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110 lines
3.6 KiB
110 lines
3.6 KiB
/* |
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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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#pragma once |
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#include <GCS_MAVLink/GCS_MAVLink.h> |
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#include <AP_RTC/JitterCorrection.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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// 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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virtual bool is_configured(void) { return true; } |
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virtual void inject_data(const uint8_t *data, uint16_t len); |
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//MAVLink methods |
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virtual bool supports_mavlink_gps_rtk_message() { return false; } |
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virtual void send_mavlink_gps_rtk(mavlink_channel_t chan); |
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virtual void broadcast_configuration_failure_reason(void) const { return ; } |
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virtual void handle_msg(const mavlink_message_t *msg) { return ; } |
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// driver specific lag, returns true if the driver is confident in the provided lag |
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virtual bool get_lag(float &lag) const { lag = 0.2f; return true; } |
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// driver specific health, returns true if the driver is healthy |
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virtual bool is_healthy(void) const { return true; } |
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virtual const char *name() const = 0; |
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void broadcast_gps_type() const; |
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virtual void Write_AP_Logger_Log_Startup_messages() const; |
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virtual bool prepare_for_arming(void) { return true; } |
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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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void _detection_message(char *buffer, uint8_t buflen) const; |
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bool should_df_log() const; |
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/* |
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set a timestamp based on arrival time on uart at current byte, |
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assuming the message started nbytes ago |
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*/ |
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void set_uart_timestamp(uint16_t nbytes); |
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void check_new_itow(uint32_t itow, uint32_t msg_length); |
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private: |
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// itow from previous message |
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uint32_t _last_itow; |
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uint64_t _pseudo_itow; |
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uint32_t _last_ms; |
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uint32_t _rate_ms; |
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uint32_t _last_rate_ms; |
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uint16_t _rate_counter; |
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JitterCorrection jitter_correction; |
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};
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