Device independent GPS code. More...

#include "subsystems/abi.h"
#include "subsystems/gps.h"
#include "led.h"
#include "subsystems/settings.h"
#include "generated/settings.h"
#include "math/pprz_geodetic_wgs84.h"
#include "math/pprz_geodetic.h"
#include "subsystems/datalink/telemetry.h"
#include "state.h"

Include dependency graph for gps.c:

Go to the source code of this file.

Macros
#define	__GpsId(_x) _x ## _ID

#define	_GpsId(_x) __GpsId(_x)

#define	GpsId(_x) _GpsId(_x)

#define	MSEC_PER_WEEK (10006060247)

#define	TIME_TO_SWITCH 5000

Functions
static void	send_svinfo_id (struct transport_tx trans, struct link_device dev, uint8_t svid)

static void	send_svinfo (struct transport_tx trans, struct link_device dev)
	send SVINFO message (regardless of state) More...

static void	send_svinfo_available (struct transport_tx trans, struct link_device dev)
	send SVINFO message if updated. More...

static void	send_gps (struct transport_tx trans, struct link_device dev)

static void	send_gps_rtk (struct transport_tx trans, struct link_device dev)

static void	send_gps_rxmrtcm (struct transport_tx trans, struct link_device dev)

static void	send_gps_int (struct transport_tx trans, struct link_device dev)

static void	send_gps_lla (struct transport_tx trans, struct link_device dev)

static void	send_gps_sol (struct transport_tx trans, struct link_device dev)

void	gps_periodic_check (struct GpsState *gps_s)
	Periodic GPS check. More...

static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)

void	gps_init (void)
	initialize the global GPS state More...

uint32_t	gps_tow_from_sys_ticks (uint32_t sys_ticks)
	Convert time in sys_time ticks to GPS time of week. More...

void WEAK	gps_inject_data (uint8_t packet_id, uint8_t length, uint8_t *data)
	Default parser for GPS injected data. More...

struct UtmCoor_f	utm_float_from_gps (struct GpsState *gps_s, uint8_t zone)
	Convenience functions to get utm position from GPS state. More...

struct UtmCoor_i	utm_int_from_gps (struct GpsState *gps_s, uint8_t zone)
	Convenience function to get utm position in int from GPS structure. More...

Variables
struct GpsState	gps
	global GPS state More...

struct GpsTimeSync	gps_time_sync

struct GpsRelposNED	gps_relposned

struct RtcmMan	rtcm_man

uint8_t	multi_gps_mode

static abi_event	gps_ev

Detailed Description

Device independent GPS code.

This provides some general GPS functions and handles the selection of the currently active GPS (if multiple ones are used).

Each GPS implementation sends a GPS message via ABI for each new measurement, which can be received by any other part (either from all or only one specific GPS).

To make it easy to switch to the currently best (or simply the preferred) GPS at runtime, the multi_gps_mode can be set to GPS_MODE_PRIMARY, GPS_MODE_SECONDARY or GPS_MODE_AUTO. This re-sends the GPS message of the "selected" GPS with GPS_MULTI_ID as sender id. In the (default) GPS_MODE_AUTO mode, the GPS with the best fix is selected.

The global gps struct is also updated from the "selected" GPS and used to send the normal GPS telemetry messages.

Definition in file gps.c.

Macro Definition Documentation

#define __GpsId ( _x ) _x ## _ID

Definition at line 59 of file gps.c.

#define _GpsId ( _x ) __GpsId(_x)

Definition at line 60 of file gps.c.

#define GpsId ( _x ) _GpsId(_x)

Definition at line 61 of file gps.c.

#define MSEC_PER_WEEK (1000*60*60*24*7)

Definition at line 72 of file gps.c.

Referenced by gps_tow_from_sys_ticks().

#define TIME_TO_SWITCH 5000

Definition at line 73 of file gps.c.

Function Documentation

static void gps_cb	(	uint8_t	sender_id,
		uint32_t	stamp,
		struct GpsState *	gps_s
	)

static

Definition at line 288 of file gps.c.

References GpsState::comp_id, get_sys_time_usec(), gps, GPS_MULTI_ID, gps_time_sync, sys_time::nb_tick, GpsTimeSync::t0_ticks, GpsTimeSync::t0_tow, and GpsState::tow.

Referenced by gps_init().

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void gps_init ( void )

initialize the global GPS state

Definition at line 315 of file gps.c.

References ABI_BROADCAST, GpsState::cacc, RtcmMan::Cnt105, RtcmMan::Cnt177, RtcmMan::Cnt187, RtcmMan::Crc105, RtcmMan::Crc177, RtcmMan::Crc187, DefaultPeriodic, GpsState::fix, gpio_setup_output(), gps, gps_cb(), GPS_FIX_NONE, GPS_POWER_GPIO, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LED_OFF, MULTI_GPS_MODE, register_periodic_telemetry(), rtcm_man, send_gps(), send_gps_int(), send_gps_lla(), send_gps_rtk(), send_gps_rxmrtcm(), send_gps_sol(), send_svinfo(), GpsState::tow, GpsState::valid_fields, and GpsState::week.

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void WEAK gps_inject_data	(	uint8_t	packet_id,
		uint8_t	length,
		uint8_t *	data
	)

Default parser for GPS injected data.

GPS packet injection (default empty)

Definition at line 385 of file gps.c.

References gps_piksi_write(), and sbp_state.

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void gps_periodic_check ( struct GpsState * gps_s )

Periodic GPS check.

Marks GPS as lost when no GPS message was received for GPS_TIMEOUT seconds

Definition at line 270 of file gps.c.

Referenced by dw1000_arduino_periodic(), and intermcu_periodic().

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uint32_t gps_tow_from_sys_ticks ( uint32_t sys_ticks )

Convert time in sys_time ticks to GPS time of week.

The resolution is sys_time.resolution

Returns: GPS tow in ms

Definition at line 360 of file gps.c.

References gps_time_sync, msec_of_sys_time_ticks(), MSEC_PER_WEEK, GpsTimeSync::t0_ticks, and GpsTimeSync::t0_tow.

Referenced by acInfoSetPositionEnu_f(), acInfoSetPositionEnu_i(), acInfoSetPositionLla_f(), acInfoSetPositionLla_i(), acInfoSetPositionUtm_f(), acInfoSetPositionUtm_i(), acInfoSetVelocityEnu_f(), acInfoSetVelocityEnu_i(), parse_acinfo_dl(), trigger_ext_periodic(), and windturbine_periodic().

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static void send_gps	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 131 of file gps.c.

References course, GpsState::course, dev, UtmCoor_i::east, GpsState::fix, gps, GpsState::gspeed, GpsState::hmsl, GpsState::ned_vel, UtmCoor_i::north, send_svinfo_available(), GpsState::tow, utm_int_from_gps(), GpsState::week, NedCoor_i::z, and UtmCoor_i::zone.

Referenced by gps_init().

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static void send_gps_int	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 182 of file gps.c.

References LlaCoor_i::alt, GpsState::comp_id, dev, GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, gps, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsState::num_sv, GpsState::pacc, GpsState::pdop, GpsState::sacc, send_svinfo_available(), GpsState::tow, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by gps_init().

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static void send_gps_lla	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 210 of file gps.c.

References LlaCoor_i::alt, course, GpsState::course, dev, GpsState::fix, gps, GpsState::gspeed, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsState::ned_vel, GpsState::tow, GpsState::week, and NedCoor_i::z.

Referenced by gps_init().

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static void send_gps_rtk	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 157 of file gps.c.

References GpsRelposNED::accD, GpsRelposNED::accE, GpsRelposNED::accN, GpsRelposNED::carrSoln, GpsRelposNED::diffSoln, GpsRelposNED::gnssFixOK, gps_relposned, GpsRelposNED::iTOW, GpsRelposNED::refStationId, GpsRelposNED::relPosD, GpsRelposNED::relPosE, GpsRelposNED::relPosHPD, GpsRelposNED::relPosHPE, GpsRelposNED::relPosHPN, GpsRelposNED::relPosN, and GpsRelposNED::relPosValid.

Referenced by gps_init().

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static void send_gps_rxmrtcm	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 171 of file gps.c.

References RtcmMan::Cnt105, RtcmMan::Cnt177, RtcmMan::Cnt187, RtcmMan::Crc105, RtcmMan::Crc177, RtcmMan::Crc187, and rtcm_man.

Referenced by gps_init().

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static void send_gps_sol	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 233 of file gps.c.

References gps, GpsState::num_sv, GpsState::pacc, GpsState::pdop, and GpsState::sacc.

Referenced by gps_init().

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static void send_svinfo	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

send SVINFO message (regardless of state)

Definition at line 103 of file gps.c.

References gps, GpsState::nb_channels, and send_svinfo_id().

Referenced by gps_init().

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static void send_svinfo_available	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

inlinestatic

send SVINFO message if updated.

send SVINFO for all satellites while no GPS fix, after 3D fix, send avialable sats only when there is new information

Definition at line 115 of file gps.c.

References SVinfo::cno, GpsState::fix, gps, GPS_FIX_3D, GPS_NB_CHANNELS, GpsState::nb_channels, send_svinfo_id(), and GpsState::svinfos.

Referenced by send_gps(), and send_gps_int().

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static void send_svinfo_id	(	struct transport_tx *	trans,
		struct link_device *	dev,
		uint8_t	svid
	)

static

Definition at line 91 of file gps.c.

References SVinfo::azim, SVinfo::cno, SVinfo::elev, SVinfo::flags, gps, GPS_NB_CHANNELS, SVinfo::qi, SVinfo::svid, and GpsState::svinfos.

Referenced by send_svinfo(), and send_svinfo_available().

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struct UtmCoor_f utm_float_from_gps	(	struct GpsState *	gps_s,
		uint8_t	zone
	)

Convenience functions to get utm position from GPS state.

Convenience function to get utm position in float from GPS structure.

Definition at line 393 of file gps.c.

References UtmCoor_f::alt, UtmCoor_f::east, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_POS_UTM_BIT, UTM_FLOAT_OF_BFP, utm_of_lla_i(), wgs84_ellipsoid_to_geoid_i(), UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by gps_cb(), ins_alt_float_update_gps(), ins_float_invariant_update_gps(), and ins_reset_local_origin().

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struct UtmCoor_i utm_int_from_gps	(	struct GpsState *	gps_s,
		uint8_t	zone
	)

Convenience function to get utm position in int from GPS structure.

Beware that altitude is initialized to zero but not set to the correct value

Parameters

[in]	gps_s	pointer to the gps structure
[in]	zone	set the utm zone in which the position should be computed, 0 to try to get it automatically from lla position