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95 lines
2.3 KiB
95 lines
2.3 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 detection state structures. These need to be in a separate |
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header to prevent a circular dependency between AP_GPS and the |
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backend drivers. |
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These structures are allocated as a single block in AP_GPS during |
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driver detection, then freed once the detection is finished. Each |
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GPS driver needs to implement a static _detect() function which uses |
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this state information to detect if the attached GPS is of the |
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specific type that it handles. |
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*/ |
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struct MTK19_detect_state { |
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uint8_t payload_counter; |
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uint8_t step; |
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uint8_t ck_a, ck_b; |
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}; |
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struct MTK_detect_state { |
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uint8_t payload_counter; |
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uint8_t step; |
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uint8_t ck_a, ck_b; |
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}; |
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struct NMEA_detect_state { |
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uint8_t step; |
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uint8_t ck; |
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}; |
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struct SIRF_detect_state { |
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uint16_t checksum; |
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uint8_t step, payload_length, payload_counter; |
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}; |
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struct UBLOX_detect_state { |
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uint8_t payload_length, payload_counter; |
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uint8_t step; |
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uint8_t ck_a, ck_b; |
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}; |
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struct ERB_detect_state { |
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uint8_t payload_length, payload_counter; |
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uint8_t step; |
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uint8_t ck_a, ck_b; |
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}; |
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struct SBP_detect_state { |
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enum { |
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WAITING = 0, |
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GET_TYPE = 1, |
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GET_SENDER = 2, |
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GET_LEN = 3, |
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GET_MSG = 4, |
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GET_CRC = 5 |
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} state:8; |
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uint16_t msg_type; |
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uint8_t n_read; |
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uint8_t msg_len; |
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uint16_t crc_so_far; |
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uint16_t crc; |
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uint8_t heartbeat_buff[4]; |
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}; |
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struct SBP2_detect_state { |
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enum { |
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WAITING = 0, |
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GET_TYPE = 1, |
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GET_SENDER = 2, |
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GET_LEN = 3, |
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GET_MSG = 4, |
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GET_CRC = 5 |
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} state:8; |
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uint16_t msg_type; |
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uint8_t n_read; |
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uint8_t msg_len; |
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uint16_t crc_so_far; |
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uint16_t crc; |
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uint8_t heartbeat_buff[4]; |
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};
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