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Merge pull request #139 from Firmament-Autopilot/staging/cuav
[BSP] CUAV V5-Nano
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| Original file line number | Diff line number | Diff line change |
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| /****************************************************************************** | ||
| * Copyright 2020 The Firmament Authors. All Rights Reserved. | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| *****************************************************************************/ | ||
|
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| #include <firmament.h> | ||
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| #include "hal/serial/serial.h" | ||
| #include "module/mavproxy/mavproxy.h" | ||
| #include "module/mavproxy/mavproxy_config.h" | ||
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| #define MAX_RTCM_DEV_NUM 5 | ||
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| /* | ||
| buffer for re-assembling RTCM data for GPS injection. | ||
| The 8 bit flags field in GPS_RTCM_DATA is interpreted as: | ||
| 1 bit for "is fragmented" | ||
| 2 bits for fragment number | ||
| 5 bits for sequence number | ||
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| The rtcm_buffer is allocated on first use. Once a block of data | ||
| is successfully reassembled it is injected into all active GPS | ||
| backends. This assumes we don't want more than 4*180=720 bytes | ||
| in a RTCM data block | ||
| */ | ||
| struct rtcm_buffer { | ||
| uint8_t fragments_received; | ||
| uint8_t sequence; | ||
| uint8_t fragment_count; | ||
| uint16_t total_length; | ||
| uint8_t buffer[MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN * 4]; | ||
| }* rtcm_buffer; | ||
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| static uint8_t rtcm_dev_num; | ||
| static rt_device_t rtcm_dev[MAX_RTCM_DEV_NUM]; | ||
| static struct rt_completion tx_cplt[MAX_RTCM_DEV_NUM]; | ||
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| static rt_err_t rtcm_tx_done(rt_device_t dev, void* buffer) | ||
| { | ||
| for (uint8_t i = 0; i < rtcm_dev_num; i++) { | ||
| if (dev == rtcm_dev[i]) { | ||
| rt_completion_done(&tx_cplt[i]); | ||
| } | ||
| } | ||
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| return RT_EOK; | ||
| } | ||
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| static void inject_data(const uint8_t* data, uint16_t len) | ||
| { | ||
| // TODO: check write complete before next write; | ||
| for (uint8_t i = 0; i < rtcm_dev_num; i++) { | ||
| if (rtcm_dev[i] != NULL) { | ||
| if (rt_device_write(rtcm_dev[i], 0, data, len) > 0) { | ||
| /* wait write complete (synchronized write) */ | ||
| rt_completion_wait(&tx_cplt[i], TICKS_FROM_MS(100)); | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| void handle_gps_rtcm_data(const mavlink_message_t* msg) | ||
| { | ||
| mavlink_gps_rtcm_data_t packet; | ||
| mavlink_msg_gps_rtcm_data_decode(msg, &packet); | ||
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| // printf("rtcm pkg, len:%d fragmented:%d, fragment_id:%d, seq_id:%d\n", packet.len, packet.flags & 1, (packet.flags >> 1U) & 0x03, (packet.flags >> 3U) & 0x1F); | ||
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| if (packet.len > sizeof(packet.data)) { | ||
| // invalid packet | ||
| return; | ||
| } | ||
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| if ((packet.flags & 1) == 0) { | ||
| // it is not fragmented, pass direct | ||
| inject_data(packet.data, packet.len); | ||
| return; | ||
| } | ||
|
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| // see if we need to allocate re-assembly buffer | ||
| if (rtcm_buffer == NULL) { | ||
| rtcm_buffer = (struct rtcm_buffer*)rt_malloc(sizeof(*rtcm_buffer)); | ||
| if (rtcm_buffer == NULL) { | ||
| // nothing to do but discard the data | ||
| return; | ||
| } | ||
| } | ||
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| const uint8_t fragment = (packet.flags >> 1U) & 0x03; | ||
| const uint8_t sequence = (packet.flags >> 3U) & 0x1F; | ||
| uint8_t* start_of_fragment_in_buffer = &rtcm_buffer->buffer[MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN * (uint16_t)fragment]; | ||
| bool should_clear_previous_fragments = false; | ||
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| if (rtcm_buffer->fragments_received) { | ||
| const bool sequence_nr_changed = rtcm_buffer->sequence != sequence; | ||
| const bool seen_this_fragment_index = rtcm_buffer->fragments_received & (1U << fragment); | ||
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| // check whether this is a duplicate fragment. If it is, we can | ||
| // return early. | ||
| if (!sequence_nr_changed && seen_this_fragment_index && !rt_memcmp(start_of_fragment_in_buffer, packet.data, packet.len)) { | ||
| return; | ||
| } | ||
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| // not a duplicate | ||
| should_clear_previous_fragments = sequence_nr_changed || seen_this_fragment_index; | ||
| } | ||
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| if (should_clear_previous_fragments) { | ||
| // we have one or more partial fragments already received | ||
| // which conflict with the new fragment, discard previous fragments | ||
| rtcm_buffer->fragment_count = 0; | ||
| // rtcm_stats.fragments_discarded += __builtin_popcount(rtcm_buffer->fragments_received); | ||
| rtcm_buffer->fragments_received = 0; | ||
| } | ||
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| // add this fragment | ||
| rtcm_buffer->sequence = sequence; | ||
| rtcm_buffer->fragments_received |= (1U << fragment); | ||
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| // copy the data | ||
| rt_memcpy(start_of_fragment_in_buffer, packet.data, packet.len); | ||
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| // when we get a fragment of less than max size then we know the | ||
| // number of fragments. Note that this means if you want to send a | ||
| // block of RTCM data of an exact multiple of the buffer size you | ||
| // need to send a final packet of zero length | ||
| if (packet.len < MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN) { | ||
| rtcm_buffer->fragment_count = fragment + 1; | ||
| rtcm_buffer->total_length = (MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN * fragment) + packet.len; | ||
| } else if (rtcm_buffer->fragments_received == 0x0F) { | ||
| // special case of 4 full fragments | ||
| rtcm_buffer->fragment_count = 4; | ||
| rtcm_buffer->total_length = MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN * 4; | ||
| } | ||
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| // see if we have all fragments | ||
| if (rtcm_buffer->fragment_count != 0 && rtcm_buffer->fragments_received == (1U << rtcm_buffer->fragment_count) - 1) { | ||
| // we have them all, inject | ||
| inject_data(rtcm_buffer->buffer, rtcm_buffer->total_length); | ||
| rtcm_buffer->fragment_count = 0; | ||
| rtcm_buffer->fragments_received = 0; | ||
| } | ||
| } | ||
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| fmt_err_t mavlink_rtcm_device_init(void) | ||
| { | ||
| mavproxy_device_info* rtcm_dev_list = mavproxy_get_rtcm_dev_list(); | ||
| uint8_t dev_num = mavproxy_get_rtcm_dev_num(); | ||
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| for (uint8_t i = 0; i < dev_num && i < MAX_RTCM_DEV_NUM; i++) { | ||
| if (strcmp(rtcm_dev_list[i].type, "serial") == 0) { | ||
| rt_device_t dev = rt_device_find(rtcm_dev_list[i].name); | ||
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| if (dev == NULL) { | ||
| continue; | ||
| } | ||
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| /* If device is not opened, then open it */ | ||
| if (!(dev->open_flag & RT_DEVICE_OFLAG_OPEN)) { | ||
| rt_uint16_t oflag = RT_DEVICE_OFLAG_WRONLY; | ||
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| if (dev->flag & RT_DEVICE_FLAG_DMA_TX) { | ||
| oflag |= RT_DEVICE_FLAG_DMA_TX; | ||
| } | ||
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| RT_TRY(rt_device_open(dev, oflag)); | ||
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| serial_dev_t serial_dev = (serial_dev_t)dev; | ||
| mavproxy_serial_dev_config* config = rtcm_dev_list[i].config; | ||
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| if (serial_dev->config.baud_rate != config->baudrate) { | ||
| struct serial_configure pconfig = serial_dev->config; | ||
| pconfig.baud_rate = config->baudrate; | ||
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| RT_TRY(rt_device_control(dev, RT_DEVICE_CTRL_CONFIG, &pconfig)); | ||
| } | ||
| } | ||
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| rt_completion_init(&tx_cplt[i]); | ||
| /* set callback functions */ | ||
| rt_device_set_tx_complete(dev, rtcm_tx_done); | ||
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| rtcm_dev[rtcm_dev_num++] = dev; | ||
| } | ||
| } | ||
|
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| return FMT_EOK; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| /****************************************************************************** | ||
| * Copyright 2020 The Firmament Authors. All Rights Reserved. | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| *****************************************************************************/ | ||
|
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| #ifndef MAVLINK_RTCM_H__ | ||
| #define MAVLINK_RTCM_H__ | ||
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| #include <firmament.h> | ||
| #include <mavlink.h> | ||
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
|
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| void handle_gps_rtcm_data(const mavlink_message_t* msg); | ||
| fmt_err_t mavlink_rtcm_device_init(void); | ||
|
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
|
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| #endif |
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