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Another rewrite: most of the polling, reading and writing is now inside the GPS classes

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This commit is contained in:
Julian Oes
2013-02-08 11:05:57 -08:00
parent a88b9f4eef
commit df6cf142e7
8 changed files with 583 additions and 567 deletions
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apps/drivers/gps/mtk.h
+6 -4
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@@ -85,10 +85,10 @@ typedef struct {
class MTK : public GPS_Helper
{
public:
MTK();
MTK(const int &fd, struct vehicle_gps_position_s *gps_position);
~MTK();
int receive(const int &fd, struct vehicle_gps_position_s &gps_position);
int configure(const int &fd, unsigned &baudrate);
int receive(unsigned timeout);
int configure(unsigned &baudrate);
private:
/**
@@ -99,7 +99,7 @@ private:
/**
* Handle the package once it has arrived
*/
void handle_message(gps_mtk_packet_t &packet, struct vehicle_gps_position_s &gps_position);
void handle_message(gps_mtk_packet_t &packet);
/**
* Reset the parse state machine for a fresh start
@@ -111,6 +111,8 @@ private:
*/
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];