Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/AP_GPS/AP_GPS_406.cpp

This commit is contained in:
uncrustify 2012-08-21 19:19:51 -07:00 committed by Pat Hickey
parent 7fa1a9d3b6
commit f10307bc10
1 changed files with 24 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
libraries/AP_GPS/AP_GPS_406.cpp
View File

@ -1,20 +1,20 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
// //
// GPS_406.cpp - 406 GPS library for Arduino // GPS_406.cpp - 406 GPS library for Arduino
// Code by Michael Smith, Jason Short, Jordi Muñoz and Jose Julio. DIYDrones.com // Code by Michael Smith, Jason Short, Jordi Muñoz and Jose Julio. DIYDrones.com
// This code works with boards based on ATMega168/328 ATMega1280 (Serial port 1) // This code works with boards based on ATMega168/328 ATMega1280 (Serial port 1)
// //
// This library is free software; you can redistribute it and / or // This library is free software; you can redistribute it and / or
// modify it under the terms of the GNU Lesser General Public // modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either // License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version. // version 2.1 of the License, or (at your option) any later version.
#include "../FastSerial/FastSerial.h" // because we need to change baud rates... ugh. #include "../FastSerial/FastSerial.h" // because we need to change baud rates... ugh.
#include "AP_GPS_406.h" #include "AP_GPS_406.h"
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
#else #else
#include "WProgram.h" #include "WProgram.h"
#endif #endif
static const char init_str[] = "$PSRF100,0,57600,8,1,0*37"; static const char init_str[] = "$PSRF100,0,57600,8,1,0*37";
@ -27,10 +27,10 @@ AP_GPS_406::AP_GPS_406(Stream *s) : AP_GPS_SIRF(s)
// Public Methods //////////////////////////////////////////////////////////////////// // Public Methods ////////////////////////////////////////////////////////////////////
void AP_GPS_406::init(enum GPS_Engine_Setting nav_setting) void AP_GPS_406::init(enum GPS_Engine_Setting nav_setting)
{ {
_change_to_sirf_protocol(); // Changes to SIRF protocol and sets baud rate _change_to_sirf_protocol(); // Changes to SIRF protocol and sets baud rate
_configure_gps(); // Function to configure GPS, to output only the desired msg's _configure_gps(); // Function to configure GPS, to output only the desired msg's
AP_GPS_SIRF::init(nav_setting); // let the superclass do anything it might need here AP_GPS_SIRF::init(nav_setting); // let the superclass do anything it might need here
idleTimeout = 1200; idleTimeout = 1200;
} }
@ -40,20 +40,20 @@ void AP_GPS_406::init(enum GPS_Engine_Setting nav_setting)
void void
AP_GPS_406::_configure_gps(void) AP_GPS_406::_configure_gps(void)
{ {
const uint8_t gps_header[] = {0xA0, 0xA2, 0x00, 0x08, 0xA6, 0x00}; const uint8_t gps_header[] = {0xA0, 0xA2, 0x00, 0x08, 0xA6, 0x00};
const uint8_t gps_payload[] = {0x02, 0x04, 0x07, 0x09, 0x1B}; const uint8_t gps_payload[] = {0x02, 0x04, 0x07, 0x09, 0x1B};
const uint8_t gps_checksum[] = {0xA8, 0xAA, 0xAD, 0xAF, 0xC1}; const uint8_t gps_checksum[] = {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
const uint8_t gps_ender[] = {0xB0, 0xB3}; const uint8_t gps_ender[] = {0xB0, 0xB3};
for(int16_t z = 0; z < 2; z++) { for(int16_t z = 0; z < 2; z++) {
for(int16_t x = 0; x < 5; x++) { for(int16_t x = 0; x < 5; x++) {
_port->write(gps_header, sizeof(gps_header)); // Prints the msg header, is the same header for all msg.. _port->write(gps_header, sizeof(gps_header)); // Prints the msg header, is the same header for all msg..
_port->write(gps_payload[x]); // Prints the payload, is not the same for every msg _port->write(gps_payload[x]); // Prints the payload, is not the same for every msg
for(int16_t y = 0; y < 6; y++) // Prints 6 zeros for(int16_t y = 0; y < 6; y++) // Prints 6 zeros
_port->write((uint8_t)0); _port->write((uint8_t)0);
_port->write(gps_checksum[x]); // Print the Checksum _port->write(gps_checksum[x]); // Print the Checksum
_port->write(gps_ender[0]); // Print the Ender of the string, is same on all msg's. _port->write(gps_ender[0]); // Print the Ender of the string, is same on all msg's.
_port->write(gps_ender[1]); // ender _port->write(gps_ender[1]); // ender
} }
} }
} }
@ -67,7 +67,7 @@ AP_GPS_406::_configure_gps(void)
void void
AP_GPS_406::_change_to_sirf_protocol(void) AP_GPS_406::_change_to_sirf_protocol(void)
{ {
FastSerial *fs = (FastSerial *)_port; // this is a bit grody... FastSerial *fs = (FastSerial *)_port; // this is a bit grody...
fs->begin(4800); fs->begin(4800);
delay(300); delay(300);