src/main/io/gps_private.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 #ifdef USE_GPS
  21
  22 #include "io/serial.h"
  23
  24 #define GPS_HDOP_TO_EPH_MULTIPLIER      2   // empirical value
  25
  26 // GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 1000 ms)
  27 #define GPS_TIMEOUT             (1000)
  28 #define GPS_SHORT_TIMEOUT       (500)
  29 #define GPS_BAUD_CHANGE_DELAY   (100)
  30 #define GPS_INIT_DELAY          (500)
  31 #define GPS_BOOT_DELAY          (3000)
  32
  33 typedef enum {
  34     GPS_UNKNOWN,                // 0
  35     GPS_INITIALIZING,           // 1
  36     GPS_RUNNING,                // 2
  37     GPS_LOST_COMMUNICATION,     // 3
  38 } gpsState_e;
  39
  40 typedef struct {
  41     const gpsConfig_t *   gpsConfig;
  42     const serialConfig_t * serialConfig;
  43     serialPort_t *  gpsPort;                // Serial GPS only
  44
  45     uint32_t        hwVersion;
  46
  47     gpsState_e      state;
  48     gpsBaudRate_e   baudrateIndex;
  49     gpsBaudRate_e   autoBaudrateIndex;      // Driver internal use (for autoBaud)
  50     uint8_t         autoConfigStep;         // Driver internal use (for autoConfig)
  51
  52     timeMs_t        lastStateSwitchMs;
  53     timeMs_t        lastLastMessageMs;
  54     timeMs_t        lastMessageMs;
  55     timeMs_t        timeoutMs;
  56     timeMs_t        baseTimeoutMs;
  57 } gpsReceiverData_t;
  58
  59 extern gpsReceiverData_t gpsState;
  60
  61 extern baudRate_e gpsToSerialBaudRate[GPS_BAUDRATE_COUNT];
  62
  63 extern void gpsSetState(gpsState_e state);
  64 extern void gpsFinalizeChangeBaud(void);
  65
  66 extern uint16_t gpsConstrainEPE(uint32_t epe);
  67 extern uint16_t gpsConstrainHDOP(uint32_t hdop);
  68
  69 void gpsProcessNewSolutionData(void);
  70 void gpsSetProtocolTimeout(timeMs_t timeoutMs);
  71
  72 extern void gpsRestartUBLOX(void);
  73 extern void gpsHandleUBLOX(void);
  74
  75 extern void gpsRestartNMEA(void);
  76 extern void gpsHandleNMEA(void);
  77
  78 extern void gpsRestartMSP(void);
  79 extern void gpsHandleMSP(void);
  80
  81 #endif