Device independent GPS code (interface) More...

#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
#include "mcu_periph/sys_time.h"

Include dependency graph for gps.h:

Go to the source code of this file.

Data Structures
struct	SVinfo
	data structure for Space Vehicle Information of a single satellite More...

struct	GpsState
	data structure for GPS information More...

struct	GpsTimeSync
	data structure for GPS time sync More...

struct	GpsRelposNED
	data structures for GPS with RTK capabilities More...

struct	RtcmMan

Macros
#define	GPS_FIX_NONE 0x00
	No GPS fix. More...

#define	GPS_FIX_2D 0x02
	2D GPS fix More...

#define	GPS_FIX_3D 0x03
	3D GPS fix More...

#define	GPS_FIX_DGPS 0x04
	DGPS fix. More...

#define	GPS_FIX_RTK 0x05
	RTK GPS fix. More...

#define	GpsFixValid() (gps.fix >= GPS_FIX_3D)

#define	GpsIsLost() !GpsFixValid()

#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

#define	GPS_NB_CHANNELS 16

#define	GPS_MODE_AUTO 0

#define	GPS_MODE_PRIMARY 1

#define	GPS_MODE_SECONDARY 2

#define	MULTI_GPS_MODE GPS_MODE_AUTO

#define	GPS_TIMEOUT 2
	GPS timeout in seconds. More...

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

void	gps_inject_data (uint8_t packet_id, uint8_t length, uint8_t *data)
	GPS packet injection (default empty) More...

static bool	gps_has_been_good (void)

void	gps_periodic_check (struct GpsState *gps_s)
	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...

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. 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
uint8_t	multi_gps_mode

struct GpsState	gps
	global GPS state More...

struct GpsTimeSync	gps_time_sync

Detailed Description

Device independent GPS code (interface)

Definition in file gps.h.

Data Structure Documentation

struct SVinfo

data structure for Space Vehicle Information of a single satellite

Definition at line 71 of file gps.h.

Data Fields
int16_t	azim	azimuth in deg
uint8_t	cno	Carrier to Noise Ratio (Signal Strength) in dbHz.
int8_t	elev	elevation in deg
uint8_t	flags	bitfield with GPS receiver specific flags
uint8_t	qi	quality bitfield (GPS receiver specific)
uint8_t	svid	Satellite ID.

struct GpsState

data structure for GPS information

Definition at line 81 of file gps.h.

Collaboration diagram for GpsState:

Data Fields
uint32_t	cacc	course accuracy in rad*1e7
uint8_t	comp_id	id of current gps
int32_t	course	GPS course over ground in rad1e7, [0, 2Pi]*1e7 (CW/north)
struct EcefCoor_i	ecef_pos	position in ECEF in cm
struct EcefCoor_i	ecef_vel	speed ECEF in cm/s
uint8_t	fix	status of fix
uint16_t	gspeed	norm of 2d ground speed in cm/s
int32_t	hmsl	height above mean sea level (MSL) in mm
uint32_t	last_3dfix_ticks	cpu time ticks at last valid 3D fix
uint32_t	last_3dfix_time	cpu time in sec at last valid 3D fix
uint32_t	last_msg_ticks	cpu time ticks at last received GPS message
uint32_t	last_msg_time	cpu time in sec at last received GPS message
struct LlaCoor_i	lla_pos	position in LLA (lat,lon: deg*1e7; alt: mm over ellipsoid)
uint8_t	nb_channels	Number of scanned satellites.
struct NedCoor_i	ned_vel	speed NED in cm/s
uint8_t	num_sv	number of sat in fix
uint32_t	pacc	position accuracy in cm
uint16_t	pdop	position dilution of precision scaled by 100
uint16_t	reset	hotstart, warmstart, coldstart
uint32_t	sacc	speed accuracy in cm/s
uint16_t	speed_3d	norm of 3d speed in cm/s
struct SVinfo	svinfos[GPS_NB_CHANNELS]	holds information from the Space Vehicles (Satellites)
uint32_t	tow	GPS time of week in ms.
struct UtmCoor_i	utm_pos	position in UTM (north,east: cm; alt: mm over MSL)
uint8_t	valid_fields	bitfield indicating valid fields (GPS_VALID_x_BIT)
uint16_t	week	GPS week.

struct GpsTimeSync

data structure for GPS time sync

Definition at line 114 of file gps.h.

Data Fields
uint32_t	t0_ticks	hw clock ticks when GPS message is received
uint32_t	t0_tow	GPS time of week in ms from last message.
int32_t	t0_tow_frac	fractional ns remainder of tow [ms], range -500000 .. 500000

struct GpsRelposNED

data structures for GPS with RTK capabilities

Definition at line 121 of file gps.h.

Data Fields
uint32_t	accD
uint32_t	accE
uint32_t	accN
uint8_t	carrSoln
uint8_t	diffSoln
uint8_t	gnssFixOK
uint32_t	iTOW
uint16_t	refStationId
int32_t	relPosD
int32_t	relPosE
int8_t	relPosHPD
int8_t	relPosHPE
int8_t	relPosHPN
int32_t	relPosN
uint8_t	relPosValid

struct RtcmMan

Definition at line 139 of file gps.h.

Data Fields
uint32_t	Cnt105
uint32_t	Cnt177
uint32_t	Cnt187
uint32_t	Crc105
uint32_t	Crc177
uint32_t	Crc187
uint16_t	MsgType
uint16_t	RefStation

Macro Definition Documentation

#define GPS_FIX_2D 0x02

2D GPS fix

Definition at line 38 of file gps.h.

Referenced by gps_mtk_read_message(), gps_skytraq_read_message(), parse_xsens700_msg(), and sirf_parse_41().

#define GPS_FIX_3D 0x03

3D GPS fix

Definition at line 39 of file gps.h.

Referenced by ahrs_dcm_update_gps(), ahrs_fc_update_gps(), ahrs_icq_update_gps(), error_output(), get_fix_mode(), gps_cb(), gps_feed_value(), gps_mtk_msg(), gps_mtk_read_message(), 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(), gps_udp_parse(), handle_ins_msg(), ins_alt_float_update_gps(), ins_float_invariant_update_gps(), ins_int_update_gps(), ins_reset_local_origin(), ins_vectornav_propagate(), intermcu_parse_msg(), nmea_gps_msg(), parse_gps_datalink(), parse_gps_datalink_local(), parse_gps_datalink_small(), parse_xsens700_msg(), parse_xsens_msg(), sbp_pos_ecef_callback(), send_gps_dw1000_small(), send_svinfo_available(), sirf_parse_2(), and sirf_parse_41().

#define GPS_FIX_DGPS 0x04

DGPS fix.

Definition at line 40 of file gps.h.

Referenced by get_fix_mode().

#define GPS_FIX_NONE 0x00

No GPS fix.

Definition at line 37 of file gps.h.

Referenced by dw1000_arduino_init(), get_fix_mode(), gps_datalink_init(), gps_feed_value(), gps_init(), gps_mtk_read_message(), gps_periodic_check(), gps_piksi_event(), gps_sim_hitl_init(), gps_sim_init(), gps_skytraq_read_message(), gps_udp_init(), ins_vectornav_monitor(), intermcu_init(), parse_xsens700_msg(), parse_xsens_msg(), and sirf_parse_41().

#define GPS_FIX_RTK 0x05

RTK GPS fix.

Definition at line 41 of file gps.h.

Referenced by get_fix_mode().

#define GPS_MODE_AUTO 0

Definition at line 60 of file gps.h.

#define GPS_MODE_PRIMARY 1

Definition at line 61 of file gps.h.

#define GPS_MODE_SECONDARY 2

Definition at line 62 of file gps.h.

#define GPS_NB_CHANNELS 16

Definition at line 57 of file gps.h.

Referenced by gps_ubx_read_message(), mavlink_send_gps_status(), parse_xsens700_msg(), parse_xsens_msg(), send_svinfo_available(), and send_svinfo_id().

#define GPS_TIMEOUT 2

GPS timeout in seconds.

Definition at line 168 of file gps.h.

Referenced by gps_periodic_check().

#define GPS_VALID_COURSE_BIT 6

Definition at line 54 of file gps.h.

Referenced by gps_feed_value(), gps_mtk_read_message(), gps_skytraq_read_message(), gps_ubx_read_message(), handle_ins_msg(), ins_vectornav_propagate(), intermcu_parse_msg(), nmea_parse_RMC(), parse_gps_datalink(), parse_gps_datalink_local(), parse_gps_datalink_small(), sbp_vel_ned_callback(), sim_use_gps_pos(), and sirf_parse_41().

#define GPS_VALID_HMSL_BIT 5

#define GPS_VALID_POS_ECEF_BIT 0

Definition at line 48 of file gps.h.

Referenced by gps_feed_value(), gps_skytraq_read_message(), gps_ubx_read_message(), gps_udp_parse(), ins_module_update_gps(), ins_vectornav_propagate(), intermcu_parse_msg(), nmea_parse_GGA(), parse_gps_datalink(), parse_gps_datalink_local(), parse_gps_datalink_small(), sbp_pos_ecef_callback(), send_gps_dw1000_small(), and sirf_parse_2().

#define GPS_VALID_POS_LLA_BIT 1

#define GPS_VALID_POS_UTM_BIT 2

Definition at line 50 of file gps.h.

Referenced by gps_ubx_read_message(), ins_reset_utm_zone(), sim_use_gps_pos(), utm_float_from_gps(), and utm_int_from_gps().

#define GPS_VALID_VEL_ECEF_BIT 3

Definition at line 51 of file gps.h.

Referenced by gps_feed_value(), gps_skytraq_read_message(), gps_ubx_read_message(), gps_udp_parse(), ins_module_update_gps(), intermcu_parse_msg(), parse_gps_datalink(), parse_gps_datalink_local(), parse_gps_datalink_small(), sbp_vel_ecef_callback(), and sirf_parse_2().

#define GPS_VALID_VEL_NED_BIT 4

Definition at line 52 of file gps.h.

Referenced by gps_feed_value(), gps_skytraq_read_message(), gps_ubx_msg(), gps_ubx_read_message(), ins_module_update_gps(), parse_gps_datalink(), parse_gps_datalink_local(), parse_gps_datalink_small(), parse_xsens700_msg(), parse_xsens_msg(), sbp_vel_ned_callback(), and sim_use_gps_pos().

#define GpsFixValid ( ) (gps.fix >= GPS_FIX_3D)

Definition at line 43 of file gps.h.

Referenced by ahrs_chimu_update_gps(), alt_filter_periodic(), geo_mag_periodic(), gps_has_been_good(), ins_reset_altitude_ref(), and ins_reset_local_origin().

#define GpsIsLost ( ) !GpsFixValid()

Definition at line 45 of file gps.h.

Referenced by autopilot_static_on_rc_frame(), and failsafe_check().

#define MULTI_GPS_MODE GPS_MODE_AUTO

Definition at line 65 of file gps.h.

Referenced by gps_init().

Function Documentation

static bool gps_has_been_good ( void )

inlinestatic

Definition at line 171 of file gps.h.

References GpsFixValid.

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.

Here is the call graph for this function:

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

GPS packet injection (default empty)

Definition at line 408 of file gps_piksi.c.

References gps_piksi_write(), and sbp_state.

Referenced by dl_parse_msg().

Here is the call graph for this function:

Here is the caller graph for this function:

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.

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

Referenced by dw1000_arduino_periodic(), and intermcu_periodic().

Here is the caller graph for this function:

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().

Here is the call graph for this function:

Here is the caller graph for this function:

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.

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

Returns: utm position in float, altitude hmsl.

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().

Here is the call graph for this function:

Here is the caller graph for this function:

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