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 #include <stdbool.h>
  21 #include <time.h>
  22
  23 #include "config/parameter_group.h"
  24
  25 #include "common/time.h"
  26
  27 #define GPS_DBHZ_MIN 0
  28 #define GPS_DBHZ_MAX 55
  29
  30 #define LAT 0
  31 #define LON 1
  32
  33 #define GPS_DEGREES_DIVIDER 10000000L
  34
  35 typedef enum {
  36     GPS_NMEA = 0,
  37     GPS_UBLOX,
  38     GPS_UBLOX7PLUS,
  39     GPS_MSP,
  40     GPS_FAKE,
  41     GPS_PROVIDER_COUNT
  42 } gpsProvider_e;
  43
  44 typedef enum {
  45     SBAS_AUTO = 0,
  46     SBAS_EGNOS,
  47     SBAS_WAAS,
  48     SBAS_MSAS,
  49     SBAS_GAGAN,
  50     SBAS_NONE
  51 } sbasMode_e;
  52
  53 #define SBAS_MODE_MAX SBAS_GAGAN
  54
  55 typedef enum {
  56     GPS_BAUDRATE_115200 = 0,
  57     GPS_BAUDRATE_57600,
  58     GPS_BAUDRATE_38400,
  59     GPS_BAUDRATE_19200,
  60     GPS_BAUDRATE_9600,
  61     GPS_BAUDRATE_230400,
  62     GPS_BAUDRATE_COUNT
  63 } gpsBaudRate_e;
  64
  65 typedef enum {
  66     GPS_AUTOCONFIG_OFF = 0,
  67     GPS_AUTOCONFIG_ON,
  68 } gpsAutoConfig_e;
  69
  70 typedef enum {
  71     GPS_AUTOBAUD_OFF = 0,
  72     GPS_AUTOBAUD_ON
  73 } gpsAutoBaud_e;
  74
  75 typedef enum {
  76     GPS_DYNMODEL_PEDESTRIAN = 0,
  77     GPS_DYNMODEL_AIR_1G,
  78     GPS_DYNMODEL_AIR_4G,
  79 } gpsDynModel_e;
  80
  81 typedef enum {
  82     GPS_NO_FIX = 0,
  83     GPS_FIX_2D,
  84     GPS_FIX_3D
  85 } gpsFixType_e;
  86
  87 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  88
  89 typedef struct gpsConfig_s {
  90     gpsProvider_e provider;
  91     sbasMode_e sbasMode;
  92     gpsAutoConfig_e autoConfig;
  93     gpsAutoBaud_e autoBaud;
  94     gpsDynModel_e dynModel;
  95     bool ubloxUseGalileo;
  96     uint8_t gpsMinSats;
  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 alt;    // Altitude in centimeters (meters * 100)
 111 } gpsLocation_t;
 112
 113 #define HDOP_SCALE (100)
 114
 115 typedef struct gpsSolutionData_s {
 116     struct {
 117         bool hasNewData;
 118         bool gpsHeartbeat;  // Toggle each update
 119         bool validVelNE;
 120         bool validVelD;
 121         bool validMag;
 122         bool validEPE;      // EPH/EPV values are valid - actual accuracy
 123         bool validTime;
 124     } flags;
 125
 126     gpsFixType_e fixType;
 127     uint8_t numSat;
 128
 129     gpsLocation_t llh;
 130     int16_t       magData[3];
 131     int16_t       velNED[3];
 132
 133     int16_t groundSpeed;
 134     int16_t groundCourse;
 135
 136     uint16_t eph;   // horizontal accuracy (cm)
 137     uint16_t epv;   // vertical accuracy (cm)
 138
 139     uint16_t hdop;  // generic HDOP value (*HDOP_SCALE)
 140
 141     dateTime_t time; // GPS time in UTC
 142
 143 } gpsSolutionData_t;
 144
 145 typedef struct {
 146     uint16_t    lastMessageDt;
 147     uint32_t    errors;                // gps error counter - crc error/lost of data/sync etc..
 148     uint32_t    timeouts;
 149     uint32_t    packetCount;
 150 } gpsStatistics_t;
 151
 152 extern gpsSolutionData_t gpsSol;
 153 extern gpsStatistics_t   gpsStats;
 154
 155 struct magDev_s;
 156 void gpsPreInit(void);
 157 void gpsInit(void);
 158 // Called periodically from GPS task. Returns true iff the GPS
 159 // information was updated.
 160 bool gpsUpdate(void);
 161 void updateGpsIndicator(timeUs_t currentTimeUs);
 162 bool isGPSHealthy(void);
 163 bool isGPSHeadingValid(void);
 164 struct serialPort_s;
 165 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
 166 void mspGPSReceiveNewData(const uint8_t * bufferPtr);
 167
 168 #if defined(USE_GPS_FAKE)
 169 void gpsFakeSet(
 170     gpsFixType_e fixType,
 171     uint8_t numSat,
 172     int32_t lat,
 173     int32_t lon,
 174     int32_t alt,
 175     int16_t groundSpeed,
 176     int16_t groundCourse,
 177     int16_t velNED_X,
 178     int16_t velNED_Y,
 179     int16_t velNED_Z,
 180     time_t time);
 181 #endif