mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 18:40:34 +08:00
Daniel Agar
ea3acb7121
- px4_add_module now requires MAIN - px4_add_library doesn't automatically link
97 lines
3.4 KiB
C++
97 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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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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/**
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* @file ubx.cpp
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*
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* U-Blox protocol implementation. Following u-blox 6/7/8 Receiver Description
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* including Prototol Specification.
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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*
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* @author Hannes Delago
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* (rework, add ubx7+ compatibility)
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*
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* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
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* @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
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*/
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#include <assert.h>
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#include <math.h>
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#include <poll.h>
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#include <stdio.h>
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#include <string.h>
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#include <time.h>
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#include <unistd.h>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/satellite_info.h>
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#include <drivers/drv_hrt.h>
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#include "ubx_sim.h"
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#include <simulator/simulator.h>
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#define UBX_CONFIG_TIMEOUT 200 // ms, timeout for waiting ACK
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#define UBX_PACKET_TIMEOUT 2 // ms, if now data during this delay assume that full update received
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#define UBX_WAIT_BEFORE_READ 20 // ms, wait before reading to save read() calls
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#define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval
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UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info) :
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_fd(fd),
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_gps_position(gps_position),
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_satellite_info(satellite_info),
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{
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}
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UBX::~UBX()
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{
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}
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int UBX_SIM::configure(unsigned &baudrate)
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{
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return 0;
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}
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int // -1 = error, 0 = no message handled, 1 = message handled, 2 = sat info message handled
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UBX_SIM::receive(const unsigned timeout)
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{
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/* copy data from simulator here */
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usleep(1000000);
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return 1;
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}
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