mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.3 KiB
C++
83 lines
2.3 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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// 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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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
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//
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// Note - see AP_GPS_MTK16.h for firmware 1.6 and later.
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//
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#pragma once
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#include "AP_GPS.h"
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#include "GPS_Backend.h"
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#include "AP_GPS_MTK_Common.h"
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class AP_GPS_MTK : public AP_GPS_Backend {
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public:
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AP_GPS_MTK(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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bool read(void);
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static bool _detect(struct MTK_detect_state &state, uint8_t data);
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static void send_init_blob(uint8_t instance, AP_GPS &gps);
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private:
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struct PACKED 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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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_counter;
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// Receive buffer
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union PACKED {
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diyd_mtk_msg msg;
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uint8_t bytes[1];
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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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static const char _initialisation_blob[];
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};
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