2010-08-24 01:13:27 -03:00
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#ifndef AP_GPS_MTK_h
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#define AP_GPS_MTK_h
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2010-08-29 19:08:33 -03:00
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#include <GPS.h>
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2010-08-24 01:13:27 -03:00
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#define MAXPAYLOAD 32
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2010-08-29 19:08:33 -03:00
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class AP_GPS_MTK : public GPS
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2010-08-24 01:13:27 -03:00
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{
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public:
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// Methods
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AP_GPS_MTK();
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void init();
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void update();
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private:
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// Packet checksums
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uint8_t ck_a;
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uint8_t ck_b;
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uint8_t GPS_ck_a;
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uint8_t GPS_ck_b;
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uint8_t step;
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uint8_t msg_class;
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uint8_t id;
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uint8_t payload_length_hi;
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uint8_t payload_length_lo;
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uint8_t payload_counter;
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uint8_t buffer[MAXPAYLOAD];
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void parse_gps();
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void checksum(unsigned char data);
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long join_4_bytes(unsigned char Buffer[]);
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};
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#endif
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