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124 lines
3.9 KiB
124 lines
3.9 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. |
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch> |
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* Julian Oes <joes@student.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/* @file mtk.h */ |
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#ifndef MTK_H_ |
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#define MTK_H_ |
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#include "gps_helper.h" |
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#define MTK_SYNC1_V16 0xd0 |
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#define MTK_SYNC1_V19 0xd1 |
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#define MTK_SYNC2 0xdd |
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#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n" |
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#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n" |
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#define SBAS_ON "$PMTK313,1*2E\r\n" |
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#define WAAS_ON "$PMTK301,2*2E\r\n" |
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#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n" |
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#define MTK_TIMEOUT_5HZ 400 |
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#define MTK_BAUDRATE 38400 |
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typedef enum { |
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MTK_DECODE_UNINIT = 0, |
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MTK_DECODE_GOT_CK_A = 1, |
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MTK_DECODE_GOT_CK_B = 2 |
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} mtk_decode_state_t; |
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/** the structures of the binary packets */ |
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#pragma pack(push, 1) |
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typedef struct { |
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uint8_t payload; ///< Number of payload bytes |
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int32_t latitude; ///< Latitude in degrees * 10^7 |
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int32_t longitude; ///< Longitude in degrees * 10^7 |
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uint32_t msl_altitude; ///< MSL altitude in meters * 10^2 |
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uint32_t ground_speed; ///< velocity in m/s |
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int32_t heading; ///< heading in degrees * 10^2 |
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uint8_t satellites; ///< number of sattelites used |
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uint8_t fix_type; ///< fix type: XXX correct for that |
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uint32_t date; |
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uint32_t utc_time; |
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uint16_t hdop; ///< horizontal dilution of position (without unit) |
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uint8_t ck_a; |
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uint8_t ck_b; |
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} gps_mtk_packet_t; |
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#pragma pack(pop) |
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#define MTK_RECV_BUFFER_SIZE 40 |
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class MTK : public GPS_Helper |
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{ |
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public: |
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MTK(const int &fd, struct vehicle_gps_position_s *gps_position); |
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~MTK(); |
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int receive(unsigned timeout); |
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int configure(unsigned &baudrate); |
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private: |
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/** |
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* Parse the binary MTK packet |
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*/ |
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int parse_char(uint8_t b, gps_mtk_packet_t &packet); |
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/** |
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* Handle the package once it has arrived |
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*/ |
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void handle_message(gps_mtk_packet_t &packet); |
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/** |
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* Reset the parse state machine for a fresh start |
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*/ |
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void decode_init(void); |
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/** |
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* While parsing add every byte (except the sync bytes) to the checksum |
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*/ |
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void add_byte_to_checksum(uint8_t); |
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int _fd; |
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struct vehicle_gps_position_s *_gps_position; |
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mtk_decode_state_t _decode_state; |
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uint8_t _mtk_revision; |
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uint8_t _rx_buffer[MTK_RECV_BUFFER_SIZE]; |
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unsigned _rx_count; |
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uint8_t _rx_ck_a; |
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uint8_t _rx_ck_b; |
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}; |
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#endif /* MTK_H_ */
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