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
  22 #include "config/parameter_group.h"
  23
  24 #include "common/time.h"
  25
  26 #define GPS_DBHZ_MIN 0
  27 #define GPS_DBHZ_MAX 55
  28
  29 #define LAT 0
  30 #define LON 1
  31
  32 #define GPS_DEGREES_DIVIDER 10000000L
  33
  34 typedef enum {
  35     GPS_NMEA = 0,
  36     GPS_UBLOX,
  37     GPS_UBLOX7PLUS,
  38     GPS_MSP,
  39     GPS_PROVIDER_COUNT
  40 } gpsProvider_e;
  41
  42 typedef enum {
  43     SBAS_AUTO = 0,
  44     SBAS_EGNOS,
  45     SBAS_WAAS,
  46     SBAS_MSAS,
  47     SBAS_GAGAN,
  48     SBAS_NONE
  49 } sbasMode_e;
  50
  51 #define SBAS_MODE_MAX SBAS_GAGAN
  52
  53 typedef enum {
  54     GPS_BAUDRATE_115200 = 0,
  55     GPS_BAUDRATE_57600,
  56     GPS_BAUDRATE_38400,
  57     GPS_BAUDRATE_19200,
  58     GPS_BAUDRATE_9600,
  59     GPS_BAUDRATE_230400,
  60     GPS_BAUDRATE_COUNT
  61 } gpsBaudRate_e;
  62
  63 typedef enum {
  64     GPS_AUTOCONFIG_OFF = 0,
  65     GPS_AUTOCONFIG_ON,
  66 } gpsAutoConfig_e;
  67
  68 typedef enum {
  69     GPS_AUTOBAUD_OFF = 0,
  70     GPS_AUTOBAUD_ON
  71 } gpsAutoBaud_e;
  72
  73 typedef enum {
  74     GPS_DYNMODEL_PEDESTRIAN = 0,
  75     GPS_DYNMODEL_AIR_1G,
  76     GPS_DYNMODEL_AIR_4G,
  77 } gpsDynModel_e;
  78
  79 typedef enum {
  80     GPS_NO_FIX = 0,
  81     GPS_FIX_2D,
  82     GPS_FIX_3D
  83 } gpsFixType_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     gpsDynModel_e dynModel;
  93     bool ubloxUseGalileo;
  94     uint8_t gpsMinSats;
  95 } gpsConfig_t;
  96
  97 PG_DECLARE(gpsConfig_t, gpsConfig);
  98
  99 typedef struct gpsCoordinateDDDMMmmmm_s {
 100     int16_t dddmm;
 101     int16_t mmmm;
 102 } gpsCoordinateDDDMMmmmm_t;
 103
 104 /* LLH Location in NEU axis system */
 105 typedef struct gpsLocation_s {
 106     int32_t lat;    // Latitude * 1e+7
 107     int32_t lon;    // Longitude * 1e+7
 108     int32_t alt;    // Altitude in centimeters (meters * 100)
 109 } gpsLocation_t;
 110
 111 #define HDOP_SCALE (100)
 112
 113 typedef struct gpsSolutionData_s {
 114     struct {
 115         bool hasNewData;
 116         bool gpsHeartbeat;  // Toggle each update
 117         bool validVelNE;
 118         bool validVelD;
 119         bool validMag;
 120         bool validEPE;      // EPH/EPV values are valid - actual accuracy
 121         bool validTime;
 122     } flags;
 123
 124     gpsFixType_e fixType;
 125     uint8_t numSat;
 126
 127     gpsLocation_t llh;
 128     int16_t       magData[3];
 129     int16_t       velNED[3];
 130
 131     int16_t groundSpeed;
 132     int16_t groundCourse;
 133
 134     uint16_t eph;   // horizontal accuracy (cm)
 135     uint16_t epv;   // vertical accuracy (cm)
 136
 137     uint16_t hdop;  // generic HDOP value (*HDOP_SCALE)
 138
 139     dateTime_t time; // GPS time in UTC
 140
 141 } gpsSolutionData_t;
 142
 143 typedef struct {
 144     uint16_t    lastMessageDt;
 145     uint32_t    errors;                // gps error counter - crc error/lost of data/sync etc..
 146     uint32_t    timeouts;
 147     uint32_t    packetCount;
 148 } gpsStatistics_t;
 149
 150 extern gpsSolutionData_t gpsSol;
 151 extern gpsStatistics_t   gpsStats;
 152
 153 struct magDev_s;
 154 void gpsPreInit(void);
 155 void gpsInit(void);
 156 // Called periodically from GPS task. Returns true iff the GPS
 157 // information was updated.
 158 bool gpsUpdate(void);
 159 void updateGpsIndicator(timeUs_t currentTimeUs);
 160 bool isGPSHealthy(void);
 161 bool isGPSHeadingValid(void);
 162 struct serialPort_s;
 163 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
 164 void mspGPSReceiveNewData(const uint8_t * bufferPtr);