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84 lines
2.1 KiB
84 lines
2.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega. |
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// Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com |
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// |
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// This library is free software; you can redistribute it and / or |
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// modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation; either |
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// version 2.1 of the License, or (at your option) any later version. |
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// |
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// GPS configuration : Custom protocol per "Customize Function Specification, 3D Robotics, v1.6, v1.7, v1.8, v1.9" |
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// |
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#ifndef AP_GPS_MTK19_h |
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#define AP_GPS_MTK19_h |
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#include "GPS.h" |
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#include <AP_Common.h> |
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#include "AP_GPS_MTK_Common.h" |
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#define MTK_GPS_REVISION_V16 16 |
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#define MTK_GPS_REVISION_V19 19 |
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class AP_GPS_MTK19 : public GPS { |
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public: |
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AP_GPS_MTK19() : |
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GPS(), |
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_step(0), |
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_payload_counter(0), |
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_mtk_revision(0) |
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{} |
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virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE); |
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virtual bool read(void); |
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static bool _detect(uint8_t ); |
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private: |
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struct PACKED diyd_mtk_msg { |
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int32_t latitude; |
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int32_t longitude; |
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int32_t altitude; |
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int32_t ground_speed; |
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int32_t ground_course; |
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uint8_t satellites; |
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uint8_t fix_type; |
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uint32_t utc_date; |
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uint32_t utc_time; |
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uint16_t hdop; |
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}; |
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enum diyd_mtk_fix_type { |
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FIX_NONE = 1, |
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FIX_2D = 2, |
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FIX_3D = 3, |
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FIX_2D_SBAS = 6, |
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FIX_3D_SBAS = 7 |
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}; |
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enum diyd_mtk_protocol_bytes { |
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PREAMBLE1_V16 = 0xd0, |
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PREAMBLE1_V19 = 0xd1, |
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PREAMBLE2 = 0xdd, |
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}; |
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// Packet checksum accumulators |
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uint8_t _ck_a; |
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uint8_t _ck_b; |
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// State machine state |
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uint8_t _step; |
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uint8_t _payload_counter; |
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uint8_t _mtk_revision; |
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// Time from UNIX Epoch offset |
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long _time_offset; |
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bool _offset_calculated; |
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// Receive buffer |
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union { |
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diyd_mtk_msg msg; |
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uint8_t bytes[]; |
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} _buffer; |
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}; |
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#endif // AP_GPS_MTK19_H
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