src/main/io/gps.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "common/axis.h"
  24 #include "common/time.h"
  25
  26 #include "pg/pg.h"
  27
  28 #define LAT 0
  29 #define LON 1
  30
  31 #define GPS_DEGREES_DIVIDER 10000000L
  32 #define GPS_X 1
  33 #define GPS_Y 0
  34
  35 typedef enum {
  36     GPS_NMEA = 0,
  37     GPS_UBLOX
  38 } gpsProvider_e;
  39
  40 typedef enum {
  41     SBAS_AUTO = 0,
  42     SBAS_EGNOS,
  43     SBAS_WAAS,
  44     SBAS_MSAS,
  45     SBAS_GAGAN
  46 } sbasMode_e;
  47
  48 #define SBAS_MODE_MAX SBAS_GAGAN
  49
  50 typedef enum {
  51     GPS_BAUDRATE_115200 = 0,
  52     GPS_BAUDRATE_57600,
  53     GPS_BAUDRATE_38400,
  54     GPS_BAUDRATE_19200,
  55     GPS_BAUDRATE_9600
  56 } gpsBaudRate_e;
  57
  58 typedef enum {
  59     GPS_AUTOCONFIG_OFF = 0,
  60     GPS_AUTOCONFIG_ON
  61 } gpsAutoConfig_e;
  62
  63 typedef enum {
  64     GPS_AUTOBAUD_OFF = 0,
  65     GPS_AUTOBAUD_ON
  66 } gpsAutoBaud_e;
  67
  68 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  69
  70 typedef struct gpsConfig_s {
  71     gpsProvider_e provider;
  72     sbasMode_e sbasMode;
  73     gpsAutoConfig_e autoConfig;
  74     gpsAutoBaud_e autoBaud;
  75 } gpsConfig_t;
  76
  77 PG_DECLARE(gpsConfig_t, gpsConfig);
  78
  79 typedef struct gpsCoordinateDDDMMmmmm_s {
  80     int16_t dddmm;
  81     int16_t mmmm;
  82 } gpsCoordinateDDDMMmmmm_t;
  83
  84 /* LLH Location in NEU axis system */
  85 typedef struct gpsLocation_s {
  86     int32_t lat;                    // latitude * 1e+7
  87     int32_t lon;                    // longitude * 1e+7
  88     uint16_t alt;                   // altitude in 0.1m
  89 } gpsLocation_t;
  90
  91 typedef struct gpsSolutionData_s {
  92     gpsLocation_t llh;
  93     uint16_t GPS_altitude;          // altitude in 0.1m
  94     uint16_t groundSpeed;           // speed in 0.1m/s
  95     uint16_t groundCourse;          // degrees * 10
  96     uint16_t hdop;                  // generic HDOP value (*100)
  97     uint8_t numSat;
  98 } gpsSolutionData_t;
  99
 100 typedef enum {
 101     GPS_MESSAGE_STATE_IDLE = 0,
 102     GPS_MESSAGE_STATE_INIT,
 103     GPS_MESSAGE_STATE_SBAS,
 104     GPS_MESSAGE_STATE_ENTRY_COUNT
 105 } gpsMessageState_e;
 106
 107 typedef struct gpsData_s {
 108     uint32_t errors;                // gps error counter - crc error/lost of data/sync etc..
 109     uint32_t timeouts;
 110     uint32_t lastMessage;           // last time valid GPS data was received (millis)
 111     uint32_t lastLastMessage;       // last-last valid GPS message. Used to calculate delta.
 112
 113     uint32_t state_position;        // incremental variable for loops
 114     uint32_t state_ts;              // timestamp for last state_position increment
 115     uint8_t state;                  // GPS thread state. Used for detecting cable disconnects and configuring attached devices
 116     uint8_t baudrateIndex;          // index into auto-detecting or current baudrate
 117     gpsMessageState_e messageState;
 118 } gpsData_t;
 119
 120 #define GPS_PACKET_LOG_ENTRY_COUNT 21 // To make this useful we should log as many packets as we can fit characters a single line of a OLED display.
 121 extern char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];
 122
 123 extern int32_t GPS_home[2];
 124 extern uint16_t GPS_distanceToHome;        // distance to home point in meters
 125 extern int16_t GPS_directionToHome;        // direction to home or hol point in degrees
 126 extern int16_t GPS_angle[ANGLE_INDEX_COUNT];                // it's the angles that must be applied for GPS correction
 127 extern float dTnav;             // Delta Time in milliseconds for navigation computations, updated with every good GPS read
 128 extern float GPS_scaleLonDown;  // this is used to offset the shrinking longitude as we go towards the poles
 129 extern int16_t actual_speed[2];
 130 extern int16_t nav_takeoff_bearing;
 131 // navigation mode
 132 typedef enum {
 133     NAV_MODE_NONE = 0,
 134     NAV_MODE_POSHOLD,
 135     NAV_MODE_WP
 136 } navigationMode_e;
 137 extern navigationMode_e nav_mode;          // Navigation mode
 138
 139 extern gpsData_t gpsData;
 140 extern gpsSolutionData_t gpsSol;
 141
 142 extern uint8_t GPS_update;                 // it's a binary toogle to distinct a GPS position update
 143 extern uint32_t GPS_packetCount;
 144 extern uint32_t GPS_svInfoReceivedCount;
 145 extern uint8_t GPS_numCh;                  // Number of channels
 146 extern uint8_t GPS_svinfo_chn[16];         // Channel number
 147 extern uint8_t GPS_svinfo_svid[16];        // Satellite ID
 148 extern uint8_t GPS_svinfo_quality[16];     // Bitfield Qualtity
 149 extern uint8_t GPS_svinfo_cno[16];         // Carrier to Noise Ratio (Signal Strength)
 150
 151 #define GPS_DBHZ_MIN 0
 152 #define GPS_DBHZ_MAX 55
 153
 154 void gpsInit(void);
 155 void gpsUpdate(timeUs_t currentTimeUs);
 156 bool gpsNewFrame(uint8_t c);
 157 struct serialPort_s;
 158 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
 159 void onGpsNewData(void);
 160 void GPS_reset_home_position(void);
 161 void GPS_calc_longitude_scaling(int32_t lat);
 162 void navNewGpsData(void);
 163 void GPS_distance_cm_bearing(int32_t *currentLat1, int32_t *currentLon1, int32_t *destinationLat2, int32_t *destinationLon2, uint32_t *dist, int32_t *bearing);
 164