mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.6 KiB
C++
97 lines
2.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// SiRF Binary GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith.
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//
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// This library is free software; you can redistribute it and / or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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//
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#ifndef __AP_GPS_SIRF_H__
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#define __AP_GPS_SIRF_H__
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#include <AP_HAL.h>
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#include "GPS.h"
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#define SIRF_SET_BINARY "$PSRF100,0,38400,8,1,0*3C"
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class AP_GPS_SIRF : public GPS {
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public:
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virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE);
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virtual bool read();
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static bool _detect(uint8_t data);
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private:
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// XXX this is being ignored by the compiler #pragma pack(1)
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struct sirf_geonav {
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uint16_t fix_invalid;
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uint16_t fix_type;
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uint16_t week;
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uint32_t time;
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uint16_t year;
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uint8_t month;
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uint8_t day;
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uint8_t hour;
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uint8_t minute;
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uint16_t second;
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uint32_t satellites_used;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude_ellipsoid;
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int32_t altitude_msl;
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int8_t map_datum;
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int16_t ground_speed;
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int16_t ground_course;
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int16_t res1;
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int16_t climb_rate;
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uint16_t heading_rate;
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uint32_t horizontal_position_error;
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uint32_t vertical_position_error;
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uint32_t time_error;
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int16_t horizontal_velocity_error;
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int32_t clock_bias;
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uint32_t clock_bias_error;
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int32_t clock_drift;
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uint32_t clock_drift_error;
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uint32_t distance;
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uint16_t distance_error;
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uint16_t heading_error;
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uint8_t satellites;
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uint8_t hdop;
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uint8_t mode_info;
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};
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// #pragma pack(pop)
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enum sirf_protocol_bytes {
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PREAMBLE1 = 0xa0,
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PREAMBLE2 = 0xa2,
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POSTAMBLE1 = 0xb0,
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POSTAMBLE2 = 0xb3,
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MSG_GEONAV = 0x29
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};
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enum sirf_fix_type {
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FIX_3D = 0x6,
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FIX_MASK = 0x7
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};
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// State machine state
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uint8_t _step;
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uint16_t _checksum;
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bool _gather;
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uint16_t _payload_length;
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uint16_t _payload_counter;
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uint8_t _msg_id;
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// Message buffer
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union {
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sirf_geonav nav;
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uint8_t bytes[];
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} _buffer;
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bool _parse_gps(void);
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void _accumulate(uint8_t val);
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};
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#endif // AP_GPS_SIRF_h
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