#include <mtk.h>

Inheritance diagram for GPSDriverMTK:

Collaboration diagram for GPSDriverMTK:

Public Member Functions
	GPSDriverMTK (GPSCallbackPtr callback, void callback_user, struct vehicle_gps_position_s gps_position)

virtual	~GPSDriverMTK ()=default

int	receive (unsigned timeout) override
	receive & handle new data from the device More...

int	configure (unsigned &baudrate, OutputMode output_mode) override
	configure the device More...

Public Member Functions inherited from GPSHelper
	GPSHelper (GPSCallbackPtr callback, void *callback_user)

virtual	~GPSHelper ()=default

virtual int	reset (GPSRestartType restart_type)
	Reset GPS device. More...

float	getPositionUpdateRate ()

float	getVelocityUpdateRate ()

void	resetUpdateRates ()

void	storeUpdateRates ()

Private Member Functions
int	parseChar (uint8_t b, gps_mtk_packet_t &packet)
	Parse the binary MTK packet. More...

void	handleMessage (gps_mtk_packet_t &packet)
	Handle the package once it has arrived. More...

void	decodeInit ()
	Reset the parse state machine for a fresh start. More...

void	addByteToChecksum (uint8_t)
	While parsing add every byte (except the sync bytes) to the checksum. More...

Private Attributes
struct vehicle_gps_position_s *	_gps_position {nullptr}

mtk_decode_state_t	_decode_state {MTK_DECODE_UNINIT}

uint8_t	_mtk_revision {0}

unsigned	_rx_count {}

uint8_t	_rx_ck_a {}

uint8_t	_rx_ck_b {}

Additional Inherited Members
Public Types inherited from GPSHelper
enum	OutputMode : uint8_t { OutputMode::GPS = 0, OutputMode::RTCM }

enum	Interface : uint8_t { Interface::UART = 0, Interface::SPI }

Protected Member Functions inherited from GPSHelper
int	read (uint8_t *buf, int buf_length, int timeout)
	read from device More...

int	write (const void *buf, int buf_length)
	write to the device More...

int	setBaudrate (int baudrate)
	set the Baudrate More...

void	surveyInStatus (SurveyInStatus &status)

void	gotRTCMMessage (uint8_t *buf, int buf_length)
	got an RTCM message from the device More...

void	setClock (timespec &t)

Static Protected Member Functions inherited from GPSHelper
static void	ECEF2lla (double ecef_x, double ecef_y, double ecef_z, double &latitude, double &longitude, float &altitude)
	Convert an ECEF (Earth Centered Earth Fixed) coordinate to LLA WGS84 (Lat, Lon, Alt). More...

Protected Attributes inherited from GPSHelper
GPSCallbackPtr	_callback {nullptr}

void *	_callback_user {}

uint8_t	_rate_count_lat_lon {}

uint8_t	_rate_count_vel {}

float	_rate_lat_lon {0.0f}

float	_rate_vel {0.0f}

uint64_t	_interval_rate_start {0}

Detailed Description

Definition at line 88 of file mtk.h.

Constructor & Destructor Documentation

◆ GPSDriverMTK()

GPSDriverMTK::GPSDriverMTK	(	GPSCallbackPtr	callback,
		void *	callback_user,
		struct vehicle_gps_position_s *	gps_position
	)

Definition at line 50 of file mtk.cpp.

References decodeInit().

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◆ ~GPSDriverMTK()

virtual GPSDriverMTK::~GPSDriverMTK ( )

virtualdefault

Member Function Documentation

◆ addByteToChecksum()

void GPSDriverMTK::addByteToChecksum ( uint8_t b )

private

While parsing add every byte (except the sync bytes) to the checksum.

Definition at line 302 of file mtk.cpp.

References _rx_ck_a, and _rx_ck_b.

Referenced by parseChar().

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◆ configure()

int GPSDriverMTK::configure	(	unsigned &	baud,
		OutputMode	output_mode
	)

overridevirtual

configure the device

Parameters

baud	Input and output parameter: if set to 0, the baudrate will be automatically detected and set to the detected baudrate. If not 0, a fixed baudrate is used.

Returns: 0 on success, <0 otherwise

Implements GPSHelper.

Definition at line 58 of file mtk.cpp.

References GPSHelper::GPS, gps_usleep, GPS_WARN, MTK_BAUDRATE, MTK_NAVTHRES_OFF, MTK_OUTPUT_5HZ, MTK_SBAS_ON, MTK_SET_BINARY, MTK_WAAS_ON, GPSHelper::setBaudrate(), and GPSHelper::write().

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◆ decodeInit()

void GPSDriverMTK::decodeInit ( void )

private

Reset the parse state machine for a fresh start.

Definition at line 156 of file mtk.cpp.

References _decode_state, _rx_ck_a, _rx_ck_b, _rx_count, and MTK_DECODE_UNINIT.

Referenced by GPSDriverMTK(), and parseChar().

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◆ handleMessage()

void GPSDriverMTK::handleMessage ( gps_mtk_packet_t & packet )

private

Handle the package once it has arrived.

Definition at line 217 of file mtk.cpp.

Referenced by receive().

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◆ parseChar()

int GPSDriverMTK::parseChar	(	uint8_t	b,
		gps_mtk_packet_t &	packet
	)

private

Parse the binary MTK packet.

Definition at line 164 of file mtk.cpp.

References _decode_state, _mtk_revision, _rx_ck_a, _rx_ck_b, _rx_count, addByteToChecksum(), gps_mtk_packet_t::ck_a, gps_mtk_packet_t::ck_b, decodeInit(), MTK_DECODE_GOT_CK_A, MTK_DECODE_GOT_CK_B, MTK_DECODE_UNINIT, MTK_SYNC1_V16, MTK_SYNC1_V19, and MTK_SYNC2.

Referenced by receive().

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◆ receive()

int GPSDriverMTK::receive ( unsigned timeout )

overridevirtual

receive & handle new data from the device

Parameters

timeout [ms]

Returns: <0 on error, otherwise a bitset: bit 0 set: got gps position update bit 1 set: got satellite info update

Implements GPSHelper.

Definition at line 113 of file mtk.cpp.

References gps_absolute_time, GPS_READ_BUFFER_SIZE, gps_usleep, handleMessage(), parseChar(), and GPSHelper::read().

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Member Data Documentation

◆ _decode_state

mtk_decode_state_t GPSDriverMTK::_decode_state {MTK_DECODE_UNINIT}

private

Definition at line 119 of file mtk.h.

Referenced by decodeInit(), and parseChar().

◆ _gps_position

struct vehicle_gps_position_s* GPSDriverMTK::_gps_position {nullptr}

private

Definition at line 118 of file mtk.h.

Referenced by handleMessage().

◆ _mtk_revision

uint8_t GPSDriverMTK::_mtk_revision {0}

private

Definition at line 120 of file mtk.h.

Referenced by handleMessage(), and parseChar().

◆ _rx_ck_a

uint8_t GPSDriverMTK::_rx_ck_a {}

private

Definition at line 122 of file mtk.h.

Referenced by addByteToChecksum(), decodeInit(), and parseChar().

◆ _rx_ck_b

uint8_t GPSDriverMTK::_rx_ck_b {}

private

Definition at line 123 of file mtk.h.

Referenced by addByteToChecksum(), decodeInit(), and parseChar().

◆ _rx_count

unsigned GPSDriverMTK::_rx_count {}

private

Definition at line 121 of file mtk.h.

Referenced by decodeInit(), and parseChar().

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

src/drivers/gps/devices/src/mtk.h
src/drivers/gps/devices/src/mtk.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GPSDriverMTK()

◆ ~GPSDriverMTK()

Member Function Documentation

◆ addByteToChecksum()

◆ configure()

◆ decodeInit()

◆ handleMessage()

◆ parseChar()

◆ receive()

Member Data Documentation

◆ _decode_state

◆ _gps_position

◆ _mtk_revision

◆ _rx_ck_a

◆ _rx_ck_b

◆ _rx_count