ashtech.h

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (C) 2013. All rights reserved.
 *   Author: Boriskin Aleksey <a.d.boriskin@gmail.com>
 *           Kistanov Alexander <akistanov@gramant.ru>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/** @file ASHTECH protocol definitions */

#pragma once

#include "gps_helper.h"
#include "base_station.h"
#include "../../definitions.h"
#include <math.h>

class RTCMParsing;

#define ASHTECH_RECV_BUFFER_SIZE 512

#define ASH_RESPONSE_TIMEOUT    200     // ms, timeout for waiting for a response

class GPSDriverAshtech : public GPSBaseStationSupport
{
public:
    /**
     * @param heading_offset heading offset in radians [-pi, pi]. It is substracted from the measurement.
     */
    GPSDriverAshtech(GPSCallbackPtr callback, void *callback_user, struct vehicle_gps_position_s *gps_position,
             struct satellite_info_s *satellite_info, float heading_offset = 0.f);
    virtual ~GPSDriverAshtech();

    int receive(unsigned timeout) override;
    int configure(unsigned &baudrate, OutputMode output_mode) override;

private:
    enum class NMEACommand {
        Acked, // Command that returns a (N)Ack
        PRT,   // port config
        RID,   // board identification
        RECEIPT// board identification
    };

    enum class NMEACommandState {
        idle,
        waiting,
        nack,
        received
    };

    enum class NMEADecodeState {
        uninit,
        got_sync1,
        got_asteriks,
        got_first_cs_byte,
        decode_rtcm3
    };

    enum class AshtechBoard {
        trimble_mb_two,
        other
    };

    void decodeInit(void);
    int handleMessage(int len);
    int parseChar(uint8_t b);

    /**
     * Write a command and wait for a (N)Ack
     * @return 0 on success, <0 otherwise
     */
    int writeAckedCommand(const void *buf, int buf_length, unsigned timeout);

    int waitForReply(NMEACommand command, const unsigned timeout);

    /**
     * receive data for at least the specified amount of time
     */
    void receiveWait(unsigned timeout_min);

    /**
     * enable output of correction output
     */
    void activateCorrectionOutput();

    void sendSurveyInStatusUpdate(bool active, bool valid, double latitude = (double)NAN, double longitude = (double)NAN,
                      float altitude = NAN);

    void activateRTCMOutput();

    struct satellite_info_s *_satellite_info {nullptr};
    struct vehicle_gps_position_s *_gps_position {nullptr};
    uint64_t _last_timestamp_time{0};

    NMEADecodeState _decode_state{NMEADecodeState::uninit};
    uint8_t _rx_buffer[ASHTECH_RECV_BUFFER_SIZE];
    uint16_t _rx_buffer_bytes{};
    bool _got_pashr_pos_message{false}; /**< If we got a PASHR,POS message, we will ignore GGA messages */

    NMEACommand _waiting_for_command;
    NMEACommandState _command_state{NMEACommandState::idle};
    char _port{'A'}; /**< port we are connected to (e.g. 'A') */
    AshtechBoard _board{AshtechBoard::other}; /**< board we are connected to */

    RTCMParsing *_rtcm_parsing{nullptr};

    gps_abstime _survey_in_start{0};

    OutputMode _output_mode{OutputMode::GPS};
    bool _correction_output_activated{false};
    bool _configure_done{false};

    float _heading_offset;
};