ardupilot/libraries/AP_GPS/AP_GPS_SBF.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/>.
*/
//
// Septentrio GPS driver for ArduPilot.
// Code by Michael Oborne
//
#pragma once
#include "AP_GPS.h"
#include "GPS_Backend.h"
#define SBF_SETUP_MSG "\nsso, Stream1, COM1, PVTGeodetic+DOP+ExtEventPVTGeodetic, msec100\n"
#define SBF_DISK_ACTIVITY (1 << 7)
#define SBF_DISK_FULL (1 << 8)
#define SBF_DISK_MOUNTED (1 << 9)
class AP_GPS_SBF : public AP_GPS_Backend
{
public:
AP_GPS_SBF(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED; }
// Methods
bool read();
const char *name() const override { return "SBF"; }
bool is_configured (void) override;
void broadcast_configuration_failure_reason(void) const override;
// get the velocity lag, returns true if the driver is confident in the returned value
bool get_lag(float &lag_sec) const override { lag_sec = 0.08f; return true; } ;
bool is_healthy(void) const override;
bool prepare_for_arming(void) override;
private:
bool parse(uint8_t temp);
bool process_message();
static const uint8_t SBF_PREAMBLE1 = '$';
static const uint8_t SBF_PREAMBLE2 = '@';
uint8_t _init_blob_index = 0;
uint32_t _init_blob_time = 0;
const char* _initialisation_blob[5] = {
"sso, Stream1, COM1, PVTGeodetic+DOP+ExtEventPVTGeodetic+ReceiverStatus+VelCovGeodetic, msec100\n",
"srd, Moderate, UAV\n",
"sem, PVT, 5\n",
"spm, Rover, all\n",
"sso, Stream2, Dsk1, postprocess+event+comment, msec100\n"};
uint32_t _config_last_ack_time;
const char* _port_enable = "\nSSSSSSSSSS\n";
uint32_t crc_error_counter = 0;
uint32_t RxState;
uint32_t RxError;
void mount_disk(void) const;
void unmount_disk(void) const;
bool _has_been_armed;
enum sbf_ids {
DOP = 4001,
PVTGeodetic = 4007,
ReceiverStatus = 4014,
ExtEventPVTGeodetic = 4038,
VelCovGeodetic = 5908
};
struct PACKED msg4007 // PVTGeodetic
{
uint32_t TOW;
uint16_t WNc;
uint8_t Mode;
uint8_t Error;
double Latitude;
double Longitude;
double Height;
float Undulation;
float Vn;
float Ve;
float Vu;
float COG;
double RxClkBias;
float RxClkDrift;
uint8_t TimeSystem;
uint8_t Datum;
uint8_t NrSV;
uint8_t WACorrInfo;
uint16_t ReferenceID;
uint16_t MeanCorrAge;
uint32_t SignalInfo;
uint8_t AlertFlag;
// rev1
uint8_t NrBases;
uint16_t PPPInfo;
// rev2
uint16_t Latency;
uint16_t HAccuracy;
uint16_t VAccuracy;
uint8_t Misc;
};
struct PACKED msg4001 // DOP
{
uint32_t TOW;
uint16_t WNc;
uint8_t NrSV;
uint8_t Reserved;
uint16_t PDOP;
uint16_t TDOP;
uint16_t HDOP;
uint16_t VDOP;
float HPL;
float VPL;
};
struct PACKED msg4014 // ReceiverStatus (v2)
{
uint32_t TOW;
uint16_t WNc;
uint8_t CPULoad;
uint8_t ExtError;
uint32_t UpTime;
uint32_t RxState;
uint32_t RxError;
// remaining data is AGCData, which we don't have a use for, don't extract the data
};
struct PACKED msg5908 // VelCovGeodetic
{
uint32_t TOW;
uint16_t WNc;
uint8_t Mode;
uint8_t Error;
float Cov_VnVn;
float Cov_VeVe;
float Cov_VuVu;
float Cov_DtDt;
float Cov_VnVe;
float Cov_VnVu;
float Cov_VnDt;
float Cov_VeVu;
float Cov_VeDt;
float Cov_VuDt;
};
union PACKED msgbuffer {
msg4007 msg4007u;
msg4001 msg4001u;
msg4014 msg4014u;
msg5908 msg5908u;
uint8_t bytes[256];
};
struct sbf_msg_parser_t
{
enum
{
PREAMBLE1 = 0,
PREAMBLE2,
CRC1,
CRC2,
BLOCKID1,
BLOCKID2,
LENGTH1,
LENGTH2,
DATA,
COMMAND_LINE // used to parse command responses
} sbf_state;
uint16_t preamble;
uint16_t crc;
uint16_t blockid;
uint16_t length;
msgbuffer data;
uint16_t read;
} sbf_msg;
void log_ExtEventPVTGeodetic(const msg4007 &temp);
enum {
SOFTWARE = (1 << 3), // set upon detection of a software warning or error. This bit is reset by the command <20>lif, error<6F>
WATCHDOG = (1 << 4), // set when the watch-dog expired at least once since the last power-on.
CONGESTION = (1 << 6), // set when an output data congestion has been detected on at least one of the communication ports of the receiver during the last second.
MISSEDEVENT = (1 << 8), // set when an external event congestion has been detected during the last second. It indicates that the receiver is receiving too many events on its EVENTx pins.
CPUOVERLOAD = (1 << 9), // set when the CPU load is larger than 90%. If this bit is set, receiver operation may be unreliable and the user must decrease the processing load by following the recommendations in the User Manual.
INVALIDCONFIG = (1 << 10), // set if one or more configuration file (permission or channel configuration) is invalid or absent.
OUTOFGEOFENCE = (1 << 11), // set if the receiver is currently out of its permitted region of operation (geo-fencing).
};
};