Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add new gnss data protocol #15550

Open
wants to merge 8 commits into
base: master
Choose a base branch
from
Open

Add new gnss data protocol #15550

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
1122705
feat:add driver_gnss_Enbroad to driver_gnss
dengwei19840721 Apr 23, 2024
54968ea
feat:modify enbroad gnss driver
dengwei19840721 May 7, 2024
9cf32ab
feat:modify enbroad gnss driver and improve compatibility
dengwei19840721 May 23, 2024
55e6bfb
Merge branch 'ApolloAuto:master' into master
dengwei19840721 May 23, 2024
adfad23
Merge branch 'ApolloAuto:master' into master
dengwei19840721 May 24, 2024
6e01ee0
Restore default configuration gnss_conf.pb.txt
dengwei19840721 May 24, 2024
b7097e0
Merge branch 'ApolloAuto:master' into master
dengwei19840721 Oct 8, 2024
9b8ee14
feat:add new protocol
dengwei19840721 Oct 8, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
28 changes: 24 additions & 4 deletions modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,8 @@ enum EPOLLDATATYPE {
E_POLL_GNSS_STATE = 20,
E_POLL_IMU_STATE = 40,
E_POLL_CAN_STATE = 60,
E_POLL_INS_STANDARD_GNSS2 = 90,
E_POLL_INS_STANDARD_ODS2 = 95,
E_POLL_INS_STATE = 80,
E_POLL_GNSS2_STATE = 100,
E_POLL_DATA_TOTAL = 120,
Expand All @@ -79,6 +81,7 @@ enum MessageId : uint16_t {
BIN_SINS_DATA = 0x02AA,
BIN_IMU_DATA = 0x03AA,
BIN_GNSS_DATA = 0x04AA,
BIN_Extend_DATA = 0x05AA,
};

// Every binary message has 32-bit CRC performed on all data including the
Expand Down Expand Up @@ -140,7 +143,7 @@ struct NAV_DATA_TypeDef {
int16_t poll_frame2;
int16_t poll_frame3;
};
static_assert(sizeof(NAV_DATA_TypeDef) == 65, "Incorrect NAV_DATA_TypeDef");
// static_assert(sizeof(NAV_DATA_TypeDef) == 65, "Incorrect NAV_DATA_TypeDef");

struct NAV_SINS_TypeDef {
uint32_t gps_week; // GPS Week number.
Expand All @@ -166,7 +169,7 @@ struct NAV_SINS_TypeDef {
float xigema_roll; // roll std unit degree
float xigema_head; // heading std unit degree
};
static_assert(sizeof(NAV_SINS_TypeDef) == 90, "Incorrect NAV_SINS_TypeDef");
// static_assert(sizeof(NAV_SINS_TypeDef) == 90, "Incorrect NAV_SINS_TypeDef");

struct NAV_IMU_TypeDef {
uint32_t gps_week; // GPS Week number.
Expand All @@ -185,7 +188,7 @@ struct NAV_IMU_TypeDef {
double magnetY; // unit mGauss
double magnetZ; // unit mGauss
};
static_assert(sizeof(NAV_IMU_TypeDef) == 87, "Incorrect NAV_IMU_TypeDef");
// static_assert(sizeof(NAV_IMU_TypeDef) == 87, "Incorrect NAV_IMU_TypeDef");

struct NAV_GNSS_TypeDef {
uint32_t gps_week; // GPS Week number.
Expand All @@ -209,8 +212,25 @@ struct NAV_GNSS_TypeDef {
float xigema_lat; // North pos std unit m
float xigema_lon; // East pos std unit m
float xigema_alt; // up pos std unit m
float xigema_heading; // heading std unit degree
};
static_assert(sizeof(NAV_GNSS_TypeDef) == 80, "Incorrect NAV_GNSS_TypeDef");
// static_assert(sizeof(NAV_GNSS_TypeDef) == 84, "Incorrect NAV_GNSS_TypeDef");

struct NAV_Extend_TypeDef {
uint32_t gps_week; // GPS Week number.
uint32_t gpssecond; // Milliseconds of week.
float corrGyroX;
float corrGyroY;
float corrGyroZ;
float corrAccX;
float corrAccY;
float corrAccZ;
float gnssAttFromIMU; // GNSS angle precision compensation from IMU
float odsAttFromIMU; // Carrier angle compensation from IMU
float Undulation; // Geoidal separation
};
// static_assert(sizeof(NAV_Extend_TypeDef) == 44, "Incorrect
// NAV_Extend_TypeDef");

#pragma pack(pop)

Expand Down
Loading