mirror of https://github.com/ArduPilot/ardupilot
31 lines
609 B
C
31 lines
609 B
C
|
#pragma once
|
||
|
|
|
||
|
|
#include "SIM_config.h"
|
||
|
|
|
||
|
|
#if AP_SIM_GPS_NOVA_ENABLED
|
||
|
|
|
||
|
|
#include "SIM_GPS.h"
|
||
|
|
|
||
|
|
namespace SITL {
|
||
|
|
|
||
|
|
class GPS_NOVA : public GPS_Backend {
|
||
|
|
public:
|
||
|
|
CLASS_NO_COPY(GPS_NOVA);
|
||
|
|
|
||
|
|
using GPS_Backend::GPS_Backend;
|
||
|
|
|
||
|
|
void publish(const GPS_Data *d) override;
|
||
|
|
|
||
|
|
uint32_t device_baud() const override { return 19200; }
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
void nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen);
|
||
|
|
uint32_t CRC32Value(uint32_t icrc);
|
||
|
|
uint32_t CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc);
|
||
|
|
};
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // AP_SIM_GPS_NOVA_ENABLED
|