mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.5 KiB
C
58 lines
1.5 KiB
C
|
/*
|
||
|
|
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/>.
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
RTCMv3 parser, used to support moving baseline RTK mode between two
|
||
|
|
GPS modules
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <stdint.h>
|
||
|
|
|
||
|
|
class RTCM3_Parser {
|
||
|
|
public:
|
||
|
|
// process one byte, return true if packet found
|
||
|
|
bool read(uint8_t b);
|
||
|
|
|
||
|
|
// reset internal state
|
||
|
|
void reset(void);
|
||
|
|
|
||
|
|
// clear previous packet
|
||
|
|
void clear_packet(void);
|
||
|
|
|
||
|
|
// return length of found packet
|
||
|
|
uint16_t get_len(const uint8_t *&bytes) const;
|
||
|
|
|
||
|
|
// return ID of found packet
|
||
|
|
uint16_t get_id(void) const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
const uint8_t RTCMv3_PREAMBLE = 0xD3;
|
||
|
|
|
||
|
|
// raw packet, we shouldn't need over 300 bytes for the MB configs we use
|
||
|
|
uint8_t pkt[300];
|
||
|
|
|
||
|
|
// number of bytes in pkt[]
|
||
|
|
uint16_t pkt_bytes;
|
||
|
|
|
||
|
|
// length from header
|
||
|
|
uint16_t pkt_len;
|
||
|
|
|
||
|
|
// length of found packet
|
||
|
|
uint16_t found_len;
|
||
|
|
|
||
|
|
bool parse(void);
|
||
|
|
void resync(void);
|
||
|
|
};
|
||
|
|
|