mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.0 KiB
C++
98 lines
3.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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support for serial connected AHRS systems
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*/
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#pragma once
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#include "AP_ExternalAHRS_config.h"
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#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
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#include "AP_ExternalAHRS_backend.h"
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class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
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public:
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AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
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// get serial port number, -1 for not enabled
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int8_t get_port(void) const override;
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// accessors for AP_AHRS
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bool healthy(void) const override;
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bool initialised(void) const override;
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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
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void get_filter_status(nav_filter_status &status) const override;
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void send_status_report(class GCS_MAVLINK &link) const override;
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// check for new data
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void update() override {
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check_uart();
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}
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// Get model/type name
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const char* get_name() const override;
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private:
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AP_HAL::UARTDriver *uart;
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int8_t port_num;
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bool setup_complete;
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uint32_t baudrate;
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void update_thread();
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bool check_uart();
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void process_packet1(const uint8_t *b);
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void process_packet2(const uint8_t *b);
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void process_packet_VN_100(const uint8_t *b);
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void wait_register_responce(const uint8_t register_num);
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uint8_t *pktbuf;
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uint16_t pktoffset;
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uint16_t bufsize;
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struct VN_packet1 *last_pkt1;
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struct VN_packet2 *last_pkt2;
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uint32_t last_pkt1_ms;
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uint32_t last_pkt2_ms;
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enum class TYPE {
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VN_300,
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VN_100,
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} type;
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char model_name[25];
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// NMEA parsing for setup
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bool decode(char c);
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bool decode_latest_term();
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struct NMEA_parser {
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char term[25]; // buffer for the current term within the current sentence
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uint8_t term_offset; // offset within the _term buffer where the next character should be placed
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uint8_t term_number; // term index within the current sentence
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uint8_t checksum; // checksum accumulator
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bool term_is_checksum; // current term is the checksum
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bool sentence_valid; // is current sentence valid so far
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bool sentence_done; // true if this sentence has already been decoded
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uint8_t register_number; // VectorNAV register number were reading
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} nmea;
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};
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#endif // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
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