mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-15 08:40:35 +08:00
Denis Yeldandi
fb6a68af70
- Ashtech driver is no longer checking fix status from comparing coordinates to 0.0;0.0;0.0, instead it's checking fix type in GGA or checking coordinate exsistance in POS. This removes compiler warning about float euqality comparison. - Fixed compiler warning about comparison between signed and unsigned int - Fixed compiler warning about class property masking
97 lines
3.9 KiB
C++
97 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2013. All rights reserved.
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* Author: Boriskin Aleksey <a.d.boriskin@gmail.com>
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* Kistanov Alexander <akistanov@gramant.ru>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/* @file ASHTECH protocol definitions */
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#ifndef ASHTECH_H_
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#define ASHTECH_H_
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#include "gps_helper.h"
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#ifndef RECV_BUFFER_SIZE
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#define RECV_BUFFER_SIZE 512
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#define SAT_INFO_MAX_SATELLITES 20
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#endif
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class ASHTECH : public GPS_Helper
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{
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enum ashtech_decode_state_t {
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NME_DECODE_UNINIT,
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NME_DECODE_GOT_SYNC1,
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NME_DECODE_GOT_ASTERIKS,
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NME_DECODE_GOT_FIRST_CS_BYTE
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};
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int _fd;
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struct satellite_info_s *_satellite_info;
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struct vehicle_gps_position_s *_gps_position;
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int ashtechlog_fd;
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ashtech_decode_state_t _decode_state;
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uint8_t _rx_buffer[RECV_BUFFER_SIZE];
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uint16_t _rx_buffer_bytes;
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bool _parse_error; /** parse error flag */
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char *_parse_pos; /** parse position */
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bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */
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/* int _satellites_count; **< Number of satellites info parsed. */
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uint8_t count; /**< Number of satellites in satellite info */
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uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
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uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
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uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
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uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
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uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
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public:
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ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
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~ASHTECH();
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int receive(unsigned timeout);
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int configure(unsigned &baudrate);
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void decode_init(void);
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int handle_message(int len);
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int parse_char(uint8_t b);
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/** Read int ASHTECH parameter */
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int32_t read_int();
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/** Read float ASHTECH parameter */
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double read_float();
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/** Read char ASHTECH parameter */
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char read_char();
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};
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#endif /* ASHTECH_H_ */
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