#include <ashtech.h>

Inheritance diagram for GPSDriverAshtech:

Collaboration diagram for GPSDriverAshtech:

Public Member Functions
	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
	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 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	reset (GPSRestartType restart_type)
	Reset GPS device. More...

float	getPositionUpdateRate ()

float	getVelocityUpdateRate ()

void	resetUpdateRates ()

void	storeUpdateRates ()

Private Member Functions
void	decodeInit (void)

int	handleMessage (int len)

int	parseChar (uint8_t b)

int	writeAckedCommand (const void *buf, int buf_length, unsigned timeout)
	Write a command and wait for a (N)Ack. More...

int	waitForReply (NMEACommand command, const unsigned timeout)

void	receiveWait (unsigned timeout_min)
	receive data for at least the specified amount of time More...

void	activateCorrectionOutput ()
	enable output of correction output More...

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

void	activateRTCMOutput ()

Private Attributes
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. More...

NMEACommand	_waiting_for_command

NMEACommandState	_command_state {NMEACommandState::idle}

char	_port {'A'}
	port we are connected to (e.g. More...

AshtechBoard	_board {AshtechBoard::other}
	board we are connected to More...

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

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 51 of file ashtech.h.

Member Enumeration Documentation

◆ AshtechBoard

enum GPSDriverAshtech::AshtechBoard

strongprivate

Enumerator
trimble_mb_two
other

Definition at line 87 of file ashtech.h.

◆ NMEACommand

enum GPSDriverAshtech::NMEACommand

strongprivate

Enumerator
Acked
PRT
RID
RECEIPT

Definition at line 65 of file ashtech.h.

◆ NMEACommandState

enum GPSDriverAshtech::NMEACommandState

strongprivate

Enumerator
idle
waiting
nack
received

Definition at line 72 of file ashtech.h.

◆ NMEADecodeState

enum GPSDriverAshtech::NMEADecodeState

strongprivate

Enumerator
uninit
got_sync1
got_asteriks
got_first_cs_byte
decode_rtcm3

Definition at line 79 of file ashtech.h.

Constructor & Destructor Documentation

◆ GPSDriverAshtech()

GPSDriverAshtech::GPSDriverAshtech	(	GPSCallbackPtr	callback,
		void *	callback_user,
		struct vehicle_gps_position_s *	gps_position,
		struct satellite_info_s *	satellite_info,
		float	heading_offset = `0.f`
	)

Parameters

heading_offset heading offset in radians [-pi, pi]. It is substracted from the measurement.

Definition at line 53 of file ashtech.cpp.

References decodeInit().

Here is the call graph for this function:

◆ ~GPSDriverAshtech()

GPSDriverAshtech::~GPSDriverAshtech ( )

virtual

Definition at line 64 of file ashtech.cpp.

References _rtcm_parsing.

Member Function Documentation

◆ activateCorrectionOutput()

void GPSDriverAshtech::activateCorrectionOutput ( )

private

enable output of correction output

Definition at line 1135 of file ashtech.cpp.

Referenced by handleMessage().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ activateRTCMOutput()

void GPSDriverAshtech::activateRTCMOutput ( )

private

Definition at line 727 of file ashtech.cpp.

References _port, ASH_DEBUG, ASH_RESPONSE_TIMEOUT, and writeAckedCommand().

Referenced by activateCorrectionOutput(), and handleMessage().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ configure()

int GPSDriverAshtech::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 943 of file ashtech.cpp.

References _board, _configure_done, _correction_output_activated, _output_mode, _port, ASH_DEBUG, ASH_RESPONSE_TIMEOUT, decodeInit(), GPSHelper::GPS, PRT, receiveWait(), RID, GPSHelper::RTCM, GPSHelper::setBaudrate(), status, GPSHelper::surveyInStatus(), trimble_mb_two, waitForReply(), GPSHelper::write(), and writeAckedCommand().

Here is the call graph for this function:

◆ decodeInit()

void GPSDriverAshtech::decodeInit ( void )

private

Definition at line 904 of file ashtech.cpp.

References _decode_state, _output_mode, _rtcm_parsing, _rx_buffer_bytes, RTCMParsing::reset(), GPSHelper::RTCM, and uninit.

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ handleMessage()

int GPSDriverAshtech::handleMessage ( int len )

private

< GPS ground speed (m/s)

< GPS ground speed in m/s

< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI

< Flag to indicate if NED speed is valid

knots to m/s

GPS ground speed (m/s)

GPS ground speed in m/s

Course over ground (NOT heading, but direction of movement) in rad, -PI..PI

Flag to indicate if NED speed is valid

Definition at line 76 of file ashtech.cpp.

Referenced by receive().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ parseChar()

int GPSDriverAshtech::parseChar ( uint8_t b )

private

Definition at line 829 of file ashtech.cpp.

References _decode_state, _rtcm_parsing, _rx_buffer, _rx_buffer_bytes, RTCMParsing::addByte(), ASH_DEBUG, decode_rtcm3, decodeInit(), got_asteriks, got_first_cs_byte, got_sync1, GPSHelper::gotRTCMMessage(), HEXDIGIT_CHAR, RTCMParsing::message(), RTCMParsing::messageLength(), RTCM3_PREAMBLE, and uninit.

Referenced by receive().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ receive()

int GPSDriverAshtech::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 769 of file ashtech.cpp.

References gps_absolute_time, GPS_READ_BUFFER_SIZE, handleMessage(), parseChar(), and GPSHelper::read().

Referenced by receiveWait(), and waitForReply().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ receiveWait()

void GPSDriverAshtech::receiveWait ( unsigned timeout_min )

private

receive data for at least the specified amount of time

Definition at line 760 of file ashtech.cpp.

References gps_absolute_time, and receive().

Referenced by configure().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ sendSurveyInStatusUpdate()

void GPSDriverAshtech::sendSurveyInStatusUpdate	(	bool	active,
		bool	valid,
		double	latitude = `(double)NAN`,
		double	longitude = `(double)NAN`,
		float	altitude = `NAN`
	)

private

Definition at line 1224 of file ashtech.cpp.

References GPSBaseStationSupport::_base_settings, GPSBaseStationSupport::SurveyInSettings::min_dur, GPSBaseStationSupport::BaseSettings::settings, status, GPSBaseStationSupport::BaseSettings::survey_in, and GPSHelper::surveyInStatus().

Referenced by activateCorrectionOutput(), and handleMessage().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ waitForReply()

int GPSDriverAshtech::waitForReply	(	NMEACommand	command,
		const unsigned	timeout
	)

private

Definition at line 927 of file ashtech.cpp.

References _command_state, _waiting_for_command, ASH_DEBUG, command, gps_absolute_time, receive(), received, and waiting.

Referenced by activateCorrectionOutput(), configure(), and writeAckedCommand().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ writeAckedCommand()

int GPSDriverAshtech::writeAckedCommand	(	const void *	buf,
		int	buf_length,
		unsigned	timeout
	)

private

Write a command and wait for a (N)Ack.

Returns: 0 on success, <0 otherwise

Definition at line 918 of file ashtech.cpp.

References Acked, waitForReply(), and GPSHelper::write().

Referenced by activateCorrectionOutput(), activateRTCMOutput(), and configure().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _board

AshtechBoard GPSDriverAshtech::_board {AshtechBoard::other}

private

board we are connected to

Definition at line 131 of file ashtech.h.

Referenced by configure(), and handleMessage().

◆ _command_state

NMEACommandState GPSDriverAshtech::_command_state {NMEACommandState::idle}

private

Definition at line 129 of file ashtech.h.

Referenced by handleMessage(), and waitForReply().

◆ _configure_done

bool GPSDriverAshtech::_configure_done {false}

private

Definition at line 139 of file ashtech.h.

Referenced by configure(), and handleMessage().

◆ _correction_output_activated

bool GPSDriverAshtech::_correction_output_activated {false}

private

Definition at line 138 of file ashtech.h.

Referenced by activateCorrectionOutput(), configure(), and handleMessage().

◆ _decode_state

NMEADecodeState GPSDriverAshtech::_decode_state {NMEADecodeState::uninit}

private

Definition at line 123 of file ashtech.h.

Referenced by decodeInit(), and parseChar().

◆ _got_pashr_pos_message

bool GPSDriverAshtech::_got_pashr_pos_message {false}

private

If we got a PASHR,POS message, we will ignore GGA messages.

Definition at line 126 of file ashtech.h.

Referenced by handleMessage().

◆ _gps_position

struct vehicle_gps_position_s* GPSDriverAshtech::_gps_position {nullptr}

private

Definition at line 120 of file ashtech.h.

Referenced by handleMessage().

◆ _heading_offset

float GPSDriverAshtech::_heading_offset

private

Definition at line 141 of file ashtech.h.

Referenced by handleMessage().

◆ _last_timestamp_time

uint64_t GPSDriverAshtech::_last_timestamp_time {0}

private

Definition at line 121 of file ashtech.h.

Referenced by handleMessage().

◆ _output_mode

OutputMode GPSDriverAshtech::_output_mode {OutputMode::GPS}

private

Definition at line 137 of file ashtech.h.

Referenced by activateCorrectionOutput(), configure(), decodeInit(), and handleMessage().

◆ _port

char GPSDriverAshtech::_port {'A'}

private

port we are connected to (e.g.

'A')

Definition at line 130 of file ashtech.h.

Referenced by activateRTCMOutput(), configure(), and handleMessage().

◆ _rtcm_parsing

RTCMParsing* GPSDriverAshtech::_rtcm_parsing {nullptr}

private

Definition at line 133 of file ashtech.h.

Referenced by decodeInit(), parseChar(), and ~GPSDriverAshtech().

◆ _rx_buffer

uint8_t GPSDriverAshtech::_rx_buffer[ASHTECH_RECV_BUFFER_SIZE]

private

Definition at line 124 of file ashtech.h.

Referenced by handleMessage(), and parseChar().

◆ _rx_buffer_bytes

uint16_t GPSDriverAshtech::_rx_buffer_bytes {}

private

Definition at line 125 of file ashtech.h.

Referenced by decodeInit(), and parseChar().

◆ _satellite_info

struct satellite_info_s* GPSDriverAshtech::_satellite_info {nullptr}

private

Definition at line 119 of file ashtech.h.

Referenced by handleMessage().

◆ _survey_in_start

gps_abstime GPSDriverAshtech::_survey_in_start {0}

private

Definition at line 135 of file ashtech.h.

Referenced by activateCorrectionOutput(), and handleMessage().

◆ _waiting_for_command

NMEACommand GPSDriverAshtech::_waiting_for_command

private

Definition at line 128 of file ashtech.h.

Referenced by handleMessage(), and waitForReply().

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

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

Private Types
enum	NMEACommand { NMEACommand::Acked, NMEACommand::PRT, NMEACommand::RID, NMEACommand::RECEIPT }

enum	NMEACommandState { NMEACommandState::idle, NMEACommandState::waiting, NMEACommandState::nack, NMEACommandState::received }

enum	NMEADecodeState { NMEADecodeState::uninit, NMEADecodeState::got_sync1, NMEADecodeState::got_asteriks, NMEADecodeState::got_first_cs_byte, NMEADecodeState::decode_rtcm3 }

enum	AshtechBoard { AshtechBoard::trimble_mb_two, AshtechBoard::other }

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ AshtechBoard

◆ NMEACommand

◆ NMEACommandState

◆ NMEADecodeState

Constructor & Destructor Documentation

◆ GPSDriverAshtech()

◆ ~GPSDriverAshtech()

Member Function Documentation

◆ activateCorrectionOutput()

◆ activateRTCMOutput()

◆ configure()

◆ decodeInit()

◆ handleMessage()

◆ parseChar()

◆ receive()

◆ receiveWait()

◆ sendSurveyInStatusUpdate()

◆ waitForReply()

◆ writeAckedCommand()

Member Data Documentation

◆ _board

◆ _command_state

◆ _configure_done

◆ _correction_output_activated

◆ _decode_state

◆ _got_pashr_pos_message

◆ _gps_position

◆ _heading_offset

◆ _last_timestamp_time

◆ _output_mode

◆ _port

◆ _rtcm_parsing

◆ _rx_buffer

◆ _rx_buffer_bytes

◆ _satellite_info

◆ _survey_in_start

◆ _waiting_for_command