ardupilot/libraries/AP_GPS/AP_GPS_MTK19.h

85 lines
2.1 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
//
// This library is free software; you can redistribute it and / or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
//
// GPS configuration : Custom protocol per "Customize Function Specification, 3D Robotics, v1.6, v1.7, v1.8, v1.9"
//
#ifndef AP_GPS_MTK19_h
#define AP_GPS_MTK19_h
#include "GPS.h"
#include <AP_Common.h>
#include "AP_GPS_MTK_Common.h"
#define MTK_GPS_REVISION_V16 16
#define MTK_GPS_REVISION_V19 19
class AP_GPS_MTK19 : public GPS {
public:
AP_GPS_MTK19() :
GPS(),
_step(0),
_payload_counter(0),
_mtk_revision(0)
{}
virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
virtual bool read(void);
static bool _detect(uint8_t );
private:
struct PACKED diyd_mtk_msg {
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_date;
uint32_t utc_time;
uint16_t hdop;
};
enum diyd_mtk_fix_type {
FIX_NONE = 1,
FIX_2D = 2,
FIX_3D = 3,
FIX_2D_SBAS = 6,
FIX_3D_SBAS = 7
};
enum diyd_mtk_protocol_bytes {
PREAMBLE1_V16 = 0xd0,
PREAMBLE1_V19 = 0xd1,
PREAMBLE2 = 0xdd,
};
// Packet checksum accumulators
uint8_t _ck_a;
uint8_t _ck_b;
// State machine state
uint8_t _step;
uint8_t _payload_counter;
uint8_t _mtk_revision;
// Time from UNIX Epoch offset
long _time_offset;
bool _offset_calculated;
// Receive buffer
union {
diyd_mtk_msg msg;
uint8_t bytes[];
} _buffer;
};
#endif // AP_GPS_MTK19_H