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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_GPS/GPS_detect_state.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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  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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#include "AP_GPS_config.h"

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#if AP_GPS_NMEA_ENABLED

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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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#endif

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#if AP_GPS_SIRF_ENABLED

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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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#endif

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#if AP_GPS_UBLOX_ENABLED

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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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#endif

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#if AP_GPS_ERB_ENABLED

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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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#endif

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#if AP_GPS_SBP_ENABLED

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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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#endif

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#if AP_GPS_SBP2_ENABLED

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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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#endif

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