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AP_GPS_NOVA: support tersus/novatel/comnav gps
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- | ||
/* | ||
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/>. | ||
*/ | ||
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// Novatel/Tersus/ComNav GPS driver for ArduPilot. | ||
// Code by Michael Oborne | ||
// Derived from http://www.novatel.com/assets/Documents/Manuals/om-20000129.pdf | ||
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#include "AP_GPS.h" | ||
#include "AP_GPS_NOVA.h" | ||
#include <DataFlash/DataFlash.h> | ||
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extern const AP_HAL::HAL& hal; | ||
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#define NOVA_DEBUGGING 0 | ||
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#if NOVA_DEBUGGING | ||
#include <cstdio> | ||
# define Debug(fmt, args ...) \ | ||
do { \ | ||
printf("%s:%d: " fmt "\n", \ | ||
__FUNCTION__, __LINE__, \ | ||
## args); \ | ||
hal.scheduler->delay(1); \ | ||
} while(0) | ||
#else | ||
# define Debug(fmt, args ...) | ||
#endif | ||
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AP_GPS_NOVA::AP_GPS_NOVA(AP_GPS &_gps, AP_GPS::GPS_State &_state, | ||
AP_HAL::UARTDriver *_port) : | ||
AP_GPS_Backend(_gps, _state, _port), | ||
_new_position(0), | ||
_new_speed(0) | ||
{ | ||
nova_msg.nova_state = nova_msg_parser::PREAMBLE1; | ||
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const char *init_str = _initialisation_blob[0]; | ||
const char *init_str1 = _initialisation_blob[1]; | ||
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port->write((const uint8_t*)init_str, strlen(init_str)); | ||
port->write((const uint8_t*)init_str1, strlen(init_str1)); | ||
} | ||
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// Process all bytes available from the stream | ||
// | ||
bool | ||
AP_GPS_NOVA::read(void) | ||
{ | ||
uint32_t now = AP_HAL::millis(); | ||
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if (_init_blob_index < (sizeof(_initialisation_blob) / sizeof(_initialisation_blob[0]))) { | ||
const char *init_str = _initialisation_blob[_init_blob_index]; | ||
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if (now > _init_blob_time) { | ||
port->write((const uint8_t*)init_str, strlen(init_str)); | ||
_init_blob_time = now + 200; | ||
_init_blob_index++; | ||
} | ||
} | ||
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bool ret = false; | ||
while (port->available() > 0) { | ||
uint8_t temp = port->read(); | ||
ret |= parse(temp); | ||
} | ||
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return ret; | ||
} | ||
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bool | ||
AP_GPS_NOVA::parse(uint8_t temp) | ||
{ | ||
switch (nova_msg.nova_state) | ||
{ | ||
default: | ||
case nova_msg_parser::PREAMBLE1: | ||
if (temp == NOVA_PREAMBLE1) | ||
nova_msg.nova_state = nova_msg_parser::PREAMBLE2; | ||
nova_msg.read = 0; | ||
break; | ||
case nova_msg_parser::PREAMBLE2: | ||
if (temp == NOVA_PREAMBLE2) | ||
{ | ||
nova_msg.nova_state = nova_msg_parser::PREAMBLE3; | ||
} | ||
else | ||
{ | ||
nova_msg.nova_state = nova_msg_parser::PREAMBLE1; | ||
} | ||
break; | ||
case nova_msg_parser::PREAMBLE3: | ||
if (temp == NOVA_PREAMBLE3) | ||
{ | ||
nova_msg.nova_state = nova_msg_parser::HEADERLENGTH; | ||
} | ||
else | ||
{ | ||
nova_msg.nova_state = nova_msg_parser::PREAMBLE1; | ||
} | ||
break; | ||
case nova_msg_parser::HEADERLENGTH: | ||
Debug("NOVA HEADERLENGTH\n"); | ||
nova_msg.header.data[0] = NOVA_PREAMBLE1; | ||
nova_msg.header.data[1] = NOVA_PREAMBLE2; | ||
nova_msg.header.data[2] = NOVA_PREAMBLE3; | ||
nova_msg.header.data[3] = temp; | ||
nova_msg.header.nova_headeru.headerlength = temp; | ||
nova_msg.nova_state = nova_msg_parser::HEADERDATA; | ||
nova_msg.read = 4; | ||
break; | ||
case nova_msg_parser::HEADERDATA: | ||
if (nova_msg.read >= sizeof(nova_msg.header.data)) { | ||
Debug("parse header overflow length=%u\n", (unsigned)nova_msg.read); | ||
nova_msg.nova_state = nova_msg_parser::PREAMBLE1; | ||
break; | ||
} | ||
nova_msg.header.data[nova_msg.read] = temp; | ||
nova_msg.read++; | ||
if (nova_msg.read >= nova_msg.header.nova_headeru.headerlength) | ||
{ | ||
nova_msg.nova_state = nova_msg_parser::DATA; | ||
} | ||
break; | ||
case nova_msg_parser::DATA: | ||
if (nova_msg.read >= sizeof(nova_msg.data)) { | ||
Debug("parse data overflow length=%u msglength=%u\n", (unsigned)nova_msg.read,nova_msg.header.nova_headeru.messagelength); | ||
nova_msg.nova_state = nova_msg_parser::PREAMBLE1; | ||
break; | ||
} | ||
nova_msg.data.bytes[nova_msg.read - nova_msg.header.nova_headeru.headerlength] = temp; | ||
nova_msg.read++; | ||
if (nova_msg.read >= (nova_msg.header.nova_headeru.messagelength + nova_msg.header.nova_headeru.headerlength)) | ||
{ | ||
Debug("NOVA DATA exit\n"); | ||
nova_msg.nova_state = nova_msg_parser::CRC1; | ||
} | ||
break; | ||
case nova_msg_parser::CRC1: | ||
nova_msg.crc = (uint32_t) (temp << 0); | ||
nova_msg.nova_state = nova_msg_parser::CRC2; | ||
break; | ||
case nova_msg_parser::CRC2: | ||
nova_msg.crc += (uint32_t) (temp << 8); | ||
nova_msg.nova_state = nova_msg_parser::CRC3; | ||
break; | ||
case nova_msg_parser::CRC3: | ||
nova_msg.crc += (uint32_t) (temp << 16); | ||
nova_msg.nova_state = nova_msg_parser::CRC4; | ||
break; | ||
case nova_msg_parser::CRC4: | ||
nova_msg.crc += (uint32_t) (temp << 24); | ||
nova_msg.nova_state = nova_msg_parser::PREAMBLE1; | ||
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uint32_t crc = CalculateBlockCRC32((uint32_t)nova_msg.header.nova_headeru.headerlength, (uint8_t *)&nova_msg.header.data, (uint32_t)0); | ||
crc = CalculateBlockCRC32((uint32_t)nova_msg.header.nova_headeru.messagelength, (uint8_t *)&nova_msg.data, crc); | ||
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if (nova_msg.crc == crc) | ||
{ | ||
return process_message(); | ||
} | ||
else | ||
{ | ||
Debug("crc failed"); | ||
crc_error_counter++; | ||
} | ||
break; | ||
} | ||
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return false; | ||
} | ||
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bool | ||
AP_GPS_NOVA::process_message(void) | ||
{ | ||
uint16_t messageid = nova_msg.header.nova_headeru.messageid; | ||
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Debug("NOVA process_message messid=%u\n",messageid); | ||
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if (messageid == 42) // bestpos | ||
{ | ||
const bestpos &bestposu = nova_msg.data.bestposu; | ||
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state.time_week = nova_msg.header.nova_headeru.week; | ||
state.time_week_ms = (uint32_t) nova_msg.header.nova_headeru.tow; | ||
state.last_gps_time_ms = state.time_week_ms; | ||
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state.location.lat = (int32_t) (bestposu.lat*1e7); | ||
state.location.lng = (int32_t) (bestposu.lng*1e7); | ||
state.location.alt = (int32_t) (bestposu.hgt*1e2); | ||
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state.num_sats = bestposu.svsused; | ||
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state.horizontal_accuracy = (float) ((bestposu.latsdev + bestposu.lngsdev)/2); | ||
state.vertical_accuracy = (float) bestposu.hgtsdev; | ||
state.have_horizontal_accuracy = true; | ||
state.have_vertical_accuracy = true; | ||
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if (bestposu.solstat == 0) // have a solution | ||
{ | ||
switch (bestposu.postype) | ||
{ | ||
case 16: | ||
state.status = AP_GPS::GPS_OK_FIX_3D; | ||
break; | ||
case 17: // psrdiff | ||
case 18: // waas | ||
case 20: // omnistar | ||
case 68: // ppp_converg | ||
case 69: // ppp | ||
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS; | ||
break; | ||
case 32: // l1 float | ||
case 33: // iono float | ||
case 34: // narrow float | ||
case 48: // l1 int | ||
case 50: // narrow int | ||
state.status = AP_GPS::GPS_OK_FIX_3D_RTK; | ||
break; | ||
case 0: // NONE | ||
case 1: // FIXEDPOS | ||
case 2: // FIXEDHEIGHT | ||
default: | ||
state.status = AP_GPS::NO_FIX; | ||
break; | ||
} | ||
} | ||
else | ||
{ | ||
state.status = AP_GPS::NO_FIX; | ||
} | ||
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_new_position = true; | ||
} | ||
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if (messageid == 99) // bestvel | ||
{ | ||
const bestvel &bestvelu = nova_msg.data.bestvelu; | ||
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state.ground_speed = (float) bestvelu.horspd; | ||
state.ground_course = (float) bestvelu.trkgnd; | ||
fill_3d_velocity(); | ||
state.velocity.z = -(float) bestvelu.vertspd; | ||
state.have_vertical_velocity = true; | ||
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_last_vel_time = (uint32_t) nova_msg.header.nova_headeru.tow; | ||
_new_speed = true; | ||
} | ||
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if (messageid == 174) // psrdop | ||
{ | ||
const psrdop &psrdopu = nova_msg.data.psrdopu; | ||
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state.hdop = (uint16_t) (psrdopu.hdop*100); | ||
state.vdop = (uint16_t) (psrdopu.htdop*100); | ||
return false; | ||
} | ||
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// ensure out position and velocity stay insync | ||
if (_new_position && _new_speed && _last_vel_time == state.last_gps_time_ms) { | ||
_new_speed = _new_position = false; | ||
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return true; | ||
} | ||
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return false; | ||
} | ||
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void | ||
AP_GPS_NOVA::inject_data(uint8_t *data, uint8_t len) | ||
{ | ||
if (port->txspace() > len) { | ||
last_injected_data_ms = AP_HAL::millis(); | ||
port->write(data, len); | ||
} else { | ||
Debug("NOVA: Not enough TXSPACE"); | ||
} | ||
} | ||
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#define CRC32_POLYNOMIAL 0xEDB88320L | ||
uint32_t AP_GPS_NOVA::CRC32Value(uint32_t icrc) | ||
{ | ||
int i; | ||
uint32_t crc = icrc; | ||
for ( i = 8 ; i > 0; i-- ) | ||
{ | ||
if ( crc & 1 ) | ||
crc = ( crc >> 1 ) ^ CRC32_POLYNOMIAL; | ||
else | ||
crc >>= 1; | ||
} | ||
return crc; | ||
} | ||
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uint32_t AP_GPS_NOVA::CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc) | ||
{ | ||
while ( length-- != 0 ) | ||
{ | ||
crc = ((crc >> 8) & 0x00FFFFFFL) ^ (CRC32Value(((uint32_t) crc ^ *buffer++) & 0xff)); | ||
} | ||
return( crc ); | ||
} |
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