/****************************************************************************
*
* Copyright (C) 2013. All rights reserved.
* Author: Boriskin Aleksey <a.d.boriskin@gmail.com>
* Kistanov Alexander <akistanov@gramant.ru>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* @file ASHTECH protocol definitions */
#ifndef ASHTECH_H_
#define ASHTECH_H_
#include "gps_helper.h"
#ifndef RECV_BUFFER_SIZE
#define RECV_BUFFER_SIZE 512
#define SAT_INFO_MAX_SATELLITES 20
#endif
class ASHTECH : public GPS_Helper
{
enum ashtech_decode_state_t {
NME_DECODE_UNINIT,
NME_DECODE_GOT_SYNC1,
NME_DECODE_GOT_ASTERIKS,
NME_DECODE_GOT_FIRST_CS_BYTE
};
int _fd;
struct satellite_info_s *_satellite_info;
struct vehicle_gps_position_s *_gps_position;
int ashtechlog_fd;
ashtech_decode_state_t _decode_state;
uint8_t _rx_buffer[RECV_BUFFER_SIZE];
uint16_t _rx_buffer_bytes;
bool _parse_error; /** parse error flag */
char *_parse_pos; /** parse position */
bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */
/* int _satellites_count; **< Number of satellites info parsed. */
uint8_t count; /**< Number of satellites in satellite info */
uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
public:
ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
~ASHTECH();
int receive(unsigned timeout);
int configure(unsigned &baudrate);
void decode_init(void);
int handle_message(int len);
int parse_char(uint8_t b);
/** Read int ASHTECH parameter */
int32_t read_int();
/** Read float ASHTECH parameter */
double read_float();
/** Read char ASHTECH parameter */
char read_char();
};
#endif /* ASHTECH_H_ */
