mirror of https://github.com/ArduPilot/ardupilot
141 lines
3.4 KiB
C++
141 lines
3.4 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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// Emlid Reach Binary (ERB) GPS driver for ArduPilot.
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// ERB protocol: http://files.emlid.com/ERB.pdf
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_GPS.h"
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#include "GPS_Backend.h"
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class AP_GPS_ERB : public AP_GPS_Backend
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{
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public:
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AP_GPS_ERB(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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// Methods
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bool read();
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AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D_RTK; }
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static bool _detect(struct ERB_detect_state &state, uint8_t data);
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private:
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struct PACKED erb_header {
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uint8_t preamble1;
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uint8_t preamble2;
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uint8_t msg_id;
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uint16_t length;
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};
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struct PACKED erb_ver {
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uint32_t time;
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uint8_t ver_high;
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uint8_t ver_medium;
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uint8_t ver_low;
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};
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struct PACKED erb_pos {
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uint32_t time;
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double longitude;
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double latitude;
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double altitude_ellipsoid;
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double altitude_msl;
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uint32_t horizontal_accuracy;
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uint32_t vertical_accuracy;
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};
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struct PACKED erb_stat {
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uint32_t time;
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uint16_t week;
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uint8_t fix_type;
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uint8_t fix_status;
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uint8_t satellites;
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};
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struct PACKED erb_dops {
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uint32_t time;
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uint16_t gDOP;
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uint16_t pDOP;
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uint16_t vDOP;
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uint16_t hDOP;
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};
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struct PACKED erb_vel {
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uint32_t time;
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int32_t vel_north;
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int32_t vel_east;
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int32_t vel_down;
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uint32_t speed_2d;
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int32_t heading_2d;
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uint32_t speed_accuracy;
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};
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// Receive buffer
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union PACKED {
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DEFINE_BYTE_ARRAY_METHODS
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erb_ver ver;
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erb_pos pos;
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erb_stat stat;
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erb_dops dops;
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erb_vel vel;
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} _buffer;
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enum erb_protocol_bytes {
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PREAMBLE1 = 0x45,
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PREAMBLE2 = 0x52,
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MSG_VER = 0x01,
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MSG_POS = 0x02,
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MSG_STAT = 0x03,
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MSG_DOPS = 0x04,
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MSG_VEL = 0x05,
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};
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enum erb_fix_type {
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FIX_NONE = 0x00,
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FIX_SINGLE = 0x01,
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FIX_FLOAT = 0x02,
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FIX_FIX = 0x03,
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};
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// Packet checksum accumulators
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uint8_t _ck_a;
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uint8_t _ck_b;
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// State machine state
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uint8_t _step;
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uint8_t _msg_id;
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uint16_t _payload_length;
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uint16_t _payload_counter;
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// 8 bit count of fix messages processed, used for periodic processing
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uint8_t _fix_count;
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uint32_t _last_pos_time;
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uint32_t _last_vel_time;
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// do we have new position information?
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bool _new_position:1;
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// do we have new speed information?
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bool _new_speed:1;
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// Buffer parse & GPS state update
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bool _parse_gps();
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void inject_data(const uint8_t *data, uint16_t len) override;
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// used to update fix between status and position packets
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AP_GPS::GPS_Status next_fix;
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};
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