forked from Archive/PX4-Autopilot
125 lines
3.9 KiB
C++
125 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/* @file mtk.h */
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#ifndef MTK_H_
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#define MTK_H_
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#include "gps_helper.h"
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#define MTK_SYNC1_V16 0xd0
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#define MTK_SYNC1_V19 0xd1
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#define MTK_SYNC2 0xdd
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#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n"
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#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n"
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#define SBAS_ON "$PMTK313,1*2E\r\n"
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#define WAAS_ON "$PMTK301,2*2E\r\n"
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#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n"
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#define MTK_TIMEOUT_5HZ 400
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#define MTK_BAUDRATE 38400
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typedef enum {
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MTK_DECODE_UNINIT = 0,
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MTK_DECODE_GOT_CK_A = 1,
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MTK_DECODE_GOT_CK_B = 2
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} mtk_decode_state_t;
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/** the structures of the binary packets */
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#pragma pack(push, 1)
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typedef struct {
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uint8_t payload; ///< Number of payload bytes
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int32_t latitude; ///< Latitude in degrees * 10^7
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int32_t longitude; ///< Longitude in degrees * 10^7
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uint32_t msl_altitude; ///< MSL altitude in meters * 10^2
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uint32_t ground_speed; ///< velocity in m/s
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int32_t heading; ///< heading in degrees * 10^2
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uint8_t satellites; ///< number of sattelites used
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uint8_t fix_type; ///< fix type: XXX correct for that
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uint32_t date;
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uint32_t utc_time;
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uint16_t hdop; ///< horizontal dilution of position (without unit)
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uint8_t ck_a;
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uint8_t ck_b;
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} gps_mtk_packet_t;
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#pragma pack(pop)
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#define MTK_RECV_BUFFER_SIZE 40
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class MTK : public GPS_Helper
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{
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public:
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MTK(const int &fd, struct vehicle_gps_position_s *gps_position);
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~MTK();
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int receive(unsigned timeout);
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int configure(unsigned &baudrate);
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private:
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/**
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* Parse the binary MTK packet
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*/
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int parse_char(uint8_t b, gps_mtk_packet_t &packet);
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/**
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* Handle the package once it has arrived
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*/
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void handle_message(gps_mtk_packet_t &packet);
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/**
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* Reset the parse state machine for a fresh start
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*/
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void decode_init(void);
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/**
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* While parsing add every byte (except the sync bytes) to the checksum
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*/
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void add_byte_to_checksum(uint8_t);
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int _fd;
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struct vehicle_gps_position_s *_gps_position;
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mtk_decode_state_t _decode_state;
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uint8_t _mtk_revision;
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uint8_t _rx_buffer[MTK_RECV_BUFFER_SIZE];
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unsigned _rx_count;
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uint8_t _rx_ck_a;
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uint8_t _rx_ck_b;
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};
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#endif /* MTK_H_ */
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