Merge remote-tracking branch 'upstream/master' into new_state_machine

Conflicts:
	src/drivers/px4io/px4io.cpp
	src/modules/commander/commander.c
	src/modules/commander/state_machine_helper.c

1 files changed, 124 insertions, 0 deletions

diff --git a/src/drivers/gps/mtk.h b/src/drivers/gps/mtk.h
new file mode 100644
index 000000000..b5cfbf0a6
--- /dev/null
+++ b/src/drivers/gps/mtk.h
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * 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
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* @file mtk.h */
+
+#ifndef MTK_H_
+#define MTK_H_
+
+#include "gps_helper.h"
+
+#define MTK_SYNC1_V16 0xd0
+#define MTK_SYNC1_V19 0xd1
+#define MTK_SYNC2 0xdd
+
+#define MTK_OUTPUT_5HZ		"$PMTK220,200*2C\r\n"
+#define MTK_SET_BINARY		"$PGCMD,16,0,0,0,0,0*6A\r\n"
+#define SBAS_ON	        	"$PMTK313,1*2E\r\n"
+#define WAAS_ON				"$PMTK301,2*2E\r\n"
+#define MTK_NAVTHRES_OFF 	"$PMTK397,0*23\r\n"
+
+#define MTK_TIMEOUT_5HZ 400
+#define MTK_BAUDRATE 38400
+
+typedef enum {
+	MTK_DECODE_UNINIT = 0,
+	MTK_DECODE_GOT_CK_A = 1,
+	MTK_DECODE_GOT_CK_B = 2
+} mtk_decode_state_t;
+
+/** the structures of the binary packets */
+#pragma pack(push, 1)
+
+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; ///< velocity in m/s
+	int32_t heading; ///< heading in degrees * 10^2
+	uint8_t satellites; ///< number of sattelites used
+	uint8_t fix_type;  ///< fix type: XXX correct for that
+	uint32_t date;
+	uint32_t utc_time;
+	uint16_t hdop; ///< horizontal dilution of position (without unit)
+	uint8_t ck_a;
+	uint8_t ck_b;
+} gps_mtk_packet_t;
+
+#pragma pack(pop)
+
+#define MTK_RECV_BUFFER_SIZE 40
+
+class MTK : public GPS_Helper
+{
+public:
+	MTK(const int &fd, struct vehicle_gps_position_s *gps_position);
+	~MTK();
+	int				receive(unsigned timeout);
+	int				configure(unsigned &baudrate);
+
+private:
+	/**
+	 * Parse the binary MTK packet
+	 */
+	int				parse_char(uint8_t b, gps_mtk_packet_t &packet);
+
+	/**
+	 * Handle the package once it has arrived
+	 */
+	void				handle_message(gps_mtk_packet_t &packet);
+
+	/**
+	 * Reset the parse state machine for a fresh start
+	 */
+	void				decode_init(void);
+
+	/**
+	 * While parsing add every byte (except the sync bytes) to the checksum
+	 */
+	void				add_byte_to_checksum(uint8_t);
+
+	int					_fd;
+	struct vehicle_gps_position_s *_gps_position;
+	mtk_decode_state_t	_decode_state;
+	uint8_t				_mtk_revision;
+	uint8_t				_rx_buffer[MTK_RECV_BUFFER_SIZE];
+	unsigned			_rx_count;
+	uint8_t 			_rx_ck_a;
+	uint8_t				_rx_ck_b;
+};
+
+#endif /* MTK_H_ */