mirror of https://github.com/ArduPilot/ardupilot
333 lines
11 KiB
C++
333 lines
11 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 <DataFlash/DataFlash.h>
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#include <GCS_MAVLink/GCS.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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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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port->write((const uint8_t*)_initialisation_blob[0], strlen(_initialisation_blob[0]));
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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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uint32_t now = AP_HAL::millis();
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if (_init_blob_index < (sizeof(_initialisation_blob) / sizeof(_initialisation_blob[0]))) {
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const char *init_str = _initialisation_blob[_init_blob_index];
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if (validcommand) {
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_init_blob_index++;
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validcommand = false;
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_init_blob_time = 0;
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}
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if (now > _init_blob_time) {
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port->write((const uint8_t*)init_str, strlen(init_str));
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// if this is too low a race condition on start occurs and the GPS isn't detected
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_init_blob_time = now + 2000;
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}
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}
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bool ret = false;
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while (port->available() > 0) {
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uint8_t temp = port->read();
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ret |= parse(temp);
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}
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return ret;
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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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}
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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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validcommand = true;
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sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
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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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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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Debug("parse overflow length=%u\n", (unsigned)sbf_msg.read);
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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.data.bytes[sbf_msg.read] = temp;
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sbf_msg.read++;
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if (sbf_msg.read >= (sbf_msg.length - 8)) {
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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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}
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return false;
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}
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void
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AP_GPS_SBF::log_ExtEventPVTGeodetic(const msg4007 &temp)
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{
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if (!should_df_log()) {
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return;
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}
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uint64_t now = AP_HAL::micros64();
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struct log_GPS_SBF_EVENT header = {
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LOG_PACKET_HEADER_INIT(LOG_GPS_SBF_EVENT_MSG),
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time_us:now,
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TOW:temp.TOW,
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WNc:temp.WNc,
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Mode:temp.Mode,
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Error:temp.Error,
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Latitude:ToDeg(temp.Latitude),
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Longitude:ToDeg(temp.Longitude),
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Height:temp.Height,
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Undulation:temp.Undulation,
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Vn:temp.Vn,
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Ve:temp.Ve,
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Vu:temp.Vu,
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COG:temp.COG
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};
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DataFlash_Class::instance()->WriteBlock(&header, sizeof(header));
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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 ExtEventPVTGeodetic:
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log_ExtEventPVTGeodetic(sbf_msg.data.msg4007u);
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break;
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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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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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{
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const msg4001 &temp = sbf_msg.data.msg4001u;
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state.hdop = temp.HDOP;
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state.vdop = temp.VDOP;
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break;
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}
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case ReceiverStatus:
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{
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const msg4014 &temp = sbf_msg.data.msg4014u;
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RxState = temp.RxState;
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break;
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}
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case VelCovGeodetic:
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{
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const msg5908 &temp = sbf_msg.data.msg5908u;
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// select the maximum variance, as the EKF will apply it to all the columnds in it's estimate
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// FIXME: Support returning the covariance matric to the EKF
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float max_variance_squared = MAX(temp.Cov_VnVn, MAX(temp.Cov_VeVe, temp.Cov_VuVu));
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if (is_positive(max_variance_squared)) {
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state.have_speed_accuracy = true;
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state.speed_accuracy = sqrt(max_variance_squared);
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} else {
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state.have_speed_accuracy = false;
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}
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break;
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}
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}
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return false;
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}
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void AP_GPS_SBF::broadcast_configuration_failure_reason(void) const
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{
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if (gps._raw_data) {
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if (!(RxState & SBF_DISK_MOUNTED)){
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gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1);
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}
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else if (RxState & SBF_DISK_FULL) {
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gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF disk is full", state.instance + 1);
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}
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else if (!(RxState & SBF_DISK_ACTIVITY)) {
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gcs().send_text(MAV_SEVERITY_INFO, "GPS %d: SBF is not currently logging", state.instance + 1);
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}
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}
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}
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