gps_mtk.c File Reference

#include "subsystems/gps.h"
#include "subsystems/abi.h"
#include "led.h"
#include "subsystems/navigation/common_nav.h"
#include "math/pprz_geodetic_float.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	MTK_DIY_OUTPUT_RATE   MTK_DIY_OUTPUT_4HZ
#define	OUTPUT_RATE   4
#define	UNINIT   0
#define	GOT_SYNC1_14   1
#define	GOT_SYNC2_14   2
#define	GOT_CLASS_14   3
#define	GOT_SYNC1_16   4
#define	GOT_SYNC2_16   5
#define	GOT_ID   6
#define	GOT_PAYLOAD   7
#define	GOT_CHECKSUM1   8
#define	GPS_MTK_ERR_NONE   0
#define	GPS_MTK_ERR_OVERRUN   1
#define	GPS_MTK_ERR_MSG_TOO_LONG   2
#define	GPS_MTK_ERR_CHECKSUM   3
#define	GPS_MTK_ERR_UNEXPECTED   4
#define	GPS_MTK_ERR_OUT_OF_SYNC   5
#define	MTK_DIY_FIX_3D   3
#define	MTK_DIY_FIX_2D   2
#define	MTK_DIY_FIX_NONE   1
#define	SECS_MINUTE   (60)
#define	SECS_HOUR   (60*60)
#define	SECS_DAY   (60*60*24)
#define	SECS_WEEK   (60*60*24*7)
#define	isleap(x)   ((((x)%400)==0) || (!(((x)%100)==0) && (((x)%4)==0)))

Functions
void	gps_impl_init (void)
	GPS initialization. More...
void	gps_mtk_msg (void)
static void	gps_mtk_time2itow (uint32_t gps_date, uint32_t gps_time, int16_t *gps_week, uint32_t *gps_itow)
void	gps_mtk_read_message (void)
void	gps_mtk_parse (uint8_t c)

Variables
const int8_t	DAYS_MONTH [12] = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 }
struct GpsMtk	gps_mtk

Macro Definition Documentation

#define GOT_CHECKSUM1   8

Definition at line 56 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GOT_CLASS_14   3

Definition at line 51 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GOT_ID   6

Definition at line 54 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GOT_PAYLOAD   7

Definition at line 55 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GOT_SYNC1_14   1

Definition at line 49 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GOT_SYNC1_16   4

Definition at line 52 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GOT_SYNC2_14   2

Definition at line 50 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GOT_SYNC2_16   5

Definition at line 53 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GPS_MTK_ERR_CHECKSUM   3

Definition at line 62 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GPS_MTK_ERR_MSG_TOO_LONG   2

Definition at line 61 of file gps_mtk.c.

#define GPS_MTK_ERR_NONE   0

Definition at line 59 of file gps_mtk.c.

Referenced by gps_impl_init().

#define GPS_MTK_ERR_OUT_OF_SYNC   5

Definition at line 64 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GPS_MTK_ERR_OVERRUN   1

Definition at line 60 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define GPS_MTK_ERR_UNEXPECTED   4

Definition at line 63 of file gps_mtk.c.

Referenced by gps_mtk_parse().

#define isleap

(

x

)

((((x)%400)==0) || (!(((x)%100)==0) && (((x)%4)==0)))

Definition at line 78 of file gps_mtk.c.

Referenced by gps_mtk_time2itow().

#define MTK_DIY_FIX_2D   2

Definition at line 68 of file gps_mtk.c.

Referenced by gps_mtk_read_message().

#define MTK_DIY_FIX_3D   3

Definition at line 67 of file gps_mtk.c.

Referenced by gps_mtk_read_message().

#define MTK_DIY_FIX_NONE   1

Definition at line 69 of file gps_mtk.c.

#define MTK_DIY_OUTPUT_RATE   MTK_DIY_OUTPUT_4HZ

Definition at line 44 of file gps_mtk.c.

#define OUTPUT_RATE   4

Definition at line 45 of file gps_mtk.c.

Referenced by gps_mtk_read_message().

#define SECS_DAY   (60*60*24)

Definition at line 75 of file gps_mtk.c.

Referenced by gps_mtk_time2itow().

#define SECS_HOUR   (60*60)

Definition at line 74 of file gps_mtk.c.

Referenced by gps_mtk_time2itow().

#define SECS_MINUTE   (60)

Definition at line 73 of file gps_mtk.c.

Referenced by gps_mtk_time2itow().

#define SECS_WEEK   (60*60*24*7)

Definition at line 76 of file gps_mtk.c.

#define UNINIT   0

Definition at line 48 of file gps_mtk.c.

Referenced by gps_impl_init(), and gps_mtk_parse().

Function Documentation

void gps_impl_init

(

void

)

GPS initialization.

GPS model specific init implementation.

Definition at line 106 of file gps_mtk.c.

References GpsMtk::error_cnt, GpsMtk::error_last, FALSE, gps_mtk, GPS_MTK_ERR_NONE, GpsMtk::msg_available, GpsMtk::status, TRUE, and UNINIT.

void gps_mtk_msg

(

void

)

Definition at line 118 of file gps_mtk.c.

References FALSE, GpsState::fix, get_sys_time_usec(), gps, GPS_FIX_3D, gps_mtk, GPS_MTK_ID, gps_mtk_read_message(), GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, GpsMtk::msg_available, GpsMtk::msg_class, GpsMtk::msg_id, sys_time::nb_sec, and sys_time::nb_sec_rem.

Referenced by GpsEvent().

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void gps_mtk_parse

(

uint8_t

c

)

Definition at line 309 of file gps_mtk.c.

References GpsMtk::ck_a, GpsMtk::ck_b, GpsMtk::error_cnt, GpsMtk::error_last, GOT_CHECKSUM1, GOT_CLASS_14, GOT_ID, GOT_PAYLOAD, GOT_SYNC1_14, GOT_SYNC1_16, GOT_SYNC2_14, GOT_SYNC2_16, gps_mtk, GPS_MTK_ERR_CHECKSUM, GPS_MTK_ERR_OUT_OF_SYNC, GPS_MTK_ERR_OVERRUN, GPS_MTK_ERR_UNEXPECTED, GpsMtk::len, GpsMtk::msg_available, GpsMtk::msg_buf, GpsMtk::msg_class, GpsMtk::msg_id, GpsMtk::msg_idx, GpsMtk::status, TRUE, and UNINIT.

Referenced by GpsEvent().

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void gps_mtk_read_message

(

void

)

Definition at line 189 of file gps_mtk.c.

References LlaCoor_i::alt, UtmCoor_i::alt, GpsState::course, UtmCoor_f::east, UtmCoor_i::east, GpsState::fix, gps, GPS_FIX_2D, GPS_FIX_3D, GPS_FIX_NONE, gps_mtk, gps_mtk_time2itow(), gps_time_sync, GpsState::gspeed, GpsState::hmsl, GpsState::last_3dfix_time, LlaCoor_i::lat, LED_ON, LED_TOGGLE, LLA_FLOAT_OF_BFP, GpsState::lla_pos, LlaCoor_i::lon, GpsMtk::msg_buf, GpsMtk::msg_class, GpsMtk::msg_id, MTK_DIY_FIX_2D, MTK_DIY_FIX_3D, nav_utm_zone0, sys_time::nb_sec, sys_time::nb_tick, GpsState::ned_vel, UtmCoor_f::north, UtmCoor_i::north, GpsState::num_sv, OUTPUT_RATE, GpsState::speed_3d, SysTimeTimerStart, GpsTimeSync::t0_ticks, GpsTimeSync::t0_tow, GpsTimeSync::t0_tow_frac, GpsState::tow, utm_of_lla_f(), GpsState::utm_pos, GpsState::week, NedCoor_i::z, UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by gps_mtk_msg().

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static void gps_mtk_time2itow ( uint32_t  gps_date, uint32_t  gps_time, int16_t *  gps_week, uint32_t *  gps_itow  )

static

Definition at line 145 of file gps_mtk.c.

References DAYS_MONTH, isleap, SECS_DAY, SECS_HOUR, and SECS_MINUTE.

Referenced by gps_mtk_read_message().

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Variable Documentation

const int8_t DAYS_MONTH[12] = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 }

Definition at line 80 of file gps_mtk.c.

Referenced by gps_mtk_time2itow().

struct GpsMtk gps_mtk

Definition at line 82 of file gps_mtk.c.

Referenced by gps_impl_init(), gps_mtk_msg(), gps_mtk_parse(), gps_mtk_read_message(), and GpsEvent().