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81 lines
2.0 KiB
81 lines
2.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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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, 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 "DIYDrones Custom Binary Sentence Specification V1.1" |
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// |
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// Note - see GCS_SIMPLE16.h for firmware 1.6 and later. |
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// |
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#ifndef GCS_SIMPLE_h |
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#define GCS_SIMPLE_h |
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#include <GCS_MAVLink.h> // MAVLink GCS definitions |
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class GCS_SIMPLE { |
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public: |
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GCS_SIMPLE(Stream *s); |
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bool read(void); |
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void ack(void); |
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void write_byte(uint8_t val); |
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void write_int(int val); |
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void write_float(float val); |
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void write_long(long val); |
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void flush(uint8_t msg_id); |
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Stream *_port; ///< port the GPS is attached to |
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int8_t index; |
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int8_t id; |
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int8_t p1; |
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int32_t altitude; |
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int32_t latitude; |
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int32_t longitude; |
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#pragma pack(1) |
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struct diyd_mtk_msg { |
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int8_t index; |
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int8_t id; |
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int8_t p1; |
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int32_t altitude; |
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int32_t latitude; |
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int32_t longitude; |
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}; |
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#pragma pack(pop) |
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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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private: |
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// State machine state |
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// incoming |
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uint8_t _step; |
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uint8_t _payload_counter; |
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uint8_t _length; |
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uint8_t _id; |
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// outgoing |
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union d_out{ |
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uint8_t bytes[4]; |
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int32_t long_value; |
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float float_value; |
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} double_out; |
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union i_out { |
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uint8_t bytes[2]; |
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int16_t value; |
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} int_out; |
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uint8_t mess_buffer[50]; |
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uint8_t buff_pointer; |
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}; |
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#endif // GCS_SIMPLE_H
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