/* 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 . */ // // Swift Navigation SBP GPS driver for ArduPilot. // Code by Niels Joubert // // Swift Binary Protocol format: http://docs.swift-nav.com/ // #pragma once #include "AP_GPS.h" #include "GPS_Backend.h" class AP_GPS_SBP2 : public AP_GPS_Backend { public: AP_GPS_SBP2(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); AP_GPS::GPS_Status highest_supported_status(void) override { return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED; } // Methods bool read() override; void inject_data(const uint8_t *data, uint16_t len) override; static bool _detect(struct SBP2_detect_state &state, uint8_t data); const char *name() const override { return "SBP2"; } private: // ************************************************************************ // Swift Navigation SBP protocol types and definitions // ************************************************************************ struct sbp_parser_state_t { enum { WAITING = 0, GET_TYPE = 1, GET_SENDER = 2, GET_LEN = 3, GET_MSG = 4, GET_CRC = 5 } state:8; uint16_t msg_type; uint16_t sender_id; uint16_t crc; uint8_t msg_len; uint8_t n_read; uint8_t msg_buff[256]; } parser_state; static const uint8_t SBP_PREAMBLE = 0x55; // Message types supported by this driver static const uint16_t SBP_STARTUP_MSGTYPE = 0xFF00; static const uint16_t SBP_HEARTBEAT_MSGTYPE = 0xFFFF; static const uint16_t SBP_GPS_TIME_MSGTYPE = 0x0102; static const uint16_t SBP_DOPS_MSGTYPE = 0x0208; static const uint16_t SBP_POS_ECEF_MSGTYPE = 0x0209; static const uint16_t SBP_POS_LLH_MSGTYPE = 0x020A; static const uint16_t SBP_BASELINE_ECEF_MSGTYPE = 0x020B; static const uint16_t SBP_BASELINE_NED_MSGTYPE = 0x020C; static const uint16_t SBP_VEL_ECEF_MSGTYPE = 0x020D; static const uint16_t SBP_VEL_NED_MSGTYPE = 0x020E; static const uint16_t SBP_TRACKING_STATE_MSGTYPE = 0x0013; static const uint16_t SBP_IAR_STATE_MSGTYPE = 0x0019; static const uint16_t SBP_EXT_EVENT_MSGTYPE = 0x0101; // Heartbeat struct PACKED sbp_heartbeat_t { bool sys_error : 1; bool io_error : 1; bool nap_error : 1; uint8_t res : 5; uint8_t protocol_minor : 8; uint8_t protocol_major : 8; uint8_t res2 : 6; bool ext_antenna_short : 1; bool ext_antenna : 1; }; // 4 bytes // GPS Time struct PACKED sbp_gps_time_t { uint16_t wn; //< GPS week number (unit: weeks) uint32_t tow; //< GPS Time of Week rounded to the nearest ms (unit: ms) int32_t ns; //< Nanosecond remainder of rounded tow (unit: ns) struct PACKED flags { uint8_t time_src:3; //< Fix mode (0: invalid, 1: GNSS Solution, 2: Propagated uint8_t res:5; //< Reserved } flags; }; // 11 bytes // Dilution of Precision struct PACKED sbp_dops_t { uint32_t tow; //< GPS Time of Week (unit: ms) uint16_t gdop; //< Geometric Dilution of Precision (unit: 0.01) uint16_t pdop; //< Position Dilution of Precision (unit: 0.01) uint16_t tdop; //< Time Dilution of Precision (unit: 0.01) uint16_t hdop; //< Horizontal Dilution of Precision (unit: 0.01) uint16_t vdop; //< Vertical Dilution of Precision (unit: 0.01) struct PACKED flags { uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX, 5: Undefined, 6: SBAS Position uint8_t res:4; //< Reserved bool raim_repair:1; //< Solution from RAIM? } flags; }; // 15 bytes // Geodetic position solution. struct PACKED sbp_pos_llh_t { uint32_t tow; //< GPS Time of Week (unit: ms) double lat; //< Latitude (unit: degrees) double lon; //< Longitude (unit: degrees) double height; //< Height (unit: meters) uint16_t h_accuracy; //< Horizontal position accuracy estimate (unit: mm) uint16_t v_accuracy; //< Vertical position accuracy estimate (unit: mm) uint8_t n_sats; //< Number of satellites used in solution struct PACKED flags { uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX, 5: Dead Reckoning, 6: SBAS Position uint8_t ins_mode:2; //< Inertial navigation mode (0: none, 1: INS used) uint8_t res:3; //< Reserved } flags; }; // 34 bytes // Velocity in NED Velocity in local North East Down (NED) coordinates. struct PACKED sbp_vel_ned_t { uint32_t tow; //< GPS Time of Week (unit: ms) int32_t n; //< Velocity North coordinate (unit: mm/s) int32_t e; //< Velocity East coordinate (unit: mm/s) int32_t d; //< Velocity Down coordinate (unit: mm/s) uint16_t h_accuracy; //< Horizontal velocity accuracy estimate (unit: mm/s) uint16_t v_accuracy; //< Vertical velocity accuracy estimate (unit: mm/s) uint8_t n_sats; //< Number of satellites used in solution struct PACKED flags { uint8_t vel_mode:3; //< Velocity mode (0: Invalid, 1: Measured Doppler derived, 2: Computed Doppler derived, 3: Dead reckoning) uint8_t ins_mode:2; //< Inertial navigation mode (0: none, 1: INS used) uint8_t res:3; //< Reserved } flags; }; // 22 bytes // Messages reporting accurately-timestamped external events, e.g. camera shutter time. struct PACKED sbp_ext_event_t { uint16_t wn; //< GPS week number (unit: weeks) uint32_t tow; //< GPS Time of Week (unit: ms) int32_t ns_residual; //< Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000) struct PACKED flags { uint8_t level:1; //< New level of pin values (0: Low (falling edge), 1: High (rising edge)) uint8_t quality:1; //< Time quality values (0: Unknown - don't have nav solution, 1: Good (< 1 microsecond)) uint8_t res:6; //< Reserved } flags; uint8_t pin; //< Pin number (0-9) }; // 12 bytes void _sbp_process(); void _sbp_process_message(); bool _attempt_state_update(); // ************************************************************************ // Internal Received Messages State // ************************************************************************ uint32_t last_heartbeat_received_ms; uint32_t last_injected_data_ms; struct sbp_heartbeat_t last_heartbeat; struct sbp_gps_time_t last_gps_time; struct sbp_dops_t last_dops; struct sbp_pos_llh_t last_pos_llh; struct sbp_vel_ned_t last_vel_ned; struct sbp_ext_event_t last_event; uint32_t last_full_update_tow; uint16_t last_full_update_wn; // ************************************************************************ // Monitoring and Performance Counting // ************************************************************************ uint32_t crc_error_counter; // ************************************************************************ // Logging to AP_Logger // ************************************************************************ void logging_log_full_update(); void logging_ext_event(); void logging_log_raw_sbp(uint16_t msg_type, uint16_t sender_id, uint8_t msg_len, uint8_t *msg_buff); int32_t distMod(int32_t tow1_ms, int32_t tow2_ms, int32_t mod); };