#include <AP_GPS_SBF.h>

Inheritance diagram for AP_GPS_SBF:

Collaboration diagram for AP_GPS_SBF:

Classes
struct	msg4001

struct	msg4007

struct	msg4014

struct	msg5908

union	msgbuffer

struct	sbf_msg_parser_t

Public Member Functions
	AP_GPS_SBF (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)

AP_GPS::GPS_Status	highest_supported_status (void)

bool	read ()

const char *	name () const override

bool	is_configured (void) override

void	broadcast_configuration_failure_reason (void) const override

bool	get_lag (float &lag_sec) const override

bool	is_healthy (void) const override

bool	prepare_for_arming (void) override

Public Member Functions inherited from AP_GPS_Backend
	AP_GPS_Backend (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)

virtual	~AP_GPS_Backend (void)

virtual void	inject_data (const uint8_t *data, uint16_t len)

virtual bool	supports_mavlink_gps_rtk_message ()

virtual void	send_mavlink_gps_rtk (mavlink_channel_t chan)

virtual void	handle_msg (const mavlink_message_t *msg)

virtual void	handle_gnss_msg (const AP_GPS::GPS_State &msg)

void	broadcast_gps_type () const

virtual void	Write_DataFlash_Log_Startup_messages () const

Private Types
enum	sbf_ids { DOP = 4001, PVTGeodetic = 4007, ReceiverStatus = 4014, ExtEventPVTGeodetic = 4038, VelCovGeodetic = 5908 }

enum	{ SOFTWARE = (1 << 3), WATCHDOG = (1 << 4), CONGESTION = (1 << 6), MISSEDEVENT = (1 << 8), CPUOVERLOAD = (1 << 9), INVALIDCONFIG = (1 << 10), OUTOFGEOFENCE = (1 << 11) }

Private Member Functions
bool	parse (uint8_t temp)

bool	process_message ()

void	mount_disk (void) const

void	unmount_disk (void) const

void	log_ExtEventPVTGeodetic (const msg4007 &temp)

Private Attributes
uint8_t	_init_blob_index = 0

uint32_t	_init_blob_time = 0

const char *	_initialisation_blob [5]

uint32_t	_config_last_ack_time

const char *	_port_enable = "\nSSSSSSSSSS\n"

uint32_t	crc_error_counter = 0

uint32_t	RxState

uint32_t	RxError

bool	_has_been_armed

struct AP_GPS_SBF::sbf_msg_parser_t	sbf_msg

Static Private Attributes
static const uint8_t	SBF_PREAMBLE1 = '$'

static const uint8_t	SBF_PREAMBLE2 = '@'

Additional Inherited Members
Protected Member Functions inherited from AP_GPS_Backend
int32_t	swap_int32 (int32_t v) const

int16_t	swap_int16 (int16_t v) const

void	fill_3d_velocity (void)

void	make_gps_time (uint32_t bcd_date, uint32_t bcd_milliseconds)

void	_detection_message (char *buffer, uint8_t buflen) const

bool	should_df_log () const

Protected Attributes inherited from AP_GPS_Backend
AP_HAL::UARTDriver *	port
	UART we are attached to. More...

AP_GPS &	gps
	access to frontend (for parameters) More...

AP_GPS::GPS_State &	state
	public state for this instance More...

Detailed Description

Definition at line 30 of file AP_GPS_SBF.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
SOFTWARE
WATCHDOG
CONGESTION
MISSEDEVENT
CPUOVERLOAD
INVALIDCONFIG
OUTOFGEOFENCE

Definition at line 201 of file AP_GPS_SBF.h.

◆ sbf_ids

enum AP_GPS_SBF::sbf_ids

private

Enumerator
DOP
PVTGeodetic
ReceiverStatus
ExtEventPVTGeodetic
VelCovGeodetic

Definition at line 82 of file AP_GPS_SBF.h.

Constructor & Destructor Documentation

◆ AP_GPS_SBF()

AP_GPS_SBF::AP_GPS_SBF	(	AP_GPS &	_gps,
		AP_GPS::GPS_State &	_state,
		AP_HAL::UARTDriver *	_port
	)

Definition at line 53 of file AP_GPS_SBF.cpp.

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Member Function Documentation

◆ broadcast_configuration_failure_reason()

void AP_GPS_SBF::broadcast_configuration_failure_reason ( void ) const

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 399 of file AP_GPS_SBF.cpp.

Referenced by name().

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◆ get_lag()

bool AP_GPS_SBF::get_lag ( float & lag_sec ) const

inlineoverridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 47 of file AP_GPS_SBF.h.

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◆ highest_supported_status()

AP_GPS::GPS_Status AP_GPS_SBF::highest_supported_status ( void )

inlinevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 35 of file AP_GPS_SBF.h.

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◆ is_configured()

bool AP_GPS_SBF::is_configured ( void )

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 408 of file AP_GPS_SBF.cpp.

Referenced by name().

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◆ is_healthy()

bool AP_GPS_SBF::is_healthy ( void ) const

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 413 of file AP_GPS_SBF.cpp.

Referenced by get_lag().

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◆ log_ExtEventPVTGeodetic()

void AP_GPS_SBF::log_ExtEventPVTGeodetic ( const msg4007 & temp )

private

Definition at line 238 of file AP_GPS_SBF.cpp.

Referenced by process_message().

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◆ mount_disk()

void AP_GPS_SBF::mount_disk ( void ) const

private

Definition at line 417 of file AP_GPS_SBF.cpp.

Referenced by prepare_for_arming().

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◆ name()

const char* AP_GPS_SBF::name ( ) const

inlineoverridevirtual

Implements AP_GPS_Backend.

Definition at line 40 of file AP_GPS_SBF.h.

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◆ parse()

bool AP_GPS_SBF::parse ( uint8_t temp )

private

Definition at line 111 of file AP_GPS_SBF.cpp.

Referenced by get_lag(), and read().

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◆ prepare_for_arming()

bool AP_GPS_SBF::prepare_for_arming ( void )

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 429 of file AP_GPS_SBF.cpp.

Referenced by get_lag().

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◆ process_message()

bool AP_GPS_SBF::process_message ( void )

private

Definition at line 267 of file AP_GPS_SBF.cpp.

Referenced by get_lag(), and parse().

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◆ read()

bool AP_GPS_SBF::read ( void )

virtual

Implements AP_GPS_Backend.

Definition at line 66 of file AP_GPS_SBF.cpp.

Referenced by highest_supported_status().

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◆ unmount_disk()

void AP_GPS_SBF::unmount_disk ( void ) const

private

Definition at line 423 of file AP_GPS_SBF.cpp.

Referenced by read().

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Member Data Documentation

◆ _config_last_ack_time

uint32_t AP_GPS_SBF::_config_last_ack_time

private

Definition at line 70 of file AP_GPS_SBF.h.

Referenced by AP_GPS_SBF(), parse(), and read().

◆ _has_been_armed

bool AP_GPS_SBF::_has_been_armed

private

Definition at line 80 of file AP_GPS_SBF.h.

Referenced by prepare_for_arming(), and read().

◆ _init_blob_index

uint8_t AP_GPS_SBF::_init_blob_index = 0

private

Definition at line 62 of file AP_GPS_SBF.h.

Referenced by broadcast_configuration_failure_reason(), is_configured(), parse(), and read().

◆ _init_blob_time

uint32_t AP_GPS_SBF::_init_blob_time = 0

private

Definition at line 63 of file AP_GPS_SBF.h.

Referenced by read().

◆ _initialisation_blob

const char* AP_GPS_SBF::_initialisation_blob[5]

private

Initial value:

= {
    "sso, Stream1, COM1, PVTGeodetic+DOP+ExtEventPVTGeodetic+ReceiverStatus+VelCovGeodetic, msec100\n",
    "srd, Moderate, UAV\n",
    "sem, PVT, 5\n",
    "spm, Rover, all\n",
    "sso, Stream2, Dsk1, postprocess+event+comment, msec100\n"}

Definition at line 64 of file AP_GPS_SBF.h.

Referenced by broadcast_configuration_failure_reason(), is_configured(), parse(), and read().

◆ _port_enable

const char* AP_GPS_SBF::_port_enable = "\nSSSSSSSSSS\n"

private

Definition at line 72 of file AP_GPS_SBF.h.

Referenced by AP_GPS_SBF(), and read().

◆ crc_error_counter

uint32_t AP_GPS_SBF::crc_error_counter = 0

private

Definition at line 74 of file AP_GPS_SBF.h.

Referenced by parse().

◆ RxError

uint32_t AP_GPS_SBF::RxError

private

Definition at line 76 of file AP_GPS_SBF.h.

Referenced by is_healthy(), and process_message().

◆ RxState

uint32_t AP_GPS_SBF::RxState

private

Definition at line 75 of file AP_GPS_SBF.h.

Referenced by prepare_for_arming(), process_message(), and read().

◆ sbf_msg

struct AP_GPS_SBF::sbf_msg_parser_t AP_GPS_SBF::sbf_msg

private

Referenced by AP_GPS_SBF(), parse(), and process_message().

◆ SBF_PREAMBLE1

const uint8_t AP_GPS_SBF::SBF_PREAMBLE1 = '$'

staticprivate

Definition at line 59 of file AP_GPS_SBF.h.

Referenced by parse().

◆ SBF_PREAMBLE2

const uint8_t AP_GPS_SBF::SBF_PREAMBLE2 = '@'

staticprivate

Definition at line 60 of file AP_GPS_SBF.h.

Referenced by parse().

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

libraries/AP_GPS/AP_GPS_SBF.h
libraries/AP_GPS/AP_GPS_SBF.cpp

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ sbf_ids

Constructor & Destructor Documentation

◆ AP_GPS_SBF()

Member Function Documentation

◆ broadcast_configuration_failure_reason()

◆ get_lag()

◆ highest_supported_status()

◆ is_configured()

◆ is_healthy()

◆ log_ExtEventPVTGeodetic()

◆ mount_disk()

◆ name()

◆ parse()

◆ prepare_for_arming()

◆ process_message()

◆ read()

◆ unmount_disk()

Member Data Documentation

◆ _config_last_ack_time

◆ _has_been_armed

◆ _init_blob_index

◆ _init_blob_time

◆ _initialisation_blob

◆ _port_enable

◆ crc_error_counter

◆ RxError

◆ RxState

◆ sbf_msg

◆ SBF_PREAMBLE1

◆ SBF_PREAMBLE2