Ashtech GPS driver

2026-11-01 15:41:36 +08:00 · 2014-09-30 15:44:47 +04:00
parent 8ced6bb49b
commit 213f4aadbd
6 changed files with 734 additions and 2 deletions
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   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 */
+
+#ifndef ASHTECH_H_
+#define ASHTECH_H_
+
+#include "gps_helper.h"
+
+#ifndef RECV_BUFFER_SIZE
+#define RECV_BUFFER_SIZE 512
+
+#define SAT_INFO_MAX_SATELLITES  20
+#endif
+
+
+class ASHTECH : public GPS_Helper
+{
+	enum ashtech_decode_state_t {
+		NME_DECODE_UNINIT,
+		NME_DECODE_GOT_SYNC1,
+		NME_DECODE_GOT_ASTERIKS,
+		NME_DECODE_GOT_FIRST_CS_BYTE
+	};
+
+	int                    _fd;
+	struct satellite_info_s *_satellite_info;
+	struct vehicle_gps_position_s *_gps_position;
+	int ashtechlog_fd;//miklm
+
+	ashtech_decode_state_t   _decode_state;
+	uint8_t               _rx_buffer[RECV_BUFFER_SIZE];
+	uint16_t              _rx_buffer_bytes;
+	bool                  _parse_error; // parse error flag
+	char                 *_parse_pos; // parse position
+
+    bool	_gsv_in_progress;					// Indicates that gsv data parsing is in progress
+	//int     _satellites_count; 				// Number of satellites info parsed.
+	uint8_t count;					/**< Number of satellites in satellite info */
+	uint8_t svid[SAT_INFO_MAX_SATELLITES]; 		/**< Space vehicle ID [1..255], see scheme below  */
+	uint8_t used[SAT_INFO_MAX_SATELLITES];		/**< 0: Satellite not used, 1: used for navigation */
+	uint8_t elevation[SAT_INFO_MAX_SATELLITES];	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t azimuth[SAT_INFO_MAX_SATELLITES];	/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t snr[SAT_INFO_MAX_SATELLITES];		/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
+
+public:
+	ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
+	~ASHTECH();
+	int             receive(unsigned timeout);
+	int             configure(unsigned &baudrate);
+	void            decode_init(void);
+	int             handle_message(int len);
+	int             parse_char(uint8_t b);
+	/** Read int ASHTECH parameter */
+	int32_t         read_int();
+	/** Read float ASHTECH parameter */
+	double       read_float();
+	/** Read char ASHTECH parameter */
+	char            read_char();
+
+};
+
+#endif /* ASHTECH_H_ */