ardupilot/libraries/AP_NMEA_Output/AP_NMEA_Output.h

54 lines
1.4 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Author: Francisco Ferreira
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#if !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE
#include <AP_SerialManager/AP_SerialManager.h>
class AP_NMEA_Output {
public:
static AP_NMEA_Output* probe();
/* Do not allow copies */
AP_NMEA_Output(const AP_NMEA_Output &other) = delete;
AP_NMEA_Output &operator=(const AP_NMEA_Output&) = delete;
void update();
private:
AP_NMEA_Output();
uint8_t _nmea_checksum(const char *str);
static AP_NMEA_Output* _singleton;
uint8_t _num_outputs;
AP_HAL::UARTDriver* _uart[SERIALMANAGER_NUM_PORTS];
uint32_t _last_run_ms;
};
#endif // !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE