mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-26 17:53:59 -04:00
0a94520682
Note that this is currently disabled as changes need to be made to APM to support it. Tested with MTK, u-blox and SiRF GPS'. git-svn-id: https://arducopter.googlecode.com/svn/trunk@671 f9c3cf11-9bcb-44bc-f272-b75c42450872
132 lines
3.2 KiB
C++
132 lines
3.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file GPS.h
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/// @brief Interface definition for the various GPS drivers.
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#ifndef GPS_h
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#define GPS_h
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#include <inttypes.h>
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#include <Stream.h>
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/// @class GPS
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/// @brief Abstract base class for GPS receiver drivers.
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class GPS
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{
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public:
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/// Constructor
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///
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/// @note The stream is expected to be set up and configured for the
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/// correct bitrate before ::init is called.
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///
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/// @param s Stream connected to the GPS module. If NULL, assumed
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/// to be set up at ::init time. Support for setting
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/// the port in the ctor for backwards compatibility.
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///
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GPS(Stream *s = NULL) : _port(s) {};
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/// Startup initialisation.
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///
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/// This routine performs any one-off initialisation required to set the
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/// GPS up for use.
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///
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/// @param s Stream connected to the GPS module. If NULL, assumed to
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/// have been set up at constructor time.
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///
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virtual void init(void) = 0;
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/// Update GPS state based on possible bytes received from the module.
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///
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/// This routine must be called periodically to process incoming data.
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///
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virtual void update(void) = 0;
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// Properties
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long time; ///< GPS time in milliseconds from the start of the week
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long latitude; ///< latitude in degrees * 10,000,000
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long longitude; ///< longitude in degrees * 10,000,000
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long altitude; ///< altitude in cm
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long ground_speed; ///< ground speed in cm/sec
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long ground_course; ///< ground course in 100ths of a degree
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long speed_3d; ///< 3D speed in cm/sec (not always available)
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uint8_t num_sats; ///< Number of visible satelites
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bool fix; ///< true if we have a position fix
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/// Set to true when new data arrives. A client may set this
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/// to false in order to avoid processing data they have
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/// already seen.
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bool new_data;
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bool valid_read;
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int status(void); ///< 0 = Not Connected, 1 = Receiving Valid Messages but No Lock, 2 = Locked
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bool print_errors; ///< if true, errors will be printed to stderr
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protected:
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Stream *_port; ///< stream port the GPS is attached to
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/// perform an endian swap on a long
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///
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/// @param bytes pointer to a buffer containing bytes representing a
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/// long in the wrong byte order
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/// @returns endian-swapped value
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///
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long _swapl(const void *bytes);
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unsigned long _lastTime; ///< Timer for lost connection
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void _setTime(void);
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/// perform an endian swap on an int
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///
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/// @param bytes pointer to a buffer containing bytes representing an
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/// int in the wrong byte order
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/// @returns endian-swapped value
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int _swapi(const void *bytes);
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/// emit an error message
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///
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/// based on the value of print_errors, emits the printf-formatted message
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/// in msg,... to stderr
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///
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/// @param fmt printf-like format string
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///
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void _error(const char *msg, ...);
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};
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inline long
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GPS::_swapl(const void *bytes)
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{
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const uint8_t *b = (const uint8_t *)bytes;
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union {
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long v;
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uint8_t b[4];
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} u;
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u.b[0] = b[3];
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u.b[1] = b[2];
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u.b[2] = b[1];
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u.b[3] = b[0];
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return(u.v);
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}
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inline int16_t
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GPS::_swapi(const void *bytes)
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{
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const uint8_t *b = (const uint8_t *)bytes;
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union {
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int16_t v;
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uint8_t b[2];
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} u;
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u.b[0] = b[1];
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u.b[1] = b[0];
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return(u.v);
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}
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#endif
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