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00011 #ifndef AP_GPS_SIRF_h
00012 #define AP_GPS_SIRF_h
00013
00014 #include <GPS.h>
00015
00016 #define SIRF_SET_BINARY "$PSRF100,0,38400,8,1,0*3C"
00017
00018 class AP_GPS_SIRF : public GPS {
00019 public:
00020 AP_GPS_SIRF(Stream *s);
00021
00022 virtual void init();
00023 virtual bool read();
00024
00025 private:
00026 #pragma pack(1)
00027 struct sirf_geonav {
00028 uint16_t fix_invalid;
00029 uint16_t fix_type;
00030 uint16_t week;
00031 uint32_t time;
00032 uint16_t year;
00033 uint8_t month;
00034 uint8_t day;
00035 uint8_t hour;
00036 uint8_t minute;
00037 uint16_t second;
00038 uint32_t satellites_used;
00039 int32_t latitude;
00040 int32_t longitude;
00041 int32_t altitude_ellipsoid;
00042 int32_t altitude_msl;
00043 int8_t map_datum;
00044 int16_t ground_speed;
00045 int16_t ground_course;
00046 int16_t res1;
00047 int16_t climb_rate;
00048 uint16_t heading_rate;
00049 uint32_t horizontal_position_error;
00050 uint32_t vertical_position_error;
00051 uint32_t time_error;
00052 int16_t horizontal_velocity_error;
00053 int32_t clock_bias;
00054 uint32_t clock_bias_error;
00055 int32_t clock_drift;
00056 uint32_t clock_drift_error;
00057 uint32_t distance;
00058 uint16_t distance_error;
00059 uint16_t heading_error;
00060 uint8_t satellites;
00061 uint8_t hdop;
00062 uint8_t mode_info;
00063 };
00064 #pragma pack(pop)
00065 enum sirf_protocol_bytes {
00066 PREAMBLE1 = 0xa0,
00067 PREAMBLE2 = 0xa2,
00068 POSTAMBLE1 = 0xb0,
00069 POSTAMBLE2 = 0xb3,
00070 MSG_GEONAV = 0x29
00071 };
00072 enum sirf_fix_type {
00073 FIX_3D = 0x6,
00074 FIX_MASK = 0x7
00075 };
00076
00077
00078
00079 uint8_t _step;
00080 uint16_t _checksum;
00081 bool _gather;
00082 uint16_t _payload_length;
00083 uint16_t _payload_counter;
00084 uint8_t _msg_id;
00085
00086
00087 union {
00088 sirf_geonav nav;
00089 uint8_t bytes[];
00090 } _buffer;
00091
00092 bool _parse_gps(void);
00093 void _accumulate(uint8_t val);
00094 };
00095
00096 #endif // AP_GPS_SIRF_h