mirror of https://github.com/ArduPilot/ardupilot
124 lines
4.0 KiB
C++
124 lines
4.0 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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/*
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GPS driver backend class
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*/
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#pragma once
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_RTC/JitterCorrection.h>
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#include "AP_GPS.h"
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class AP_GPS_Backend
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{
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public:
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AP_GPS_Backend(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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// we declare a virtual destructor so that GPS drivers can
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// override with a custom destructor if need be.
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virtual ~AP_GPS_Backend(void) {}
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// The read() method is the only one needed in each driver. It
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// should return true when the backend has successfully received a
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// valid packet from the GPS.
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virtual bool read() = 0;
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// Highest status supported by this GPS.
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// Allows external system to identify type of receiver connected.
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virtual AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D; }
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virtual bool is_configured(void) { return true; }
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virtual void inject_data(const uint8_t *data, uint16_t len);
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//MAVLink methods
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virtual bool supports_mavlink_gps_rtk_message() { return false; }
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virtual void send_mavlink_gps_rtk(mavlink_channel_t chan);
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virtual void broadcast_configuration_failure_reason(void) const { return ; }
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virtual void handle_msg(const mavlink_message_t &msg) { return ; }
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// driver specific lag, returns true if the driver is confident in the provided lag
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virtual bool get_lag(float &lag) const { lag = 0.2f; return true; }
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// driver specific health, returns true if the driver is healthy
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virtual bool is_healthy(void) const { return true; }
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// returns true if the GPS is doing any logging it is expected to
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virtual bool logging_healthy(void) const { return true; }
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virtual const char *name() const = 0;
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void broadcast_gps_type() const;
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virtual void Write_AP_Logger_Log_Startup_messages() const;
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virtual bool prepare_for_arming(void) { return true; }
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// optional support for retrieving RTCMv3 data from a moving baseline base
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virtual bool get_RTCMV3(const uint8_t *&bytes, uint16_t &len) { return false; }
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virtual void clear_RTCMV3(void) {};
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protected:
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AP_HAL::UARTDriver *port; ///< UART we are attached to
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AP_GPS &gps; ///< access to frontend (for parameters)
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AP_GPS::GPS_State &state; ///< public state for this instance
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// common utility functions
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int32_t swap_int32(int32_t v) const;
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int16_t swap_int16(int16_t v) const;
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/*
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fill in 3D velocity from 2D components
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*/
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void fill_3d_velocity(void);
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/*
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fill in time_week_ms and time_week from BCD date and time components
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assumes MTK19 millisecond form of bcd_time
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*/
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void make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds);
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void _detection_message(char *buffer, uint8_t buflen) const;
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bool should_log() const;
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/*
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set a timestamp based on arrival time on uart at current byte,
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assuming the message started nbytes ago
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*/
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void set_uart_timestamp(uint16_t nbytes);
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void check_new_itow(uint32_t itow, uint32_t msg_length);
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/*
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access to driver option bits
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*/
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uint16_t driver_options(void) const {
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return uint16_t(gps._driver_options.get());
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}
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private:
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// itow from previous message
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uint32_t _last_itow;
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uint64_t _pseudo_itow;
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uint32_t _last_ms;
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uint32_t _rate_ms;
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uint32_t _last_rate_ms;
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uint16_t _rate_counter;
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JitterCorrection jitter_correction;
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};
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