mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.1 KiB
C++
85 lines
2.1 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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// Trimble GPS driver for ArduPilot.
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// Code by Michael Oborne
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//
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#pragma once
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#include "AP_GPS.h"
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#include "GPS_Backend.h"
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class AP_GPS_GSOF : public AP_GPS_Backend
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{
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public:
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AP_GPS_GSOF(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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AP_GPS::GPS_Status highest_supported_status(void) {
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return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
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}
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// Methods
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bool read();
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const char *name() const override { return "GSOF"; }
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private:
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bool parse(uint8_t temp);
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bool process_message();
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void requestBaud(uint8_t portindex);
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void requestGSOF(uint8_t messagetype, uint8_t portindex);
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double SwapDouble(uint8_t* src, uint32_t pos);
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float SwapFloat(uint8_t* src, uint32_t pos);
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uint32_t SwapUint32(uint8_t* src, uint32_t pos);
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uint16_t SwapUint16(uint8_t* src, uint32_t pos);
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struct gsof_msg_parser_t
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{
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enum
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{
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STARTTX = 0,
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STATUS,
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PACKETTYPE,
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LENGTH,
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DATA,
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CHECKSUM,
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ENDTX
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} gsof_state;
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uint8_t starttx;
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uint8_t status;
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uint8_t packettype;
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uint8_t length;
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uint8_t data[256];
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uint8_t checksum;
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uint8_t endtx;
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uint16_t read;
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uint8_t checksumcalc;
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} gsof_msg;
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static const uint8_t GSOF_STX = 0x02;
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static const uint8_t GSOF_ETX = 0x03;
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uint8_t packetcount = 0;
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uint32_t gsofmsg_time = 0;
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uint8_t gsofmsgreq_index = 0;
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uint8_t gsofmsgreq[5] = {1,2,8,9,12};
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};
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