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1 : /* 2 : This program is free software: you can redistribute it and/or modify 3 : it under the terms of the GNU General Public License as published by 4 : the Free Software Foundation, either version 3 of the License, or 5 : (at your option) any later version. 6 : 7 : This program is distributed in the hope that it will be useful, 8 : but WITHOUT ANY WARRANTY; without even the implied warranty of 9 : MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 10 : GNU General Public License for more details. 11 : 12 : You should have received a copy of the GNU General Public License 13 : along with this program. If not, see <http://www.gnu.org/licenses/>. 14 : */ 15 : 16 : // Novatel/Tersus/ComNav GPS driver for ArduPilot. 17 : // Code by Michael Oborne 18 : // Derived from https://hexagondownloads.blob.core.windows.net/public/Novatel/assets/Documents/Manuals/om-20000129/om-20000129.pdf 19 : 20 : #pragma once 21 : 22 : #include "AP_GPS.h" 23 : #include "GPS_Backend.h" 24 : 25 : #if AP_GPS_NOVA_ENABLED 26 : class AP_GPS_NOVA : public AP_GPS_Backend 27 : { 28 : public: 29 : AP_GPS_NOVA(AP_GPS &_gps, AP_GPS::Params &_params, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); 30 : 31 0 : AP_GPS_FixType highest_supported_status(void) override { return AP_GPS_FixType::RTK_FIXED; } 32 : 33 : // Methods 34 : bool read() override; 35 : 36 5 : const char *name() const override { return "NOVA"; } 37 : 38 : private: 39 : 40 : bool parse(uint8_t temp); 41 : bool process_message(); 42 : 43 : static const uint8_t NOVA_PREAMBLE1 = 0xaa; 44 : static const uint8_t NOVA_PREAMBLE2 = 0x44; 45 : static const uint8_t NOVA_PREAMBLE3 = 0x12; 46 : 47 : // do we have new position information? 48 : bool _new_position:1; 49 : // do we have new speed information? 50 : bool _new_speed:1; 51 : 52 : uint32_t _last_vel_time; 53 : 54 : uint8_t _init_blob_index = 0; 55 : uint32_t _init_blob_time = 0; 56 : static const char* const _initialisation_blob[4]; 57 : 58 : uint32_t crc_error_counter = 0; 59 : 60 : struct PACKED nova_header 61 : { 62 : // 0 63 : uint8_t preamble[3]; 64 : // 3 65 : uint8_t headerlength; 66 : // 4 67 : uint16_t messageid; 68 : // 6 69 : uint8_t messagetype; 70 : //7 71 : uint8_t portaddr; 72 : //8 73 : uint16_t messagelength; 74 : //10 75 : uint16_t sequence; 76 : //12 77 : uint8_t idletime; 78 : //13 79 : uint8_t timestatus; 80 : //14 81 : uint16_t week; 82 : //16 83 : uint32_t tow; 84 : //20 85 : uint32_t recvstatus; 86 : // 24 87 : uint16_t resv; 88 : //26 89 : uint16_t recvswver; 90 : }; 91 : 92 : static const uint8_t NOVA_PSRDOP = 174; 93 : struct PACKED psrdop 94 : { 95 : float gdop; 96 : float pdop; 97 : float hdop; 98 : float htdop; 99 : float tdop; 100 : float cutoff; 101 : uint32_t svcount; 102 : // extra data for individual prns 103 : }; 104 : 105 : static const uint8_t NOVA_BESTPOS = 42; 106 : struct PACKED bestpos 107 : { 108 : uint32_t solstat; ///< Solution status 109 : uint32_t postype; ///< Position type 110 : double lat; ///< latitude (deg) 111 : double lng; ///< longitude (deg) 112 : double hgt; ///< height above mean sea level (m) 113 : float undulation; ///< relationship between the geoid and the ellipsoid (m) 114 : uint32_t datumid; ///< datum id number 115 : float latsdev; ///< latitude standard deviation (m) 116 : float lngsdev; ///< longitude standard deviation (m) 117 : float hgtsdev; ///< height standard deviation (m) 118 : // 4 bytes 119 : uint8_t stnid[4]; ///< base station id 120 : float diffage; ///< differential position age (sec) 121 : float sol_age; ///< solution age (sec) 122 : uint8_t svstracked; ///< number of satellites tracked 123 : uint8_t svsused; ///< number of satellites used in solution 124 : uint8_t svsl1; ///< number of GPS plus GLONASS L1 satellites used in solution 125 : uint8_t svsmultfreq; ///< number of GPS plus GLONASS L2 satellites used in solution 126 : uint8_t resv; ///< reserved 127 : uint8_t extsolstat; ///< extended solution status - OEMV and greater only 128 : uint8_t galbeisigmask; 129 : uint8_t gpsglosigmask; 130 : }; 131 : 132 : static const uint8_t NOVA_BESTVEL = 99; 133 : struct PACKED bestvel 134 : { 135 : uint32_t solstat; 136 : uint32_t veltype; 137 : float latency; 138 : float age; 139 : double horspd; 140 : double trkgnd; 141 : // + up 142 : double vertspd; 143 : float resv; 144 : }; 145 : 146 : union PACKED msgbuffer { 147 : bestvel bestvelu; 148 : bestpos bestposu; 149 : psrdop psrdopu; 150 : uint8_t bytes[256]; 151 : }; 152 : 153 : union PACKED msgheader { 154 : nova_header nova_headeru; 155 : uint8_t data[28]; 156 : }; 157 : 158 : struct PACKED nova_msg_parser 159 : { 160 : enum 161 : { 162 : PREAMBLE1 = 0, 163 : PREAMBLE2, 164 : PREAMBLE3, 165 : HEADERLENGTH, 166 : HEADERDATA, 167 : DATA, 168 : CRC1, 169 : CRC2, 170 : CRC3, 171 : CRC4, 172 : } nova_state; 173 : 174 : msgbuffer data; 175 : uint32_t crc; 176 : msgheader header; 177 : uint16_t read; 178 : } nova_msg; 179 : }; 180 : #endif
