#include "subsystems/gps.h"
#include "subsystems/abi.h"
#include "led.h"
#include "math/pprz_geodetic_float.h"
#include <inttypes.h>
#include <math.h>
#include <stdio.h>
#include "gps_sirf.h"
#include "pprzlink/pprzlink_device.h"
#include "mcu_periph/uart.h"

Include dependency graph for gps_sirf.c:

Data Structures
struct	sirf_msg_2
	Message ID 2 from GPS. More...

struct	sirf_msg_41
	Message ID 41 from GPS. More...

Macros
#define	Invert2Bytes(x) ((x>>8) \| (x<<8))

#define	Invert4Bytes(x) ((x>>24) \| ((x<<8) & 0x00FF0000) \| ((x>>8) & 0x0000FF00) \| (x<<24))

Functions
void	sirf_parse_char (uint8_t c)

void	sirf_parse_msg (void)

void	gps_sirf_msg (void)

void	sirf_parse_2 (void)

void	sirf_parse_41 (void)

void	gps_sirf_init (void)

void	gps_sirf_event (void)

Variables
struct GpsSirf	gps_sirf

int	start_time = 0

int	ticks = 0

int	start_time2 = 0

int	ticks2 = 0

Data Structure Documentation

struct sirf_msg_2

Message ID 2 from GPS.

Total payload length should be 41 bytes.

Definition at line 43 of file gps_sirf.c.

Data Fields
uint8_t	ch10prn
uint8_t	ch11prn
uint8_t	ch12prn
uint8_t	ch1prn	pseudo-random noise, 12 channels
uint8_t	ch2prn
uint8_t	ch3prn
uint8_t	ch4prn
uint8_t	ch5prn
uint8_t	ch6prn
uint8_t	ch7prn
uint8_t	ch8prn
uint8_t	ch9prn
uint8_t	hdop	horizontal dilution of precision *5 (0.2 precision)
uint8_t	mode1
uint8_t	mode2
uint8_t	msg_id	hex value 0x02 ( = decimal 2)
uint8_t	num_sat	Number of satellites in fix.
uint32_t	tow	time of week in seconds * 10^2
int16_t	vx	x-velocity * 8 in m/s
int16_t	vy	y-velocity * 8 in m/s
int16_t	vz	z-velocity * 8 in m/s
uint16_t	week
int32_t	x_pos	x-position in m
int32_t	y_pos	y-position in m
int32_t	z_pos	z-position in m

struct sirf_msg_41

Message ID 41 from GPS.

Total payload length should be 91 bytes.

Definition at line 73 of file gps_sirf.c.

Data Fields
uint8_t	add_info	Additional mode info.
int32_t	alt_ellipsoid	in meters *10^2
int32_t	alt_msl	in meters *10^2
int16_t	climb_rate	in m/s * 10^2
int32_t	clock_bias	in m * 10^2
uint32_t	clock_bias_err	in m * 10^2
int32_t	clock_drift	in m/s * 10^2
uint32_t	clock_drift_err	in m/s * 10^2
uint16_t	cog	course over ground, in degrees clockwise from true north * 10^2
uint8_t	day
uint32_t	distance	Distance traveled since reset in m.
uint16_t	distance_err	in meters
uint32_t	ehpe	estimated horizontal position error, in meters * 10^2
uint16_t	ehve	estimated horizontal velocity error in m/s * 10^2
uint32_t	ete	estimated time error, in seconds * 10^2
uint32_t	evpe	estimated vertical position error, in meters * 10^2
uint16_t	extended_week_number
uint8_t	hdop	Horizontal dilution of precision x 5 (0.2 precision)
uint16_t	heading_err	in degrees * 10^2
int16_t	heading_rate	in deg/s * 10^2
uint8_t	hour
int32_t	latitude	in degrees (+= North) *10^7
int32_t	longitude	in degrees (+= East) 107
int16_t	mag_var	not implemented
int8_t	map_datum
uint8_t	minute
uint8_t	month
uint8_t	msg_id	hex value 0x29 (= decimal 41)
uint16_t	nav_type
uint16_t	nav_valid	if equal to 0x0000, then navigation solution is valid
uint8_t	num_sat	Number of satellites used for solution.
uint32_t	sat_id	satellites used in solution. Each satellite corresponds with a bit, e.g. bit 1 ON = SV 1 is used in solution
uint16_t	second
uint16_t	sog	speed over ground, in m/s * 10^2
uint32_t	tow	time of week in seconds *10^3]
uint16_t	year