AP_GPS_SIRF Class Reference

#include <AP_GPS_SIRF.h>

Inheritance diagram for AP_GPS_SIRF:

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Classes
struct	sirf_geonav

Public Member Functions
	AP_GPS_SIRF (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)
bool	read ()
const char *	name () const override
Public Member Functions inherited from AP_GPS_Backend
	AP_GPS_Backend (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)
virtual	~AP_GPS_Backend (void)
virtual AP_GPS::GPS_Status	highest_supported_status (void)
virtual bool	is_configured (void)
virtual void	inject_data (const uint8_t *data, uint16_t len)
virtual bool	supports_mavlink_gps_rtk_message ()
virtual void	send_mavlink_gps_rtk (mavlink_channel_t chan)
virtual void	broadcast_configuration_failure_reason (void) const
virtual void	handle_msg (const mavlink_message_t *msg)
virtual void	handle_gnss_msg (const AP_GPS::GPS_State &msg)
virtual bool	get_lag (float &lag) const
virtual bool	is_healthy (void) const
void	broadcast_gps_type () const
virtual void	Write_DataFlash_Log_Startup_messages () const
virtual bool	prepare_for_arming (void)

Static Public Member Functions
static bool	_detect (struct SIRF_detect_state &state, uint8_t data)

Private Types
enum	sirf_protocol_bytes {   PREAMBLE1 = 0xa0, PREAMBLE2 = 0xa2, POSTAMBLE1 = 0xb0, POSTAMBLE2 = 0xb3,   MSG_GEONAV = 0x29 }
enum	sirf_fix_type { FIX_3D = 0x6, FIX_MASK = 0x7 }

Private Member Functions
bool	_parse_gps (void)
void	_accumulate (uint8_t val)

Private Attributes
uint8_t	_step
uint16_t	_checksum
bool	_gather
uint16_t	_payload_length
uint16_t	_payload_counter
uint8_t	_msg_id
union {
DEFINE_BYTE_ARRAY_METHODS sirf_geonav   nav
}	_buffer

Static Private Attributes
static const uint8_t	_initialisation_blob []

Additional Inherited Members
Protected Member Functions inherited from AP_GPS_Backend
int32_t	swap_int32 (int32_t v) const
int16_t	swap_int16 (int16_t v) const
void	fill_3d_velocity (void)
void	make_gps_time (uint32_t bcd_date, uint32_t bcd_milliseconds)
void	_detection_message (char *buffer, uint8_t buflen) const
bool	should_df_log () const
Protected Attributes inherited from AP_GPS_Backend
AP_HAL::UARTDriver *	port
	UART we are attached to. More...
AP_GPS &	gps
	access to frontend (for parameters) More...
AP_GPS::GPS_State &	state
	public state for this instance More...

Detailed Description

Definition at line 30 of file AP_GPS_SIRF.h.

Member Enumeration Documentation

sirf_fix_type

enum AP_GPS_SIRF::sirf_fix_type

private

Enumerator
FIX_3D
FIX_MASK

Definition at line 85 of file AP_GPS_SIRF.h.

sirf_protocol_bytes

enum AP_GPS_SIRF::sirf_protocol_bytes

private

Enumerator
PREAMBLE1
PREAMBLE2
POSTAMBLE1
POSTAMBLE2
MSG_GEONAV

Definition at line 78 of file AP_GPS_SIRF.h.

Constructor & Destructor Documentation

AP_GPS_SIRF()

AP_GPS_SIRF::AP_GPS_SIRF	(	AP_GPS &	_gps,
		AP_GPS::GPS_State &	_state,
		AP_HAL::UARTDriver *	_port
	)

Definition at line 35 of file AP_GPS_SIRF.cpp.

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Member Function Documentation

_accumulate()

void AP_GPS_SIRF::_accumulate ( uint8_t  val )

private

Definition at line 192 of file AP_GPS_SIRF.cpp.

Referenced by read().

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_detect()

bool AP_GPS_SIRF::_detect ( struct SIRF_detect_state &  state, uint8_t  data  )

static

Definition at line 202 of file AP_GPS_SIRF.cpp.

Referenced by AP_GPS::detect_instance().

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_parse_gps()

bool AP_GPS_SIRF::_parse_gps ( void  )

private

Definition at line 166 of file AP_GPS_SIRF.cpp.

Referenced by read().

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name()

const char* AP_GPS_SIRF::name ( ) const

inlineoverridevirtual

Implements AP_GPS_Backend.

Definition at line 38 of file AP_GPS_SIRF.h.

read()

bool AP_GPS_SIRF::read ( void  )

virtual

Implements AP_GPS_Backend.

Definition at line 52 of file AP_GPS_SIRF.cpp.

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Member Data Documentation

_buffer

union { ... } AP_GPS_SIRF::_buffer

Referenced by _parse_gps(), and read().

_checksum

uint16_t AP_GPS_SIRF::_checksum

private

Definition at line 93 of file AP_GPS_SIRF.h.

Referenced by _accumulate(), and read().

_gather

bool AP_GPS_SIRF::_gather

private

Definition at line 94 of file AP_GPS_SIRF.h.

Referenced by read().

_initialisation_blob

const uint8_t AP_GPS_SIRF::_initialisation_blob

staticprivate

Initial value:

= {
    0xa0, 0xa2, 0x00, 0x08, 0xa6, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa8, 0xb0, 0xb3,
    0xa0, 0xa2, 0x00, 0x08, 0xa6, 0x00, 0x29, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd0, 0xb0, 0xb3 
}

Definition at line 108 of file AP_GPS_SIRF.h.

Referenced by AP_GPS_SIRF().

_msg_id

uint8_t AP_GPS_SIRF::_msg_id

private

Definition at line 97 of file AP_GPS_SIRF.h.

Referenced by _parse_gps(), and read().

_payload_counter

uint16_t AP_GPS_SIRF::_payload_counter

private

Definition at line 96 of file AP_GPS_SIRF.h.

Referenced by read().

_payload_length

uint16_t AP_GPS_SIRF::_payload_length

private

Definition at line 95 of file AP_GPS_SIRF.h.

Referenced by read().

_step

uint8_t AP_GPS_SIRF::_step

private

Definition at line 92 of file AP_GPS_SIRF.h.

Referenced by read().

nav

DEFINE_BYTE_ARRAY_METHODS sirf_geonav AP_GPS_SIRF::nav

Definition at line 102 of file AP_GPS_SIRF.h.

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The documentation for this class was generated from the following files:

• libraries/AP_GPS/AP_GPS_SIRF.h
• libraries/AP_GPS/AP_GPS_SIRF.cpp