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 GPS_DEGREES_DIVIDER 10000000L
  29 #define GPS_X 1
  30 #define GPS_Y 0
  31
  32 typedef enum {
  33     GPS_LATITUDE,
  34     GPS_LONGITUDE
  35 } gpsCoordinateType_e;
  36
  37 typedef enum {
  38     GPS_NMEA = 0,
  39     GPS_UBLOX,
  40     GPS_MSP
  41 } gpsProvider_e;
  42
  43 typedef enum {
  44     SBAS_AUTO = 0,
  45     SBAS_EGNOS,
  46     SBAS_WAAS,
  47     SBAS_MSAS,
  48     SBAS_GAGAN,
  49     SBAS_NONE
  50 } sbasMode_e;
  51
  52 #define SBAS_MODE_MAX SBAS_GAGAN
  53
  54 typedef enum {
  55     UBLOX_AIRBORNE = 0,
  56     UBLOX_PEDESTRIAN,
  57     UBLOX_DYNAMIC
  58 } ubloxMode_e;
  59
  60 typedef enum {
  61     GPS_BAUDRATE_115200 = 0,
  62     GPS_BAUDRATE_57600,
  63     GPS_BAUDRATE_38400,
  64     GPS_BAUDRATE_19200,
  65     GPS_BAUDRATE_9600
  66 } gpsBaudRate_e;
  67
  68 typedef enum {
  69     GPS_AUTOCONFIG_OFF = 0,
  70     GPS_AUTOCONFIG_ON
  71 } gpsAutoConfig_e;
  72
  73 typedef enum {
  74     GPS_AUTOBAUD_OFF = 0,
  75     GPS_AUTOBAUD_ON
  76 } gpsAutoBaud_e;
  77
  78 typedef enum {
  79     UBLOX_ACK_IDLE = 0,
  80     UBLOX_ACK_WAITING,
  81     UBLOX_ACK_GOT_ACK,
  82     UBLOX_ACK_GOT_NACK
  83 } ubloxAckState_e;
  84
  85 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  86
  87 typedef struct gpsConfig_s {
  88     gpsProvider_e provider;
  89     sbasMode_e sbasMode;
  90     gpsAutoConfig_e autoConfig;
  91     gpsAutoBaud_e autoBaud;
  92     uint8_t gps_ublox_use_galileo;
  93     ubloxMode_e gps_ublox_mode;
  94     uint8_t gps_set_home_point_once;
  95     uint8_t gps_use_3d_speed;
  96     uint8_t sbas_integrity;
  97 } gpsConfig_t;
  98
  99 PG_DECLARE(gpsConfig_t, gpsConfig);
 100
 101 typedef struct gpsCoordinateDDDMMmmmm_s {
 102     int16_t dddmm;
 103     int16_t mmmm;
 104 } gpsCoordinateDDDMMmmmm_t;
 105
 106 /* LLH Location in NEU axis system */
 107 typedef struct gpsLocation_s {
 108     int32_t lat;                    // latitude * 1e+7
 109     int32_t lon;                    // longitude * 1e+7
 110     int32_t altCm;                  // altitude in 0.01m
 111 } gpsLocation_t;
 112
 113 typedef struct gpsSolutionData_s {
 114     gpsLocation_t llh;
 115     uint16_t speed3d;              // speed in 0.1m/s
 116     uint16_t groundSpeed;           // speed in 0.1m/s
 117     uint16_t groundCourse;          // degrees * 10
 118     uint16_t hdop;                  // generic HDOP value (*100)
 119     uint8_t numSat;
 120 } gpsSolutionData_t;
 121
 122 typedef struct gpsData_s {
 123     uint32_t errors;                // gps error counter - crc error/lost of data/sync etc..
 124     uint32_t timeouts;
 125     uint32_t lastMessage;           // last time valid GPS data was received (millis)
 126     uint32_t lastLastMessage;       // last-last valid GPS message. Used to calculate delta.
 127
 128     uint32_t state_position;        // incremental variable for loops
 129     uint32_t state_ts;              // timestamp for last state_position increment
 130     uint8_t state;                  // GPS thread state. Used for detecting cable disconnects and configuring attached devices
 131     uint8_t baudrateIndex;          // index into auto-detecting or current baudrate
 132
 133     uint8_t ackWaitingMsgId;        // Message id when waiting for ACK
 134     uint8_t ackTimeoutCounter;      // Ack timeout counter
 135     ubloxAckState_e ackState;
 136     bool ubloxUsePVT;
 137     bool ubloxUseSAT;
 138 } gpsData_t;
 139
 140 #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.
 141 extern char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];
 142
 143 extern int32_t GPS_home[2];
 144 extern uint16_t GPS_distanceToHome;        // distance to home point in meters
 145 extern int16_t GPS_directionToHome;        // direction to home or hol point in degrees
 146 extern uint32_t GPS_distanceFlownInCm;     // distance flown since armed in centimeters
 147 extern int16_t GPS_verticalSpeedInCmS;     // vertical speed in cm/s
 148 extern int16_t GPS_angle[ANGLE_INDEX_COUNT];                // it's the angles that must be applied for GPS correction
 149 extern float dTnav;             // Delta Time in milliseconds for navigation computations, updated with every good GPS read
 150 extern float GPS_scaleLonDown;  // this is used to offset the shrinking longitude as we go towards the poles
 151 extern int16_t nav_takeoff_bearing;
 152
 153 typedef enum {
 154     GPS_DIRECT_TICK = 1 << 0,
 155     GPS_MSP_UPDATE = 1 << 1
 156 } gpsUpdateToggle_e;
 157
 158 extern gpsData_t gpsData;
 159 extern gpsSolutionData_t gpsSol;
 160
 161 #define GPS_SV_MAXSATS_LEGACY   16
 162 #define GPS_SV_MAXSATS_M8N      32
 163 #define GPS_SV_MAXSATS_M9N      42
 164
 165 extern uint8_t GPS_update;       // toogle to distinct a GPS position update (directly or via MSP)
 166 extern uint32_t GPS_packetCount;
 167 extern uint32_t GPS_svInfoReceivedCount;
 168 extern uint8_t GPS_numCh;                               // Number of channels
 169 extern uint8_t GPS_svinfo_chn[GPS_SV_MAXSATS_M8N];      // When NumCh is 16 or less: Channel number
 170                                                         // When NumCh is more than 16: GNSS Id
 171                                                         //   0 = GPS, 1 = SBAS, 2 = Galileo, 3 = BeiDou
 172                                                         //   4 = IMES, 5 = QZSS, 6 = Glonass
 173 extern uint8_t GPS_svinfo_svid[GPS_SV_MAXSATS_M8N];     // Satellite ID
 174 extern uint8_t GPS_svinfo_quality[GPS_SV_MAXSATS_M8N];  // When NumCh is 16 or less: Bitfield Qualtity
 175                                                         // When NumCh is more than 16: flags
 176                                                         //   bits 2..0: signal quality indicator
 177                                                         //     0 = no signal
 178                                                         //     1 = searching signal
 179                                                         //     2 = signal acquired
 180                                                         //     3 = signal detected but unusable
 181                                                         //     4 = code locked and time synchronized
 182                                                         //     5,6,7 = code and carrier locked and time synchronized
 183                                                         //   bit 3:
 184                                                         //     1 = signal currently being used for navigaion
 185                                                         //   bits 5..4: signal health flag
 186                                                         //     0 = unknown
 187                                                         //     1 = healthy
 188                                                         //     2 = unhealthy
 189                                                         //   bit 6:
 190                                                         //     1 = differential correction data available for this SV
 191                                                         //   bit 7:
 192                                                         //     1 = carrier smoothed pseudorange used
 193 extern uint8_t GPS_svinfo_cno[GPS_SV_MAXSATS_M8N];      // Carrier to Noise Ratio (Signal Strength)
 194
 195 #define GPS_DBHZ_MIN 0
 196 #define GPS_DBHZ_MAX 55
 197
 198 #define TASK_GPS_RATE       100
 199 #define TASK_GPS_RATE_FAST  1000
 200
 201 void gpsInit(void);
 202 void gpsUpdate(timeUs_t currentTimeUs);
 203 bool gpsNewFrame(uint8_t c);
 204 bool gpsIsHealthy(void); // Check for healthy communications
 205 struct serialPort_s;
 206 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
 207 void onGpsNewData(void);
 208 void GPS_reset_home_position(void);
 209 void GPS_calc_longitude_scaling(int32_t lat);
 210 void GPS_distance_cm_bearing(int32_t *currentLat1, int32_t *currentLon1, int32_t *destinationLat2, int32_t *destinationLon2, uint32_t *dist, int32_t *bearing);
 211 void gpsSetFixState(bool state);