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             :    Author: Francisco Ferreira
      17             : 
      18             :  */
      19             : 
      20             : #pragma once
      21             : 
      22             : #include "AP_NMEA_Output_config.h"
      23             : 
      24             : #if HAL_NMEA_OUTPUT_ENABLED
      25             : 
      26             : #ifndef NMEA_MAX_OUTPUTS
      27             : #define NMEA_MAX_OUTPUTS 3
      28             : #endif
      29             : 
      30             : #include <AP_Param/AP_Param.h>
      31             : 
      32             : class AP_NMEA_Output {
      33             : 
      34             : public:
      35             : 
      36        2098 :     AP_NMEA_Output() {
      37             :         // setup parameter defaults
      38        2098 :         AP_Param::setup_object_defaults(this, var_info);
      39        2098 :     }
      40             : 
      41             :     /* Do not allow copies */
      42             :     CLASS_NO_COPY(AP_NMEA_Output);
      43             : 
      44             :     void update();
      45             : 
      46             :     void init();
      47             : 
      48             :     enum class Enabled_Messages {
      49             :         GPGGA   = (1<<0),
      50             :         GPRMC   = (1<<1),
      51             :         PASHR   = (1<<2),
      52             :     };
      53             : 
      54             :     static const struct AP_Param::GroupInfo var_info[];
      55             : 
      56             : private:
      57             : 
      58             :     uint8_t _num_outputs;
      59             :     AP_HAL::UARTDriver* _uart[NMEA_MAX_OUTPUTS];
      60             : 
      61             :     uint32_t _last_run_ms;
      62             : 
      63             :     AP_Int16 _interval_ms;
      64             :     AP_Int16 _message_enable_bitmask;
      65             : };
      66             : 
      67             : #endif  // !HAL_NMEA_OUTPUT_ENABLED