mirror of https://github.com/ArduPilot/ardupilot
77 lines
1.9 KiB
C++
77 lines
1.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
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// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
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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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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
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//
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// Note - see AP_GPS_MTK16.h for firmware 1.6 and later.
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//
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#ifndef __AP_GPS_MTK_H__
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#define __AP_GPS_MTK_H__
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#include "GPS.h"
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#include <AP_Common.h>
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#include "AP_GPS_MTK_Common.h"
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class AP_GPS_MTK : public GPS {
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public:
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AP_GPS_MTK() :
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GPS(),
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_step(0),
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_payload_counter(0)
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{}
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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(void);
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static bool _detect(uint8_t );
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private:
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struct PACKED diyd_mtk_msg {
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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int32_t ground_speed;
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int32_t ground_course;
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uint8_t satellites;
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uint8_t fix_type;
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uint32_t utc_time;
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};
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enum diyd_mtk_fix_type {
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FIX_NONE = 1,
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FIX_2D = 2,
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FIX_3D = 3
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};
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enum diyd_mtk_protocol_bytes {
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PREAMBLE1 = 0xb5,
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PREAMBLE2 = 0x62,
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MESSAGE_CLASS = 1,
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MESSAGE_ID = 5
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};
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// Packet checksum accumulators
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uint8_t _ck_a;
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uint8_t _ck_b;
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// State machine state
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uint8_t _step;
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uint8_t _payload_counter;
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// Receive buffer
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union PACKED {
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diyd_mtk_msg msg;
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uint8_t bytes[];
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} _buffer;
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// Buffer parse & GPS state update
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void _parse_gps();
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};
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#endif // __AP_GPS_MTK_H__
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