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.
84 lines
2.3 KiB
84 lines
2.3 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
|
|
// |
|
// DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega. |
|
// Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com |
|
// |
|
// 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 <AP_GPS.h> |
|
#include "AP_GPS_MTK_Common.h" |
|
|
|
class AP_GPS_MTK : public AP_GPS_Backend { |
|
public: |
|
AP_GPS_MTK(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
|
|
|
bool read(void); |
|
|
|
static bool _detect(struct MTK_detect_state &state, uint8_t data); |
|
static void send_init_blob(uint8_t instance, AP_GPS &gps); |
|
|
|
private: |
|
struct PACKED 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; |
|
}; |
|
enum diyd_mtk_fix_type { |
|
FIX_NONE = 1, |
|
FIX_2D = 2, |
|
FIX_3D = 3 |
|
}; |
|
|
|
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 PACKED { |
|
diyd_mtk_msg msg; |
|
uint8_t bytes[]; |
|
} _buffer; |
|
|
|
// Buffer parse & GPS state update |
|
void _parse_gps(); |
|
|
|
static const prog_char _initialisation_blob[]; |
|
}; |
|
|
|
#endif // __AP_GPS_MTK_H__
|
|
|