mirror of https://github.com/ArduPilot/ardupilot
119 lines
2.7 KiB
C++
119 lines
2.7 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 port Stream connected to the GPS module.
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///
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GPS(Stream *port = NULL) : _port(port) {};
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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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virtual void init();
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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();
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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 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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/// 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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