diff options
Diffstat (limited to 'apps/drivers/gps/ubx.h')
| -rw-r--r-- | apps/drivers/gps/ubx.h | 32 |
1 files changed, 24 insertions, 8 deletions
diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h index c420e83b9..e3dd1c7ea 100644 --- a/apps/drivers/gps/ubx.h +++ b/apps/drivers/gps/ubx.h @@ -86,6 +86,8 @@ #define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ #define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ +#define UBX_MAX_PAYLOAD_LENGTH 500 + // ************ /** the structures of the binary packets */ #pragma pack(push, 1) @@ -337,35 +339,49 @@ typedef enum { class UBX : public GPS_Helper { public: - UBX(); + UBX(const int &fd, struct vehicle_gps_position_s *gps_position); ~UBX(); - void reset(void); - void configure(const int &fd, bool &baudrate_changed, unsigned &baudrate); - void parse(uint8_t, struct vehicle_gps_position_s*, bool &config_needed, bool &pos_updated); + int receive(unsigned timeout); + int configure(unsigned &baudrate); private: + + /** + * Parse the binary MTK packet + */ + int parse_char(uint8_t b); + + /** + * Handle the package once it has arrived + */ + int handle_message(void); + /** * Reset the parse state machine for a fresh start */ - void decodeInit(void); + void decode_init(void); /** * While parsing add every byte (except the sync bytes) to the checksum */ - void addByteToChecksum(uint8_t); + void add_byte_to_checksum(uint8_t); /** * Add the two checksum bytes to an outgoing message */ - void addChecksumToMessage(uint8_t* message, const unsigned length); + void add_checksum_to_message(uint8_t* message, const unsigned length); /** * Helper to send a config packet */ - void sendConfigPacket(const int &fd, uint8_t *packet, const unsigned length); + void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + int _fd; + struct vehicle_gps_position_s *_gps_position; ubx_config_state_t _config_state; bool _waiting_for_ack; + uint8_t _clsID_needed; + uint8_t _msgID_needed; ubx_decode_state_t _decode_state; uint8_t _rx_buffer[RECV_BUFFER_SIZE]; unsigned _rx_count; |