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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"
#if AP_GPS_SBF_ENABLED
#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::Params &_params, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
~AP_GPS_SBF();
AP_GPS::GPS_Status highest_supported_status(void) override { return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED; }
// Methods
bool read() override;
const char *name() const override { return "SBF"; }
bool is_configured (void) const override;
void broadcast_configuration_failure_reason(void) const override;
#if HAL_GCS_ENABLED
bool supports_mavlink_gps_rtk_message(void) const override { return true; };
#endif
// 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 logging_healthy(void) const override;
bool prepare_for_arming(void) override;
bool get_error_codes(uint32_t &error_codes) const override { error_codes = RxError; return true; };
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;
uint32_t _init_blob_time;
enum class Config_State {
Baud_Rate,
SSO,
Blob,
SBAS,
SGA,
Complete
};
Config_State config_step;
char *config_string;
static constexpr const char* _initialisation_blob[] = {
"srd,Moderate,UAV",
"sem,PVT,5",
"spm,Rover,all",
"sso,Stream2,Dsk1,postprocess+event+comment+ReceiverStatus,msec100",
#if defined (GPS_SBF_EXTRA_CONFIG)
GPS_SBF_EXTRA_CONFIG
#endif
};
static constexpr const char* sbas_off = "sst, -SBAS";
static constexpr const char* sbas_on_blob[] = {
"snt,+GEOL1+GEOL5",
"sst,+SBAS",
"ssbc,auto,Operational,MixedSystems,auto",
};
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,
BaseVectorGeod = 4028,
VelCovGeodetic = 5908,
AttEulerCov = 5939,
AuxAntPositions = 5942,
};
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 VectorInfoGeod {
uint8_t NrSV;
uint8_t Error;
uint8_t Mode;
uint8_t Misc;
double DeltaEast;
double DeltaNorth;
double DeltaUp;
float DeltaVe;
float DeltaVn;
float DeltaVu;
uint16_t Azimuth;
int16_t Elevation;
uint8_t ReferenceID;
uint16_t CorrAge;
uint32_t SignalInfo;
};
struct PACKED msg4028 // BaseVectorGeod
{
uint32_t TOW;
uint16_t WNc;
uint8_t N; // number of baselines
uint8_t SBLength;
VectorInfoGeod info; // there can be multiple baselines here, but we will only consume the first one, so don't worry about anything after
};
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;
};
struct PACKED msg5939 // AttEulerCoV
{
uint32_t TOW; // receiver time stamp, 0.001s
uint16_t WNc; // receiver time stamp, 1 week
uint8_t Reserved; // unused
uint8_t Error; // error code. bit 0-1:antenna 1, bit 2-3:antenna2, bit 7: when att not requested
// 00b:no error, 01b:not enough meausurements, 10b:antennas are on one line, 11b:inconsistent with manual anntena pos info
float Cov_HeadHead; // heading estimate variance
float Cov_PitchPitch; // pitch estimate variance
float Cov_RollRoll; // roll estimate variance
float Cov_HeadPitch; // covariance between Euler angle estimates. Always set to Do-No-Use values
float Cov_HeadRoll;
float Cov_PitchRoll;
};
struct PACKED AuxAntPositionSubBlock {
uint8_t NrSV; // total number of satellites tracked by the antenna
uint8_t Error; // aux antenna position error code
uint8_t AmbiguityType; // aux antenna positions obtained with 0: fixed ambiguities, 1: float ambiguities
uint8_t AuxAntID; // aux antenna ID: 1 for the first auxiliary antenna, 2 for the second, etc.
double DeltaEast; // position in East direction (relative to main antenna)
double DeltaNorth; // position in North direction (relative to main antenna)
double DeltaUp; // position in Up direction (relative to main antenna)
double EastVel; // velocity in East direction (relative to main antenna)
double NorthVel; // velocity in North direction (relative to main antenna)
double UpVel; // velocity in Up direction (relative to main antenna)
};
struct PACKED msg5942 // AuxAntPositions
{
uint32_t TOW;
uint16_t WNc;
uint8_t N; // number of AuxAntPosition sub-blocks in this AuxAntPositions block
uint8_t SBLength; // length of one sub-block in bytes
AuxAntPositionSubBlock ant1; // first aux antennas position
};
union PACKED msgbuffer {
msg4007 msg4007u;
msg4001 msg4001u;
msg4014 msg4014u;
msg4028 msg4028u;
msg5908 msg5908u;
msg5939 msg5939u;
msg5942 msg5942u;
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;
enum {
SOFTWARE = (1 << 3), // set upon detection of a software warning or error. This bit is reset by the command lif, error
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).
};
static constexpr const char *portIdentifiers[] = { "COM", "USB", "IP1", "NTR", "IPS", "IPR" };
char portIdentifier[5];
uint8_t portLength;
bool readyForCommand;
};
#endif
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