forked from Archive/PX4-Autopilot
99 lines
2.3 KiB
C
99 lines
2.3 KiB
C
|
/*
|
||
|
|
* mtk.h
|
||
|
|
*
|
||
|
|
* Created on: Mar 6, 2012
|
||
|
|
* Author: thomasgubler
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef MTK_H_
|
||
|
|
#define MTK_H_
|
||
|
|
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <stdlib.h>
|
||
|
|
#include <string.h>
|
||
|
|
#include <stdio.h>
|
||
|
|
#include <stdbool.h>
|
||
|
|
#include <unistd.h>
|
||
|
|
#include <pthread.h>
|
||
|
|
|
||
|
|
//Definition for mtk custom mode
|
||
|
|
#define MEDIATEK_REFRESH_RATE_4HZ "$PMTK220,250*29\r\n" //refresh rate - 4Hz - 250 milliseconds
|
||
|
|
#define MEDIATEK_REFRESH_RATE_5HZ "$PMTK220,200*2C\r\n"
|
||
|
|
#define MEDIATEK_REFRESH_RATE_10HZ "$PMTK220,100*2F\r\n" //refresh rate - 10Hz - 100 milliseconds
|
||
|
|
#define MEDIATEK_FACTORY_RESET "$PMTK104*37\r\n" //clear current settings
|
||
|
|
#define MEDIATEK_CUSTOM_BINARY_MODE "$PGCMD,16,0,0,0,0,0*6A\r\n"
|
||
|
|
#define MEDIATEK_FULL_COLD_RESTART "$PMTK104*37\r\n"
|
||
|
|
//#define NMEA_GGA_ENABLE "$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*27\r\n" //Set GGA messages
|
||
|
|
|
||
|
|
//definitions for watchdog
|
||
|
|
#define MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000
|
||
|
|
#define MTK_WATCHDOG_WAIT_TIME_MICROSECONDS 800000
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
// ************
|
||
|
|
// the structure of the binary packet
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
uint8_t payload; ///< Number of payload bytes
|
||
|
|
int32_t latitude; ///< Latitude in degrees * 10^7
|
||
|
|
int32_t longitude; ///< Longitude in degrees * 10^7
|
||
|
|
uint32_t msl_altitude; ///< MSL altitude in meters * 10^2
|
||
|
|
uint32_t ground_speed; ///< FIXME SPEC UNCLEAR
|
||
|
|
int32_t heading;
|
||
|
|
uint8_t satellites;
|
||
|
|
uint8_t fix_type;
|
||
|
|
uint32_t date;
|
||
|
|
uint32_t utc_time;
|
||
|
|
uint16_t hdop;
|
||
|
|
uint8_t ck_a;
|
||
|
|
uint8_t ck_b;
|
||
|
|
} __attribute__((__packed__)) type_gps_bin_mtk_packet;
|
||
|
|
|
||
|
|
typedef type_gps_bin_mtk_packet gps_bin_mtk_packet_t;
|
||
|
|
|
||
|
|
enum MTK_DECODE_STATES {
|
||
|
|
MTK_DECODE_UNINIT = 0,
|
||
|
|
MTK_DECODE_GOT_CK_A = 1,
|
||
|
|
MTK_DECODE_GOT_CK_B = 2
|
||
|
|
};
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
union {
|
||
|
|
uint16_t ck;
|
||
|
|
struct {
|
||
|
|
uint8_t ck_a;
|
||
|
|
uint8_t ck_b;
|
||
|
|
};
|
||
|
|
};
|
||
|
|
uint8_t decode_state;
|
||
|
|
// bool new_data;
|
||
|
|
// uint8_t fix;
|
||
|
|
bool print_errors;
|
||
|
|
int16_t rx_count;
|
||
|
|
|
||
|
|
uint64_t last_message_timestamp;
|
||
|
|
} __attribute__((__packed__)) type_gps_bin_mtk_state;
|
||
|
|
|
||
|
|
typedef type_gps_bin_mtk_state gps_bin_mtk_state_t;
|
||
|
|
|
||
|
|
extern pthread_mutex_t *mtk_mutex;
|
||
|
|
extern gps_bin_mtk_state_t *mtk_state;
|
||
|
|
|
||
|
|
void mtk_decode_init(void);
|
||
|
|
|
||
|
|
void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
|
||
|
|
|
||
|
|
int mtk_parse(uint8_t b, char *gps_rx_buffer);
|
||
|
|
|
||
|
|
int read_gps_mtk(int fd, char *gps_rx_buffer, int buffer_size);
|
||
|
|
|
||
|
|
int configure_gps_mtk(int fd);
|
||
|
|
|
||
|
|
void *mtk_loop(void *arg);
|
||
|
|
|
||
|
|
void *mtk_watchdog_loop(void *arg);
|
||
|
|
|
||
|
|
#endif /* MTK_H_ */
|