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59 lines
1.6 KiB
59 lines
1.6 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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RTCMv3 parser, used to support moving baseline RTK mode between two |
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GPS modules |
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*/ |
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#include <stdint.h> |
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class RTCM3_Parser { |
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public: |
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// process one byte, return true if packet found |
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bool read(uint8_t b); |
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// reset internal state |
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void reset(void); |
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// clear previous packet |
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void clear_packet(void); |
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// return length of found packet |
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uint16_t get_len(const uint8_t *&bytes) const; |
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// return ID of found packet |
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uint16_t get_id(void) const; |
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private: |
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const uint8_t RTCMv3_PREAMBLE = 0xD3; |
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const uint32_t POLYCRC24 = 0x1864CFB; |
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// raw packet, we shouldn't need over 300 bytes for the MB configs we use |
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uint8_t pkt[300]; |
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// number of bytes in pkt[] |
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uint16_t pkt_bytes; |
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// length from header |
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uint16_t pkt_len; |
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// length of found packet |
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uint16_t found_len; |
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bool parse(void); |
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void resync(void); |
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uint32_t crc24(const uint8_t *bytes, uint16_t len); |
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}; |
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