gps.c File Reference

Device independent GPS code. More...

#include "subsystems/gps.h"
#include "led.h"

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

Functions
void	gps_init (void)
	initialize the global GPS state More...
void	gps_periodic_check (void)
	Periodic GPS check. 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...

Variables
struct GpsState	gps
	global GPS state More...
struct GpsTimeSync	gps_time_sync

Detailed Description

Device independent GPS code.

Definition in file gps.c.

Macro Definition Documentation

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

Definition at line 39 of file gps.c.

Referenced by gps_tow_from_sys_ticks().

Function Documentation

void gps_init

(

void

)

initialize the global GPS state

Definition at line 135 of file gps.c.

References GpsState::cacc, DefaultPeriodic, GpsState::fix, gpio_setup_output(), gps, GPS_FIX_NONE, gps_impl_init(), GPS_POWER_GPIO, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LED_OFF, register_periodic_telemetry(), GpsState::tow, and GpsState::week.

Referenced by init_ap(), and main_init().

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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 198 of file gps.c.

References gps_piksi_write(), and sbp_state.

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void gps_periodic_check

(

void

)

Periodic GPS check.

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

Definition at line 166 of file gps.c.

References GpsState::fix, gps, GPS_FIX_NONE, GPS_TIMEOUT, GpsState::last_msg_time, and sys_time::nb_sec.

Referenced by failsafe_check(), and sensors_task().

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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 173 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 trigger_ext_periodic(), and windturbine_periodic().

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Variable Documentation

struct GpsState gps

global GPS state

Definition at line 41 of file gps.c.

Referenced by alt_filter_periodic(), ArduIMU_periodicGPS(), b2_hff_update_gps(), baro_sim_periodic(), dc_send_shot_position(), error_output(), formation_flight(), generic_com_periodic(), geo_mag_event(), get_fix_mode(), gps_feed_value(), gps_impl_init(), gps_init(), gps_mtk_msg(), gps_mtk_read_message(), gps_nmea_msg(), gps_parse(), gps_periodic_check(), gps_piksi_event(), gps_piksi_publish(), gps_sim_hitl_event(), gps_sim_publish(), gps_sirf_msg(), gps_skytraq_msg(), gps_skytraq_read_message(), gps_ubx_msg(), gps_ubx_read_message(), gsm_send_report_continue(), gx3_packet_read_message(), handle_ins_msg(), ins_reset_altitude_ref(), ins_reset_local_origin(), ins_reset_utm_zone(), ins_vectornav_propagate(), ins_vectornav_read_message(), ins_vectornav_set_pacc(), ins_vectornav_set_sacc(), mavlink_send_gps_raw_int(), mavlink_send_gps_status(), meteo_stick_periodic(), mf_daq_send_report(), mf_ptu_periodic(), nmea_parse_GGA(), nmea_parse_GSA(), nmea_parse_GSV(), nmea_parse_perdcrv(), nmea_parse_RMC(), parse_gps_datalink(), parse_ins_msg(), potential_task(), push_gps_to_vision(), sbp_dops_callback(), sbp_gps_time_callback(), sbp_pos_ecef_callback(), sbp_pos_llh_callback(), sbp_tracking_state_callback(), sbp_tracking_state_dep_a_callback(), sbp_vel_ecef_callback(), sbp_vel_ned_callback(), send_status(), sim_use_gps_pos(), sirf_parse_2(), sirf_parse_41(), snav_on_time(), tcas_periodic_task_1Hz(), and vPoint().

struct GpsTimeSync gps_time_sync

Definition at line 43 of file gps.c.

Referenced by gps_mtk_read_message(), gps_tow_from_sys_ticks(), and gps_ubx_read_message().