src/main/io/gps.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 #define GPS_DBHZ_MIN 0
  21 #define GPS_DBHZ_MAX 55
  22
  23 #define LAT 0
  24 #define LON 1
  25
  26 #define GPS_DEGREES_DIVIDER 10000000L
  27
  28 typedef enum {
  29     GPS_NMEA = 0,
  30     GPS_UBLOX,
  31     GPS_I2CNAV,
  32     GPS_NAZA,
  33     GPS_PROVIDER_COUNT
  34 } gpsProvider_e;
  35
  36 typedef enum {
  37     SBAS_AUTO = 0,
  38     SBAS_EGNOS,
  39     SBAS_WAAS,
  40     SBAS_MSAS,
  41     SBAS_GAGAN,
  42     SBAS_NONE
  43 } sbasMode_e;
  44
  45 #define SBAS_MODE_MAX SBAS_GAGAN
  46
  47 typedef enum {
  48     GPS_BAUDRATE_115200 = 0,
  49     GPS_BAUDRATE_57600,
  50     GPS_BAUDRATE_38400,
  51     GPS_BAUDRATE_19200,
  52     GPS_BAUDRATE_9600,
  53     GPS_BAUDRATE_COUNT
  54 } gpsBaudRate_e;
  55
  56 typedef enum {
  57     GPS_AUTOCONFIG_OFF = 0,
  58     GPS_AUTOCONFIG_ON,
  59 } gpsAutoConfig_e;
  60
  61 typedef enum {
  62     GPS_AUTOBAUD_OFF = 0,
  63     GPS_AUTOBAUD_ON
  64 } gpsAutoBaud_e;
  65
  66 typedef enum {
  67     GPS_MODEL_LOW_G = 0,
  68     GPS_MODEL_HIGH_G,
  69 } gpsNavModel_e;
  70
  71 typedef enum {
  72     GPS_NO_FIX = 0,
  73     GPS_FIX_2D,
  74     GPS_FIX_3D
  75 } gpsFixType_e;
  76
  77 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  78
  79 typedef struct gpsConfig_s {
  80     gpsProvider_e provider;
  81     sbasMode_e sbasMode;
  82     gpsAutoConfig_e autoConfig;
  83     gpsAutoBaud_e autoBaud;
  84     gpsNavModel_e navModel;
  85 } gpsConfig_t;
  86
  87 typedef struct gpsCoordinateDDDMMmmmm_s {
  88     int16_t dddmm;
  89     int16_t mmmm;
  90 } gpsCoordinateDDDMMmmmm_t;
  91
  92 /* LLH Location in NEU axis system */
  93 typedef struct gpsLocation_s {
  94     int32_t lat;    // Lattitude * 1e+7
  95     int32_t lon;    // Longitude * 1e+7
  96     int32_t alt;    // Altitude in centimeters (meters * 100)
  97 } gpsLocation_t;
  98
  99 typedef struct gpsSolutionData_s {
 100     struct {
 101         unsigned gpsHeartbeat   : 1;     // Toggle each update
 102         unsigned validVelNE     : 1;
 103         unsigned validVelD      : 1;
 104         unsigned validMag       : 1;
 105         unsigned validEPE       : 1;    // EPH/EPV values are valid - actual accuracy
 106     } flags;
 107
 108     gpsFixType_e fixType;
 109     uint8_t numSat;
 110
 111     gpsLocation_t llh;
 112     int16_t       magData[3];
 113     int16_t       velNED[3];
 114
 115     int16_t groundSpeed;
 116     int16_t groundCourse;
 117
 118     uint16_t eph;   // horizontal accuracy (cm)
 119     uint16_t epv;   // vertical accuracy (cm)
 120
 121     uint16_t hdop;  // generic HDOP value (*100)
 122 } gpsSolutionData_t;
 123
 124 typedef struct {
 125     uint16_t    lastMessageDt;
 126     uint32_t    errors;                // gps error counter - crc error/lost of data/sync etc..
 127     uint32_t    timeouts;
 128     uint32_t    packetCount;
 129 } gpsStatistics_t;
 130
 131 extern gpsSolutionData_t gpsSol;
 132 extern gpsStatistics_t   gpsStats;
 133
 134 void gpsThread(void);
 135 void updateGpsIndicator(uint32_t currentTime);