mirror of https://github.com/ArduPilot/ardupilot
617 lines
25 KiB
C++
617 lines
25 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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// Septentrio GPS driver for ArduPilot.
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// Code by Michael Oborne
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//
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#include "AP_GPS.h"
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#include "AP_GPS_SBF.h"
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#include <GCS_MAVLink/GCS.h>
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#include <AP_InternalError/AP_InternalError.h>
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#include <stdio.h>
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#include <ctype.h>
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extern const AP_HAL::HAL& hal;
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#define SBF_DEBUGGING 0
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#if SBF_DEBUGGING
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# define Debug(fmt, args ...) \
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do { \
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hal.console->printf("%s:%d: " fmt "\n", \
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__FUNCTION__, __LINE__, \
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## args); \
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hal.scheduler->delay(1); \
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} while(0)
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#else
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# define Debug(fmt, args ...)
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#endif
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#ifndef GPS_SBF_STREAM_NUMBER
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#define GPS_SBF_STREAM_NUMBER 1
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#endif
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#define SBF_EXCESS_COMMAND_BYTES 5 // 2 start bytes + validity byte + space byte + endline byte
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#define RX_ERROR_MASK (CONGESTION | \
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MISSEDEVENT | \
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CPUOVERLOAD | \
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INVALIDCONFIG | \
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OUTOFGEOFENCE)
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constexpr const char *AP_GPS_SBF::portIdentifiers[];
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constexpr const char* AP_GPS_SBF::_initialisation_blob[];
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constexpr const char* AP_GPS_SBF::sbas_on_blob[];
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AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps, AP_GPS::GPS_State &_state,
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AP_HAL::UARTDriver *_port) :
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AP_GPS_Backend(_gps, _state, _port)
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{
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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_config_last_ack_time = AP_HAL::millis();
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// if we ever parse RTK observations it will always be of type NED, so set it once
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state.rtk_baseline_coords_type = RTK_BASELINE_COORDINATE_SYSTEM_NED;
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if (driver_options() & DriverOptions::SBF_UseBaseForYaw) {
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state.gps_yaw_configured = true;
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}
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}
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AP_GPS_SBF::~AP_GPS_SBF (void) {
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free(config_string);
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}
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// Process all bytes available from the stream
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//
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bool
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AP_GPS_SBF::read(void)
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{
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bool ret = false;
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uint32_t available_bytes = port->available();
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for (uint32_t i = 0; i < available_bytes; i++) {
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uint8_t temp = port->read();
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ret |= parse(temp);
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}
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if (gps._auto_config != AP_GPS::GPS_AUTO_CONFIG_DISABLE) {
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if (config_step != Config_State::Complete) {
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uint32_t now = AP_HAL::millis();
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if (now > _init_blob_time) {
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if (now > _config_last_ack_time + 2000) {
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const size_t port_enable_len = strlen(_port_enable);
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if (port_enable_len <= port->txspace()) {
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// try to enable input on the GPS port if we have not made progress on configuring it
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Debug("SBF Sending port enable");
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port->write((const uint8_t*)_port_enable, port_enable_len);
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_config_last_ack_time = now;
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}
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} else if (readyForCommand) {
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if (config_string == nullptr) {
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switch (config_step) {
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case Config_State::Baud_Rate:
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if (asprintf(&config_string, "scs,COM%d,baud%d,bits8,No,bit1,%s\n",
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(int)gps._com_port[state.instance],
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230400,
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port->get_flow_control() != AP_HAL::UARTDriver::flow_control::FLOW_CONTROL_ENABLE ? "none" : "RTS|CTS") == -1) {
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config_string = nullptr;
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}
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break;
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case Config_State::SSO:
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if (asprintf(&config_string, "sso,Stream%d,COM%d,PVTGeodetic+DOP+ReceiverStatus+VelCovGeodetic+BaseVectorGeod,msec100\n",
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(int)GPS_SBF_STREAM_NUMBER,
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(int)gps._com_port[state.instance]) == -1) {
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config_string = nullptr;
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}
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break;
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case Config_State::Blob:
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if (asprintf(&config_string, "%s\n", _initialisation_blob[_init_blob_index]) == -1) {
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config_string = nullptr;
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}
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break;
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case Config_State::SBAS:
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switch ((AP_GPS::SBAS_Mode)gps._sbas_mode) {
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case AP_GPS::SBAS_Mode::Disabled:
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if (asprintf(&config_string, "%s\n", sbas_off) == -1) {
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config_string = nullptr;
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}
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break;
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case AP_GPS::SBAS_Mode::Enabled:
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if (asprintf(&config_string, "%s\n", sbas_on_blob[_init_blob_index]) == -1) {
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config_string = nullptr;
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}
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break;
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case AP_GPS::SBAS_Mode::DoNotChange:
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config_string = nullptr;
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config_step = Config_State::Complete;
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break;
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}
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break;
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case Config_State::Complete:
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// should never reach here, why search for a config if we have fully configured already
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
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break;
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}
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}
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if (config_string != nullptr) {
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const size_t config_length = strlen(config_string);
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if (config_length <= port->txspace()) {
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Debug("SBF sending init string: %s", config_string);
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port->write((const uint8_t*)config_string, config_length);
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readyForCommand = false;
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}
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}
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}
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}
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} else if (gps._raw_data == 2) { // only manage disarm/rearms when the user opts into it
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if (hal.util->get_soft_armed()) {
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_has_been_armed = true;
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} else if (_has_been_armed && (RxState & SBF_DISK_MOUNTED)) {
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// since init is done at this point and unmounting should be rate limited,
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// take over the _init_blob_time variable
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uint32_t now = AP_HAL::millis();
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if (now > _init_blob_time) {
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unmount_disk();
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_init_blob_time = now + 1000;
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}
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}
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}
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}
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return ret;
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}
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bool AP_GPS_SBF::logging_healthy(void) const
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{
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switch (gps._raw_data) {
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case 1:
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default:
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return (RxState & SBF_DISK_MOUNTED) && (RxState & SBF_DISK_ACTIVITY);
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case 2:
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return ((RxState & SBF_DISK_MOUNTED) && (RxState & SBF_DISK_ACTIVITY)) || (!hal.util->get_soft_armed() && _has_been_armed);
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}
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}
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bool
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AP_GPS_SBF::parse(uint8_t temp)
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{
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switch (sbf_msg.sbf_state)
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{
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default:
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case sbf_msg_parser_t::PREAMBLE1:
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if (temp == SBF_PREAMBLE1) {
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE2;
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sbf_msg.read = 0;
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} else {
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// attempt to detect command prompt
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portIdentifier[portLength++] = (char)temp;
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bool foundPossiblePort = false;
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for (const char *portId : portIdentifiers) {
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if (strncmp(portId, portIdentifier, MIN(portLength, 3)) == 0) {
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// we found one of the COM/USB/IP related ports
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if (portLength == 4) {
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// validate that we have an ascii number
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if (isdigit((char)temp)) {
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foundPossiblePort = true;
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break;
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}
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} else if (portLength >= sizeof(portIdentifier)) {
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if ((char)temp == '>') {
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readyForCommand = true;
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Debug("SBF: Ready for command");
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}
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} else {
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foundPossiblePort = true;
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}
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break;
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}
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}
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if (!foundPossiblePort) {
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portLength = 0;
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}
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}
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break;
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case sbf_msg_parser_t::PREAMBLE2:
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if (temp == SBF_PREAMBLE2) {
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sbf_msg.sbf_state = sbf_msg_parser_t::CRC1;
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} else if (temp == 'R') {
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Debug("SBF got a response\n");
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sbf_msg.sbf_state = sbf_msg_parser_t::COMMAND_LINE;
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}
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else
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{
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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}
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break;
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case sbf_msg_parser_t::CRC1:
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sbf_msg.crc = temp;
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sbf_msg.sbf_state = sbf_msg_parser_t::CRC2;
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break;
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case sbf_msg_parser_t::CRC2:
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sbf_msg.crc += (uint16_t)(temp << 8);
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sbf_msg.sbf_state = sbf_msg_parser_t::BLOCKID1;
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break;
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case sbf_msg_parser_t::BLOCKID1:
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sbf_msg.blockid = temp;
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sbf_msg.sbf_state = sbf_msg_parser_t::BLOCKID2;
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break;
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case sbf_msg_parser_t::BLOCKID2:
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sbf_msg.blockid += (uint16_t)(temp << 8);
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sbf_msg.sbf_state = sbf_msg_parser_t::LENGTH1;
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break;
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case sbf_msg_parser_t::LENGTH1:
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sbf_msg.length = temp;
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sbf_msg.sbf_state = sbf_msg_parser_t::LENGTH2;
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break;
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case sbf_msg_parser_t::LENGTH2:
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sbf_msg.length += (uint16_t)(temp << 8);
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sbf_msg.sbf_state = sbf_msg_parser_t::DATA;
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if (sbf_msg.length % 4 != 0) {
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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Debug("bad packet length=%u\n", (unsigned)sbf_msg.length);
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}
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if (sbf_msg.length < 8) {
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Debug("bad packet length=%u\n", (unsigned)sbf_msg.length);
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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crc_error_counter++; // this is a probable buffer overflow, but this
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// indicates not enough bytes to do a crc
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break;
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}
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break;
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case sbf_msg_parser_t::DATA:
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if (sbf_msg.read < sizeof(sbf_msg.data)) {
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sbf_msg.data.bytes[sbf_msg.read] = temp;
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}
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sbf_msg.read++;
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if (sbf_msg.read >= (sbf_msg.length - 8)) {
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if (sbf_msg.read > sizeof(sbf_msg.data)) {
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// not interested in these large messages
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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break;
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}
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uint16_t crc = crc16_ccitt((uint8_t*)&sbf_msg.blockid, 2, 0);
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crc = crc16_ccitt((uint8_t*)&sbf_msg.length, 2, crc);
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crc = crc16_ccitt((uint8_t*)&sbf_msg.data, sbf_msg.length - 8, crc);
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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if (sbf_msg.crc == crc) {
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return process_message();
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} else {
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Debug("crc fail\n");
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crc_error_counter++;
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}
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}
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break;
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case sbf_msg_parser_t::COMMAND_LINE:
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if (sbf_msg.read < (sizeof(sbf_msg.data) - 1)) {
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sbf_msg.data.bytes[sbf_msg.read] = temp;
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} else {
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// we don't have enough buffer to compare the commands
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// most probable cause is that a user injected a longer command then
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// we have buffer for, or it could be a corruption, either way we
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// simply ignore the result
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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break;
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}
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sbf_msg.read++;
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if (temp == '\n') {
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sbf_msg.data.bytes[sbf_msg.read] = 0;
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// received the result, lets assess it
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if (sbf_msg.data.bytes[0] == ':') {
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// valid command, determine if it was the one we were trying
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// to send in the configuration sequence
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if (config_string != nullptr) {
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if (!strncmp(config_string, (char *)(sbf_msg.data.bytes + 2),
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sbf_msg.read - SBF_EXCESS_COMMAND_BYTES)) {
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Debug("SBF Ack Command: %s\n", sbf_msg.data.bytes);
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free(config_string);
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config_string = nullptr;
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switch (config_step) {
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case Config_State::Baud_Rate:
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config_step = Config_State::SSO;
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break;
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case Config_State::SSO:
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config_step = Config_State::Blob;
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break;
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case Config_State::Blob:
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_init_blob_index++;
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if (_init_blob_index >= ARRAY_SIZE(_initialisation_blob)) {
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config_step = Config_State::SBAS;
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_init_blob_index = 0;
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}
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break;
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case Config_State::SBAS:
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_init_blob_index++;
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if ((gps._sbas_mode == AP_GPS::SBAS_Mode::Disabled)
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||_init_blob_index >= ARRAY_SIZE(sbas_on_blob)) {
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config_step = Config_State::Complete;
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}
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break;
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case Config_State::Complete:
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// should never reach here, this implies that we validated a config string when we hadn't sent any
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
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break;
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}
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_config_last_ack_time = AP_HAL::millis();
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} else {
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Debug("SBF Ack command (unexpected): %s\n", sbf_msg.data.bytes);
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}
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}
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} else {
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// rejected command, send it out as a debug
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Debug("SBF NACK Command: %s\n", sbf_msg.data.bytes);
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}
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// resume normal parsing
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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break;
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}
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break;
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}
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return false;
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}
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bool
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AP_GPS_SBF::process_message(void)
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{
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uint16_t blockid = (sbf_msg.blockid & 8191u);
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Debug("BlockID %d", blockid);
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switch (blockid) {
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case PVTGeodetic:
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{
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const msg4007 &temp = sbf_msg.data.msg4007u;
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// Update time state
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if (temp.WNc != 65535) {
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state.time_week = temp.WNc;
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state.time_week_ms = (uint32_t)(temp.TOW);
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}
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check_new_itow(temp.TOW, sbf_msg.length);
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state.last_gps_time_ms = AP_HAL::millis();
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// Update velocity state (don't use −2·10^10)
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if (temp.Vn > -200000) {
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state.velocity.x = (float)(temp.Vn);
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state.velocity.y = (float)(temp.Ve);
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state.velocity.z = (float)(-temp.Vu);
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state.have_vertical_velocity = true;
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float ground_vector_sq = state.velocity[0] * state.velocity[0] + state.velocity[1] * state.velocity[1];
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state.ground_speed = (float)safe_sqrt(ground_vector_sq);
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state.ground_course = wrap_360(degrees(atan2f(state.velocity[1], state.velocity[0])));
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state.rtk_age_ms = temp.MeanCorrAge * 10;
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// value is expressed as twice the rms error = int16 * 0.01/2
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state.horizontal_accuracy = (float)temp.HAccuracy * 0.005f;
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state.vertical_accuracy = (float)temp.VAccuracy * 0.005f;
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state.have_horizontal_accuracy = true;
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state.have_vertical_accuracy = true;
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}
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// Update position state (don't use -2·10^10)
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if (temp.Latitude > -200000) {
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state.location.lat = (int32_t)(temp.Latitude * RAD_TO_DEG_DOUBLE * (double)1e7);
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state.location.lng = (int32_t)(temp.Longitude * RAD_TO_DEG_DOUBLE * (double)1e7);
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state.location.alt = (int32_t)(((float)temp.Height - temp.Undulation) * 1e2f);
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}
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if (temp.NrSV != 255) {
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state.num_sats = temp.NrSV;
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}
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Debug("temp.Mode=0x%02x\n", (unsigned)temp.Mode);
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switch (temp.Mode & 15) {
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case 0: // no pvt
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state.status = AP_GPS::NO_FIX;
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break;
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case 1: // standalone
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state.status = AP_GPS::GPS_OK_FIX_3D;
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break;
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case 2: // dgps
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state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
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break;
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case 3: // fixed location
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state.status = AP_GPS::GPS_OK_FIX_3D;
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break;
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case 4: // rtk fixed
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state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
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break;
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case 5: // rtk float
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state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
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break;
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case 6: // sbas
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state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
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break;
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case 7: // moving rtk fixed
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state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
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break;
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case 8: // moving rtk float
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state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
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break;
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}
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if ((temp.Mode & 64) > 0) { // gps is in base mode
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state.status = AP_GPS::NO_FIX;
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} else if ((temp.Mode & 128) > 0) { // gps only has 2d fix
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state.status = AP_GPS::GPS_OK_FIX_2D;
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}
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return true;
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}
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case DOP:
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{
|
||
const msg4001 &temp = sbf_msg.data.msg4001u;
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
|
||
state.hdop = temp.HDOP;
|
||
state.vdop = temp.VDOP;
|
||
break;
|
||
}
|
||
case ReceiverStatus:
|
||
{
|
||
const msg4014 &temp = sbf_msg.data.msg4014u;
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
RxState = temp.RxState;
|
||
if ((RxError & RX_ERROR_MASK) != (temp.RxError & RX_ERROR_MASK)) {
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF error changed (0x%08x/0x%08x)", (unsigned int)(state.instance + 1),
|
||
(unsigned int)(RxError & RX_ERROR_MASK), (unsigned int)(temp.RxError & RX_ERROR_MASK));
|
||
}
|
||
RxError = temp.RxError;
|
||
break;
|
||
}
|
||
case VelCovGeodetic:
|
||
{
|
||
const msg5908 &temp = sbf_msg.data.msg5908u;
|
||
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
// select the maximum variance, as the EKF will apply it to all the columns in it's estimate
|
||
// FIXME: Support returning the covariance matrix to the EKF
|
||
float max_variance_squared = MAX(temp.Cov_VnVn, MAX(temp.Cov_VeVe, temp.Cov_VuVu));
|
||
if (is_positive(max_variance_squared)) {
|
||
state.have_speed_accuracy = true;
|
||
state.speed_accuracy = sqrt(max_variance_squared);
|
||
} else {
|
||
state.have_speed_accuracy = false;
|
||
}
|
||
break;
|
||
}
|
||
case BaseVectorGeod:
|
||
{
|
||
#pragma GCC diagnostic push
|
||
#pragma GCC diagnostic ignored "-Wfloat-equal" // suppress -Wfloat-equal as it's false positive when testing for DNU values
|
||
const msg4028 &temp = sbf_msg.data.msg4028u;
|
||
|
||
// just breakout any consts we need for Do Not Use (DNU) reasons
|
||
constexpr double doubleDNU = -2e-10;
|
||
constexpr uint16_t uint16DNU = 65535;
|
||
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
|
||
if (temp.N == 0) { // no sub blocks so just bail, we can't do anything useful here
|
||
state.rtk_num_sats = 0;
|
||
state.rtk_age_ms = 0;
|
||
state.rtk_baseline_y_mm = 0;
|
||
state.rtk_baseline_x_mm = 0;
|
||
state.rtk_baseline_z_mm = 0;
|
||
break;
|
||
}
|
||
|
||
state.rtk_num_sats = temp.info.NrSV;
|
||
|
||
state.rtk_age_ms = (temp.info.CorrAge != 65535) ? ((uint32_t)temp.info.CorrAge) * 10 : 0;
|
||
|
||
// copy the position as long as the data isn't DNU, we require NED, and heading before accepting any of it
|
||
if ((temp.info.DeltaEast != doubleDNU) && (temp.info.DeltaNorth != doubleDNU) && (temp.info.DeltaUp != doubleDNU) &&
|
||
(temp.info.Azimuth != uint16DNU)) {
|
||
|
||
state.rtk_baseline_y_mm = temp.info.DeltaEast * 1e3;
|
||
state.rtk_baseline_x_mm = temp.info.DeltaNorth * 1e3;
|
||
state.rtk_baseline_z_mm = temp.info.DeltaUp * -1e3;
|
||
|
||
#if GPS_MOVING_BASELINE
|
||
// copy the baseline data as a yaw source
|
||
if (driver_options() & DriverOptions::SBF_UseBaseForYaw) {
|
||
calculate_moving_base_yaw(temp.info.Azimuth * 0.01f + 180.0f,
|
||
Vector3f(temp.info.DeltaNorth, temp.info.DeltaEast, temp.info.DeltaUp).length(),
|
||
-temp.info.DeltaUp);
|
||
}
|
||
#endif // GPS_MOVING_BASELINE
|
||
|
||
} else {
|
||
state.rtk_baseline_y_mm = 0;
|
||
state.rtk_baseline_x_mm = 0;
|
||
state.rtk_baseline_z_mm = 0;
|
||
state.have_gps_yaw = false;
|
||
}
|
||
|
||
#pragma GCC diagnostic pop
|
||
break;
|
||
}
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
void AP_GPS_SBF::broadcast_configuration_failure_reason(void) const
|
||
{
|
||
if (gps._auto_config != AP_GPS::GPS_AUTO_CONFIG_DISABLE &&
|
||
config_step != Config_State::Complete) {
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF is not fully configured (%u/%u/%u/%u)",
|
||
state.instance + 1,
|
||
(unsigned)config_step,
|
||
_init_blob_index,
|
||
(unsigned)ARRAY_SIZE(_initialisation_blob),
|
||
(unsigned)ARRAY_SIZE(sbas_on_blob));
|
||
}
|
||
}
|
||
|
||
bool AP_GPS_SBF::is_configured (void) const {
|
||
return ((gps._auto_config == AP_GPS::GPS_AUTO_CONFIG_DISABLE) ||
|
||
(config_step == Config_State::Complete));
|
||
}
|
||
|
||
bool AP_GPS_SBF::is_healthy (void) const {
|
||
return (RxError & RX_ERROR_MASK) == 0;
|
||
}
|
||
|
||
void AP_GPS_SBF::mount_disk (void) const {
|
||
const char* command = "emd, DSK1, Mount\n";
|
||
Debug("Mounting disk");
|
||
port->write((const uint8_t*)command, strlen(command));
|
||
}
|
||
|
||
void AP_GPS_SBF::unmount_disk (void) const {
|
||
const char* command = "emd, DSK1, Unmount\n";
|
||
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "SBF unmounting disk");
|
||
port->write((const uint8_t*)command, strlen(command));
|
||
}
|
||
|
||
bool AP_GPS_SBF::prepare_for_arming(void) {
|
||
bool is_logging = true; // assume that its logging until proven otherwise
|
||
if (gps._raw_data) {
|
||
if (!(RxState & SBF_DISK_MOUNTED)){
|
||
is_logging = false;
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1);
|
||
|
||
// simply attempt to mount the disk, no need to check if the command was
|
||
// ACK/NACK'd as we don't continuously attempt to remount the disk
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: Attempting to mount disk", state.instance + 1);
|
||
mount_disk();
|
||
// reset the flag to indicate if we should be logging
|
||
_has_been_armed = false;
|
||
}
|
||
else if (RxState & SBF_DISK_FULL) {
|
||
is_logging = false;
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF disk is full", state.instance + 1);
|
||
}
|
||
else if (!(RxState & SBF_DISK_ACTIVITY)) {
|
||
is_logging = false;
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF is not currently logging", state.instance + 1);
|
||
}
|
||
}
|
||
|
||
return is_logging;
|
||
}
|