gps.h

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/*
 * Copyright (C) 2003-2011 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef GPS_H
#define GPS_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
 
#include "mcu_periph/sys_time.h"
 
#define GPS_FIX_NONE 0x00     
#define GPS_FIX_2D   0x02     
#define GPS_FIX_3D   0x03     
#define GPS_FIX_DGPS 0x04     
#define GPS_FIX_RTK  0x05     
 
#define GpsFixValid() (gps.fix >= GPS_FIX_3D)
#if USE_GPS
#define GpsIsLost() !GpsFixValid()
#endif
 
#define GPS_VALID_POS_ECEF_BIT 0
#define GPS_VALID_POS_LLA_BIT  1
#define GPS_VALID_POS_UTM_BIT  2
#define GPS_VALID_VEL_ECEF_BIT 3
#define GPS_VALID_VEL_NED_BIT  4
#define GPS_VALID_HMSL_BIT     5
#define GPS_VALID_COURSE_BIT   6
 
#ifndef GPS_NB_CHANNELS
#define GPS_NB_CHANNELS 40
#endif
 
#define GPS_MODE_AUTO 0
#define GPS_MODE_PRIMARY 1
#define GPS_MODE_SECONDARY 2
 
#ifndef MULTI_GPS_MODE
#define MULTI_GPS_MODE GPS_MODE_AUTO
#endif
 
/* expand GpsId(PRIMARY_GPS) to e.g. GPS_UBX_ID */
#define __GpsId(_x) _x ## _ID
#define _GpsId(_x) __GpsId(_x)
#define GpsId(_x) _GpsId(_x)
 
 
extern uint8_t multi_gps_mode;
 
struct SVinfo {
  uint8_t svid;  
  uint8_t flags; 
  uint8_t qi;    
  uint8_t cno;   
  int8_t elev;   
  int16_t azim;  
};
 
struct GpsState {
  uint8_t valid_fields;          
  uint8_t comp_id;               
 
  struct EcefCoor_i ecef_pos;    
  struct LlaCoor_i lla_pos;      
  struct UtmCoor_i utm_pos;      
  int32_t hmsl;                  
  struct EcefCoor_i ecef_vel;    
  struct NedCoor_i ned_vel;      
  uint16_t gspeed;               
  uint16_t speed_3d;             
  int32_t course;                
  uint32_t pacc;                 
  uint32_t hacc;                 
  uint32_t vacc;                 
  uint32_t sacc;                 
  uint32_t cacc;                 
  uint16_t pdop;                 
  uint8_t num_sv;                
  uint8_t fix;                   
  uint16_t week;                 
  uint32_t tow;                  
 
  uint8_t nb_channels;           
  struct SVinfo svinfos[GPS_NB_CHANNELS]; 
 
  uint32_t last_3dfix_ticks;     
  uint32_t last_3dfix_time;      
  uint32_t last_msg_ticks;       
  uint32_t last_msg_time;        
  uint16_t reset;                
};
 
struct GpsTimeSync {
  uint32_t t0_tow;      
  int32_t t0_tow_frac;  
  uint32_t t0_ticks;    
};
 
struct GpsRelposNED {
  uint32_t iTOW;
  uint16_t refStationId;
  int32_t relPosN;
  int32_t relPosE;
  int32_t relPosD;
  int8_t relPosHPN;
  int8_t relPosHPE;
  int8_t relPosHPD;
  uint32_t accN;
  uint32_t accE;
  uint32_t accD;
  uint8_t carrSoln;
  uint8_t relPosValid;
  uint8_t diffSoln;
  uint8_t gnssFixOK;
};
 
struct RtcmMan {
  uint16_t RefStation;
  uint16_t MsgType; // Counter variables to count the number of Rtcm msgs in the input stream(for each msg type)
  uint32_t Cnt105;
  uint32_t Cnt177;
  uint32_t Cnt187; // Counter variables to count the number of messages that failed Crc Check
  uint32_t Crc105;
  uint32_t Crc177;
  uint32_t Crc187;
};
 
extern struct GpsState gps;
 
#ifdef GPS_TYPE_H
#include GPS_TYPE_H
#endif
#ifdef GPS_SECONDARY_TYPE_H
#include GPS_SECONDARY_TYPE_H
#endif
 
extern void gps_init(void);
 
extern void gps_inject_data(uint8_t packet_id, uint8_t length, uint8_t *data);
 
extern void gps_parse_GPS_INJECT(uint8_t *buf);
extern void gps_parse_RTCM_INJECT(uint8_t *buf);
 
#ifndef GPS_TIMEOUT
#define GPS_TIMEOUT 2
#endif
 
static inline bool gps_has_been_good(void)
{
  static bool gps_had_valid_fix = false;
  if (GpsFixValid()) {
    gps_had_valid_fix = true;
  }
  return gps_had_valid_fix;
}
 
 
extern void gps_periodic_check(struct GpsState *gps_s);
 
 
/*
 * For GPS time synchronizaiton...
 */
extern struct GpsTimeSync gps_time_sync;
 
extern uint32_t gps_tow_from_sys_ticks(uint32_t sys_ticks);
 
extern struct LlaCoor_f lla_float_from_gps(struct GpsState *gps_s);
 
extern struct LlaCoor_i lla_int_from_gps(struct GpsState *gps_s);
 
extern struct EcefCoor_f ecef_float_from_gps(struct GpsState *gps_s);
 
extern struct EcefCoor_i ecef_int_from_gps(struct GpsState *gps_s);
 
extern struct EcefCoor_f ecef_vel_float_from_gps(struct GpsState *gps_s);
 
extern struct EcefCoor_i ecef_vel_int_from_gps(struct GpsState *gps_s);
 
extern struct NedCoor_f ned_vel_float_from_gps(struct GpsState *gps_s);
 
extern struct NedCoor_i ned_vel_int_from_gps(struct GpsState *gps_s);
 
extern struct UtmCoor_f utm_float_from_gps(struct GpsState *gps_s, uint8_t zone);
 
extern struct UtmCoor_i utm_int_from_gps(struct GpsState *gps_s, uint8_t zone);
 
extern uint16_t gps_day_number(uint16_t year, uint8_t month, uint8_t day);
 
extern uint16_t gps_week_number(uint16_t year, uint8_t month, uint8_t day);
 
#ifdef __cplusplus
}
#endif
 
#endif /* GPS_H */