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Diffstat (limited to 'apps/drivers/gps/mtk.h')
| -rw-r--r-- | apps/drivers/gps/mtk.h | 124 |
1 files changed, 0 insertions, 124 deletions
diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h deleted file mode 100644 index d4e390b01..000000000 --- a/apps/drivers/gps/mtk.h +++ /dev/null @@ -1,124 +0,0 @@ -/**************************************************************************** - * - * 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_ */ |