mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.1 KiB
C
46 lines
1.1 KiB
C
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#ifndef GPS_NMEA_h
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#define GPS_NMEA_h
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#include <inttypes.h>
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#define GPS_BUFFERSIZE 120
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class GPS_NMEA_Class
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{
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private:
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// Internal variables
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uint8_t GPS_checksum;
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uint8_t GPS_checksum_calc;
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char buffer[GPS_BUFFERSIZE];
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int bufferidx;
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void parse_nmea_gps(void);
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uint8_t parseHex(char c);
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long parsedecimal(char *str,uint8_t num_car);
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long parsenumber(char *str,uint8_t numdec);
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public:
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// Methods
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GPS_NMEA_Class();
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void Init();
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void Read();
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// Properties
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long Time; //GPS Millisecond Time of Week
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long Lattitude; // Geographic coordinates
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long Longitude;
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long Altitude;
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long Ground_Speed;
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long Speed_3d; //Speed (3-D)
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long Ground_Course;
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uint8_t Type; // Type of GPS (library used)
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uint8_t NumSats; // Number of visible satelites
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uint8_t Fix; // >=1:GPS FIX 0:No FIX (normal logic)
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uint8_t Quality; // GPS Signal quality
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uint8_t NewData; // 1:New GPS Data
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uint8_t PrintErrors; // 1: To Print GPS Errors (for debug)
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int HDOP; // HDOP
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};
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extern GPS_NMEA_Class GPS;
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#endif
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