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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/ubx.h
+24 -8
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@@ -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;