mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.0 KiB
C++
88 lines
2.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// DIYDrones Custom Mediatek 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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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
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//
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#ifndef AP_GPS_MTK_h
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#define AP_GPS_MTK_h
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#include <GPS.h>
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#define MAXPAYLOAD 32
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#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n"
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#define MTK_SET_NMEA "$PGCMD,16,1,1,1,1,1*6B\r\n"
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#define MTK_OUTPUT_1HZ "$PMTK220,1000*1F\r\n"
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#define MTK_OUTPUT_2HZ "$PMTK220,500*2B\r\n"
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#define MTK_OUTPUT_4HZ "$PMTK220,250*29\r\n"
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#define MTK_OTUPUT_5HZ "$PMTK220,200*2C\r\n"
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#define MTK_OUTPUT_10HZ "$PMTK220,100*2F\r\n"
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#define MTK_BAUD_RATE_38400 "$PMTK251,38400*27\r\n"
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#define SBAS_ON "$PMTK313,1*2E\r\n"
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#define SBAS_OFF "$PMTK313,0*2F\r\n"
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#define WAAS_ON "$PSRF151,1*3F\r\n"
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#define WAAS_OFF "$PSRF151,0*3E\r\n"
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class AP_GPS_MTK : public GPS {
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public:
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AP_GPS_MTK(Stream *s);
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virtual void init(void);
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virtual void update(void);
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private:
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#pragma pack(1)
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struct diyd_mtk_msg {
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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int32_t ground_speed;
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int32_t ground_course;
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uint8_t satellites;
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uint8_t fix_type;
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uint32_t utc_time;
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};
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#pragma pack(pop)
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enum diyd_mtk_fix_type {
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FIX_NONE = 1,
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FIX_2D = 2,
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FIX_3D = 3
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};
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enum diyd_mtk_protocol_bytes {
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PREAMBLE1 = 0xb5,
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PREAMBLE2 = 0x62,
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MESSAGE_CLASS = 1,
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MESSAGE_ID = 5
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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 _payload_length;
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uint8_t _payload_counter;
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// Receive buffer
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union {
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diyd_mtk_msg msg;
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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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void _parse_gps();
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};
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#endif // AP_GPS_MTK_H
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