ardupilot/libraries/AP_GPS/AP_GPS_MTK.h

84 lines
2.3 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/>.
*/
//
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
//
// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
//
// Note - see AP_GPS_MTK16.h for firmware 1.6 and later.
//
#pragma once
#include "AP_GPS.h"
#include "GPS_Backend.h"
#include "AP_GPS_MTK_Common.h"
class AP_GPS_MTK : public AP_GPS_Backend {
public:
AP_GPS_MTK(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
bool read(void) override;
static bool _detect(struct MTK_detect_state &state, uint8_t data);
static void send_init_blob(uint8_t instance, AP_GPS &gps);
const char *name() const override { return "MTK"; }
private:
struct PACKED 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;
};
enum diyd_mtk_fix_type {
FIX_NONE = 1,
FIX_2D = 2,
FIX_3D = 3
};
enum diyd_mtk_protocol_bytes {
PREAMBLE1 = 0xb5,
PREAMBLE2 = 0x62,
MESSAGE_CLASS = 1,
MESSAGE_ID = 5
};
// Packet checksum accumulators
uint8_t _ck_a;
uint8_t _ck_b;
// State machine state
uint8_t _step;
uint8_t _payload_counter;
// Receive buffer
union PACKED {
DEFINE_BYTE_ARRAY_METHODS
diyd_mtk_msg msg;
} _buffer;
// Buffer parse & GPS state update
void _parse_gps();
static const char _initialisation_blob[];
};