Diff: NazaDecoderLib.h

Revision:

1:4eadcb718c8b

Parent:

0:b0ba4e08a18c

Child:

2:de84f8a0a706

--- a/NazaDecoderLib.h	Tue Nov 18 16:39:57 2014 +0000
+++ b/NazaDecoderLib.h	Fri Nov 28 17:39:38 2014 +0000
@@ -4,49 +4,89 @@
   Not for commercial use
 
   Refer to naza_decoder_wiring.jpg diagram for proper connection
+  http://www.rcgroups.com/forums/showthread.php?t=1995704
 
-  The RC PWM input code taken from https://www.instructables.com/id/RC-Quadrotor-Helicopter/step12/Arduino-Demo-PWM-Input/
 */
 
 #ifndef __NAZA_DECODER_LIB_H__
 #define __NAZA_DECODER_LIB_H__
 
-//#include "Arduino.h"
 #include "stdint.h"
 
 #define NAZA_MESSAGE_NONE    0x00
 #define NAZA_MESSAGE_GPS     0x10
 #define NAZA_MESSAGE_COMPASS 0x20
 
+/** Naza Decoder Class(es)
+ */
 class NazaDecoderLib
 {
 public:
     typedef enum { NO_FIX = 0, FIX_2D = 2, FIX_3D = 3, FIX_DGPS = 4 } fixType_t;
 
+    /** Create a NazaDecoderLib object receiving serial data byte
+    */
     NazaDecoderLib();
 
-    uint8_t decode(int input);
+    uint8_t decode(uint8_t input);
+    void getDebug(RawSerial &s, char* buf);
+    /** Return the latitude GPS position
+    */
     double getLat();
+    /** Return the longitude GPS position
+    */
     double getLon();
+    /** Return the altitude GPS elevation
+    */
     double getGpsAlt();
+    /** Return the GPS speed
+    */
     double getSpeed();
+    /** Return the GPS fix mode NO_FIX = 0, 2D = 2, 3D = 3, DGPS = 4
+    */
     fixType_t getFixType();
+    /** Return the GPS number of satellites
+    */
     uint8_t getNumSat();
+    /** heading (not tilt compensated in degrees)
+    */
     double getHeadingNc();
+    /** course over ground
+    */
     double getCog();
+    /** vertical speed indicator (from GPS) in m/s (a.k.a. climb speed)
+    */
     double getGpsVsi();
+    /** horizontal dilution of precision
+    */
     double getHdop();
+    /** vertical dilution of precision
+    */
     double getVdop();
+    /** Return the GPS Year time
+    */
     uint8_t getYear();
+    /** Return the GPS Month time
+    */
     uint8_t getMonth();
+    /** Return the GPS Day time
+    */
     uint8_t getDay();
-    uint8_t getHour(); // Note that for time between 16:00 and 23:59 the hour returned from GPS module is actually 00:00 - 7:59.
+    /** Return the GPS Hour time
+    * Note that for time between 16:00 and 23:59 the hour returned from GPS module is actually 00:00 - 7:59.
+    */
+    uint8_t getHour();
+    /** Return the GPS Minute time
+    */
     uint8_t getMinute();
+    /** Return the GPS Second time
+    */
     uint8_t getSecond();
 
 private:
     int gpsPayload[58];
     int seq;
+    int syncError;
     int cnt;
     int msgId;
     int msgLen;
@@ -63,7 +103,7 @@
     double spd;     // speed in m/s
     fixType_t fix;   // fix type
     uint8_t sat;     // number of satellites
-    double headingNc;// heading (not tilt compensated in degrees
+    double headingNc;// heading (not tilt compensated in degrees)
     double cog;     // course over ground
     double gpsVsi;  // vertical speed indicator (from GPS) in m/s (a.k.a. climb speed)
     double hdop;    // horizontal dilution of precision
@@ -77,7 +117,7 @@
 
     int32_t  decodeLong(uint8_t idx, uint8_t mask);
     int16_t  decodeShort(uint8_t idx, uint8_t mask);
-    void     updateCS(int input);
+    void     updateCS(uint8_t input);
 
 };