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77 lines
2.5 KiB
77 lines
2.5 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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GPS driver backend class |
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*/ |
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#ifndef __AP_GPS_BACKEND_H__ |
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#define __AP_GPS_BACKEND_H__ |
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#include <GCS_MAVLink/GCS_MAVLink.h> |
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#include "AP_GPS.h" |
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class AP_GPS_Backend |
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{ |
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public: |
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AP_GPS_Backend(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
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// we declare a virtual destructor so that GPS drivers can |
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// override with a custom destructor if need be. |
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virtual ~AP_GPS_Backend(void) {} |
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// The read() method is the only one needed in each driver. It |
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// should return true when the backend has successfully received a |
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// valid packet from the GPS. |
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virtual bool read() = 0; |
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virtual void inject_data(uint8_t *data, uint8_t len) { return; } |
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#if GPS_RTK_AVAILABLE |
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// Highest status supported by this GPS. |
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// Allows external system to identify type of receiver connected. |
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virtual AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D; } |
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//MAVLink methods |
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virtual void send_mavlink_gps_rtk(mavlink_channel_t chan) { return ; } |
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#if GPS_MAX_INSTANCES > 1 |
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virtual void send_mavlink_gps2_rtk(mavlink_channel_t chan) { return ; } |
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#endif |
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#endif |
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protected: |
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AP_HAL::UARTDriver *port; ///< UART we are attached to |
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AP_GPS &gps; ///< access to frontend (for parameters) |
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AP_GPS::GPS_State &state; ///< public state for this instance |
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// common utility functions |
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int32_t swap_int32(int32_t v) const; |
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int16_t swap_int16(int16_t v) const; |
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/* |
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fill in 3D velocity from 2D components |
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*/ |
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void fill_3d_velocity(void); |
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/* |
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fill in time_week_ms and time_week from BCD date and time components |
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assumes MTK19 millisecond form of bcd_time |
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*/ |
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void make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds); |
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}; |
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#endif // __AP_GPS_BACKEND_H__
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