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 <stdbool.h>
  24 #include <stdint.h>
  25
  26 #include "common/axis.h"
  27 #include "common/time.h"
  28
  29 #include "pg/gps.h"
  30
  31 #define GPS_DEGREES_DIVIDER 10000000L
  32 #define GPS_X 1
  33 #define GPS_Y 0
  34 #define GPS_MIN_SAT_COUNT 4      // number of sats to trigger low sat count sanity check
  35
  36 typedef enum {
  37     GPS_LATITUDE,
  38     GPS_LONGITUDE
  39 } gpsCoordinateType_e;
  40
  41 typedef enum {
  42     GPS_NMEA = 0,
  43     GPS_UBLOX,
  44     GPS_MSP
  45 } gpsProvider_e;
  46
  47 typedef enum {
  48     SBAS_AUTO = 0,
  49     SBAS_EGNOS,
  50     SBAS_WAAS,
  51     SBAS_MSAS,
  52     SBAS_GAGAN,
  53     SBAS_NONE
  54 } sbasMode_e;
  55
  56 #define SBAS_MODE_MAX SBAS_GAGAN
  57
  58 typedef enum {
  59     UBLOX_AIRBORNE = 0,
  60     UBLOX_PEDESTRIAN,
  61     UBLOX_DYNAMIC
  62 } ubloxMode_e;
  63
  64 typedef enum {
  65     GPS_BAUDRATE_115200 = 0,
  66     GPS_BAUDRATE_57600,
  67     GPS_BAUDRATE_38400,
  68     GPS_BAUDRATE_19200,
  69     GPS_BAUDRATE_9600
  70 } gpsBaudRate_e;
  71
  72 typedef enum {
  73     GPS_AUTOCONFIG_OFF = 0,
  74     GPS_AUTOCONFIG_ON
  75 } gpsAutoConfig_e;
  76
  77 typedef enum {
  78     GPS_AUTOBAUD_OFF = 0,
  79     GPS_AUTOBAUD_ON
  80 } gpsAutoBaud_e;
  81
  82 typedef enum {
  83     UBLOX_ACK_IDLE = 0,
  84     UBLOX_ACK_WAITING,
  85     UBLOX_ACK_GOT_ACK,
  86     UBLOX_ACK_GOT_NACK
  87 } ubloxAckState_e;
  88
  89 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  90
  91 typedef struct gpsCoordinateDDDMMmmmm_s {
  92     int16_t dddmm;
  93     int16_t mmmm;
  94 } gpsCoordinateDDDMMmmmm_t;
  95
  96 /* LLH Location in NEU axis system */
  97 typedef struct gpsLocation_s {
  98     int32_t lat;                    // latitude * 1e+7
  99     int32_t lon;                    // longitude * 1e+7
 100     int32_t altCm;                  // altitude in 0.01m
 101 } gpsLocation_t;
 102
 103 /* A value below 100 means great accuracy is possible with GPS satellite constellation */
 104 typedef struct gpsDilution_s {
 105     uint16_t pdop;                  // positional DOP - 3D (* 100)
 106     uint16_t hdop;                  // horizontal DOP - 2D (* 100)
 107     uint16_t vdop;                  // vertical DOP   - 1D (* 100)
 108 } gpsDilution_t;
 109
 110 /* Only available on U-blox protocol */
 111 typedef struct gpsAccuracy_s {
 112     uint32_t hAcc;                  // horizontal accuracy in mm
 113     uint32_t vAcc;                  // vertical accuracy in mm
 114     uint32_t sAcc;                  // speed accuracy in mm/s
 115 } gpsAccuracy_t;
 116
 117 typedef struct gpsSolutionData_s {
 118     gpsLocation_t llh;
 119     gpsDilution_t dop;
 120     gpsAccuracy_t acc;
 121     uint16_t speed3d;               // speed in 0.1m/s
 122     uint16_t groundSpeed;           // speed in 0.1m/s
 123     uint16_t groundCourse;          // degrees * 10
 124     uint8_t numSat;
 125 } gpsSolutionData_t;
 126
 127 typedef struct gpsData_s {
 128     uint32_t errors;                // gps error counter - crc error/lost of data/sync etc..
 129     uint32_t timeouts;
 130     uint32_t lastMessage;           // last time valid GPS data was received (millis)
 131     uint32_t lastLastMessage;       // last-last valid GPS message. Used to calculate delta.
 132
 133     uint32_t state_position;        // incremental variable for loops
 134     uint32_t state_ts;              // timestamp for last state_position increment
 135     uint8_t state;                  // GPS thread state. Used for detecting cable disconnects and configuring attached devices
 136     uint8_t baudrateIndex;          // index into auto-detecting or current baudrate
 137
 138     uint8_t ackWaitingMsgId;        // Message id when waiting for ACK
 139     uint8_t ackTimeoutCounter;      // Ack timeout counter
 140     ubloxAckState_e ackState;
 141     bool ubloxUsePVT;
 142     bool ubloxUseSAT;
 143 } gpsData_t;
 144
 145 #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.
 146 extern char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];
 147
 148 extern int32_t GPS_home[2];
 149 extern uint16_t GPS_distanceToHome;        // distance to home point in meters
 150 extern uint32_t GPS_distanceToHomeCm;      // distance to home point in cm
 151 extern int16_t GPS_directionToHome;        // direction to home or hol point in degrees
 152 extern uint32_t GPS_distanceFlownInCm;     // distance flown since armed in centimeters
 153 extern int16_t GPS_angle[ANGLE_INDEX_COUNT];                // it's the angles that must be applied for GPS correction
 154 extern float GPS_scaleLonDown;  // this is used to offset the shrinking longitude as we go towards the poles
 155 extern int16_t nav_takeoff_bearing;
 156
 157 typedef enum {
 158     GPS_DIRECT_TICK = 1 << 0,
 159     GPS_MSP_UPDATE = 1 << 1
 160 } gpsUpdateToggle_e;
 161
 162 extern gpsData_t gpsData;
 163 extern gpsSolutionData_t gpsSol;
 164
 165 #define GPS_SV_MAXSATS_LEGACY   16U
 166 #define GPS_SV_MAXSATS_M8N      32U
 167 #define GPS_SV_MAXSATS_M9N      42U
 168
 169 extern uint8_t GPS_update;       // toogle to distinct a GPS position update (directly or via MSP)
 170 extern uint32_t GPS_packetCount;
 171 extern uint32_t GPS_svInfoReceivedCount;
 172 extern uint8_t GPS_numCh;                               // Number of channels
 173 extern uint8_t GPS_svinfo_chn[GPS_SV_MAXSATS_M8N];      // When NumCh is 16 or less: Channel number
 174                                                         // When NumCh is more than 16: GNSS Id
 175                                                         //   0 = GPS, 1 = SBAS, 2 = Galileo, 3 = BeiDou
 176                                                         //   4 = IMES, 5 = QZSS, 6 = Glonass
 177 extern uint8_t GPS_svinfo_svid[GPS_SV_MAXSATS_M8N];     // Satellite ID
 178 extern uint8_t GPS_svinfo_quality[GPS_SV_MAXSATS_M8N];  // When NumCh is 16 or less: Bitfield Qualtity
 179                                                         // When NumCh is more than 16: flags
 180                                                         //   bits 2..0: signal quality indicator
 181                                                         //     0 = no signal
 182                                                         //     1 = searching signal
 183                                                         //     2 = signal acquired
 184                                                         //     3 = signal detected but unusable
 185                                                         //     4 = code locked and time synchronized
 186                                                         //     5,6,7 = code and carrier locked and time synchronized
 187                                                         //   bit 3:
 188                                                         //     1 = signal currently being used for navigaion
 189                                                         //   bits 5..4: signal health flag
 190                                                         //     0 = unknown
 191                                                         //     1 = healthy
 192                                                         //     2 = unhealthy
 193                                                         //   bit 6:
 194                                                         //     1 = differential correction data available for this SV
 195                                                         //   bit 7:
 196                                                         //     1 = carrier smoothed pseudorange used
 197 extern uint8_t GPS_svinfo_cno[GPS_SV_MAXSATS_M8N];      // Carrier to Noise Ratio (Signal Strength)
 198
 199 #define GPS_DBHZ_MIN 0
 200 #define GPS_DBHZ_MAX 55
 201
 202 #define TASK_GPS_RATE       100
 203 #define TASK_GPS_RATE_FAST  1000
 204
 205 void gpsInit(void);
 206 void gpsUpdate(timeUs_t currentTimeUs);
 207 bool gpsNewFrame(uint8_t c);
 208 bool gpsIsHealthy(void); // Check for healthy communications
 209 struct serialPort_s;
 210 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
 211 void onGpsNewData(void);
 212 void GPS_reset_home_position(void);
 213 void GPS_calc_longitude_scaling(int32_t lat);
 214 void GPS_distance_cm_bearing(int32_t *currentLat1, int32_t *currentLon1, int32_t *destinationLat2, int32_t *destinationLon2, uint32_t *dist, int32_t *bearing);
 215 void gpsSetFixState(bool state);
 216 float getGpsDataIntervalSeconds(void);