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AP_GPS: Expose COM port and Output Rate in header, Fix default COM port #25456

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merged 1 commit into from
Nov 6, 2023
Merged

AP_GPS: Expose COM port and Output Rate in header, Fix default COM port #25456

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13 changes: 8 additions & 5 deletions libraries/AP_GPS/AP_GPS_GSOF.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,11 @@
// Trimble GPS driver for ArduPilot.
// Code by Michael Oborne
//
// Usage in SITL with hardware for debugging:
// sim_vehicle.py -v Plane -A "--serial3=uart:/dev/ttyUSB0" --console --map -DG
// param set GPS_TYPE 11 // GSOF
// param set SERIAL3_PROTOCOL 5 // GPS
//

#define ALLOW_DOUBLE_MATH_FUNCTIONS

Expand Down Expand Up @@ -70,8 +75,7 @@ AP_GPS_GSOF::read(void)

if (gsofmsgreq_index < (sizeof(gsofmsgreq))) {
if (now > gsofmsg_time) {
requestGSOF(gsofmsgreq[gsofmsgreq_index], 0);
requestGSOF(gsofmsgreq[gsofmsgreq_index], 3);
requestGSOF(gsofmsgreq[gsofmsgreq_index], HW_Port::COM2, Output_Rate::FREQ_10_HZ);
gsofmsg_time = now + 110;
gsofmsgreq_index++;
}
Expand Down Expand Up @@ -167,16 +171,15 @@ AP_GPS_GSOF::requestBaud(const uint8_t portindex)
}

void
AP_GPS_GSOF::requestGSOF(const uint8_t messagetype, const uint8_t portindex)
AP_GPS_GSOF::requestGSOF(const uint8_t messageType, const HW_Port portIndex, const Output_Rate rateHz)
{
uint8_t buffer[21] = {0x02,0x00,0x64,0x0f,0x00,0x00,0x00, // application file record
0x03,0x00,0x01,0x00, // file control information block
0x07,0x06,0x0a,portindex,0x01,0x00,0x01,0x00, // output message record
0x07,0x06,0x0a,static_cast<uint8_t>(portIndex),static_cast<uint8_t>(rateHz),0x00,messageType,0x00, // output message record
0x00,0x03
}; // checksum

buffer[4] = packetcount++;
buffer[17] = messagetype;

uint8_t checksum = 0;
for (uint8_t a = 1; a < (sizeof(buffer) - 1); a++) {
Expand Down
26 changes: 25 additions & 1 deletion libraries/AP_GPS/AP_GPS_GSOF.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,15 +40,39 @@ class AP_GPS_GSOF : public AP_GPS_Backend

private:

// A subset of the port identifiers in the GSOF protocol that are used for serial.
// Ethernet, USB, etc are not supported by the GPS driver at this time so they are omitted.
// These values are not documented in the API.
enum class HW_Port {
COM1 = 3, // RS232 serial
COM2 = 1, // TTL serial
};

// A subset of the data frequencies in the GSOF protocol that are used for serial.
// These values are not documented in the API.
enum class Output_Rate {
FREQ_10_HZ = 1,
FREQ_50_HZ = 15,
FREQ_100_HZ = 16,
};

bool parse(const uint8_t temp) WARN_IF_UNUSED;
bool process_message() WARN_IF_UNUSED;
void requestBaud(const uint8_t portindex);
void requestGSOF(const uint8_t messagetype, const uint8_t portindex);

// Send a request to the GPS to enable a message type on the port at the specified rate.
// Note - these request functions currently ignore the ACK from the device.
// If the device is already sending serial traffic, there is no mechanism to prevent conflict.
// According to the manufacturer, the best approach is to switch to ethernet.
void requestGSOF(const uint8_t messageType, const HW_Port portIndex, const Output_Rate rateHz);

double SwapDouble(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
float SwapFloat(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
uint32_t SwapUint32(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
uint16_t SwapUint16(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;

bool validate_baud(const uint8_t baud) const WARN_IF_UNUSED;

struct Msg_Parser
{

Expand Down