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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_GPS/AP_GPS_SIRF.h
Views: 1798
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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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#pragma once

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#include <AP_Common/AP_Common.h>

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#include <AP_HAL/AP_HAL.h>

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#include "AP_GPS.h"

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#include "GPS_Backend.h"

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#if AP_GPS_SIRF_ENABLED

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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::Params &_params, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);

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    bool read() override;

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	static bool _detect(struct SIRF_detect_state &state, uint8_t data);

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    const char *name() const override { return "SIRF"; }

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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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        DEFINE_BYTE_ARRAY_METHODS

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        sirf_geonav nav;

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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

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