ardupilot/libraries/AP_GPS/AP_GPS_GSOF.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
//
// Trimble GPS driver for ArduPilot.
// Code by Michael Oborne
//
#pragma once
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#include "AP_GPS.h"
#include "GPS_Backend.h"
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class AP_GPS_GSOF : public AP_GPS_Backend
{
public:
AP_GPS_GSOF(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
AP_GPS::GPS_Status highest_supported_status(void) {
return AP_GPS::GPS_OK_FIX_3D_RTK;
}
// Methods
bool read();
void inject_data(uint8_t *data, uint8_t len);
private:
bool parse(uint8_t temp);
bool process_message();
void requestBaud(uint8_t portindex);
void requestGSOF(uint8_t messagetype, uint8_t portindex);
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double SwapDouble(uint8_t* src, uint32_t pos);
float SwapFloat(uint8_t* src, uint32_t pos);
uint32_t SwapUint32(uint8_t* src, uint32_t pos);
uint16_t SwapUint16(uint8_t* src, uint32_t pos);
struct gsof_msg_parser_t
{
enum
{
STARTTX = 0,
STATUS,
PACKETTYPE,
LENGTH,
DATA,
CHECKSUM,
ENDTX
} gsof_state;
uint8_t starttx;
uint8_t status;
uint8_t packettype;
uint8_t length;
uint8_t data[256];
uint8_t checksum;
uint8_t endtx;
uint16_t read;
uint8_t checksumcalc;
} gsof_msg;
static const uint8_t GSOF_STX = 0x02;
static const uint8_t GSOF_ETX = 0x03;
uint8_t packetcount = 0;
uint32_t gsofmsg_time = 0;
uint8_t gsofmsgreq_index = 0;
uint8_t gsofmsgreq[5] = {1,2,8,9,12};
uint32_t crc_error_counter = 0;
uint32_t last_injected_data_ms = 0;
};