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uncrustify libraries/AP_GPS/GPS.h

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uncrustify 2012-08-21 19:19:52 -07:00 committed by Pat Hickey
parent 20d1a94778
commit 97035fbead
1 changed files with 80 additions and 73 deletions
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153
libraries/AP_GPS/GPS.h
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@ -23,7 +23,7 @@ public:
/// GPS drivers should not override this function; they should implement
/// ::read instead.
///
void update(void);
void update(void);
void (*callback)(unsigned long t);
@ -32,22 +32,22 @@ public:
/// \note Non-intuitive ordering for legacy reasons
///
enum GPS_Status {
NO_GPS = 0, ///< No GPS connected/detected
NO_FIX = 1, ///< Receiving valid GPS messages but no lock
GPS_OK = 2 ///< Receiving valid messages and locked
NO_GPS = 0, ///< No GPS connected/detected
NO_FIX = 1, ///< Receiving valid GPS messages but no lock
GPS_OK = 2 ///< Receiving valid messages and locked
};
// GPS navigation engine settings. Not all GPS receivers support
// this
enum GPS_Engine_Setting {
GPS_ENGINE_NONE = -1,
GPS_ENGINE_PEDESTRIAN = 3,
GPS_ENGINE_AUTOMOTIVE = 4,
GPS_ENGINE_SEA = 5,
GPS_ENGINE_AIRBORNE_1G = 6,
GPS_ENGINE_AIRBORNE_2G = 7,
GPS_ENGINE_AIRBORNE_4G = 8
};
// GPS navigation engine settings. Not all GPS receivers support
// this
enum GPS_Engine_Setting {
GPS_ENGINE_NONE = -1,
GPS_ENGINE_PEDESTRIAN = 3,
GPS_ENGINE_AUTOMOTIVE = 4,
GPS_ENGINE_SEA = 5,
GPS_ENGINE_AIRBORNE_1G = 6,
GPS_ENGINE_AIRBORNE_2G = 7,
GPS_ENGINE_AIRBORNE_4G = 8
};
/// Query GPS status
///
@ -56,25 +56,25 @@ public:
///
/// @returns Current GPS status
///
GPS_Status status(void) {
GPS_Status status(void) {
return _status;
}
/// GPS time epoch codes
///
enum GPS_Time_Epoch {
TIME_OF_DAY = 0, ///<
TIME_OF_WEEK = 1, ///< Ublox
TIME_OF_YEAR = 2, ///< MTK, NMEA
UNIX_EPOCH = 3 ///< If available
}; ///< SIFR?
enum GPS_Time_Epoch {
TIME_OF_DAY = 0, ///<
TIME_OF_WEEK = 1, ///< Ublox
TIME_OF_YEAR = 2, ///< MTK, NMEA
UNIX_EPOCH = 3 ///< If available
}; ///< SIFR?
/// Query GPS time epoch
///
/// @returns Current GPS time epoch code
///
GPS_Time_Epoch epoch(void) {
GPS_Time_Epoch epoch(void) {
return _epoch;
}
@ -85,31 +85,31 @@ public:
///
/// Must be implemented by the GPS driver.
///
virtual void init(enum GPS_Engine_Setting engine_setting = GPS_ENGINE_NONE) = 0;
virtual void init(enum GPS_Engine_Setting engine_setting = GPS_ENGINE_NONE) = 0;
// Properties
uint32_t time; ///< GPS time (milliseconds from epoch)
uint32_t date; ///< GPS date (FORMAT TBD)
int32_t latitude; ///< latitude in degrees * 10,000,000
int32_t longitude; ///< longitude in degrees * 10,000,000
int32_t altitude; ///< altitude in cm
uint32_t ground_speed; ///< ground speed in cm/sec
int32_t ground_course; ///< ground course in 100ths of a degree
int32_t speed_3d; ///< 3D speed in cm/sec (not always available)
int16_t hdop; ///< horizontal dilution of precision in cm
uint8_t num_sats; ///< Number of visible satelites
uint32_t time; ///< GPS time (milliseconds from epoch)
uint32_t date; ///< GPS date (FORMAT TBD)
int32_t latitude; ///< latitude in degrees * 10,000,000
int32_t longitude; ///< longitude in degrees * 10,000,000
int32_t altitude; ///< altitude in cm
uint32_t ground_speed; ///< ground speed in cm/sec
int32_t ground_course; ///< ground course in 100ths of a degree
int32_t speed_3d; ///< 3D speed in cm/sec (not always available)
int16_t hdop; ///< horizontal dilution of precision in cm
uint8_t num_sats; ///< Number of visible satelites
/// Set to true when new data arrives. A client may set this
/// to false in order to avoid processing data they have
/// already seen.
bool new_data;
bool new_data;
// Deprecated properties
bool fix; ///< true if we have a position fix (use ::status instead)
bool valid_read; ///< true if we have seen data from the GPS (use ::status instead)
bool fix; ///< true if we have a position fix (use ::status instead)
bool valid_read; ///< true if we have seen data from the GPS (use ::status instead)
// Debug support
bool print_errors; ///< deprecated
bool print_errors; ///< deprecated
// HIL support
virtual void setHIL(uint32_t time, float latitude, float longitude, float altitude,
@ -121,22 +121,28 @@ public:
/// 1200ms allows a small amount of slack over the worst-case 1Hz update
/// rate.
///
uint32_t idleTimeout;
uint32_t idleTimeout;
// components of velocity in 2D, in m/s
float velocity_north(void) { return _status == GPS_OK? _velocity_north : 0; }
float velocity_east(void) { return _status == GPS_OK? _velocity_east : 0; }
// components of velocity in 2D, in m/s
float velocity_north(void) {
return _status == GPS_OK ? _velocity_north : 0;
}
float velocity_east(void) {
return _status == GPS_OK ? _velocity_east : 0;
}
// last ground speed in m/s. This can be used when we have no GPS
// lock to return the last ground speed we had with lock
float last_ground_speed(void) { return _last_ground_speed_cm * 0.01; }
// last ground speed in m/s. This can be used when we have no GPS
// lock to return the last ground speed we had with lock
float last_ground_speed(void) {
return _last_ground_speed_cm * 0.01;
}
// the time we got our last fix in system milliseconds
uint32_t last_fix_time;
// the time we got our last fix in system milliseconds
uint32_t last_fix_time;
protected:
Stream *_port; ///< port the GPS is attached to
Stream *_port; ///< port the GPS is attached to
/// Constructor
///
@ -145,7 +151,8 @@ protected:
///
/// @param s Stream connected to the GPS module.
///
GPS(Stream *s) : _port(s) {};
GPS(Stream *s) : _port(s) {
};
/// read from the GPS stream and update properties
///
@ -153,7 +160,7 @@ protected:
///
/// @returns true if a valid message was received from the GPS
///
virtual bool read(void) = 0;
virtual bool read(void) = 0;
/// perform an endian swap on a long
///
@ -161,14 +168,14 @@ protected:
/// long in the wrong byte order
/// @returns endian-swapped value
///
int32_t _swapl(const void *bytes);
int32_t _swapl(const void *bytes);
/// perform an endian swap on an int
///
/// @param bytes pointer to a buffer containing bytes representing an
/// int in the wrong byte order
/// @returns endian-swapped value
int16_t _swapi(const void *bytes);
int16_t _swapi(const void *bytes);
/// emit an error message
///
@ -180,47 +187,47 @@ protected:
/// @note deprecated as-is due to the difficulty of hooking up to a working
/// printf vs. the potential benefits
///
void _error(const char *msg);
void _error(const char *msg);
/// Time epoch code for the gps in use
GPS_Time_Epoch _epoch;
GPS_Time_Epoch _epoch;
enum GPS_Engine_Setting _nav_setting;
enum GPS_Engine_Setting _nav_setting;
void _write_progstr_block(Stream *_fs, const prog_char *pstr, uint8_t size);
void _write_progstr_block(Stream *_fs, const prog_char *pstr, uint8_t size);
// velocities in cm/s if available from the GPS
int32_t _vel_north;
int32_t _vel_east;
int32_t _vel_down;
// velocities in cm/s if available from the GPS
int32_t _vel_north;
int32_t _vel_east;
int32_t _vel_down;
// does this GPS support raw velocity numbers?
bool _have_raw_velocity;
// does this GPS support raw velocity numbers?
bool _have_raw_velocity;
private:
/// Last time that the GPS driver got a good packet from the GPS
///
uint32_t _idleTimer;
uint32_t _idleTimer;
/// Our current status
GPS_Status _status;
GPS_Status _status;
// previous ground speed in cm/s
// previous ground speed in cm/s
uint32_t _last_ground_speed_cm;
// components of the velocity, in m/s
float _velocity_north;
float _velocity_east;
// components of the velocity, in m/s
float _velocity_north;
float _velocity_east;
};
inline int32_t
GPS::_swapl(const void *bytes)
{
const uint8_t *b = (const uint8_t *)bytes;
const uint8_t *b = (const uint8_t *)bytes;
union {
int32_t v;
int32_t v;
uint8_t b[4];
} u;
@ -235,9 +242,9 @@ GPS::_swapl(const void *bytes)
inline int16_t
GPS::_swapi(const void *bytes)
{
const uint8_t *b = (const uint8_t *)bytes;
const uint8_t *b = (const uint8_t *)bytes;
union {
int16_t v;
int16_t v;
uint8_t b[2];
} u;