ardupilot/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h

98 lines
3.0 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
support for serial connected AHRS systems
*/
#pragma once
#include "AP_ExternalAHRS_config.h"
#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
#include "AP_ExternalAHRS_backend.h"
class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
public:
AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
// get serial port number, -1 for not enabled
int8_t get_port(void) const override;
// accessors for AP_AHRS
bool healthy(void) const override;
bool initialised(void) const override;
bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
void get_filter_status(nav_filter_status &status) const override;
void send_status_report(class GCS_MAVLINK &link) const override;
// check for new data
void update() override {
check_uart();
}
// Get model/type name
const char* get_name() const override;
private:
AP_HAL::UARTDriver *uart;
int8_t port_num;
bool setup_complete;
uint32_t baudrate;
void update_thread();
bool check_uart();
void process_packet1(const uint8_t *b);
void process_packet2(const uint8_t *b);
void process_packet_VN_100(const uint8_t *b);
void wait_register_responce(const uint8_t register_num);
uint8_t *pktbuf;
uint16_t pktoffset;
uint16_t bufsize;
struct VN_packet1 *last_pkt1;
struct VN_packet2 *last_pkt2;
uint32_t last_pkt1_ms;
uint32_t last_pkt2_ms;
enum class TYPE {
VN_300,
VN_100,
} type;
char model_name[25];
// NMEA parsing for setup
bool decode(char c);
bool decode_latest_term();
struct NMEA_parser {
char term[25]; // buffer for the current term within the current sentence
uint8_t term_offset; // offset within the _term buffer where the next character should be placed
uint8_t term_number; // term index within the current sentence
uint8_t checksum; // checksum accumulator
bool term_is_checksum; // current term is the checksum
bool sentence_valid; // is current sentence valid so far
bool sentence_done; // true if this sentence has already been decoded
uint8_t register_number; // VectorNAV register number were reading
} nmea;
};
#endif // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED