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