mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.9 KiB
C++
63 lines
1.9 KiB
C++
/*
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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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#pragma once
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#include "AP_WindVane_config.h"
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#if AP_WINDVANE_NMEA_ENABLED
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#include "AP_WindVane_Backend.h"
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class AP_WindVane_NMEA : public AP_WindVane_Backend
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{
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public:
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// constructor
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using AP_WindVane_Backend::AP_WindVane_Backend;
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// initialization
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void init(const AP_SerialManager& serial_manager) override;
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// update state
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void update_direction() override;
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void update_speed() override;
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private:
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// pointer to serial uart
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AP_HAL::UARTDriver *uart = nullptr;
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// See if we can read in some data
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void update();
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// try and decode NMEA message
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bool decode(char c);
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// decode each term
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bool decode_latest_term();
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// latest values read in
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float _speed_ms;
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float _wind_dir_deg;
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char _term[15]; // buffer for the current term within the current sentence
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uint8_t _term_offset; // offset within the _term buffer where the next character should be placed
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uint8_t _term_number; // term index within the current sentence
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uint8_t _checksum; // checksum accumulator
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bool _term_is_checksum; // current term is the checksum
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bool _sentence_valid; // is current sentence valid so far
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bool _sentence_done; // true if this sentence has already been decoded
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};
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#endif // AP_WINDVANE_NMEA_ENABLED
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