gps_sirf.h

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/*
 * Copyright (C) 2012 Freek van Tienen
 *
 * 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_SIRF_H
#define GPS_SIRF_H

#include "std.h"

#define GPS_NB_CHANNELS 16
#define SIRF_MAXLEN 255

//Read states
#define UNINIT  0
#define GOT_A0  1
#define GOT_A2  2
#define GOT_B0  3

struct GpsSirf {
  bool_t msg_available;
  bool_t pos_available;
  char msg_buf[SIRF_MAXLEN];  
  int msg_len;
  int read_state;
};

extern struct GpsSirf gps_sirf;

//Invert bytes
#define Invert2Bytes(x) ((x>>8) | (x<<8))
#define Invert4Bytes(x) ((x>>24) | ((x<<8) & 0x00FF0000) | ((x>>8) & 0x0000FF00) | (x<<24))

struct sirf_msg_2 {
  uint8_t msg_id;     
  int32_t x_pos;    
  int32_t y_pos;    
  int32_t z_pos;    
  int16_t vx;       
  int16_t vy;       
  int16_t vz;       
  uint8_t mode1;
  uint8_t hdop;     
  uint8_t mode2;
  uint16_t week;
  uint32_t tow;       
  uint8_t num_sat;    
  uint8_t ch1prn;     
  uint8_t ch2prn;
  uint8_t ch3prn;
  uint8_t ch4prn;
  uint8_t ch5prn;
  uint8_t ch6prn;
  uint8_t ch7prn;
  uint8_t ch8prn;
  uint8_t ch9prn;
  uint8_t ch10prn;
  uint8_t ch11prn;
  uint8_t ch12prn;
} __attribute__((packed));


struct sirf_msg_41 {
  uint8_t msg_id;       
  uint16_t nav_valid;     
  uint16_t nav_type;
  uint16_t extended_week_number;
  uint32_t tow;       
  uint16_t year;
  uint8_t month;
  uint8_t day;
  uint8_t hour;
  uint8_t minute;
  uint16_t second;
  uint32_t sat_id;      
  int32_t latitude;     
  int32_t longitude;    
  int32_t alt_ellipsoid;  
  int32_t alt_msl;      
  int8_t map_datum;
  uint16_t sog;       
  uint16_t cog;       
  int16_t mag_var;      
  int16_t climb_rate;   
  int16_t heading_rate;   
  uint32_t ehpe;      
  uint32_t evpe;      
  uint32_t ete;       
  uint16_t ehve;      
  int32_t clock_bias;     
  uint32_t clock_bias_err;  
  int32_t clock_drift;    
  uint32_t clock_drift_err; 
  uint32_t distance;    
  uint16_t distance_err;  
  uint16_t heading_err;   
  uint8_t num_sat;      
  uint8_t hdop;       
  uint8_t add_info;     
} __attribute__((packed));

/*
 * This part is used by the autopilot to read data from a uart
 */
#include "mcu_periph/link_device.h"
#include "mcu_periph/uart.h"

extern void sirf_parse_char(uint8_t c);
extern void sirf_parse_msg(void);
extern void gps_sirf_msg(void);

static inline void GpsEvent(void)
{
  struct link_device *dev = &((GPS_LINK).device);

  while (dev->char_available(dev->periph)) {
    sirf_parse_char(dev->get_byte(dev->periph));
    if (gps_sirf.msg_available) {
      gps_sirf_msg();
    }
  }
}

#endif /* GPS_SIRF_H */