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109 lines
2.9 KiB
109 lines
2.9 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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// SiRF Binary GPS driver for ArduPilot and ArduPilotMega. |
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// Code by Michael Smith. |
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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/AP_HAL.h> |
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#include <AP_Common/AP_Common.h> |
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#include "AP_GPS.h" |
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#define SIRF_SET_BINARY "$PSRF100,0,38400,8,1,0*3C\r\n" |
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class AP_GPS_SIRF : public AP_GPS_Backend { |
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public: |
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AP_GPS_SIRF(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
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bool read(); |
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static bool _detect(struct SIRF_detect_state &state, uint8_t data); |
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private: |
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struct PACKED 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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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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static const uint8_t _initialisation_blob[]; |
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}; |
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#endif // AP_GPS_SIRF_h
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