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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-17 13:08:21 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-17 13:08:21 +0100 |
commit | 0ffcb1b401595096622decfce0ba77b799b90d40 (patch) | |
tree | b7ba69597c8bd5fc373028a6a9835b2f81215cc2 /apps/gps/mtk.h | |
parent | 04bea8678e98d58145d18c44bd3069433f528019 (diff) | |
parent | 9fb024b1f236ff63c70c9942a2775cec2fb0ddec (diff) | |
download | px4-firmware-0ffcb1b401595096622decfce0ba77b799b90d40.tar.gz px4-firmware-0ffcb1b401595096622decfce0ba77b799b90d40.tar.bz2 px4-firmware-0ffcb1b401595096622decfce0ba77b799b90d40.zip |
Merge branch 'master' into px4io-i2c
Diffstat (limited to 'apps/gps/mtk.h')
-rw-r--r-- | apps/gps/mtk.h | 98 |
1 files changed, 0 insertions, 98 deletions
diff --git a/apps/gps/mtk.h b/apps/gps/mtk.h deleted file mode 100644 index 9fc1caec8..000000000 --- a/apps/gps/mtk.h +++ /dev/null @@ -1,98 +0,0 @@ -/* - * mtk.h - * - * Created on: Mar 6, 2012 - * Author: thomasgubler - */ - -#ifndef MTK_H_ -#define MTK_H_ - -#include <stdint.h> -#include <stdlib.h> -#include <string.h> -#include <stdio.h> -#include <stdbool.h> -#include <unistd.h> -#include <pthread.h> - -//Definition for mtk custom mode -#define MEDIATEK_REFRESH_RATE_4HZ "$PMTK220,250*29\r\n" //refresh rate - 4Hz - 250 milliseconds -#define MEDIATEK_REFRESH_RATE_5HZ "$PMTK220,200*2C\r\n" -#define MEDIATEK_REFRESH_RATE_10HZ "$PMTK220,100*2F\r\n" //refresh rate - 10Hz - 100 milliseconds -#define MEDIATEK_FACTORY_RESET "$PMTK104*37\r\n" //clear current settings -#define MEDIATEK_CUSTOM_BINARY_MODE "$PGCMD,16,0,0,0,0,0*6A\r\n" -#define MEDIATEK_FULL_COLD_RESTART "$PMTK104*37\r\n" -//#define NMEA_GGA_ENABLE "$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*27\r\n" //Set GGA messages - -//definitions for watchdog -#define MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000 -#define MTK_WATCHDOG_WAIT_TIME_MICROSECONDS 800000 - - - - -// ************ -// the structure of the binary packet - -typedef struct { - uint8_t payload; ///< Number of payload bytes - int32_t latitude; ///< Latitude in degrees * 10^7 - int32_t longitude; ///< Longitude in degrees * 10^7 - uint32_t msl_altitude; ///< MSL altitude in meters * 10^2 - uint32_t ground_speed; ///< FIXME SPEC UNCLEAR - int32_t heading; - uint8_t satellites; - uint8_t fix_type; - uint32_t date; - uint32_t utc_time; - uint16_t hdop; - uint8_t ck_a; - uint8_t ck_b; -} __attribute__((__packed__)) type_gps_bin_mtk_packet; - -typedef type_gps_bin_mtk_packet gps_bin_mtk_packet_t; - -enum MTK_DECODE_STATES { - MTK_DECODE_UNINIT = 0, - MTK_DECODE_GOT_CK_A = 1, - MTK_DECODE_GOT_CK_B = 2 -}; - -typedef struct { - union { - uint16_t ck; - struct { - uint8_t ck_a; - uint8_t ck_b; - }; - }; - uint8_t decode_state; -// bool new_data; -// uint8_t fix; - bool print_errors; - int16_t rx_count; - - uint64_t last_message_timestamp; -} __attribute__((__packed__)) type_gps_bin_mtk_state; - -typedef type_gps_bin_mtk_state gps_bin_mtk_state_t; - -extern pthread_mutex_t *mtk_mutex; -extern gps_bin_mtk_state_t *mtk_state; - -void mtk_decode_init(void); - -void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b); - -int mtk_parse(uint8_t b, char *gps_rx_buffer); - -int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size); - -int configure_gps_mtk(int *fd); - -void *mtk_loop(void *args); - -void *mtk_watchdog_loop(void *args); - -#endif /* MTK_H_ */ |