mirror of https://github.com/ArduPilot/ardupilot
374 lines
12 KiB
C++
374 lines
12 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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// Trimble GPS driver for ArduPilot.
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// Code by Michael Oborne
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//
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// Usage in SITL with hardware for debugging:
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// sim_vehicle.py -v Plane -A "--serial3=uart:/dev/ttyUSB0" --console --map -DG
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// param set GPS_TYPE 11 // GSOF
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// param set SERIAL3_PROTOCOL 5 // GPS
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//
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#define ALLOW_DOUBLE_MATH_FUNCTIONS
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#include "AP_GPS.h"
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#include "AP_GPS_GSOF.h"
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#include <AP_Logger/AP_Logger.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <GCS_MAVLink/GCS.h>
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#if AP_GPS_GSOF_ENABLED
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extern const AP_HAL::HAL& hal;
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#define gsof_DEBUGGING 0
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#if gsof_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_GSOF::AP_GPS_GSOF(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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// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_Overview.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257COverview%257C_____0
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static_assert(ARRAY_SIZE(gsofmsgreq) <= 10, "The maximum number of outputs allowed with GSOF is 10.");
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msg.state = Msg_Parser::State::STARTTX;
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constexpr uint8_t default_com_port = static_cast<uint8_t>(HW_Port::COM2);
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gps._com_port[state.instance].set_default(default_com_port);
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const auto com_port = gps._com_port[state.instance].get();
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if (!validate_com_port(com_port)) {
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// The user parameter for COM port is not a valid GSOF port
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GSOF instance %d has invalid COM port setting of %d", state.instance, com_port);
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return;
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}
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requestBaud(static_cast<HW_Port>(com_port));
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const uint32_t now = AP_HAL::millis();
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gsofmsg_time = now + 110;
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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_GSOF::read(void)
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{
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const uint32_t now = AP_HAL::millis();
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if (gsofmsgreq_index < (sizeof(gsofmsgreq))) {
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const auto com_port = gps._com_port[state.instance].get();
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if (!validate_com_port(com_port)) {
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// The user parameter for COM port is not a valid GSOF port
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return false;
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}
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if (now > gsofmsg_time) {
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requestGSOF(gsofmsgreq[gsofmsgreq_index], static_cast<HW_Port>(com_port), Output_Rate::FREQ_10_HZ);
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gsofmsg_time = now + 110;
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gsofmsgreq_index++;
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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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const uint8_t temp = port->read();
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#if AP_GPS_DEBUG_LOGGING_ENABLED
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log_data(&temp, 1);
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#endif
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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_GSOF::parse(const uint8_t temp)
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{
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// https://receiverhelp.trimble.com/oem-gnss/index.html#API_DataCollectorFormatPacketStructure.html
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switch (msg.state)
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{
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default:
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case Msg_Parser::State::STARTTX:
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if (temp == STX)
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{
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msg.state = Msg_Parser::State::STATUS;
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msg.read = 0;
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msg.checksumcalc = 0;
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}
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break;
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case Msg_Parser::State::STATUS:
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msg.status = temp;
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msg.state = Msg_Parser::State::PACKETTYPE;
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msg.checksumcalc += temp;
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break;
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case Msg_Parser::State::PACKETTYPE:
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msg.packettype = temp;
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msg.state = Msg_Parser::State::LENGTH;
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msg.checksumcalc += temp;
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break;
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case Msg_Parser::State::LENGTH:
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msg.length = temp;
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msg.state = Msg_Parser::State::DATA;
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msg.checksumcalc += temp;
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break;
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case Msg_Parser::State::DATA:
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msg.data[msg.read] = temp;
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msg.read++;
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msg.checksumcalc += temp;
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if (msg.read >= msg.length)
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{
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msg.state = Msg_Parser::State::CHECKSUM;
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}
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break;
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case Msg_Parser::State::CHECKSUM:
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msg.checksum = temp;
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msg.state = Msg_Parser::State::ENDTX;
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if (msg.checksum == msg.checksumcalc)
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{
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return process_message();
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}
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break;
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case Msg_Parser::State::ENDTX:
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msg.endtx = temp;
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msg.state = Msg_Parser::State::STARTTX;
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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_GSOF::requestBaud(const HW_Port portindex)
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{
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uint8_t buffer[19] = {0x02,0x00,0x64,0x0d,0x00,0x00,0x00, // application file record
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0x03, 0x00, 0x01, 0x00, // file control information block
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0x02, 0x04, static_cast<uint8_t>(portindex), 0x07, 0x00,0x00, // serial port baud format
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0x00,0x03
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}; // checksum
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buffer[4] = packetcount++;
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uint8_t checksum = 0;
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for (uint8_t a = 1; a < (sizeof(buffer) - 1); a++) {
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checksum += buffer[a];
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}
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buffer[17] = checksum;
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port->write((const uint8_t*)buffer, sizeof(buffer));
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}
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void
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AP_GPS_GSOF::requestGSOF(const uint8_t messageType, const HW_Port portIndex, const Output_Rate rateHz)
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{
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uint8_t buffer[21] = {0x02,0x00,0x64,0x0f,0x00,0x00,0x00, // application file record
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0x03,0x00,0x01,0x00, // file control information block
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0x07,0x06,0x0a,static_cast<uint8_t>(portIndex),static_cast<uint8_t>(rateHz),0x00,messageType,0x00, // output message record
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0x00,0x03
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}; // checksum
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buffer[4] = packetcount++;
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uint8_t checksum = 0;
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for (uint8_t a = 1; a < (sizeof(buffer) - 1); a++) {
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checksum += buffer[a];
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}
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buffer[19] = checksum;
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port->write((const uint8_t*)buffer, sizeof(buffer));
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}
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double
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AP_GPS_GSOF::SwapDouble(const uint8_t* src, const uint32_t pos) const
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{
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union {
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double d;
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char bytes[sizeof(double)];
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} doubleu;
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doubleu.bytes[0] = src[pos + 7];
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doubleu.bytes[1] = src[pos + 6];
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doubleu.bytes[2] = src[pos + 5];
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doubleu.bytes[3] = src[pos + 4];
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doubleu.bytes[4] = src[pos + 3];
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doubleu.bytes[5] = src[pos + 2];
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doubleu.bytes[6] = src[pos + 1];
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doubleu.bytes[7] = src[pos + 0];
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return doubleu.d;
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}
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float
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AP_GPS_GSOF::SwapFloat(const uint8_t* src, const uint32_t pos) const
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{
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union {
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float f;
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char bytes[sizeof(float)];
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} floatu;
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floatu.bytes[0] = src[pos + 3];
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floatu.bytes[1] = src[pos + 2];
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floatu.bytes[2] = src[pos + 1];
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floatu.bytes[3] = src[pos + 0];
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return floatu.f;
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}
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uint32_t
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AP_GPS_GSOF::SwapUint32(const uint8_t* src, const uint32_t pos) const
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{
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uint32_t u;
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memcpy(&u, &src[pos], sizeof(u));
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return be32toh(u);
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}
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uint16_t
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AP_GPS_GSOF::SwapUint16(const uint8_t* src, const uint32_t pos) const
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{
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uint16_t u;
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memcpy(&u, &src[pos], sizeof(u));
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return be16toh(u);
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}
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bool
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AP_GPS_GSOF::process_message(void)
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{
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if (msg.packettype == 0x40) { // GSOF
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// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_TIME.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____25
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#if gsof_DEBUGGING
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const uint8_t trans_number = msg.data[0];
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const uint8_t pageidx = msg.data[1];
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const uint8_t maxpageidx = msg.data[2];
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Debug("GSOF page: %u of %u (trans_number=%u)",
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pageidx, maxpageidx, trans_number);
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#endif
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int valid = 0;
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// want 1 2 8 9 12
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for (uint32_t a = 3; a < msg.length; a++)
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{
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const uint8_t output_type = msg.data[a];
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a++;
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const uint8_t output_length = msg.data[a];
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a++;
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//Debug("GSOF type: " + output_type + " len: " + output_length);
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if (output_type == 1) // pos time
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{
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// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_TIME.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____25
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state.time_week_ms = SwapUint32(msg.data, a);
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state.time_week = SwapUint16(msg.data, a + 4);
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state.num_sats = msg.data[a + 6];
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const uint8_t posf1 = msg.data[a + 7];
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const uint8_t posf2 = msg.data[a + 8];
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//Debug("POSTIME: " + posf1 + " " + posf2);
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if ((posf1 & 1)) { // New position
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state.status = AP_GPS::GPS_OK_FIX_3D;
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if ((posf2 & 1)) { // Differential position
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state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
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if (posf2 & 2) { // Differential position method
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if (posf2 & 4) {// Differential position method
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state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
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} else {
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state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
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}
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}
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}
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} else {
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state.status = AP_GPS::NO_FIX;
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}
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valid++;
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}
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else if (output_type == 2) // position
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{
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// This packet is not documented in Trimble's receiver help as of May 18, 2023
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state.location.lat = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a)) * (double)1e7);
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state.location.lng = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a + 8)) * (double)1e7);
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state.location.alt = (int32_t)(SwapDouble(msg.data, a + 16) * 100);
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state.last_gps_time_ms = AP_HAL::millis();
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valid++;
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}
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else if (output_type == 8) // velocity
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{
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// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_Velocity.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____32
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const uint8_t vflag = msg.data[a];
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if ((vflag & 1) == 1)
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{
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state.ground_speed = SwapFloat(msg.data, a + 1);
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state.ground_course = degrees(SwapFloat(msg.data, a + 5));
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fill_3d_velocity();
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state.velocity.z = -SwapFloat(msg.data, a + 9);
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state.have_vertical_velocity = true;
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}
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valid++;
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}
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else if (output_type == 9) //dop
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{
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// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_PDOP.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____12
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state.hdop = (uint16_t)(SwapFloat(msg.data, a + 4) * 100);
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valid++;
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}
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else if (output_type == 12) // position sigma
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{
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// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_SIGMA.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____24
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state.horizontal_accuracy = (SwapFloat(msg.data, a + 4) + SwapFloat(msg.data, a + 8)) / 2;
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state.vertical_accuracy = SwapFloat(msg.data, a + 16);
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state.have_horizontal_accuracy = true;
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state.have_vertical_accuracy = true;
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valid++;
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}
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a += output_length-1u;
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}
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if (valid == 5) {
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return true;
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} else {
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state.status = AP_GPS::NO_FIX;
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}
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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_GSOF::validate_com_port(const uint8_t com_port) const {
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switch(com_port) {
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case static_cast<uint8_t>(HW_Port::COM1):
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case static_cast<uint8_t>(HW_Port::COM2):
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return true;
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default:
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return false;
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}
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}
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#endif
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