ardupilot/libraries/AP_GPS/AP_GPS_MTK.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
//
// This library is free software; you can redistribute it and / or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
//
// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
//
// Note - see AP_GPS_MTK16.h for firmware 1.6 and later.
//
#ifndef AP_GPS_MTK_h
#define AP_GPS_MTK_h
#include "GPS.h"
#include "AP_GPS_MTK_Common.h"
class AP_GPS_MTK : public GPS {
public:
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AP_GPS_MTK(Stream *s);
virtual void init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
virtual bool read(void);
static bool _detect(uint8_t );
private:
// XXX this is being ignored by the compiler #pragma pack(1)
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struct diyd_mtk_msg {
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_time;
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};
// #pragma pack(pop)
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enum diyd_mtk_fix_type {
FIX_NONE = 1,
FIX_2D = 2,
FIX_3D = 3,
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FIX_2D_SBAS = 6,
FIX_3D_SBAS = 7
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};
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enum diyd_mtk_protocol_bytes {
PREAMBLE1 = 0xb5,
PREAMBLE2 = 0x62,
MESSAGE_CLASS = 1,
MESSAGE_ID = 5
};
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// Packet checksum accumulators
uint8_t _ck_a;
uint8_t _ck_b;
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// State machine state
uint8_t _step;
uint8_t _payload_counter;
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// Receive buffer
union {
diyd_mtk_msg msg;
uint8_t bytes[];
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} _buffer;
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// Buffer parse & GPS state update
void _parse_gps();
};
#endif // AP_GPS_MTK_H