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105 lines
2.6 KiB
105 lines
2.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// |
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// SiRF Binary GPS driver for ArduPilot and ArduPilotMega. |
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// Code by Michael Smith. |
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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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#ifndef __AP_GPS_SIRF_H__ |
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#define __AP_GPS_SIRF_H__ |
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#include <AP_HAL.h> |
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#include "GPS.h" |
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#define SIRF_SET_BINARY "$PSRF100,0,38400,8,1,0*3C" |
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class AP_GPS_SIRF : public GPS { |
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public: |
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AP_GPS_SIRF() : |
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GPS(), |
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_step(0), |
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_gather(false), |
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_payload_length(0), |
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_payload_counter(0), |
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_msg_id(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(); |
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static bool _detect(uint8_t data); |
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private: |
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#pragma pack(push,1) |
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struct sirf_geonav { |
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uint16_t fix_invalid; |
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uint16_t fix_type; |
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uint16_t week; |
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uint32_t time; |
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uint16_t year; |
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uint8_t month; |
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uint8_t day; |
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uint8_t hour; |
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uint8_t minute; |
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uint16_t second; |
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uint32_t satellites_used; |
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int32_t latitude; |
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int32_t longitude; |
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int32_t altitude_ellipsoid; |
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int32_t altitude_msl; |
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int8_t map_datum; |
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int16_t ground_speed; |
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int16_t ground_course; |
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int16_t res1; |
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int16_t climb_rate; |
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uint16_t heading_rate; |
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uint32_t horizontal_position_error; |
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uint32_t vertical_position_error; |
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uint32_t time_error; |
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int16_t horizontal_velocity_error; |
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int32_t clock_bias; |
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uint32_t clock_bias_error; |
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int32_t clock_drift; |
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uint32_t clock_drift_error; |
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uint32_t distance; |
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uint16_t distance_error; |
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uint16_t heading_error; |
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uint8_t satellites; |
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uint8_t hdop; |
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uint8_t mode_info; |
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}; |
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#pragma pack(pop) |
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enum sirf_protocol_bytes { |
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PREAMBLE1 = 0xa0, |
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PREAMBLE2 = 0xa2, |
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POSTAMBLE1 = 0xb0, |
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POSTAMBLE2 = 0xb3, |
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MSG_GEONAV = 0x29 |
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}; |
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enum sirf_fix_type { |
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FIX_3D = 0x6, |
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FIX_MASK = 0x7 |
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}; |
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// State machine state |
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uint8_t _step; |
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uint16_t _checksum; |
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bool _gather; |
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uint16_t _payload_length; |
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uint16_t _payload_counter; |
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uint8_t _msg_id; |
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// Message buffer |
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union { |
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sirf_geonav nav; |
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uint8_t bytes[]; |
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} _buffer; |
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bool _parse_gps(void); |
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void _accumulate(uint8_t val); |
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}; |
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#endif // AP_GPS_SIRF_h
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