mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.3 KiB
C++
87 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
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.
|
|
//
|
|
#ifndef __AP_GPS_MTK_H__
|
|
#define __AP_GPS_MTK_H__
|
|
|
|
#include "GPS.h"
|
|
#include <AP_Common.h>
|
|
#include "AP_GPS_MTK_Common.h"
|
|
|
|
class AP_GPS_MTK : public GPS {
|
|
public:
|
|
AP_GPS_MTK() :
|
|
GPS(),
|
|
_step(0),
|
|
_payload_counter(0)
|
|
{}
|
|
|
|
virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
|
|
virtual bool read(void);
|
|
static bool _detect(uint8_t );
|
|
|
|
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 {
|
|
diyd_mtk_msg msg;
|
|
uint8_t bytes[];
|
|
} _buffer;
|
|
|
|
// Buffer parse & GPS state update
|
|
void _parse_gps();
|
|
};
|
|
|
|
#endif // __AP_GPS_MTK_H__
|