mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_GPS/AP_GPS_UBLOX.h
This commit is contained in:
uncrustify
Pat Hickey
parent
ceed417538
commit
c1454461ee
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@ -14,11 +14,11 @@
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#include "GPS.h"
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/*
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try to put a UBlox into binary mode. This is in two parts. First we
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send a PUBX asking the UBlox to receive NMEA and UBX, and send UBX,
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with a baudrate of 38400. Then we send a UBX message setting rate 1
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for the NAV_SOL message. The setup of NAV_SOL is to cope with
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configurations where all UBX binary message types are disabled.
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* try to put a UBlox into binary mode. This is in two parts. First we
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* send a PUBX asking the UBlox to receive NMEA and UBX, and send UBX,
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* with a baudrate of 38400. Then we send a UBX message setting rate 1
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* for the NAV_SOL message. The setup of NAV_SOL is to cope with
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* configurations where all UBX binary message types are disabled.
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*/
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#define UBLOX_SET_BINARY "$PUBX,41,1,0003,0001,38400,0*26\n\265\142\006\001\003\000\001\006\001\022\117"
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@ -27,98 +27,98 @@ class AP_GPS_UBLOX : public GPS
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public:
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// Methods
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AP_GPS_UBLOX(Stream *s);
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virtual void init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
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virtual bool read();
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virtual void init(enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
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virtual bool read();
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static const prog_char _ublox_set_binary[];
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static const uint8_t _ublox_set_binary_size;
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static const prog_char _ublox_set_binary[];
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static const uint8_t _ublox_set_binary_size;
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private:
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// u-blox UBX protocol essentials
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// XXX this is being ignored by the compiler #pragma pack(1)
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struct ubx_header {
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uint8_t preamble1;
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uint8_t preamble2;
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uint8_t msg_class;
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uint8_t msg_id;
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uint16_t length;
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};
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struct ubx_cfg_nav_rate {
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uint16_t measure_rate_ms;
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uint16_t nav_rate;
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uint16_t timeref;
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};
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struct ubx_cfg_msg_rate {
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uint8_t msg_class;
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uint8_t msg_id;
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uint8_t rate;
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};
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struct ubx_cfg_nav_settings {
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uint16_t mask;
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uint8_t dynModel;
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uint8_t fixMode;
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int32_t fixedAlt;
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uint32_t fixedAltVar;
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int8_t minElev;
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uint8_t drLimit;
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uint16_t pDop;
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uint16_t tDop;
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uint16_t pAcc;
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uint16_t tAcc;
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uint8_t staticHoldThresh;
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uint8_t res1;
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uint32_t res2;
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uint32_t res3;
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uint32_t res4;
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};
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struct ubx_header {
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uint8_t preamble1;
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uint8_t preamble2;
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uint8_t msg_class;
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uint8_t msg_id;
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uint16_t length;
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};
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struct ubx_cfg_nav_rate {
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uint16_t measure_rate_ms;
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uint16_t nav_rate;
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uint16_t timeref;
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};
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struct ubx_cfg_msg_rate {
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uint8_t msg_class;
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uint8_t msg_id;
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uint8_t rate;
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};
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struct ubx_cfg_nav_settings {
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uint16_t mask;
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uint8_t dynModel;
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uint8_t fixMode;
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int32_t fixedAlt;
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uint32_t fixedAltVar;
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int8_t minElev;
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uint8_t drLimit;
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uint16_t pDop;
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uint16_t tDop;
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uint16_t pAcc;
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uint16_t tAcc;
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uint8_t staticHoldThresh;
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uint8_t res1;
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uint32_t res2;
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uint32_t res3;
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uint32_t res4;
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};
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struct ubx_nav_posllh {
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uint32_t time; // GPS msToW
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int32_t longitude;
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int32_t latitude;
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int32_t altitude_ellipsoid;
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int32_t altitude_msl;
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uint32_t horizontal_accuracy;
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uint32_t vertical_accuracy;
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uint32_t time; // GPS msToW
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int32_t longitude;
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int32_t latitude;
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int32_t altitude_ellipsoid;
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int32_t altitude_msl;
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uint32_t horizontal_accuracy;
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uint32_t vertical_accuracy;
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};
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struct ubx_nav_status {
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uint32_t time; // GPS msToW
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uint8_t fix_type;
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uint8_t fix_status;
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uint8_t differential_status;
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uint8_t res;
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uint32_t time_to_first_fix;
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uint32_t uptime; // milliseconds
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uint32_t time; // GPS msToW
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uint8_t fix_type;
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uint8_t fix_status;
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uint8_t differential_status;
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uint8_t res;
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uint32_t time_to_first_fix;
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uint32_t uptime; // milliseconds
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};
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struct ubx_nav_solution {
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uint32_t time;
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int32_t time_nsec;
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int16_t week;
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uint8_t fix_type;
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uint8_t fix_status;
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int32_t ecef_x;
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int32_t ecef_y;
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int32_t ecef_z;
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uint32_t position_accuracy_3d;
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int32_t ecef_x_velocity;
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int32_t ecef_y_velocity;
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int32_t ecef_z_velocity;
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uint32_t speed_accuracy;
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uint16_t position_DOP;
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uint8_t res;
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uint8_t satellites;
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uint32_t res2;
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uint32_t time;
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int32_t time_nsec;
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int16_t week;
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uint8_t fix_type;
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uint8_t fix_status;
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int32_t ecef_x;
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int32_t ecef_y;
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int32_t ecef_z;
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uint32_t position_accuracy_3d;
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int32_t ecef_x_velocity;
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int32_t ecef_y_velocity;
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int32_t ecef_z_velocity;
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uint32_t speed_accuracy;
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uint16_t position_DOP;
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uint8_t res;
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uint8_t satellites;
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uint32_t res2;
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};
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struct ubx_nav_velned {
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uint32_t time; // GPS msToW
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int32_t ned_north;
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int32_t ned_east;
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int32_t ned_down;
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uint32_t speed_3d;
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uint32_t speed_2d;
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int32_t heading_2d;
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uint32_t speed_accuracy;
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uint32_t heading_accuracy;
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uint32_t time; // GPS msToW
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int32_t ned_north;
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int32_t ned_east;
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int32_t ned_down;
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uint32_t speed_3d;
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uint32_t speed_2d;
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int32_t heading_2d;
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uint32_t speed_accuracy;
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uint32_t heading_accuracy;
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};
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// // #pragma pack(pop)
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enum ubs_protocol_bytes {
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@ -127,8 +127,8 @@ private:
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CLASS_NAV = 0x01,
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CLASS_ACK = 0x05,
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CLASS_CFG = 0x06,
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MSG_ACK_NACK = 0x00,
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MSG_ACK_ACK = 0x01,
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MSG_ACK_NACK = 0x00,
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MSG_ACK_ACK = 0x01,
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MSG_POSLLH = 0x2,
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MSG_STATUS = 0x3,
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MSG_SOL = 0x6,
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@ -136,7 +136,7 @@ private:
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MSG_CFG_PRT = 0x00,
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MSG_CFG_RATE = 0x08,
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MSG_CFG_SET_RATE = 0x01,
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MSG_CFG_NAV_SETTINGS = 0x24
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MSG_CFG_NAV_SETTINGS = 0x24
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};
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enum ubs_nav_fix_type {
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FIX_NONE = 0,
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@ -151,45 +151,45 @@ private:
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};
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// Packet checksum accumulators
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uint8_t _ck_a;
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uint8_t _ck_b;
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uint8_t _ck_a;
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uint8_t _ck_b;
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// State machine state
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uint8_t _step;
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uint8_t _msg_id;
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uint16_t _payload_length;
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uint16_t _payload_counter;
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uint8_t _step;
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uint8_t _msg_id;
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uint16_t _payload_length;
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uint16_t _payload_counter;
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uint8_t _class;
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uint8_t _class;
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// do we have new position information?
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bool _new_position;
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// do we have new position information?
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bool _new_position;
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// do we have new speed information?
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bool _new_speed;
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// do we have new speed information?
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bool _new_speed;
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uint8_t _disable_counter;
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uint8_t _disable_counter;
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// Receive buffer
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union {
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ubx_nav_posllh posllh;
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ubx_nav_status status;
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ubx_nav_solution solution;
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ubx_nav_velned velned;
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ubx_nav_posllh posllh;
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ubx_nav_status status;
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ubx_nav_solution solution;
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ubx_nav_velned velned;
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ubx_cfg_nav_settings nav_settings;
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uint8_t bytes[];
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uint8_t bytes[];
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} _buffer;
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// Buffer parse & GPS state update
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bool _parse_gps();
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bool _parse_gps();
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// used to update fix between status and position packets
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bool next_fix;
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// used to update fix between status and position packets
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bool next_fix;
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void _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
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void _configure_gps(void);
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void _update_checksum(uint8_t *data, uint8_t len, uint8_t &ck_a, uint8_t &ck_b);
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void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size);
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void _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
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void _configure_gps(void);
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void _update_checksum(uint8_t *data, uint8_t len, uint8_t &ck_a, uint8_t &ck_b);
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void _send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size);
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};
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