Diff: NazaDecoderLib.h

Revision:

0:b0ba4e08a18c

Child:

1:4eadcb718c8b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/NazaDecoderLib.h	Tue Nov 18 16:39:57 2014 +0000
@@ -0,0 +1,86 @@
+/*
+  DJI Naza (v1, v1 Lite, V2) data decoder library
+  (c) Pawelsky 20141109
+  Not for commercial use
+
+  Refer to naza_decoder_wiring.jpg diagram for proper connection
+
+  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
+
+class NazaDecoderLib
+{
+public:
+    typedef enum { NO_FIX = 0, FIX_2D = 2, FIX_3D = 3, FIX_DGPS = 4 } fixType_t;
+
+    NazaDecoderLib();
+
+    uint8_t decode(int input);
+    double getLat();
+    double getLon();
+    double getGpsAlt();
+    double getSpeed();
+    fixType_t getFixType();
+    uint8_t getNumSat();
+    double getHeadingNc();
+    double getCog();
+    double getGpsVsi();
+    double getHdop();
+    double getVdop();
+    uint8_t getYear();
+    uint8_t getMonth();
+    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.
+    uint8_t getMinute();
+    uint8_t getSecond();
+
+private:
+    int gpsPayload[58];
+    int seq;
+    int cnt;
+    int msgId;
+    int msgLen;
+    uint8_t cs1; // checksum #1
+    uint8_t cs2; // checksum #2
+    int16_t magXMin;
+    int16_t magXMax;
+    int16_t magYMin;
+    int16_t magYMax;
+
+    double lon;     // longitude in degree decimal
+    double lat;     // latitude in degree decimal
+    double gpsAlt;  // altitude in m (from GPS)
+    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 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
+    double vdop;    // vertical dilution of precision
+    uint8_t year;
+    uint8_t month;
+    uint8_t day;
+    uint8_t hour;
+    uint8_t minute;
+    uint8_t second;
+
+    int32_t  decodeLong(uint8_t idx, uint8_t mask);
+    int16_t  decodeShort(uint8_t idx, uint8_t mask);
+    void     updateCS(int input);
+
+};
+
+extern NazaDecoderLib NazaDecoder;
+
+#endif // __NAZA_DECODER_LIB_H__