mirror of
https://github.com/ArduPilot/ardupilot.git
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SITL: break up GPS backends into separate files
This commit is contained in:
Peter Barker
committed by
Andrew Tridgell
Andrew Tridgell
parent
0a4eb251c6
commit
568d633dcc
+25
-1537
File diff suppressed because it is too large
Load Diff
+22
-241
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,67 @@
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#include "SIM_config.h"
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#if AP_SIM_GPS_FILE_ENABLED
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#include "SIM_GPS_FILE.h"
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#include <AP_HAL/AP_HAL.h>
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#include <SITL/SITL.h>
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extern const AP_HAL::HAL& hal;
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using namespace SITL;
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/*
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read file data logged from AP_GPS_DEBUG_LOGGING_ENABLED
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*/
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void GPS_FILE::publish(const GPS_Data *d)
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{
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static int fd[2] = {-1,-1};
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static uint32_t base_time[2];
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const uint16_t lognum = uint16_t(_sitl->gps_log_num.get());
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if (instance > 1) {
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return;
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}
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if (fd[instance] == -1) {
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char fname[] = "gpsN_NNN.log";
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hal.util->snprintf(fname, 13, "gps%u_%03u.log", instance+1, lognum);
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fd[instance] = open(fname, O_RDONLY|O_CLOEXEC);
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if (fd[instance] == -1) {
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return;
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}
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}
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const uint32_t magic = 0x7fe53b04;
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struct {
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uint32_t magic;
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uint32_t time_ms;
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uint32_t n;
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} header;
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uint8_t *buf = nullptr;
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while (true) {
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if (::read(fd[instance], (void *)&header, sizeof(header)) != sizeof(header) ||
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header.magic != magic) {
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goto rewind_file;
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}
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if (header.time_ms+base_time[instance] > AP_HAL::millis()) {
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// not ready for this data yet
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::lseek(fd[instance], -sizeof(header), SEEK_CUR);
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return;
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}
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buf = new uint8_t[header.n];
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if (buf != nullptr && ::read(fd[instance], buf, header.n) == ssize_t(header.n)) {
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write_to_autopilot((const char *)buf, header.n);
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delete[] buf;
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buf = nullptr;
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continue;
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}
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goto rewind_file;
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}
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rewind_file:
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::printf("GPS[%u] rewind\n", unsigned(instance));
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base_time[instance] = AP_HAL::millis();
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::lseek(fd[instance], 0, SEEK_SET);
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delete[] buf;
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}
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#endif // AP_SIM_GPS_FILE_ENABLED
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@@ -0,0 +1,20 @@
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#include "SIM_config.h"
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#if AP_SIM_GPS_FILE_ENABLED
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#include "SIM_GPS.h"
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namespace SITL {
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class GPS_FILE : public GPS_Backend {
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public:
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CLASS_NO_COPY(GPS_FILE);
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using GPS_Backend::GPS_Backend;
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void publish(const GPS_Data *d) override;
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};
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};
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#endif // AP_SIM_GPS_FILE_ENABLED
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,149 @@
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#pragma once
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#include "SIM_config.h"
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#if AP_SIM_GPS_GSOF_ENABLED
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#include "SIM_GPS.h"
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namespace SITL {
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class DCOL_Parser {
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// The DCOL parser is used by Trimble GSOF devices.
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// It's used for doing configuration.
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// https://receiverhelp.trimble.com/oem-gnss/API_DataCollectorFormatPackets.html
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public:
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// Feed data in to the DCOL parser.
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// If the data reaches a parse state that needs to write ACK/NACK back out,
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// the function returns true with a populated data_out value.
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// Otherwise, it returns false waiting for more data.
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bool dcol_parse(const char data_in);
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static constexpr uint8_t STX = 0x02;
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static constexpr uint8_t ETX = 0x03;
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// Receiver status code
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enum class Status : uint8_t {
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OK = 0x00,
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};
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// https://receiverhelp.trimble.com/oem-gnss/API_DataCollectorFormatPackets.html
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enum class Command_Response : uint8_t {
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ACK = 0x06,
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NACK = 0x15,
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};
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// https://receiverhelp.trimble.com/oem-gnss/ICD_Command64h_AppFile_Output.html#Frequenc
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enum class Output_Rate : uint8_t {
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OFF = 0,
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FREQ_10_HZ = 1,
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FREQ_50_HZ = 15,
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FREQ_100_HZ = 16,
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};
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// https://receiverhelp.trimble.com/oem-gnss/ICD_ApplicationFilePackets.html?tocpath=API%20Documentation%7CCommand%20and%20report%20packets%7CApplication%20file%20packets%7C_____0
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enum class Packet_Type : uint8_t {
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COMMAND_APPFILE = 0x64,
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};
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// https://receiverhelp.trimble.com/oem-gnss/ICD_Pkt_Command64h_APPFILE.html
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enum class Appfile_Record_Type : uint8_t {
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SERIAL_PORT_BAUD_RATE_FORMAT = 0x02,
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OUTPUT_MESSAGE = 0x07,
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};
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// https://receiverhelp.trimble.com/oem-gnss/ICD_Command64h_AppFile_Output.html#Output
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enum class Output_Msg_Msg_Type : uint8_t {
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GSOF = 10,
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};
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// https://receiverhelp.trimble.com/oem-gnss/ICD_Command64h_AppFile_Output.html#Output2
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enum class Gsof_Msg_Record_Type : uint8_t {
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POSITION_TIME = 1,
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LLH = 2,
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VELOCITY_DATA = 8,
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PDOP_INFO = 9,
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POSITION_SIGMA_INFO = 12,
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};
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protected:
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// https://receiverhelp.trimble.com/oem-gnss/API_DataCollectorFormatPacketStructure.html
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static constexpr uint8_t MAX_PAYLOAD_SIZE = 255;
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// GSOF supports this many different packet types.
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// Only a fraction are supported by the simulator.
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// Waste some RAM and allocate arrays for the whole set.
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// https://receiverhelp.trimble.com/oem-gnss/ICD_Command64h_AppFile_Output.html#Output2
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static constexpr uint8_t MAX_CHANNEL_NUM = 70;
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// Rates of dynamically enabled channels.
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// Assume factory behavior of no enabled channels.
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// Each channel can send data out at its own rate.
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Output_Rate channel_rates[MAX_CHANNEL_NUM] = {Output_Rate::OFF};
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// Last publish time of dynamically enabled channels.
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uint32_t last_publish_ms[MAX_CHANNEL_NUM];
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static uint32_t RateToPeriodMs(const Output_Rate rate);
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private:
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// Internal parser implementation state
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enum class Parse_State {
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WAITING_ON_STX,
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WAITING_ON_STATUS,
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WAITING_ON_PACKET_TYPE,
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WAITING_ON_LENGTH,
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WAITING_ON_PACKET_DATA,
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WAITING_ON_CSUM,
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WAITING_ON_ETX,
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};
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bool valid_csum();
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bool parse_payload();
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// https://receiverhelp.trimble.com/oem-gnss/ICD_Pkt_Command64h_APPFILE.html
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bool parse_cmd_appfile();
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// states for currently parsing packet
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Status status;
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Parse_State parse_state = {Parse_State::WAITING_ON_STX};
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Packet_Type packet_type;
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// This is the length in the header.
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uint8_t expected_payload_length;
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// This is the increasing tally of bytes per packet.
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uint8_t cur_payload_idx;
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// This is the expected packet checksum in the trailer.
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uint8_t expected_csum;
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// The application file record transmission number
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uint8_t appfile_trans_num;
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uint8_t payload[MAX_PAYLOAD_SIZE];
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// Clear all parser state/flags for handling a fresh packet.
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void reset();
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};
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class GPS_GSOF : public GPS_Backend, public DCOL_Parser {
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public:
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CLASS_NO_COPY(GPS_GSOF);
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using GPS_Backend::GPS_Backend;
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// GPS_Backend overrides
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void publish(const GPS_Data *d) override;
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void update_read() override;
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private:
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void send_gsof(const uint8_t *buf, const uint16_t size);
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// These packing utilities for GSOF perform a type-safe floating point byteswap.
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// They return integer types because returning floating points would involve an extra copy.
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uint64_t gsof_pack_double(const double& src) WARN_IF_UNUSED;
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uint32_t gsof_pack_float(const float& src) WARN_IF_UNUSED;
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};
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};
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#endif // AP_SIM_GPS_GSOF_ENABLED
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@@ -0,0 +1,88 @@
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#include "SIM_config.h"
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#if AP_SIM_GPS_MSP_ENABLED
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#include "SIM_GPS_MSP.h"
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#include <SITL/SITL.h>
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using namespace SITL;
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/*
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send MSP GPS data
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*/
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void GPS_MSP::publish(const GPS_Data *d)
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{
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struct PACKED {
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// header
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struct PACKED {
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uint8_t dollar = '$';
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uint8_t magic = 'X';
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uint8_t code = '<';
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uint8_t flags;
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uint16_t cmd = 0x1F03; // GPS
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uint16_t size = 52;
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} hdr;
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uint8_t instance;
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uint16_t gps_week;
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uint32_t ms_tow;
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uint8_t fix_type;
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uint8_t satellites_in_view;
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uint16_t horizontal_pos_accuracy; // [cm]
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uint16_t vertical_pos_accuracy; // [cm]
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uint16_t horizontal_vel_accuracy; // [cm/s]
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uint16_t hdop;
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int32_t longitude;
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int32_t latitude;
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int32_t msl_altitude; // cm
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int32_t ned_vel_north; // cm/s
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int32_t ned_vel_east;
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int32_t ned_vel_down;
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uint16_t ground_course; // deg * 100, 0..36000
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uint16_t true_yaw; // deg * 100, values of 0..36000 are valid. 65535 = no data available
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uint16_t year;
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uint8_t month;
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uint8_t day;
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uint8_t hour;
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uint8_t min;
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uint8_t sec;
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// footer CRC
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uint8_t crc;
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} msp_gps {};
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auto t = gps_time();
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struct timeval tv;
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simulation_timeval(&tv);
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auto *tm = gmtime(&tv.tv_sec);
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msp_gps.gps_week = t.week;
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msp_gps.ms_tow = t.ms;
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msp_gps.fix_type = d->have_lock?3:0;
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msp_gps.satellites_in_view = d->have_lock ? _sitl->gps_numsats[instance] : 3;
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msp_gps.horizontal_pos_accuracy = _sitl->gps_accuracy[instance]*100;
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msp_gps.vertical_pos_accuracy = _sitl->gps_accuracy[instance]*100;
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msp_gps.horizontal_vel_accuracy = 30;
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msp_gps.hdop = 100;
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msp_gps.longitude = d->longitude * 1.0e7;
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msp_gps.latitude = d->latitude * 1.0e7;
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msp_gps.msl_altitude = d->altitude * 100;
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msp_gps.ned_vel_north = 100 * d->speedN;
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msp_gps.ned_vel_east = 100 * d->speedE;
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msp_gps.ned_vel_down = 100 * d->speedD;
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msp_gps.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100;
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msp_gps.true_yaw = wrap_360(d->yaw_deg)*100U; // can send 65535 for no yaw
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msp_gps.year = tm->tm_year;
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msp_gps.month = tm->tm_mon;
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msp_gps.day = tm->tm_mday;
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msp_gps.hour = tm->tm_hour;
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msp_gps.min = tm->tm_min;
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msp_gps.sec = tm->tm_sec;
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// CRC is over packet without first 3 bytes and trailing CRC byte
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msp_gps.crc = crc8_dvb_s2_update(0, (uint8_t *)&msp_gps.hdr.flags, sizeof(msp_gps)-4);
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write_to_autopilot((const char *)&msp_gps, sizeof(msp_gps));
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}
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#endif // AP_SIM_GPS_MSP_ENABLED
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@@ -0,0 +1,20 @@
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#include "SIM_config.h"
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#if AP_SIM_GPS_MSP_ENABLED
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#include "SIM_GPS.h"
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namespace SITL {
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class GPS_MSP : public GPS_Backend {
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public:
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CLASS_NO_COPY(GPS_MSP);
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using GPS_Backend::GPS_Backend;
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void publish(const GPS_Data *d) override;
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};
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}
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#endif // AP_SIM_GPS_MSP_ENABLED
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@@ -0,0 +1,125 @@
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#include "SIM_config.h"
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#if AP_SIM_GPS_NMEA_ENABLED
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#include "SIM_GPS_NMEA.h"
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#include <SITL/SITL.h>
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#include <AP_Common/NMEA.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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using namespace SITL;
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/*
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formatted print of NMEA message, with checksum appended
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*/
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void GPS_NMEA::nmea_printf(const char *fmt, ...)
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{
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va_list ap;
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va_start(ap, fmt);
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char *s = nmea_vaprintf(fmt, ap);
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va_end(ap);
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if (s != nullptr) {
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write_to_autopilot((const char*)s, strlen(s));
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free(s);
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}
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}
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/*
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send a new GPS NMEA packet
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*/
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void GPS_NMEA::publish(const GPS_Data *d)
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{
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struct timeval tv;
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struct tm *tm;
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char tstring[20];
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char dstring[20];
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char lat_string[20];
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char lng_string[20];
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simulation_timeval(&tv);
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tm = gmtime(&tv.tv_sec);
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// format time string
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hal.util->snprintf(tstring, sizeof(tstring), "%02u%02u%06.3f", tm->tm_hour, tm->tm_min, tm->tm_sec + tv.tv_usec*1.0e-6);
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// format date string
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hal.util->snprintf(dstring, sizeof(dstring), "%02u%02u%02u", tm->tm_mday, tm->tm_mon+1, tm->tm_year % 100);
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// format latitude
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double deg = fabs(d->latitude);
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hal.util->snprintf(lat_string, sizeof(lat_string), "%02u%08.5f,%c",
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(unsigned)deg,
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(deg - int(deg))*60,
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d->latitude<0?'S':'N');
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// format longitude
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deg = fabs(d->longitude);
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hal.util->snprintf(lng_string, sizeof(lng_string), "%03u%08.5f,%c",
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(unsigned)deg,
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(deg - int(deg))*60,
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d->longitude<0?'W':'E');
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nmea_printf("$GPGGA,%s,%s,%s,%01d,%02d,%04.1f,%07.2f,M,0.0,M,,",
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tstring,
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lat_string,
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lng_string,
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d->have_lock?1:0,
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d->have_lock?_sitl->gps_numsats[instance]:3,
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1.2,
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d->altitude);
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const float speed_mps = d->speed_2d();
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const float speed_knots = speed_mps * M_PER_SEC_TO_KNOTS;
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const auto heading_rad = d->heading();
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//$GPVTG,133.18,T,120.79,M,0.11,N,0.20,K,A*24
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nmea_printf("$GPVTG,%.2f,T,%.2f,M,%.2f,N,%.2f,K,A",
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tstring,
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heading_rad,
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heading_rad,
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speed_knots,
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speed_knots * KNOTS_TO_METERS_PER_SECOND * 3.6);
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nmea_printf("$GPRMC,%s,%c,%s,%s,%.2f,%.2f,%s,,",
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tstring,
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d->have_lock?'A':'V',
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lat_string,
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lng_string,
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speed_knots,
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heading_rad,
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dstring);
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if (_sitl->gps_hdg_enabled[instance] == SITL::SIM::GPS_HEADING_HDT) {
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nmea_printf("$GPHDT,%.2f,T", d->yaw_deg);
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}
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else if (_sitl->gps_hdg_enabled[instance] == SITL::SIM::GPS_HEADING_THS) {
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nmea_printf("$GPTHS,%.2f,%c,T", d->yaw_deg, d->have_lock ? 'A' : 'V');
|
||||
} else if (_sitl->gps_hdg_enabled[instance] == SITL::SIM::GPS_HEADING_KSXT) {
|
||||
// Unicore support
|
||||
// $KSXT,20211016083433.00,116.31296102,39.95817066,49.4911,223.57,-11.32,330.19,0.024,,1,3,28,27,,,,-0.012,0.021,0.020,,*2D
|
||||
nmea_printf("$KSXT,%04u%02u%02u%02u%02u%02u.%02u,%.8f,%.8f,%.4f,%.2f,%.2f,%.2f,%.2f,%.3f,%u,%u,%u,%u,,,,%.3f,%.3f,%.3f,,",
|
||||
tm->tm_year+1900, tm->tm_mon+1, tm->tm_mday, tm->tm_hour, tm->tm_min, tm->tm_sec, unsigned(tv.tv_usec*1.e-4),
|
||||
d->longitude, d->latitude,
|
||||
d->altitude,
|
||||
wrap_360(d->yaw_deg),
|
||||
d->pitch_deg,
|
||||
heading_rad,
|
||||
speed_mps,
|
||||
d->roll_deg,
|
||||
d->have_lock?1:0, // 2=rtkfloat 3=rtkfixed,
|
||||
3, // fixed rtk yaw solution,
|
||||
d->have_lock?_sitl->gps_numsats[instance]:3,
|
||||
d->have_lock?_sitl->gps_numsats[instance]:3,
|
||||
d->speedE * 3.6,
|
||||
d->speedN * 3.6,
|
||||
-d->speedD * 3.6);
|
||||
}
|
||||
}
|
||||
|
||||
#endif // AP_SIM_GPS_NMEA_ENABLED
|
||||
@@ -0,0 +1,29 @@
|
||||
#pragma once
|
||||
|
||||
#include "SIM_config.h"
|
||||
|
||||
#if AP_SIM_GPS_NMEA_ENABLED
|
||||
|
||||
#include "SIM_GPS.h"
|
||||
|
||||
namespace SITL {
|
||||
|
||||
class GPS_NMEA : public GPS_Backend {
|
||||
public:
|
||||
CLASS_NO_COPY(GPS_NMEA);
|
||||
|
||||
using GPS_Backend::GPS_Backend;
|
||||
|
||||
void publish(const GPS_Data *d) override;
|
||||
|
||||
private:
|
||||
|
||||
uint8_t nmea_checksum(const char *s);
|
||||
void nmea_printf(const char *fmt, ...);
|
||||
void update_nmea(const GPS_Data *d);
|
||||
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif // AP_SIM_GPS_NMEA_ENABLED
|
||||
@@ -0,0 +1,177 @@
|
||||
#include "SIM_config.h"
|
||||
|
||||
#if AP_SIM_GPS_NOVA_ENABLED
|
||||
|
||||
#include "SIM_GPS_NOVA.h"
|
||||
|
||||
#include <SITL/SITL.h>
|
||||
|
||||
using namespace SITL;
|
||||
|
||||
void GPS_NOVA::publish(const GPS_Data *d)
|
||||
{
|
||||
static struct PACKED nova_header
|
||||
{
|
||||
// 0
|
||||
uint8_t preamble[3];
|
||||
// 3
|
||||
uint8_t headerlength;
|
||||
// 4
|
||||
uint16_t messageid;
|
||||
// 6
|
||||
uint8_t messagetype;
|
||||
//7
|
||||
uint8_t portaddr;
|
||||
//8
|
||||
uint16_t messagelength;
|
||||
//10
|
||||
uint16_t sequence;
|
||||
//12
|
||||
uint8_t idletime;
|
||||
//13
|
||||
uint8_t timestatus;
|
||||
//14
|
||||
uint16_t week;
|
||||
//16
|
||||
uint32_t tow;
|
||||
//20
|
||||
uint32_t recvstatus;
|
||||
// 24
|
||||
uint16_t resv;
|
||||
//26
|
||||
uint16_t recvswver;
|
||||
} header;
|
||||
|
||||
struct PACKED psrdop
|
||||
{
|
||||
float gdop;
|
||||
float pdop;
|
||||
float hdop;
|
||||
float htdop;
|
||||
float tdop;
|
||||
float cutoff;
|
||||
uint32_t svcount;
|
||||
// extra data for individual prns
|
||||
} psrdop {};
|
||||
|
||||
struct PACKED bestpos
|
||||
{
|
||||
uint32_t solstat;
|
||||
uint32_t postype;
|
||||
double lat;
|
||||
double lng;
|
||||
double hgt;
|
||||
float undulation;
|
||||
uint32_t datumid;
|
||||
float latsdev;
|
||||
float lngsdev;
|
||||
float hgtsdev;
|
||||
// 4 bytes
|
||||
uint8_t stnid[4];
|
||||
float diffage;
|
||||
float sol_age;
|
||||
uint8_t svstracked;
|
||||
uint8_t svsused;
|
||||
uint8_t svsl1;
|
||||
uint8_t svsmultfreq;
|
||||
uint8_t resv;
|
||||
uint8_t extsolstat;
|
||||
uint8_t galbeisigmask;
|
||||
uint8_t gpsglosigmask;
|
||||
} bestpos {};
|
||||
|
||||
struct PACKED bestvel
|
||||
{
|
||||
uint32_t solstat;
|
||||
uint32_t veltype;
|
||||
float latency;
|
||||
float age;
|
||||
double horspd;
|
||||
double trkgnd;
|
||||
// + up
|
||||
double vertspd;
|
||||
float resv;
|
||||
} bestvel {};
|
||||
|
||||
const auto gps_tow = gps_time();
|
||||
|
||||
header.preamble[0] = 0xaa;
|
||||
header.preamble[1] = 0x44;
|
||||
header.preamble[2] = 0x12;
|
||||
header.headerlength = sizeof(header);
|
||||
header.week = gps_tow.week;
|
||||
header.tow = gps_tow.ms;
|
||||
|
||||
header.messageid = 174;
|
||||
header.messagelength = sizeof(psrdop);
|
||||
header.sequence += 1;
|
||||
|
||||
psrdop.hdop = 1.20;
|
||||
psrdop.htdop = 1.20;
|
||||
nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&psrdop, sizeof(psrdop));
|
||||
|
||||
|
||||
header.messageid = 99;
|
||||
header.messagelength = sizeof(bestvel);
|
||||
header.sequence += 1;
|
||||
|
||||
bestvel.horspd = norm(d->speedN, d->speedE);
|
||||
bestvel.trkgnd = ToDeg(atan2f(d->speedE, d->speedN));
|
||||
bestvel.vertspd = -d->speedD;
|
||||
|
||||
nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&bestvel, sizeof(bestvel));
|
||||
|
||||
|
||||
header.messageid = 42;
|
||||
header.messagelength = sizeof(bestpos);
|
||||
header.sequence += 1;
|
||||
|
||||
bestpos.lat = d->latitude;
|
||||
bestpos.lng = d->longitude;
|
||||
bestpos.hgt = d->altitude;
|
||||
bestpos.svsused = d->have_lock ? _sitl->gps_numsats[instance] : 3;
|
||||
bestpos.latsdev=0.2;
|
||||
bestpos.lngsdev=0.2;
|
||||
bestpos.hgtsdev=0.2;
|
||||
bestpos.solstat=0;
|
||||
bestpos.postype=32;
|
||||
|
||||
nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&bestpos, sizeof(bestpos));
|
||||
}
|
||||
|
||||
void GPS_NOVA::nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen)
|
||||
{
|
||||
write_to_autopilot((char*)header, headerlength);
|
||||
write_to_autopilot((char*)payload, payloadlen);
|
||||
|
||||
uint32_t crc = CalculateBlockCRC32(headerlength, header, (uint32_t)0);
|
||||
crc = CalculateBlockCRC32(payloadlen, payload, crc);
|
||||
|
||||
write_to_autopilot((char*)&crc, 4);
|
||||
}
|
||||
|
||||
#define CRC32_POLYNOMIAL 0xEDB88320L
|
||||
uint32_t 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;
|
||||
}
|
||||
|
||||
uint32_t 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 );
|
||||
}
|
||||
|
||||
#endif // AP_SIM_GPS_NOVA_ENABLED
|
||||
@@ -0,0 +1,30 @@
|
||||
#pragma once
|
||||
|
||||
#include "SIM_config.h"
|
||||
|
||||
#if AP_SIM_GPS_NOVA_ENABLED
|
||||
|
||||
#include "SIM_GPS.h"
|
||||
|
||||
namespace SITL {
|
||||
|
||||
class GPS_NOVA : public GPS_Backend {
|
||||
public:
|
||||
CLASS_NO_COPY(GPS_NOVA);
|
||||
|
||||
using GPS_Backend::GPS_Backend;
|
||||
|
||||
void publish(const GPS_Data *d) override;
|
||||
|
||||
uint32_t device_baud() const override { return 19200; }
|
||||
|
||||
private:
|
||||
|
||||
void nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen);
|
||||
uint32_t CRC32Value(uint32_t icrc);
|
||||
uint32_t CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc);
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif // AP_SIM_GPS_NOVA_ENABLED
|
||||
@@ -0,0 +1,122 @@
|
||||
#include "SIM_GPS_SBP.h"
|
||||
|
||||
#if AP_SIM_GPS_SBP_ENABLED
|
||||
|
||||
#include <SITL/SITL.h>
|
||||
|
||||
using namespace SITL;
|
||||
|
||||
void GPS_SBP::publish(const GPS_Data *d)
|
||||
{
|
||||
struct 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 : 7;
|
||||
bool ext_antenna : 1;
|
||||
} hb; // 4 bytes
|
||||
|
||||
struct PACKED sbp_gps_time_t {
|
||||
uint16_t wn; //< GPS week number
|
||||
uint32_t tow; //< GPS Time of Week rounded to the nearest ms
|
||||
int32_t ns; //< Nanosecond remainder of rounded tow
|
||||
uint8_t flags; //< Status flags (reserved)
|
||||
} t;
|
||||
struct PACKED sbp_pos_llh_t {
|
||||
uint32_t tow; //< GPS Time of Week
|
||||
double lat; //< Latitude
|
||||
double lon; //< Longitude
|
||||
double height; //< Height
|
||||
uint16_t h_accuracy; //< Horizontal position accuracy estimate
|
||||
uint16_t v_accuracy; //< Vertical position accuracy estimate
|
||||
uint8_t n_sats; //< Number of satellites used in solution
|
||||
uint8_t flags; //< Status flags
|
||||
} pos;
|
||||
struct PACKED sbp_vel_ned_t {
|
||||
uint32_t tow; //< GPS Time of Week
|
||||
int32_t n; //< Velocity North coordinate
|
||||
int32_t e; //< Velocity East coordinate
|
||||
int32_t d; //< Velocity Down coordinate
|
||||
uint16_t h_accuracy; //< Horizontal velocity accuracy estimate
|
||||
uint16_t v_accuracy; //< Vertical velocity accuracy estimate
|
||||
uint8_t n_sats; //< Number of satellites used in solution
|
||||
uint8_t flags; //< Status flags (reserved)
|
||||
} velned;
|
||||
struct PACKED sbp_dops_t {
|
||||
uint32_t tow; //< GPS Time of Week
|
||||
uint16_t gdop; //< Geometric Dilution of Precision
|
||||
uint16_t pdop; //< Position Dilution of Precision
|
||||
uint16_t tdop; //< Time Dilution of Precision
|
||||
uint16_t hdop; //< Horizontal Dilution of Precision
|
||||
uint16_t vdop; //< Vertical Dilution of Precision
|
||||
uint8_t flags; //< Status flags (reserved)
|
||||
} dops;
|
||||
|
||||
static const uint16_t SBP_HEARTBEAT_MSGTYPE = 0xFFFF;
|
||||
static const uint16_t SBP_GPS_TIME_MSGTYPE = 0x0100;
|
||||
static const uint16_t SBP_DOPS_MSGTYPE = 0x0206;
|
||||
static const uint16_t SBP_POS_LLH_MSGTYPE = 0x0201;
|
||||
static const uint16_t SBP_VEL_NED_MSGTYPE = 0x0205;
|
||||
|
||||
const auto gps_tow = gps_time();
|
||||
|
||||
t.wn = gps_tow.week;
|
||||
t.tow = gps_tow.ms;
|
||||
t.ns = 0;
|
||||
t.flags = 0;
|
||||
sbp_send_message(SBP_GPS_TIME_MSGTYPE, 0x2222, sizeof(t), (uint8_t*)&t);
|
||||
|
||||
if (!d->have_lock) {
|
||||
return;
|
||||
}
|
||||
|
||||
pos.tow = gps_tow.ms;
|
||||
pos.lon = d->longitude;
|
||||
pos.lat= d->latitude;
|
||||
pos.height = d->altitude;
|
||||
pos.h_accuracy = _sitl->gps_accuracy[instance]*1000;
|
||||
pos.v_accuracy = _sitl->gps_accuracy[instance]*1000;
|
||||
pos.n_sats = d->have_lock ? _sitl->gps_numsats[instance] : 3;
|
||||
|
||||
// Send single point position solution
|
||||
pos.flags = 0;
|
||||
sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos);
|
||||
// Send "pseudo-absolute" RTK position solution
|
||||
pos.flags = 1;
|
||||
sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos);
|
||||
|
||||
velned.tow = gps_tow.ms;
|
||||
velned.n = 1e3 * d->speedN;
|
||||
velned.e = 1e3 * d->speedE;
|
||||
velned.d = 1e3 * d->speedD;
|
||||
velned.h_accuracy = 5e3;
|
||||
velned.v_accuracy = 5e3;
|
||||
velned.n_sats = d->have_lock ? _sitl->gps_numsats[instance] : 3;
|
||||
velned.flags = 0;
|
||||
sbp_send_message(SBP_VEL_NED_MSGTYPE, 0x2222, sizeof(velned), (uint8_t*)&velned);
|
||||
|
||||
static uint32_t do_every_count = 0;
|
||||
if (do_every_count % 5 == 0) {
|
||||
|
||||
dops.tow = gps_tow.ms;
|
||||
dops.gdop = 1;
|
||||
dops.pdop = 1;
|
||||
dops.tdop = 1;
|
||||
dops.hdop = 100;
|
||||
dops.vdop = 1;
|
||||
dops.flags = 1;
|
||||
sbp_send_message(SBP_DOPS_MSGTYPE, 0x2222, sizeof(dops),
|
||||
(uint8_t*)&dops);
|
||||
|
||||
hb.protocol_major = 0; //Sends protocol version 0
|
||||
sbp_send_message(SBP_HEARTBEAT_MSGTYPE, 0x2222, sizeof(hb),
|
||||
(uint8_t*)&hb);
|
||||
|
||||
}
|
||||
do_every_count++;
|
||||
}
|
||||
|
||||
#endif // AP_SIM_GPS_SBP_ENABLED
|
||||
@@ -0,0 +1,23 @@
|
||||
#pragma once
|
||||
|
||||
#include "SIM_config.h"
|
||||
|
||||
#if AP_SIM_GPS_SBP_ENABLED
|
||||
|
||||
#include "SIM_GPS_SBP_Common.h"
|
||||
|
||||
namespace SITL {
|
||||
|
||||
class GPS_SBP : public GPS_SBP_Common {
|
||||
public:
|
||||
CLASS_NO_COPY(GPS_SBP);
|
||||
|
||||
using GPS_SBP_Common::GPS_SBP_Common;
|
||||
|
||||
void publish(const GPS_Data *d) override;
|
||||
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif // AP_SIM_GPS_SBP_ENABLED
|
||||
@@ -0,0 +1,121 @@
|
||||
#include "SIM_GPS_SBP2.h"
|
||||
|
||||
#if AP_SIM_GPS_SBP2_ENABLED
|
||||
|
||||
#include <SITL/SITL.h>
|
||||
|
||||
using namespace SITL;
|
||||
|
||||
void GPS_SBP2::publish(const GPS_Data *d)
|
||||
{
|
||||
struct 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 : 7;
|
||||
bool ext_antenna : 1;
|
||||
} hb; // 4 bytes
|
||||
|
||||
struct PACKED sbp_gps_time_t {
|
||||
uint16_t wn; //< GPS week number
|
||||
uint32_t tow; //< GPS Time of Week rounded to the nearest ms
|
||||
int32_t ns; //< Nanosecond remainder of rounded tow
|
||||
uint8_t flags; //< Status flags (reserved)
|
||||
} t;
|
||||
struct PACKED sbp_pos_llh_t {
|
||||
uint32_t tow; //< GPS Time of Week
|
||||
double lat; //< Latitude
|
||||
double lon; //< Longitude
|
||||
double height; //< Height
|
||||
uint16_t h_accuracy; //< Horizontal position accuracy estimate
|
||||
uint16_t v_accuracy; //< Vertical position accuracy estimate
|
||||
uint8_t n_sats; //< Number of satellites used in solution
|
||||
uint8_t flags; //< Status flags
|
||||
} pos;
|
||||
struct PACKED sbp_vel_ned_t {
|
||||
uint32_t tow; //< GPS Time of Week
|
||||
int32_t n; //< Velocity North coordinate
|
||||
int32_t e; //< Velocity East coordinate
|
||||
int32_t d; //< Velocity Down coordinate
|
||||
uint16_t h_accuracy; //< Horizontal velocity accuracy estimate
|
||||
uint16_t v_accuracy; //< Vertical velocity accuracy estimate
|
||||
uint8_t n_sats; //< Number of satellites used in solution
|
||||
uint8_t flags; //< Status flags (reserved)
|
||||
} velned;
|
||||
struct PACKED sbp_dops_t {
|
||||
uint32_t tow; //< GPS Time of Week
|
||||
uint16_t gdop; //< Geometric Dilution of Precision
|
||||
uint16_t pdop; //< Position Dilution of Precision
|
||||
uint16_t tdop; //< Time Dilution of Precision
|
||||
uint16_t hdop; //< Horizontal Dilution of Precision
|
||||
uint16_t vdop; //< Vertical Dilution of Precision
|
||||
uint8_t flags; //< Status flags (reserved)
|
||||
} dops;
|
||||
|
||||
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_LLH_MSGTYPE = 0x020A;
|
||||
static const uint16_t SBP_VEL_NED_MSGTYPE = 0x020E;
|
||||
|
||||
const auto gps_tow = gps_time();
|
||||
|
||||
t.wn = gps_tow.week;
|
||||
t.tow = gps_tow.ms;
|
||||
t.ns = 0;
|
||||
t.flags = 1;
|
||||
sbp_send_message(SBP_GPS_TIME_MSGTYPE, 0x2222, sizeof(t), (uint8_t*)&t);
|
||||
|
||||
if (!d->have_lock) {
|
||||
return;
|
||||
}
|
||||
|
||||
pos.tow = gps_tow.ms;
|
||||
pos.lon = d->longitude;
|
||||
pos.lat= d->latitude;
|
||||
pos.height = d->altitude;
|
||||
pos.h_accuracy = _sitl->gps_accuracy[instance]*1000;
|
||||
pos.v_accuracy = _sitl->gps_accuracy[instance]*1000;
|
||||
pos.n_sats = d->have_lock ? _sitl->gps_numsats[instance] : 3;
|
||||
|
||||
// Send single point position solution
|
||||
pos.flags = 1;
|
||||
sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos);
|
||||
// Send "pseudo-absolute" RTK position solution
|
||||
pos.flags = 4;
|
||||
sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos);
|
||||
|
||||
velned.tow = gps_tow.ms;
|
||||
velned.n = 1e3 * d->speedN;
|
||||
velned.e = 1e3 * d->speedE;
|
||||
velned.d = 1e3 * d->speedD;
|
||||
velned.h_accuracy = 5e3;
|
||||
velned.v_accuracy = 5e3;
|
||||
velned.n_sats = d->have_lock ? _sitl->gps_numsats[instance] : 3;
|
||||
velned.flags = 1;
|
||||
sbp_send_message(SBP_VEL_NED_MSGTYPE, 0x2222, sizeof(velned), (uint8_t*)&velned);
|
||||
|
||||
static uint32_t do_every_count = 0;
|
||||
if (do_every_count % 5 == 0) {
|
||||
|
||||
dops.tow = gps_tow.ms;
|
||||
dops.gdop = 1;
|
||||
dops.pdop = 1;
|
||||
dops.tdop = 1;
|
||||
dops.hdop = 100;
|
||||
dops.vdop = 1;
|
||||
dops.flags = 1;
|
||||
sbp_send_message(SBP_DOPS_MSGTYPE, 0x2222, sizeof(dops),
|
||||
(uint8_t*)&dops);
|
||||
|
||||
hb.protocol_major = 2; //Sends protocol version 2.0
|
||||
sbp_send_message(SBP_HEARTBEAT_MSGTYPE, 0x2222, sizeof(hb),
|
||||
(uint8_t*)&hb);
|
||||
}
|
||||
do_every_count++;
|
||||
}
|
||||
|
||||
#endif // AP_SIM_GPS_SBP2_ENABLED
|
||||
@@ -0,0 +1,23 @@
|
||||
#pragma once
|
||||
|
||||
#include "SIM_config.h"
|
||||
|
||||
#if AP_SIM_GPS_SBP2_ENABLED
|
||||
|
||||
#include "SIM_GPS_SBP_Common.h"
|
||||
|
||||
namespace SITL {
|
||||
|
||||
class GPS_SBP2 : public GPS_SBP_Common {
|
||||
public:
|
||||
CLASS_NO_COPY(GPS_SBP2);
|
||||
|
||||
using GPS_SBP_Common::GPS_SBP_Common;
|
||||
|
||||
void publish(const GPS_Data *d) override;
|
||||
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif // AP_SIM_GPS_SBP2_ENABLED
|
||||
@@ -0,0 +1,34 @@
|
||||
#include "SIM_config.h"
|
||||
|
||||
#if HAL_SIM_GPS_ENABLED
|
||||
|
||||
#include "SIM_GPS_SBP_Common.h"
|
||||
|
||||
#include <AP_Math/crc.h>
|
||||
|
||||
using namespace SITL;
|
||||
|
||||
void GPS_SBP_Common::sbp_send_message(uint16_t msg_type, uint16_t sender_id, uint8_t len, uint8_t *payload)
|
||||
{
|
||||
if (len != 0 && payload == 0) {
|
||||
return; //SBP_NULL_ERROR;
|
||||
}
|
||||
|
||||
uint8_t preamble = 0x55;
|
||||
write_to_autopilot((char*)&preamble, 1);
|
||||
write_to_autopilot((char*)&msg_type, 2);
|
||||
write_to_autopilot((char*)&sender_id, 2);
|
||||
write_to_autopilot((char*)&len, 1);
|
||||
if (len > 0) {
|
||||
write_to_autopilot((char*)payload, len);
|
||||
}
|
||||
|
||||
uint16_t crc;
|
||||
crc = crc16_ccitt((uint8_t*)&(msg_type), 2, 0);
|
||||
crc = crc16_ccitt((uint8_t*)&(sender_id), 2, crc);
|
||||
crc = crc16_ccitt(&(len), 1, crc);
|
||||
crc = crc16_ccitt(payload, len, crc);
|
||||
write_to_autopilot((char*)&crc, 2);
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,25 @@
|
||||
#pragma once
|
||||
|
||||
#include "SIM_config.h"
|
||||
|
||||
#if HAL_SIM_GPS_ENABLED
|
||||
|
||||
#include "SIM_GPS.h"
|
||||
|
||||
namespace SITL {
|
||||
|
||||
class GPS_SBP_Common : public GPS_Backend {
|
||||
public:
|
||||
CLASS_NO_COPY(GPS_SBP_Common);
|
||||
|
||||
using GPS_Backend::GPS_Backend;
|
||||
|
||||
protected:
|
||||
|
||||
void sbp_send_message(uint16_t msg_type, uint16_t sender_id, uint8_t len, uint8_t *payload);
|
||||
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,23 @@
|
||||
#include "SIM_config.h"
|
||||
|
||||
#if AP_SIM_GPS_UBLOX_ENABLED
|
||||
|
||||
#include "SIM_GPS.h"
|
||||
|
||||
namespace SITL {
|
||||
|
||||
class GPS_UBlox : public GPS_Backend {
|
||||
public:
|
||||
CLASS_NO_COPY(GPS_UBlox);
|
||||
|
||||
using GPS_Backend::GPS_Backend;
|
||||
|
||||
void publish(const GPS_Data *d) override;
|
||||
|
||||
private:
|
||||
void send_ubx(uint8_t msgid, uint8_t *buf, uint16_t size);
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif // AP_SIM_GPS_UBLOX_ENABLED
|
||||
@@ -37,3 +37,44 @@
|
||||
#ifndef AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED
|
||||
#define AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED 0
|
||||
#endif
|
||||
|
||||
#ifndef HAL_SIM_GPS_ENABLED
|
||||
#define HAL_SIM_GPS_ENABLED AP_SIM_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
|
||||
#define AP_SIM_GPS_BACKEND_DEFAULT_ENABLED AP_SIM_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_FILE_ENABLED
|
||||
// really need to use AP_FileSystem for this.
|
||||
#define AP_SIM_GPS_FILE_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX)
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_GSOF_ENABLED
|
||||
#define AP_SIM_GPS_GSOF_ENABLED AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_MSP_ENABLED
|
||||
#define AP_SIM_GPS_MSP_ENABLED AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_NMEA_ENABLED
|
||||
#define AP_SIM_GPS_NMEA_ENABLED AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_NOVA_ENABLED
|
||||
#define AP_SIM_GPS_NOVA_ENABLED AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_SBP2_ENABLED
|
||||
#define AP_SIM_GPS_SBP2_ENABLED AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_SBP_ENABLED
|
||||
#define AP_SIM_GPS_SBP_ENABLED AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
|
||||
#endif
|
||||
|
||||
#ifndef AP_SIM_GPS_UBLOX_ENABLED
|
||||
#define AP_SIM_GPS_UBLOX_ENABLED AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user