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36 lines
726 B
36 lines
726 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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#ifndef AP_GPS_UBLOX_h |
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#define AP_GPS_UBLOX_h |
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#include <GPS.h> |
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#define MAXPAYLOAD 60 |
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class AP_GPS_UBLOX : public GPS |
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{ |
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public: |
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// Methods |
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AP_GPS_UBLOX(Stream *s); |
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void init(); |
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void update(); |
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private: |
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// Internal variables |
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uint8_t ck_a; // Packet checksum |
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uint8_t ck_b; |
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uint8_t GPS_ck_a; |
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uint8_t GPS_ck_b; |
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uint8_t step; |
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uint8_t msg_class; |
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uint8_t id; |
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uint8_t payload_length_hi; |
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uint8_t payload_length_lo; |
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uint8_t payload_counter; |
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uint8_t buffer[MAXPAYLOAD]; |
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long ecefVZ; |
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void parse_gps(); |
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void checksum(unsigned char data); |
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long join_4_bytes(unsigned char Buffer[]); |
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}; |
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#endif
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