Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
gps.h
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1 /*
2  * Copyright (C) 2003-2011 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
27 #ifndef GPS_H
28 #define GPS_H
29 
30 
31 #include "std.h"
32 #include "math/pprz_geodetic_int.h"
34 
35 #include "mcu_periph/sys_time.h"
36 
37 #define GPS_FIX_NONE 0x00
38 #define GPS_FIX_2D 0x02
39 #define GPS_FIX_3D 0x03
40 #define GPS_FIX_DGPS 0x04
41 #define GPS_FIX_RTK 0x05
42 
43 #define GpsFixValid() (gps.fix >= GPS_FIX_3D)
44 #if USE_GPS
45 #define GpsIsLost() !GpsFixValid()
46 #endif
47 
48 #define GPS_VALID_POS_ECEF_BIT 0
49 #define GPS_VALID_POS_LLA_BIT 1
50 #define GPS_VALID_POS_UTM_BIT 2
51 #define GPS_VALID_VEL_ECEF_BIT 3
52 #define GPS_VALID_VEL_NED_BIT 4
53 #define GPS_VALID_HMSL_BIT 5
54 #define GPS_VALID_COURSE_BIT 6
55 
56 #ifndef GPS_NB_CHANNELS
57 #define GPS_NB_CHANNELS 40
58 #endif
59 
60 #define GPS_MODE_AUTO 0
61 #define GPS_MODE_PRIMARY 1
62 #define GPS_MODE_SECONDARY 2
63 
64 #ifndef MULTI_GPS_MODE
65 #define MULTI_GPS_MODE GPS_MODE_AUTO
66 #endif
67 
68 /* expand GpsId(PRIMARY_GPS) to e.g. GPS_UBX_ID */
69 #define __GpsId(_x) _x ## _ID
70 #define _GpsId(_x) __GpsId(_x)
71 #define GpsId(_x) _GpsId(_x)
72 
73 
74 extern uint8_t multi_gps_mode;
75 
77 struct SVinfo {
84 };
85 
87 struct GpsState {
90 
92  struct LlaCoor_i lla_pos;
93  struct UtmCoor_i utm_pos;
96  struct NedCoor_i ned_vel;
110 
113 
119 };
120 
122 struct GpsTimeSync {
126 };
127 
129 struct GpsRelposNED {
145 };
146 
147 struct RtcmMan {
149  uint16_t MsgType; // Counter variables to count the number of Rtcm msgs in the input stream(for each msg type)
152  uint32_t Cnt187; // Counter variables to count the number of messages that failed Crc Check
156 };
157 
159 extern struct GpsState gps;
160 
161 #ifdef GPS_TYPE_H
162 #include GPS_TYPE_H
163 #endif
164 #ifdef GPS_SECONDARY_TYPE_H
165 #include GPS_SECONDARY_TYPE_H
166 #endif
167 
169 extern void gps_init(void);
170 
172 extern void gps_inject_data(uint8_t packet_id, uint8_t length, uint8_t *data);
173 
174 extern void gps_parse_GPS_INJECT(uint8_t *buf);
175 extern void gps_parse_RTCM_INJECT(uint8_t *buf);
176 
178 #ifndef GPS_TIMEOUT
179 #define GPS_TIMEOUT 2
180 #endif
181 
182 static inline bool gps_has_been_good(void)
183 {
184  static bool gps_had_valid_fix = false;
185  if (GpsFixValid()) {
186  gps_had_valid_fix = true;
187  }
188  return gps_had_valid_fix;
189 }
190 
191 
195 extern void gps_periodic_check(struct GpsState *gps_s);
196 
197 
198 /*
199  * For GPS time synchronizaiton...
200  */
201 extern struct GpsTimeSync gps_time_sync;
202 
208 extern uint32_t gps_tow_from_sys_ticks(uint32_t sys_ticks);
209 
217 extern struct UtmCoor_f utm_float_from_gps(struct GpsState *gps_s, uint8_t zone);
218 
226 extern struct UtmCoor_i utm_int_from_gps(struct GpsState *gps_s, uint8_t zone);
227 
235 extern uint16_t gps_day_number(uint16_t year, uint8_t month, uint8_t day);
236 
244 extern uint16_t gps_week_number(uint16_t year, uint8_t month, uint8_t day);
245 
246 #endif /* GPS_H */
GpsRelposNED::relPosHPE
int8_t relPosHPE
Definition: gps.h:136
int8_t
signed char int8_t
Typedef defining 8 bit char type.
Definition: vl53l1_types.h:103
GpsState::valid_fields
uint8_t valid_fields
bitfield indicating valid fields (GPS_VALID_x_BIT)
Definition: gps.h:88
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
SVinfo
data structure for Space Vehicle Information of a single satellite
Definition: gps.h:77
utm_int_from_gps
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.
Definition: gps.c:436
utm_float_from_gps
struct UtmCoor_f utm_float_from_gps(struct GpsState *gps_s, uint8_t zone)
Convenience function to get utm position in float from GPS structure.
Definition: gps.c:411
SVinfo::azim
int16_t azim
azimuth in deg
Definition: gps.h:83
GpsRelposNED::gnssFixOK
uint8_t gnssFixOK
Definition: gps.h:144
SVinfo::flags
uint8_t flags
bitfield with GPS receiver specific flags
Definition: gps.h:79
gps_parse_GPS_INJECT
void gps_parse_GPS_INJECT(uint8_t *buf)
Definition: gps.c:386
GpsRelposNED::accE
uint32_t accE
Definition: gps.h:139
GpsState::tow
uint32_t tow
GPS time of week in ms.
Definition: gps.h:109
RtcmMan::Cnt105
uint32_t Cnt105
Definition: gps.h:150
GpsRelposNED::relPosD
int32_t relPosD
Definition: gps.h:134
SVinfo::qi
uint8_t qi
quality bitfield (GPS receiver specific)
Definition: gps.h:80
GpsTimeSync::t0_tow
uint32_t t0_tow
GPS time of week in ms from last message.
Definition: gps.h:123
gps_tow_from_sys_ticks
uint32_t gps_tow_from_sys_ticks(uint32_t sys_ticks)
Convert time in sys_time ticks to GPS time of week.
Definition: gps.c:355
RtcmMan::Cnt177
uint32_t Cnt177
Definition: gps.h:151
GpsState::nb_channels
uint8_t nb_channels
Number of scanned satellites.
Definition: gps.h:111
pprz_geodetic_int.h
Paparazzi fixed point math for geodetic calculations.
GpsState
data structure for GPS information
Definition: gps.h:87
GpsState::pacc
uint32_t pacc
position accuracy in cm
Definition: gps.h:100
RtcmMan::MsgType
uint16_t MsgType
Definition: gps.h:149
GpsRelposNED::diffSoln
uint8_t diffSoln
Definition: gps.h:143
GpsState::sacc
uint32_t sacc
speed accuracy in cm/s
Definition: gps.h:103
GpsRelposNED::iTOW
uint32_t iTOW
Definition: gps.h:130
GpsState::vacc
uint32_t vacc
vertical accuracy in cm
Definition: gps.h:102
GpsRelposNED::relPosHPD
int8_t relPosHPD
Definition: gps.h:137
GpsState::ned_vel
struct NedCoor_i ned_vel
speed NED in cm/s
Definition: gps.h:96
GpsRelposNED::relPosE
int32_t relPosE
Definition: gps.h:133
RtcmMan::Cnt187
uint32_t Cnt187
Definition: gps.h:152
int16_t
short int16_t
Typedef defining 16 bit short type.
Definition: vl53l1_types.h:93
GpsState::last_msg_ticks
uint32_t last_msg_ticks
cpu time ticks at last received GPS message
Definition: gps.h:116
std.h
pprz_geodetic_float.h
Paparazzi floating point math for geodetic calculations.
GpsRelposNED::relPosN
int32_t relPosN
Definition: gps.h:132
SVinfo::cno
uint8_t cno
Carrier to Noise Ratio (Signal Strength) in dbHz.
Definition: gps.h:81
gps_periodic_check
void gps_periodic_check(struct GpsState *gps_s)
Periodic GPS check.
Definition: gps.c:264
GpsState::hacc
uint32_t hacc
horizontal accuracy in cm
Definition: gps.h:101
GpsState::fix
uint8_t fix
status of fix
Definition: gps.h:107
gps_day_number
uint16_t gps_day_number(uint16_t year, uint8_t month, uint8_t day)
Number of days since navigation epoch (6 January 1980)
Definition: gps.c:473
gps_has_been_good
static bool gps_has_been_good(void)
Definition: gps.h:182
GpsState::speed_3d
uint16_t speed_3d
norm of 3d speed in cm/s
Definition: gps.h:98
multi_gps_mode
uint8_t multi_gps_mode
Definition: gps.c:78
UtmCoor_f::zone
uint8_t zone
UTM zone number.
Definition: pprz_geodetic_float.h:85
GpsTimeSync
data structure for GPS time sync
Definition: gps.h:122
EcefCoor_i
vector in EarthCenteredEarthFixed coordinates
Definition: pprz_geodetic_int.h:50
GpsState::week
uint16_t week
GPS week.
Definition: gps.h:108
NedCoor_i
vector in North East Down coordinates
Definition: pprz_geodetic_int.h:68
SVinfo::svid
uint8_t svid
Satellite ID.
Definition: gps.h:78
GpsTimeSync::t0_tow_frac
int32_t t0_tow_frac
fractional ns remainder of tow [ms], range -500000 .. 500000
Definition: gps.h:124
sys_time.h
Architecture independent timing functions.
GpsState::gspeed
uint16_t gspeed
norm of 2d ground speed in cm/s
Definition: gps.h:97
GpsRelposNED
data structures for GPS with RTK capabilities
Definition: gps.h:129
GpsState::reset
uint16_t reset
hotstart, warmstart, coldstart
Definition: gps.h:118
GpsRelposNED::refStationId
uint16_t refStationId
Definition: gps.h:131
GPS_NB_CHANNELS
#define GPS_NB_CHANNELS
Definition: gps.h:57
RtcmMan::Crc177
uint32_t Crc177
Definition: gps.h:154
GpsState::last_3dfix_time
uint32_t last_3dfix_time
cpu time in sec at last valid 3D fix
Definition: gps.h:115
RtcmMan::Crc105
uint32_t Crc105
Definition: gps.h:153
GpsState::last_3dfix_ticks
uint32_t last_3dfix_ticks
cpu time ticks at last valid 3D fix
Definition: gps.h:114
GpsState::utm_pos
struct UtmCoor_i utm_pos
position in UTM (north,east: cm; alt: mm over MSL)
Definition: gps.h:93
GpsState::comp_id
uint8_t comp_id
id of current gps
Definition: gps.h:89
gps
struct GpsState gps
global GPS state
Definition: gps.c:69
gps_init
void gps_init(void)
initialize the global GPS state
Definition: gps.c:308
GpsRelposNED::accD
uint32_t accD
Definition: gps.h:140
gps_time_sync
struct GpsTimeSync gps_time_sync
Definition: gps.c:70
GpsState::course
int32_t course
GPS course over ground in rad*1e7, [0, 2*Pi]*1e7 (CW/north)
Definition: gps.h:99
GpsState::last_msg_time
uint32_t last_msg_time
cpu time in sec at last received GPS message
Definition: gps.h:117
GpsState::ecef_pos
struct EcefCoor_i ecef_pos
position in ECEF in cm
Definition: gps.h:91
GpsFixValid
#define GpsFixValid()
Definition: gps.h:43
int32_t
int int32_t
Typedef defining 32 bit int type.
Definition: vl53l1_types.h:83
LlaCoor_i
vector in Latitude, Longitude and Altitude
Definition: pprz_geodetic_int.h:59
GpsState::lla_pos
struct LlaCoor_i lla_pos
position in LLA (lat,lon: deg*1e7; alt: mm over ellipsoid)
Definition: gps.h:92
UtmCoor_f
position in UTM coordinates Units: meters
Definition: pprz_geodetic_float.h:81
GpsState::num_sv
uint8_t num_sv
number of sat in fix
Definition: gps.h:106
GpsRelposNED::accN
uint32_t accN
Definition: gps.h:138
GpsState::hmsl
int32_t hmsl
height above mean sea level (MSL) in mm
Definition: gps.h:94
GpsTimeSync::t0_ticks
uint32_t t0_ticks
hw clock ticks when GPS message is received
Definition: gps.h:125
RtcmMan::RefStation
uint16_t RefStation
Definition: gps.h:148
SVinfo::elev
int8_t elev
elevation in deg
Definition: gps.h:82
GpsState::pdop
uint16_t pdop
position dilution of precision scaled by 100
Definition: gps.h:105
UtmCoor_i
position in UTM coordinates
Definition: pprz_geodetic_int.h:86
gps_week_number
uint16_t gps_week_number(uint16_t year, uint8_t month, uint8_t day)
Number of weeks since navigation epoch (6 January 1980)
Definition: gps.c:483
GpsRelposNED::carrSoln
uint8_t carrSoln
Definition: gps.h:141
GpsRelposNED::relPosValid
uint8_t relPosValid
Definition: gps.h:142
GpsState::cacc
uint32_t cacc
course accuracy in rad*1e7
Definition: gps.h:104
gps_inject_data
void gps_inject_data(uint8_t packet_id, uint8_t length, uint8_t *data)
GPS packet injection (default empty)
Definition: gps.c:380
GpsState::ecef_vel
struct EcefCoor_i ecef_vel
speed ECEF in cm/s
Definition: gps.h:95
GpsRelposNED::relPosHPN
int8_t relPosHPN
Definition: gps.h:135
uint16_t
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
Definition: vl53l1_types.h:88
gps_parse_RTCM_INJECT
void gps_parse_RTCM_INJECT(uint8_t *buf)
Definition: gps.c:399
GpsState::svinfos
struct SVinfo svinfos[GPS_NB_CHANNELS]
holds information from the Space Vehicles (Satellites)
Definition: gps.h:112
RtcmMan::Crc187
uint32_t Crc187
Definition: gps.h:155
RtcmMan
Definition: gps.h:147
UtmCoor_i::zone
uint8_t zone
UTM zone number.
Definition: pprz_geodetic_int.h:90