node_id == node_id) {
return _detected_modules[i].driver;
}
}
bool already_detected = false;
// Check if there's an empty spot for possible registeration
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[i].ap_uavcan == ap_uavcan && _detected_modules[i].node_id == node_id) {
// Already Detected
already_detected = true;
break;
}
}
if (!already_detected) {
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[i].ap_uavcan == nullptr) {
_detected_modules[i].ap_uavcan = ap_uavcan;
_detected_modules[i].node_id = node_id;
break;
}
}
}
return nullptr;
}
void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
{
if (seen_fix2) {
// use Fix2 instead
return;
}
bool process = false;
WITH_SEMAPHORE(sem);
if (cb.msg->status == uavcan::equipment::gnss::Fix::STATUS_NO_FIX) {
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
} else {
if (cb.msg->status == uavcan::equipment::gnss::Fix::STATUS_TIME_ONLY) {
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
} else if (cb.msg->status == uavcan::equipment::gnss::Fix::STATUS_2D_FIX) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_2D;
process = true;
} else if (cb.msg->status == uavcan::equipment::gnss::Fix::STATUS_3D_FIX) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_3D;
process = true;
}
if (cb.msg->gnss_time_standard == uavcan::equipment::gnss::Fix::GNSS_TIME_STANDARD_UTC) {
uint64_t epoch_ms = uavcan::UtcTime(cb.msg->gnss_timestamp).toUSec();
if (epoch_ms != 0) {
epoch_ms /= 1000;
uint64_t gps_ms = epoch_ms - UNIX_OFFSET_MSEC;
interim_state.time_week = (uint16_t)(gps_ms / AP_MSEC_PER_WEEK);
interim_state.time_week_ms = (uint32_t)(gps_ms - (interim_state.time_week) * AP_MSEC_PER_WEEK);
}
}
}
if (process) {
Location loc = { };
loc.lat = cb.msg->latitude_deg_1e8 / 10;
loc.lng = cb.msg->longitude_deg_1e8 / 10;
loc.alt = cb.msg->height_msl_mm / 10;
interim_state.location = loc;
if (!uavcan::isNaN(cb.msg->ned_velocity[0])) {
Vector3f vel(cb.msg->ned_velocity[0], cb.msg->ned_velocity[1], cb.msg->ned_velocity[2]);
interim_state.velocity = vel;
interim_state.ground_speed = norm(vel.x, vel.y);
interim_state.ground_course = wrap_360(degrees(atan2f(vel.y, vel.x)));
interim_state.have_vertical_velocity = true;
} else {
interim_state.have_vertical_velocity = false;
}
float pos_cov[9];
cb.msg->position_covariance.unpackSquareMatrix(pos_cov);
if (!uavcan::isNaN(pos_cov[8])) {
if (pos_cov[8] > 0) {
interim_state.vertical_accuracy = sqrtf(pos_cov[8]);
interim_state.have_vertical_accuracy = true;
} else {
interim_state.have_vertical_accuracy = false;
}
} else {
interim_state.have_vertical_accuracy = false;
}
const float horizontal_pos_variance = MAX(pos_cov[0], pos_cov[4]);
if (!uavcan::isNaN(horizontal_pos_variance)) {
if (horizontal_pos_variance > 0) {
interim_state.horizontal_accuracy = sqrtf(horizontal_pos_variance);
interim_state.have_horizontal_accuracy = true;
} else {
interim_state.have_horizontal_accuracy = false;
}
} else {
interim_state.have_horizontal_accuracy = false;
}
float vel_cov[9];
cb.msg->velocity_covariance.unpackSquareMatrix(vel_cov);
if (!uavcan::isNaN(vel_cov[0])) {
interim_state.speed_accuracy = sqrtf((vel_cov[0] + vel_cov[4] + vel_cov[8]) / 3.0);
interim_state.have_speed_accuracy = true;
} else {
interim_state.have_speed_accuracy = false;
}
interim_state.num_sats = cb.msg->sats_used;
} else {
interim_state.have_vertical_velocity = false;
interim_state.have_vertical_accuracy = false;
interim_state.have_horizontal_accuracy = false;
interim_state.have_speed_accuracy = false;
interim_state.num_sats = 0;
}
if (!seen_aux) {
// if we haven't seen an Aux message then populate vdop and
// hdop from pdop. Some GPS modules don't provide the Aux message
interim_state.hdop = interim_state.vdop = cb.msg->pdop * 100.0;
}
interim_state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;
if (!seen_message) {
if (interim_state.status == AP_GPS::GPS_Status::NO_GPS) {
// the first time we see a fix message we change from
// NO_GPS to NO_FIX, indicating to user that a UAVCAN GPS
// has been seen
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
}
seen_message = true;
}
}
void AP_GPS_UAVCAN::handle_fix2_msg(const Fix2Cb &cb)
{
bool process = false;
seen_fix2 = true;
WITH_SEMAPHORE(sem);
if (cb.msg->status == uavcan::equipment::gnss::Fix2::STATUS_NO_FIX) {
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
} else {
if (cb.msg->status == uavcan::equipment::gnss::Fix2::STATUS_TIME_ONLY) {
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
} else if (cb.msg->status == uavcan::equipment::gnss::Fix2::STATUS_2D_FIX) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_2D;
process = true;
} else if (cb.msg->status == uavcan::equipment::gnss::Fix2::STATUS_3D_FIX) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_3D;
process = true;
}
if (cb.msg->gnss_time_standard == uavcan::equipment::gnss::Fix2::GNSS_TIME_STANDARD_UTC) {
uint64_t epoch_ms = uavcan::UtcTime(cb.msg->gnss_timestamp).toUSec();
if (epoch_ms != 0) {
epoch_ms /= 1000;
uint64_t gps_ms = epoch_ms - UNIX_OFFSET_MSEC;
interim_state.time_week = (uint16_t)(gps_ms / AP_MSEC_PER_WEEK);
interim_state.time_week_ms = (uint32_t)(gps_ms - (interim_state.time_week) * AP_MSEC_PER_WEEK);
}
}
if (interim_state.status == AP_GPS::GPS_Status::GPS_OK_FIX_3D) {
if (cb.msg->mode == uavcan::equipment::gnss::Fix2::MODE_DGPS) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS;
} else if (cb.msg->mode == uavcan::equipment::gnss::Fix2::MODE_RTK) {
if (cb.msg->sub_mode == uavcan::equipment::gnss::Fix2::SUB_MODE_RTK_FLOAT) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT;
} else if (cb.msg->sub_mode == uavcan::equipment::gnss::Fix2::SUB_MODE_RTK_FIXED) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED;
}
}
}
}
if (process) {
Location loc = { };
loc.lat = cb.msg->latitude_deg_1e8 / 10;
loc.lng = cb.msg->longitude_deg_1e8 / 10;
loc.alt = cb.msg->height_msl_mm / 10;
interim_state.location = loc;
if (!uavcan::isNaN(cb.msg->ned_velocity[0])) {
Vector3f vel(cb.msg->ned_velocity[0], cb.msg->ned_velocity[1], cb.msg->ned_velocity[2]);
interim_state.velocity = vel;
interim_state.ground_speed = norm(vel.x, vel.y);
interim_state.ground_course = wrap_360(degrees(atan2f(vel.y, vel.x)));
interim_state.have_vertical_velocity = true;
} else {
interim_state.have_vertical_velocity = false;
}
if (cb.msg->covariance.size() == 6) {
if (!uavcan::isNaN(cb.msg->covariance[0])) {
interim_state.horizontal_accuracy = sqrtf(cb.msg->covariance[0]);
interim_state.have_horizontal_accuracy = true;
} else {
interim_state.have_horizontal_accuracy = false;
}
if (!uavcan::isNaN(cb.msg->covariance[2])) {
interim_state.vertical_accuracy = sqrtf(cb.msg->covariance[2]);
interim_state.have_vertical_accuracy = true;
} else {
interim_state.have_vertical_accuracy = false;
}
if (!uavcan::isNaN(cb.msg->covariance[3]) &&
!uavcan::isNaN(cb.msg->covariance[4]) &&
!uavcan::isNaN(cb.msg->covariance[5])) {
interim_state.speed_accuracy = sqrtf((cb.msg->covariance[3] + cb.msg->covariance[4] + cb.msg->covariance[5])/3);
interim_state.have_speed_accuracy = true;
} else {
interim_state.have_speed_accuracy = false;
}
}
interim_state.num_sats = cb.msg->sats_used;
} else {
interim_state.have_vertical_velocity = false;
interim_state.have_vertical_accuracy = false;
interim_state.have_horizontal_accuracy = false;
interim_state.have_speed_accuracy = false;
interim_state.num_sats = 0;
}
if (!seen_aux) {
// if we haven't seen an Aux message then populate vdop and
// hdop from pdop. Some GPS modules don't provide the Aux message
interim_state.hdop = interim_state.vdop = cb.msg->pdop * 100.0;
}
interim_state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;
if (!seen_message) {
if (interim_state.status == AP_GPS::GPS_Status::NO_GPS) {
// the first time we see a fix message we change from
// NO_GPS to NO_FIX, indicating to user that a UAVCAN GPS
// has been seen
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
}
seen_message = true;
}
}
void AP_GPS_UAVCAN::handle_aux_msg(const AuxCb &cb)
{
WITH_SEMAPHORE(sem);
if (!uavcan::isNaN(cb.msg->hdop)) {
seen_aux = true;
interim_state.hdop = cb.msg->hdop * 100.0;
}
if (!uavcan::isNaN(cb.msg->vdop)) {
seen_aux = true;
interim_state.vdop = cb.msg->vdop * 100.0;
}
}
void AP_GPS_UAVCAN::handle_fix_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const FixCb &cb)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id);
if (driver != nullptr) {
driver->handle_fix_msg(cb);
}
}
void AP_GPS_UAVCAN::handle_fix2_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Fix2Cb &cb)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id);
if (driver != nullptr) {
driver->handle_fix2_msg(cb);
}
}
void AP_GPS_UAVCAN::handle_aux_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AuxCb &cb)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id);
if (driver != nullptr) {
driver->handle_aux_msg(cb);
}
}
// Consume new data and mark it received
bool AP_GPS_UAVCAN::read(void)
{
WITH_SEMAPHORE(sem);
if (_new_data) {
_new_data = false;
// the encoding of accuracies in UAVCAN can result in infinite
// values. These cause problems with blending. Use 1000m and 1000m/s instead
interim_state.horizontal_accuracy = MIN(interim_state.horizontal_accuracy, 1000.0);
interim_state.vertical_accuracy = MIN(interim_state.vertical_accuracy, 1000.0);
interim_state.speed_accuracy = MIN(interim_state.speed_accuracy, 1000.0);
state = interim_state;
return true;
}
if (!seen_message) {
// start with NO_GPS until we get first packet
state.status = AP_GPS::GPS_Status::NO_GPS;
}
return false;
}
/*
handle RTCM data from MAVLink GPS_RTCM_DATA, forwarding it over MAVLink
*/
void AP_GPS_UAVCAN::inject_data(const uint8_t *data, uint16_t len)
{
// we only handle this if we are the first UAVCAN GPS, as we send
// the data as broadcast on all UAVCAN devive ports and we don't
// want to send duplicates
if (_detected_module == 0) {
_detected_modules[0].ap_uavcan->send_RTCMStream(data, len);
}
}
#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
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