#include <sbf.h>

Inheritance diagram for GPSDriverSBF:

Collaboration diagram for GPSDriverSBF:

Public Member Functions
	GPSDriverSBF (GPSCallbackPtr callback, void callback_user, struct vehicle_gps_position_s gps_position, struct satellite_info_s *satellite_info, uint8_t dynamic_model)

virtual	~GPSDriverSBF () override

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

int	configure (unsigned &baudrate, OutputMode output_mode) override

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

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

virtual	~GPSBaseStationSupport ()=default

void	setSurveyInSpecs (uint32_t survey_in_acc_limit, uint32_t survey_in_min_dur)
	set survey-in specs for RTK base station setup (for finding an accurate base station position by averaging the position measurements over time). More...

void	setBasePosition (double latitude, double longitude, float altitude, float position_accuracy)
	Set a fixed base station position. More...

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

virtual	~GPSHelper ()=default

virtual int	configure (unsigned &baud, OutputMode output_mode)=0
	configure the device More...

float	getPositionUpdateRate ()

float	getVelocityUpdateRate ()

void	resetUpdateRates ()

void	storeUpdateRates ()

Private Member Functions
int	parseChar (const uint8_t b)
	Parse the binary SBF packet. More...

int	payloadRxAdd (const uint8_t b)
	Add payload rx byte. More...

int	payloadRxDone (void)
	Finish payload rx. More...

void	decodeInit (void)
	Reset the parse state machine for a fresh start. More...

bool	sendMessage (const char *msg)
	Send a message. More...

bool	sendMessageAndWaitForAck (const char *msg, const int timeout)
	Send a message and waits for acknowledge. More...

Private Attributes
struct vehicle_gps_position_s *	_gps_position { nullptr }

struct satellite_info_s *	_satellite_info { nullptr }

uint8_t	_dynamic_model { 7 }

uint64_t	_last_timestamp_time { 0 }

bool	_configured { false }

uint8_t	_msg_status { 0 }

sbf_decode_state_t	_decode_state { SBF_DECODE_SYNC1 }

uint16_t	_rx_payload_index { 0 }

sbf_buf_t	_buf

OutputMode	_output_mode { OutputMode::GPS }

RTCMParsing *	_rtcm_parsing { nullptr }

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 Types inherited from GPSBaseStationSupport
enum	BaseSettingsType : uint8_t { BaseSettingsType::survey_in, BaseSettingsType::fixed_position }

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 GPSBaseStationSupport
BaseSettings	_base_settings

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

Definition at line 308 of file sbf.h.

Constructor & Destructor Documentation

◆ GPSDriverSBF()

GPSDriverSBF::GPSDriverSBF	(	GPSCallbackPtr	callback,
		void *	callback_user,
		struct vehicle_gps_position_s *	gps_position,
		struct satellite_info_s *	satellite_info,
		uint8_t	dynamic_model
	)

Definition at line 59 of file sbf.cpp.

References decodeInit().

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◆ ~GPSDriverSBF()

GPSDriverSBF::~GPSDriverSBF ( )

overridevirtual

Definition at line 71 of file sbf.cpp.

Member Function Documentation

◆ configure()

int GPSDriverSBF::configure	(	unsigned &	baudrate,
		OutputMode	output_mode
	)

override

Definition at line 76 of file sbf.cpp.

References GPSBaseStationSupport::_base_settings, _configured, _dynamic_model, _output_mode, GPSBaseStationSupport::FixedPositionSettings::altitude, decodeInit(), GPSBaseStationSupport::fixed_position, GPSBaseStationSupport::BaseSettings::fixed_position, GPSBaseStationSupport::FixedPositionSettings::latitude, GPSBaseStationSupport::FixedPositionSettings::longitude, msg, receive(), GPSHelper::RTCM, SBF_CONFIG, SBF_CONFIG_BAUDRATE, SBF_CONFIG_FORCE_INPUT, SBF_CONFIG_RECEIVER_DYNAMICS, SBF_CONFIG_RESET, SBF_CONFIG_RTCM, SBF_CONFIG_RTCM_STATIC1, SBF_CONFIG_RTCM_STATIC2, SBF_CONFIG_RTCM_STATIC_COORDINATES, SBF_CONFIG_RTCM_STATIC_OFFSET, SBF_CONFIG_TIMEOUT, SBF_TX_CFG_PRT_BAUDRATE, sendMessage(), sendMessageAndWaitForAck(), GPSHelper::setBaudrate(), GPSBaseStationSupport::BaseSettings::settings, and GPSBaseStationSupport::BaseSettings::type.

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◆ decodeInit()

void GPSDriverSBF::decodeInit ( void )

private

Reset the parse state machine for a fresh start.

Definition at line 550 of file sbf.cpp.

References _decode_state, _output_mode, _rtcm_parsing, _rx_payload_index, RTCMParsing::reset(), GPSHelper::RTCM, and SBF_DECODE_SYNC1.

Referenced by configure(), GPSDriverSBF(), and parseChar().

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◆ parseChar()

int GPSDriverSBF::parseChar ( const uint8_t b )

private

Parse the binary SBF packet.

Definition at line 276 of file sbf.cpp.

References _decode_state, _rtcm_parsing, RTCMParsing::addByte(), decodeInit(), GPSHelper::gotRTCMMessage(), RTCMParsing::message(), RTCMParsing::messageLength(), payloadRxAdd(), payloadRxDone(), RTCM3_PREAMBLE, SBF_DEBUG, SBF_DECODE_PAYLOAD, SBF_DECODE_RTCM3, SBF_DECODE_SYNC1, SBF_DECODE_SYNC2, SBF_SYNC1, SBF_SYNC2, and SBF_TRACE_PARSER.

Referenced by receive().

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◆ payloadRxAdd()

int GPSDriverSBF::payloadRxAdd ( const uint8_t b )

private

Add payload rx byte.

Definition at line 350 of file sbf.cpp.

References _buf, _rx_payload_index, and sbf_buf_t::length.

Referenced by parseChar().

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◆ payloadRxDone()

int GPSDriverSBF::payloadRxDone ( void )

private

Finish payload rx.

Definition at line 386 of file sbf.cpp.

Referenced by parseChar().

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◆ receive()

int GPSDriverSBF::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 229 of file sbf.cpp.

References _configured, gps_absolute_time, GPS_READ_BUFFER_SIZE, gps_usleep, parseChar(), GPSHelper::read(), SBF_DEBUG, SBF_PACKET_TIMEOUT, and SBF_WARN.

Referenced by configure().

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◆ reset()

int GPSDriverSBF::reset ( GPSRestartType restart_type )

overridevirtual

Reset GPS device.

Parameters

restart_type

Returns: <0 failure -1 not implemented 0 success

Reimplemented from GPSHelper.

Definition at line 565 of file sbf.cpp.

References Cold, Hot, SBF_CONFIG_RESET_COLD, SBF_CONFIG_RESET_HOT, SBF_CONFIG_RESET_WARM, SBF_CONFIG_TIMEOUT, sendMessageAndWaitForAck(), and Warm.

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◆ sendMessage()

bool GPSDriverSBF::sendMessage ( const char * msg )

private

Send a message.

Returns: true on success, false on write error (errno set)

Definition at line 170 of file sbf.cpp.

References SBF_DEBUG, and GPSHelper::write().

Referenced by configure().

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◆ sendMessageAndWaitForAck()

bool GPSDriverSBF::sendMessageAndWaitForAck	(	const char *	msg,
		const int	timeout
	)

private

Send a message and waits for acknowledge.

Returns: true on success, false on write error (errno set) or ack wait timeout

Definition at line 181 of file sbf.cpp.

References gps_absolute_time, GPS_READ_BUFFER_SIZE, GPSHelper::read(), SBF_DEBUG, SBF_WARN, and GPSHelper::write().

Referenced by configure(), and reset().

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Member Data Documentation

◆ _buf

sbf_buf_t GPSDriverSBF::_buf

private

Definition at line 364 of file sbf.h.

Referenced by payloadRxAdd(), and payloadRxDone().

◆ _configured

bool GPSDriverSBF::_configured { false }

private

Definition at line 360 of file sbf.h.

Referenced by configure(), and receive().

◆ _decode_state

sbf_decode_state_t GPSDriverSBF::_decode_state { SBF_DECODE_SYNC1 }

private

Definition at line 362 of file sbf.h.

Referenced by decodeInit(), and parseChar().

◆ _dynamic_model

uint8_t GPSDriverSBF::_dynamic_model { 7 }

private

Definition at line 358 of file sbf.h.

Referenced by configure().

◆ _gps_position

struct vehicle_gps_position_s* GPSDriverSBF::_gps_position { nullptr }

private

Definition at line 356 of file sbf.h.

Referenced by payloadRxDone().

◆ _last_timestamp_time

uint64_t GPSDriverSBF::_last_timestamp_time { 0 }

private

Definition at line 359 of file sbf.h.

Referenced by payloadRxDone().

◆ _msg_status

uint8_t GPSDriverSBF::_msg_status { 0 }

private

Definition at line 361 of file sbf.h.

Referenced by payloadRxDone().

◆ _output_mode

OutputMode GPSDriverSBF::_output_mode { OutputMode::GPS }

private

Definition at line 365 of file sbf.h.

Referenced by configure(), and decodeInit().

◆ _rtcm_parsing

RTCMParsing* GPSDriverSBF::_rtcm_parsing { nullptr }

private

Definition at line 366 of file sbf.h.

Referenced by decodeInit(), and parseChar().

◆ _rx_payload_index

uint16_t GPSDriverSBF::_rx_payload_index { 0 }

private

Definition at line 363 of file sbf.h.

Referenced by decodeInit(), and payloadRxAdd().

◆ _satellite_info

struct satellite_info_s* GPSDriverSBF::_satellite_info { nullptr }

private

Definition at line 357 of file sbf.h.

Referenced by payloadRxDone().

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

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GPSDriverSBF()

◆ ~GPSDriverSBF()

Member Function Documentation

◆ configure()

◆ decodeInit()

◆ parseChar()

◆ payloadRxAdd()

◆ payloadRxDone()

◆ receive()

◆ reset()

◆ sendMessage()

◆ sendMessageAndWaitForAck()

Member Data Documentation

◆ _buf

◆ _configured

◆ _decode_state

◆ _dynamic_model

◆ _gps_position

◆ _last_timestamp_time

◆ _msg_status

◆ _output_mode

◆ _rtcm_parsing

◆ _rx_payload_index

◆ _satellite_info