Driver class for Emlid Reach Populates caller provided vehicle_gps_position_s Some ERB messages are cached and correlated by timestamp before publishing it. More...

#include <emlid_reach.h>

Inheritance diagram for GPSDriverEmlidReach:

Collaboration diagram for GPSDriverEmlidReach:

Public Member Functions
	GPSDriverEmlidReach (GPSCallbackPtr callback, void callback_user, struct vehicle_gps_position_s gps_position, struct satellite_info_s *satellite_info)

virtual	~GPSDriverEmlidReach ()=default

int	receive (unsigned timeout) override
	receive & handle new data from the device More...

int	configure (unsigned &baudrate, OutputMode output_mode) override
	configure the device More...

Public Member Functions inherited from GPSHelper
	GPSHelper (GPSCallbackPtr callback, void *callback_user)

virtual	~GPSHelper ()=default

virtual int	reset (GPSRestartType restart_type)
	Reset GPS device. More...

float	getPositionUpdateRate ()

float	getVelocityUpdateRate ()

void	resetUpdateRates ()

void	storeUpdateRates ()

Private Types
enum	ERB_State { ERB_State::init = 0, ERB_State::got_sync_1, ERB_State::got_sync_2, ERB_State::got_id, ERB_State::got_len_1, ERB_State::got_len_2, ERB_State::got_payload, ERB_State::got_CK_A }

Private Member Functions
int	erbParseChar (uint8_t b)
	Feed ERB parser with received bytes from serial. More...

int	handleErbSentence ()
	ERB sentence into vehicle_gps_position_s or satellite_info_s, to be used by GPSHelper. More...

void	computeNedVelocity ()

bool	testConnection ()

Private Attributes
ERB_State	_erb_decode_state
	NMEA parser state machine. More...

erb_message_t	_erb_buff {}
	Buffer used by parser to build ERB sentences. More...

uint16_t	_erb_buff_cnt {}

erb_checksum_t	_erb_checksum {}
	Buffer used by parser to build ERB checksum. More...

uint8_t	_erb_checksum_cnt {}

struct vehicle_gps_position_s *	_gps_position {nullptr}
	Pointer provided by caller, ie gps.cpp. More...

struct satellite_info_s *	_satellite_info {nullptr}
	Pointer provided by caller, gps.cpp. More...

bool	_testing_connection {false}

unsigned	_sentence_cnt {0}
	counts decoded sentence when testing connection More...

uint16_t	_erb_payload_len {0}

uint32_t	_last_POS_timeGPS {0}

uint32_t	_last_VEL_timeGPS {0}

bool	_POS_received {false}

bool	_VEL_received {false}

uint8_t	_fix_type {0}

uint8_t	_fix_status {0}

uint8_t	_satellites_used {0}

float	_hdop {0}

float	_vdop {0}

Additional Inherited Members
Public Types inherited from GPSHelper
enum	OutputMode : uint8_t { OutputMode::GPS = 0, OutputMode::RTCM }

enum	Interface : uint8_t { Interface::UART = 0, Interface::SPI }

Protected Member Functions inherited from GPSHelper
int	read (uint8_t *buf, int buf_length, int timeout)
	read from device More...

int	write (const void *buf, int buf_length)
	write to the device More...

int	setBaudrate (int baudrate)
	set the Baudrate More...

void	surveyInStatus (SurveyInStatus &status)

void	gotRTCMMessage (uint8_t *buf, int buf_length)
	got an RTCM message from the device More...

void	setClock (timespec &t)

Static Protected Member Functions inherited from GPSHelper
static void	ECEF2lla (double ecef_x, double ecef_y, double ecef_z, double &latitude, double &longitude, float &altitude)
	Convert an ECEF (Earth Centered Earth Fixed) coordinate to LLA WGS84 (Lat, Lon, Alt). More...

Protected Attributes inherited from GPSHelper
GPSCallbackPtr	_callback {nullptr}

void *	_callback_user {}

uint8_t	_rate_count_lat_lon {}

uint8_t	_rate_count_vel {}

float	_rate_lat_lon {0.0f}

float	_rate_vel {0.0f}

uint64_t	_interval_rate_start {0}

Detailed Description

Driver class for Emlid Reach Populates caller provided vehicle_gps_position_s Some ERB messages are cached and correlated by timestamp before publishing it.

Definition at line 139 of file emlid_reach.h.

Member Enumeration Documentation

◆ ERB_State

enum GPSDriverEmlidReach::ERB_State

strongprivate

Enumerator
init
got_sync_1
got_sync_2
got_id
got_len_1
got_len_2
got_payload
got_CK_A

Definition at line 154 of file emlid_reach.h.

Constructor & Destructor Documentation

◆ GPSDriverEmlidReach()

GPSDriverEmlidReach::GPSDriverEmlidReach	(	GPSCallbackPtr	callback,
		void *	callback_user,
		struct vehicle_gps_position_s *	gps_position,
		struct satellite_info_s *	satellite_info
	)

Definition at line 73 of file emlid_reach.cpp.

◆ ~GPSDriverEmlidReach()

virtual GPSDriverEmlidReach::~GPSDriverEmlidReach ( )

virtualdefault

Member Function Documentation

◆ computeNedVelocity()

void GPSDriverEmlidReach::computeNedVelocity ( )

private

◆ configure()

int GPSDriverEmlidReach::configure	(	unsigned &	baud,
		OutputMode	output_mode
	)

overridevirtual

configure the device

Parameters

baud	Input and output parameter: if set to 0, the baudrate will be automatically detected and set to the detected baudrate. If not 0, a fixed baudrate is used.

Returns: 0 on success, <0 otherwise

Implements GPSHelper.

Definition at line 81 of file emlid_reach.cpp.

References _erb_buff_cnt, _erb_decode_state, _erb_payload_len, _sentence_cnt, GPSHelper::GPS, GPS_WARN, init, GPSHelper::setBaudrate(), and testConnection().

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◆ erbParseChar()

int GPSDriverEmlidReach::erbParseChar ( uint8_t b )

private

Feed ERB parser with received bytes from serial.

Returns: len of decoded message, 0 if not completed, -1 if error

Definition at line 178 of file emlid_reach.cpp.

References _erb_buff, _erb_buff_cnt, _erb_checksum, _erb_decode_state, _erb_payload_len, erb_checksum_t::ck_a, erb_checksum_t::ck_b, ERB_HEADER_LEN, ERB_ID_RTK, ERB_ID_SPACE_INFO, ERB_ID_VERSION, ERB_SENTENCE_MAX_LEN, ERB_SYNC_1, ERB_SYNC_2, got_CK_A, got_id, got_len_1, got_len_2, got_payload, got_sync_1, got_sync_2, and init.

Referenced by receive().

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◆ handleErbSentence()

int GPSDriverEmlidReach::handleErbSentence ( )

private

ERB sentence into vehicle_gps_position_s or satellite_info_s, to be used by GPSHelper.

Returns: 1 if gps_position updated, 2 for satellite_info_s (can be bit OR), 0 for nothing

Definition at line 276 of file emlid_reach.cpp.

Referenced by receive().

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◆ receive()

int GPSDriverEmlidReach::receive ( unsigned timeout )

overridevirtual

receive & handle new data from the device

Parameters

timeout [ms]

Returns: <0 on error, otherwise a bitset: bit 0 set: got gps position update bit 1 set: got satellite info update

Implements GPSHelper.

Definition at line 128 of file emlid_reach.cpp.

References _sentence_cnt, _testing_connection, erbParseChar(), gps_absolute_time, GPS_READ_BUFFER_SIZE, handleErbSentence(), and GPSHelper::read().

Referenced by testConnection().

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◆ testConnection()

bool GPSDriverEmlidReach::testConnection ( )

private

Definition at line 118 of file emlid_reach.cpp.

References _sentence_cnt, _testing_connection, AUTO_DETECT_MAX_READ_SENTENCE, and receive().

Referenced by configure().

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Member Data Documentation

◆ _erb_buff

erb_message_t GPSDriverEmlidReach::_erb_buff {}

private

Buffer used by parser to build ERB sentences.

Definition at line 170 of file emlid_reach.h.

Referenced by erbParseChar(), and handleErbSentence().

◆ _erb_buff_cnt

uint16_t GPSDriverEmlidReach::_erb_buff_cnt {}

private

Definition at line 171 of file emlid_reach.h.

Referenced by configure(), and erbParseChar().

◆ _erb_checksum

erb_checksum_t GPSDriverEmlidReach::_erb_checksum {}

private

Buffer used by parser to build ERB checksum.

Definition at line 174 of file emlid_reach.h.

Referenced by erbParseChar().

◆ _erb_checksum_cnt

uint8_t GPSDriverEmlidReach::_erb_checksum_cnt {}

private

Definition at line 175 of file emlid_reach.h.

◆ _erb_decode_state

ERB_State GPSDriverEmlidReach::_erb_decode_state

private

NMEA parser state machine.

Definition at line 167 of file emlid_reach.h.

Referenced by configure(), and erbParseChar().

◆ _erb_payload_len

uint16_t GPSDriverEmlidReach::_erb_payload_len {0}

private

Definition at line 186 of file emlid_reach.h.

Referenced by configure(), and erbParseChar().

◆ _fix_status

uint8_t GPSDriverEmlidReach::_fix_status {0}

private

Definition at line 196 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _fix_type

uint8_t GPSDriverEmlidReach::_fix_type {0}

private

Definition at line 195 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _gps_position

struct vehicle_gps_position_s* GPSDriverEmlidReach::_gps_position {nullptr}

private

Pointer provided by caller, ie gps.cpp.

Definition at line 178 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _hdop

float GPSDriverEmlidReach::_hdop {0}

private

Definition at line 198 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _last_POS_timeGPS

uint32_t GPSDriverEmlidReach::_last_POS_timeGPS {0}

private

Definition at line 188 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _last_VEL_timeGPS

uint32_t GPSDriverEmlidReach::_last_VEL_timeGPS {0}

private

Definition at line 189 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _POS_received

bool GPSDriverEmlidReach::_POS_received {false}

private

Definition at line 190 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _satellite_info

struct satellite_info_s* GPSDriverEmlidReach::_satellite_info {nullptr}

private

Pointer provided by caller, gps.cpp.

Definition at line 180 of file emlid_reach.h.

◆ _satellites_used

uint8_t GPSDriverEmlidReach::_satellites_used {0}

private

Definition at line 197 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _sentence_cnt

unsigned GPSDriverEmlidReach::_sentence_cnt {0}

private

counts decoded sentence when testing connection

Definition at line 184 of file emlid_reach.h.

Referenced by configure(), receive(), and testConnection().

◆ _testing_connection

bool GPSDriverEmlidReach::_testing_connection {false}

private

Definition at line 182 of file emlid_reach.h.

Referenced by receive(), and testConnection().

◆ _vdop

float GPSDriverEmlidReach::_vdop {0}

private

Definition at line 199 of file emlid_reach.h.

Referenced by handleErbSentence().

◆ _VEL_received

bool GPSDriverEmlidReach::_VEL_received {false}

private

Definition at line 191 of file emlid_reach.h.

Referenced by handleErbSentence().

The documentation for this class was generated from the following files:

src/drivers/gps/devices/src/emlid_reach.h
src/drivers/gps/devices/src/emlid_reach.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ERB_State

Constructor & Destructor Documentation

◆ GPSDriverEmlidReach()

◆ ~GPSDriverEmlidReach()

Member Function Documentation

◆ computeNedVelocity()

◆ configure()

◆ erbParseChar()

◆ handleErbSentence()

◆ receive()

◆ testConnection()

Member Data Documentation

◆ _erb_buff

◆ _erb_buff_cnt

◆ _erb_checksum

◆ _erb_checksum_cnt

◆ _erb_decode_state

◆ _erb_payload_len

◆ _fix_status

◆ _fix_type

◆ _gps_position

◆ _hdop

◆ _last_POS_timeGPS

◆ _last_VEL_timeGPS

◆ _POS_received

◆ _satellite_info

◆ _satellites_used

◆ _sentence_cnt

◆ _testing_connection

◆ _vdop

◆ _VEL_received