Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : //
      17             : //  SiRF Binary GPS driver for ArduPilot and ArduPilotMega.
      18             : //      Code by Michael Smith.
      19             : //
      20             : #pragma once
      21             : 
      22             : #include <AP_Common/AP_Common.h>
      23             : #include <AP_HAL/AP_HAL.h>
      24             : 
      25             : #include "AP_GPS.h"
      26             : #include "GPS_Backend.h"
      27             : 
      28             : #if AP_GPS_SIRF_ENABLED
      29             : 
      30             : #define SIRF_SET_BINARY "$PSRF100,0,38400,8,1,0*3C\r\n"
      31             : 
      32             : class AP_GPS_SIRF : public AP_GPS_Backend {
      33             : public:
      34             :         AP_GPS_SIRF(AP_GPS &_gps, AP_GPS::Params &_params, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
      35             : 
      36             :     bool read() override;
      37             : 
      38             :         static bool _detect(struct SIRF_detect_state &state, uint8_t data);
      39             : 
      40           0 :     const char *name() const override { return "SIRF"; }
      41             : 
      42             : private:
      43             :     struct PACKED sirf_geonav {
      44             :         uint16_t fix_invalid;
      45             :         uint16_t fix_type;
      46             :         uint16_t week;
      47             :         uint32_t time;
      48             :         uint16_t year;
      49             :         uint8_t month;
      50             :         uint8_t day;
      51             :         uint8_t hour;
      52             :         uint8_t minute;
      53             :         uint16_t second;
      54             :         uint32_t satellites_used;
      55             :         int32_t latitude;
      56             :         int32_t longitude;
      57             :         int32_t altitude_ellipsoid;
      58             :         int32_t altitude_msl;
      59             :         int8_t map_datum;
      60             :         int16_t ground_speed;
      61             :         int16_t ground_course;
      62             :         int16_t res1;
      63             :         int16_t climb_rate;
      64             :         uint16_t heading_rate;
      65             :         uint32_t horizontal_position_error;
      66             :         uint32_t vertical_position_error;
      67             :         uint32_t time_error;
      68             :         int16_t horizontal_velocity_error;
      69             :         int32_t clock_bias;
      70             :         uint32_t clock_bias_error;
      71             :         int32_t clock_drift;
      72             :         uint32_t clock_drift_error;
      73             :         uint32_t distance;
      74             :         uint16_t distance_error;
      75             :         uint16_t heading_error;
      76             :         uint8_t satellites;
      77             :         uint8_t hdop;
      78             :         uint8_t mode_info;
      79             :     };
      80             :     enum sirf_protocol_bytes {
      81             :         PREAMBLE1 = 0xa0,
      82             :         PREAMBLE2 = 0xa2,
      83             :         POSTAMBLE1 = 0xb0,
      84             :         POSTAMBLE2 = 0xb3,
      85             :         MSG_GEONAV = 0x29
      86             :     };
      87             :     enum sirf_fix_type {
      88             :         FIX_3D = 0x6,
      89             :         FIX_MASK = 0x7
      90             :     };
      91             : 
      92             : 
      93             :     // State machine state
      94             :     uint8_t         _step;
      95             :     uint16_t        _checksum;
      96             :     bool            _gather;
      97             :     uint16_t        _payload_length;
      98             :     uint16_t        _payload_counter;
      99             :     uint8_t         _msg_id;
     100             : 
     101             :     // Message buffer
     102             :     union {
     103           0 :         DEFINE_BYTE_ARRAY_METHODS
     104             :         sirf_geonav nav;
     105             :     } _buffer;
     106             : 
     107             :     bool        _parse_gps(void);
     108             :     void        _accumulate(uint8_t val);
     109             : 
     110             :     static const uint8_t _initialisation_blob[];
     111             : };
     112             : #endif