mirror of https://github.com/ArduPilot/ardupilot
223 lines
6.2 KiB
C++
223 lines
6.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
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//
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// This library is free software; you can redistribute it and / or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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//
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
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//
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#include <stdint.h>
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#include <AP_HAL.h>
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#include "AP_GPS_MTK.h"
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// Public Methods //////////////////////////////////////////////////////////////
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void
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AP_GPS_MTK::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting)
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{
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_port = s;
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_port->flush();
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_step = 0;
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// initialize serial port for binary protocol use
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// XXX should assume binary, let GPS_AUTO handle dynamic config?
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_port->print(MTK_SET_BINARY);
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// set 5Hz update rate
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_port->print(MTK_OUTPUT_5HZ);
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// set SBAS on
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_port->print(SBAS_ON);
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// set WAAS on
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_port->print(WAAS_ON);
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// Set Nav Threshold to 0 m/s
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_port->print(MTK_NAVTHRES_OFF);
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// set initial epoch code
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_epoch = TIME_OF_DAY;
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idleTimeout = 1200;
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}
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// Process bytes available from the stream
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//
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// The stream is assumed to contain only our custom message. If it
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// contains other messages, and those messages contain the preamble bytes,
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// it is possible for this code to become de-synchronised. Without
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// buffering the entire message and re-processing it from the top,
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// this is unavoidable.
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//
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// The lack of a standard header length field makes it impossible to skip
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// unrecognised messages.
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//
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bool
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AP_GPS_MTK::read(void)
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{
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uint8_t data;
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int16_t numc;
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bool parsed = false;
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numc = _port->available();
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for (int16_t i = 0; i < numc; i++) { // Process bytes received
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// read the next byte
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data = _port->read();
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restart:
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switch(_step) {
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// Message preamble, class, ID detection
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//
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// If we fail to match any of the expected bytes, we
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// reset the state machine and re-consider the failed
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// byte as the first byte of the preamble. This
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// improves our chances of recovering from a mismatch
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// and makes it less likely that we will be fooled by
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// the preamble appearing as data in some other message.
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//
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case 0:
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if(PREAMBLE1 == data)
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_step++;
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break;
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case 1:
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if (PREAMBLE2 == data) {
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_step++;
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break;
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}
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_step = 0;
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goto restart;
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case 2:
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if (MESSAGE_CLASS == data) {
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_step++;
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_ck_b = _ck_a = data; // reset the checksum accumulators
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} else {
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_step = 0; // reset and wait for a message of the right class
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goto restart;
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}
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break;
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case 3:
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if (MESSAGE_ID == data) {
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_step++;
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_ck_b += (_ck_a += data);
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_payload_counter = 0;
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} else {
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_step = 0;
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goto restart;
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}
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break;
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// Receive message data
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//
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case 4:
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_buffer.bytes[_payload_counter++] = data;
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_ck_b += (_ck_a += data);
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if (_payload_counter == sizeof(_buffer))
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_step++;
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break;
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// Checksum and message processing
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//
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case 5:
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_step++;
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if (_ck_a != data) {
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_error("GPS_MTK: checksum error\n");
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_step = 0;
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}
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break;
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case 6:
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_step = 0;
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if (_ck_b != data) {
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_error("GPS_MTK: checksum error\n");
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break;
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}
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fix = _buffer.msg.fix_type == FIX_3D;
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latitude = _swapl(&_buffer.msg.latitude) * 10;
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longitude = _swapl(&_buffer.msg.longitude) * 10;
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altitude = _swapl(&_buffer.msg.altitude);
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ground_speed = _swapl(&_buffer.msg.ground_speed);
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ground_course = _swapl(&_buffer.msg.ground_course) / 10000;
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num_sats = _buffer.msg.satellites;
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// time from gps is UTC, but convert here to msToD
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int32_t time_utc = _swapl(&_buffer.msg.utc_time);
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int32_t temp = (time_utc/10000000);
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time_utc -= temp*10000000;
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time = temp * 3600000;
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temp = (time_utc/100000);
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time_utc -= temp*100000;
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time += temp * 60000 + time_utc;
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parsed = true;
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}
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}
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return parsed;
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}
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/*
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detect a MTK GPS
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*/
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bool
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AP_GPS_MTK::_detect(uint8_t data)
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{
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static uint8_t payload_counter;
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static uint8_t step;
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static uint8_t ck_a, ck_b;
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switch(step) {
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case 1:
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if (PREAMBLE2 == data) {
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step++;
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break;
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}
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step = 0;
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case 0:
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ck_b = ck_a = payload_counter = 0;
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if(PREAMBLE1 == data)
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step++;
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break;
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case 2:
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if (MESSAGE_CLASS == data) {
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step++;
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ck_b = ck_a = data;
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} else {
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step = 0;
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}
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break;
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case 3:
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if (MESSAGE_ID == data) {
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step++;
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ck_b += (ck_a += data);
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payload_counter = 0;
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} else {
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step = 0;
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}
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break;
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case 4:
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ck_b += (ck_a += data);
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if (++payload_counter == sizeof(struct diyd_mtk_msg))
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step++;
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break;
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case 5:
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step++;
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if (ck_a != data) {
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step = 0;
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}
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break;
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case 6:
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step = 0;
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if (ck_b == data) {
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return true;
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}
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}
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return false;
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}
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