mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.0 KiB
C++
82 lines
2.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
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//
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// This library is free software; you can redistribute it and / or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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//
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
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//
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// Note - see GCS_SIMPLE16.h for firmware 1.6 and later.
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//
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#ifndef GCS_SIMPLE_h
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#define GCS_SIMPLE_h
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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class GCS_SIMPLE {
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public:
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GCS_SIMPLE(Stream *s);
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bool read(void);
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void ack(void);
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void write_byte(uint8_t val);
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void write_int(int val);
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void write_float(float val);
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void write_long(long val);
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void flush(uint8_t msg_id);
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Stream *_port; ///< port the GPS is attached to
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int8_t index;
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int8_t id;
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int8_t p1;
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int32_t altitude;
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int32_t latitude;
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int32_t longitude;
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#pragma pack(1)
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struct diyd_mtk_msg {
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int8_t index;
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int8_t id;
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int8_t p1;
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int32_t altitude;
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int32_t latitude;
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int32_t longitude;
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};
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#pragma pack(pop)
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// Receive buffer
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union {
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diyd_mtk_msg msg;
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uint8_t bytes[];
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} _buffer;
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private:
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// State machine state
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// incoming
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uint8_t _step;
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uint8_t _payload_counter;
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uint8_t _length;
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uint8_t _id;
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// outgoing
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union d_out{
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uint8_t bytes[4];
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int32_t long_value;
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float float_value;
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} double_out;
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union i_out {
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uint8_t bytes[2];
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int16_t value;
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} int_out;
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uint8_t mess_buffer[50];
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uint8_t buff_pointer;
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};
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#endif // GCS_SIMPLE_H
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