mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.0 KiB
C
77 lines
2.0 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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GPS detection state structures. These need to be in a separate
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header to prevent a circular dependency between AP_GPS and the
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backend drivers.
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These structures are allocated as a single block in AP_GPS during
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driver detection, then freed once the detection is finished. Each
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GPS driver needs to implement a static _detect() function which uses
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this state information to detect if the attached GPS is of the
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specific type that it handles.
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*/
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struct MTK19_detect_state {
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uint8_t payload_counter;
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uint8_t step;
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uint8_t ck_a, ck_b;
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};
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struct MTK_detect_state {
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uint8_t payload_counter;
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uint8_t step;
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uint8_t ck_a, ck_b;
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};
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struct NMEA_detect_state {
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uint8_t step;
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uint8_t ck;
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};
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struct SIRF_detect_state {
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uint16_t checksum;
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uint8_t step, payload_length, payload_counter;
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};
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struct UBLOX_detect_state {
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uint8_t payload_length, payload_counter;
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uint8_t step;
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uint8_t ck_a, ck_b;
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};
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struct ERB_detect_state {
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uint8_t payload_length, payload_counter;
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uint8_t step;
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uint8_t ck_a, ck_b;
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};
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struct SBP_detect_state {
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enum {
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WAITING = 0,
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GET_TYPE = 1,
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GET_SENDER = 2,
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GET_LEN = 3,
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GET_MSG = 4,
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GET_CRC = 5
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} state:8;
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uint8_t n_read;
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uint8_t msg_len;
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uint16_t crc_so_far;
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uint16_t crc;
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};
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