gps.h File Reference

Device independent GPS code (interface) More...

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

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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...

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_NB_CHANNELS   1
#define	GPS_TIMEOUT   2
	GPS timeout in seconds. More...
#define	gps_Reset(_val)
	GPS Reset. More...

Functions
void	gps_init (void)
	initialize the global GPS state More...
void	gps_impl_init (void)
	GPS model specific init implementation. More...
void	gps_inject_data (uint8_t packet_id, uint8_t length, uint8_t *data)
	GPS packet injection (default empty) More...
static bool_t	gps_has_been_good (void)
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...

Variables
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 57 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 67 of file gps.h.

Collaboration diagram for GpsState:

Data Fields
uint32_t	cacc	course accuracy in rad*1e7
int32_t	course	GPS course over ground in rad*1e7, [0, 2*Pi]*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 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 ellipsoid)
uint16_t	week	GPS week.

struct GpsTimeSync

data structure for GPS time sync

Definition at line 97 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

Macro Definition Documentation

#define GPS_FIX_2D   0x02

2D GPS fix

Definition at line 42 of file gps.h.

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

#define GPS_FIX_3D   0x03

3D GPS fix

Definition at line 43 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_nmea_msg(), gps_parse(), 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(), handle_ins_msg(), ins_float_invariant_update_gps(), ins_int_update_gps(), ins_vectornav_propagate(), parse_gps_datalink(), parse_ins_msg(), sbp_pos_ecef_callback(), sirf_parse_2(), and sirf_parse_41().

#define GPS_FIX_DGPS   0x04

DGPS fix.

Definition at line 44 of file gps.h.

Referenced by get_fix_mode().

#define GPS_FIX_NONE   0x00

No GPS fix.

Definition at line 41 of file gps.h.

Referenced by get_fix_mode(), gps_feed_value(), gps_impl_init(), gps_init(), gps_mtk_read_message(), gps_periodic_check(), gps_piksi_event(), gps_skytraq_read_message(), parse_ins_msg(), and sirf_parse_41().

#define GPS_FIX_RTK   0x05

RTK GPS fix.

Definition at line 45 of file gps.h.

Referenced by get_fix_mode().

#define GPS_NB_CHANNELS   1

Definition at line 53 of file gps.h.

#define gps_Reset

(

_val

)

Value:

{                               \
  }

GPS Reset.

Todo:

this still needs to call gps specific stuff

Definition at line 139 of file gps.h.

#define GPS_TIMEOUT   2

GPS timeout in seconds.

Definition at line 117 of file gps.h.

Referenced by gps_periodic_check().

#define GpsFixValid

(

)

(gps.fix >= GPS_FIX_3D)

Definition at line 47 of file gps.h.

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

#define GpsIsLost

(

)

!GpsFixValid()

Definition at line 49 of file gps.h.

Referenced by autopilot_on_rc_frame(), and failsafe_check().

Function Documentation

static bool_t gps_has_been_good ( void  )

inlinestatic

Definition at line 120 of file gps.h.

References FALSE, GpsFixValid, and TRUE.

void gps_impl_init

(

void

)

GPS model specific init implementation.

GPS model specific init implementation.

Definition at line 62 of file gps_datalink.c.

References GpsState::cacc, dops_node, GpsMtk::error_cnt, GpsUbx::error_cnt, GpsMtk::error_last, GpsUbx::error_last, FALSE, GpsState::fix, gps, gps_available, GPS_FIX_NONE, gps_has_fix, gps_mtk, GPS_MTK_ERR_NONE, GPS_NB_CHANNELS, GpsNmea::gps_nb_ovrn, gps_network, gps_nmea, gps_piksi_write(), gps_sirf, gps_skytraq, gps_time_node, gps_ubx, GPS_UBX_ERR_NONE, GPS_UDP_HOST, GpsState::gspeed, GpsNmea::have_gsv, GpsUbx::have_velned, GpsNmea::is_configured, ltp_def_from_ecef_i(), GpsMtk::msg_available, GpsNmea::msg_available, GpsUbx::msg_available, GpsSirf::msg_available, GpsNmea::msg_len, GpsSirf::msg_len, GpsState::nb_channels, nmea_configure(), nmea_parse_prop_init(), GpsNmea::pos_available, GpsSirf::pos_available, pos_ecef_node, pos_llh_node, GpsSirf::read_state, SBP_ANT_SET, sbp_dops_callback(), sbp_gps_time_callback(), sbp_pos_ecef_callback(), sbp_pos_llh_callback(), sbp_state, sbp_tracking_state_callback(), sbp_tracking_state_dep_a_callback(), SBP_UART_SET1, SBP_UART_SET2, SBP_UART_SET3, sbp_vel_ecef_callback(), sbp_vel_ned_callback(), GpsMtk::status, GpsUbx::status, GpsSkytraq::status, tracking_state_dep_a_node, tracking_state_node, TRUE, UNINIT, vel_ecef_node, and vel_ned_node.

Referenced by gps_init().

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

GPS packet injection (default empty)

GPS packet injection (default empty)

Definition at line 384 of file gps_piksi.c.

References gps_piksi_write(), and sbp_state.

Referenced by dl_parse_msg().

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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().