src/main/io/gps_private.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #ifdef GPS
  21
  22 #define GPS_HDOP_TO_EPH_MULTIPLIER      2   // empirical value
  23
  24 typedef enum {
  25     GPS_UNKNOWN,                // 0
  26     GPS_INITIALIZING,           // 1
  27     GPS_CHANGE_BAUD,            // 2
  28     GPS_CHECK_VERSION,          // 3
  29     GPS_CONFIGURE,              // 4
  30     GPS_RECEIVING_DATA,         // 5
  31     GPS_LOST_COMMUNICATION,     // 6
  32 } gpsState_e;
  33
  34 typedef struct {
  35     gpsConfig_t *   gpsConfig;
  36     serialConfig_t * serialConfig;
  37     serialPort_t *  gpsPort;                // Serial GPS only
  38
  39     uint32_t        hwVersion;
  40
  41     gpsState_e      state;
  42     gpsBaudRate_e   baudrateIndex;
  43     gpsBaudRate_e   autoBaudrateIndex;      // Driver internal use (for autoBaud)
  44     uint8_t         autoConfigStep;         // Driver internal use (for autoConfig)
  45     uint8_t         autoConfigPosition;     // Driver internal use (for autoConfig)
  46
  47     uint32_t        lastStateSwitchMs;
  48     uint32_t        lastLastMessageMs;
  49     uint32_t        lastMessageMs;
  50 } gpsReceiverData_t;
  51
  52 extern gpsReceiverData_t gpsState;
  53
  54 extern baudRate_e gpsToSerialBaudRate[GPS_BAUDRATE_COUNT];
  55
  56 extern void gpsSetState(gpsState_e state);
  57 extern void gpsFinalizeChangeBaud(void);
  58
  59 extern uint16_t gpsConstrainEPE(uint32_t epe);
  60 extern uint16_t gpsConstrainHDOP(uint32_t hdop);
  61
  62 extern bool gpsHandleNMEA(void);
  63 extern bool gpsHandleUBLOX(void);
  64 extern bool gpsHandleI2CNAV(void);
  65 extern bool gpsDetectI2CNAV(void);
  66 extern bool gpsHandleNAZA(void);
  67
  68 #endif