You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
73 lines
1.9 KiB
73 lines
1.9 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
|
// |
|
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega. |
|
// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com |
|
// |
|
// 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. |
|
// |
|
// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1" |
|
// |
|
// Note - see AP_GPS_MTK16.h for firmware 1.6 and later. |
|
// |
|
#ifndef __AP_GPS_MTK_H__ |
|
#define __AP_GPS_MTK_H__ |
|
|
|
#include "GPS.h" |
|
#include "AP_GPS_MTK_Common.h" |
|
|
|
class AP_GPS_MTK : public GPS { |
|
public: |
|
virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE); |
|
virtual bool read(void); |
|
static bool _detect(uint8_t ); |
|
|
|
private: |
|
// XXX this is being ignored by the compiler #pragma pack(1) |
|
struct diyd_mtk_msg { |
|
int32_t latitude; |
|
int32_t longitude; |
|
int32_t altitude; |
|
int32_t ground_speed; |
|
int32_t ground_course; |
|
uint8_t satellites; |
|
uint8_t fix_type; |
|
uint32_t utc_time; |
|
}; |
|
// #pragma pack(pop) |
|
enum diyd_mtk_fix_type { |
|
FIX_NONE = 1, |
|
FIX_2D = 2, |
|
FIX_3D = 3, |
|
FIX_2D_SBAS = 6, |
|
FIX_3D_SBAS = 7 |
|
}; |
|
|
|
enum diyd_mtk_protocol_bytes { |
|
PREAMBLE1 = 0xb5, |
|
PREAMBLE2 = 0x62, |
|
MESSAGE_CLASS = 1, |
|
MESSAGE_ID = 5 |
|
}; |
|
|
|
// Packet checksum accumulators |
|
uint8_t _ck_a; |
|
uint8_t _ck_b; |
|
|
|
// State machine state |
|
uint8_t _step; |
|
uint8_t _payload_counter; |
|
|
|
// Receive buffer |
|
union { |
|
diyd_mtk_msg msg; |
|
uint8_t bytes[]; |
|
} _buffer; |
|
|
|
// Buffer parse & GPS state update |
|
void _parse_gps(); |
|
}; |
|
|
|
#endif // __AP_GPS_MTK_H__
|
|
|