mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.1 KiB
C++
85 lines
2.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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, Craig Elder, 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 "Customize Function Specification, 3D Robotics, v1.6, v1.7, v1.8, v1.9"
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//
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#ifndef AP_GPS_MTK19_h
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#define AP_GPS_MTK19_h
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#include "GPS.h"
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#include <AP_Common.h>
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#include "AP_GPS_MTK_Common.h"
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#define MTK_GPS_REVISION_V16 16
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#define MTK_GPS_REVISION_V19 19
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class AP_GPS_MTK19 : public GPS {
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public:
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AP_GPS_MTK19() :
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GPS(),
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_step(0),
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_payload_counter(0),
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_mtk_revision(0)
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{}
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virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
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virtual bool read(void);
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static bool _detect(uint8_t );
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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_date;
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uint32_t utc_time;
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uint16_t hdop;
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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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FIX_2D_SBAS = 6,
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FIX_3D_SBAS = 7
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};
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enum diyd_mtk_protocol_bytes {
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PREAMBLE1_V16 = 0xd0,
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PREAMBLE1_V19 = 0xd1,
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PREAMBLE2 = 0xdd,
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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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uint8_t _mtk_revision;
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// Time from UNIX Epoch offset
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long _time_offset;
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bool _offset_calculated;
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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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};
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#endif // AP_GPS_MTK19_H
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