mirror of https://github.com/ArduPilot/ardupilot
117 lines
3.0 KiB
C++
117 lines
3.0 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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// SiRF Binary GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith.
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//
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_GPS.h"
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#include "GPS_Backend.h"
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#ifndef AP_GPS_SIRF_ENABLED
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#define AP_GPS_SIRF_ENABLED 1
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#endif
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#if AP_GPS_SIRF_ENABLED
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#define SIRF_SET_BINARY "$PSRF100,0,38400,8,1,0*3C\r\n"
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class AP_GPS_SIRF : public AP_GPS_Backend {
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public:
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AP_GPS_SIRF(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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bool read() override;
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static bool _detect(struct SIRF_detect_state &state, uint8_t data);
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const char *name() const override { return "SIRF"; }
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private:
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struct PACKED 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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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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DEFINE_BYTE_ARRAY_METHODS
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sirf_geonav nav;
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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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static const uint8_t _initialisation_blob[];
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};
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#endif
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