mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.2 KiB
C++
125 lines
3.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// u-blox UBX 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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#ifndef AP_GPS_UBLOX_h
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#define AP_GPS_UBLOX_h
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#include "GPS.h"
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#define UBLOX_SET_BINARY "$PUBX,41,1,0003,0001,38400,0*26"
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class AP_GPS_UBLOX : public GPS
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{
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public:
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// Methods
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AP_GPS_UBLOX(Stream *s);
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virtual void init();
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virtual bool read();
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private:
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// u-blox UBX protocol essentials
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// XXX this is being ignored by the compiler #pragma pack(1)
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struct ubx_nav_posllh {
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uint32_t time; // GPS msToW
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int32_t longitude;
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int32_t latitude;
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int32_t altitude_ellipsoid;
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int32_t altitude_msl;
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uint32_t horizontal_accuracy;
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uint32_t vertical_accuracy;
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};
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struct ubx_nav_status {
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uint32_t time; // GPS msToW
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uint8_t fix_type;
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uint8_t fix_status;
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uint8_t differential_status;
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uint8_t res;
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uint32_t time_to_first_fix;
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uint32_t uptime; // milliseconds
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};
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struct ubx_nav_solution {
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uint32_t time;
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int32_t time_nsec;
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int16_t week;
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uint8_t fix_type;
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uint8_t fix_status;
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int32_t ecef_x;
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int32_t ecef_y;
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int32_t ecef_z;
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uint32_t position_accuracy_3d;
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int32_t ecef_x_velocity;
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int32_t ecef_y_velocity;
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int32_t ecef_z_velocity;
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uint32_t speed_accuracy;
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uint16_t position_DOP;
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uint8_t res;
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uint8_t satellites;
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uint32_t res2;
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};
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struct ubx_nav_velned {
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uint32_t time; // GPS msToW
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int32_t ned_north;
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int32_t ned_east;
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int32_t ned_down;
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uint32_t speed_3d;
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uint32_t speed_2d;
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int32_t heading_2d;
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uint32_t speed_accuracy;
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uint32_t heading_accuracy;
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};
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// // #pragma pack(pop)
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enum ubs_protocol_bytes {
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PREAMBLE1 = 0xb5,
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PREAMBLE2 = 0x62,
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CLASS_NAV = 0x1,
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MSG_POSLLH = 0x2,
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MSG_STATUS = 0x3,
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MSG_SOL = 0x6,
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MSG_VELNED = 0x12
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};
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enum ubs_nav_fix_type {
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FIX_NONE = 0,
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FIX_DEAD_RECKONING = 1,
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FIX_2D = 2,
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FIX_3D = 3,
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FIX_GPS_DEAD_RECKONING = 4,
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FIX_TIME = 5
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};
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enum ubx_nav_status_bits {
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NAV_STATUS_FIX_VALID = 1
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};
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// Packet checksum accumulators
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uint8_t _ck_a;
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uint8_t _ck_b;
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// State machine state
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uint8_t _step;
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uint8_t _msg_id;
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bool _gather;
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uint16_t _expect;
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uint16_t _payload_length;
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uint16_t _payload_counter;
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// Receive buffer
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union {
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ubx_nav_posllh posllh;
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ubx_nav_status status;
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ubx_nav_solution solution;
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ubx_nav_velned velned;
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uint8_t bytes[];
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} _buffer;
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// Buffer parse & GPS state update
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bool _parse_gps();
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};
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#endif
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