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_UBLOX = 0,
  37     GPS_UBLOX7PLUS,
  38     GPS_MSP,
  39     GPS_FAKE,
  40     GPS_PROVIDER_COUNT
  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_SPAN,
  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_460800,
  63     GPS_BAUDRATE_921600,
  64     GPS_BAUDRATE_COUNT
  65 } gpsBaudRate_e;
  66
  67 typedef enum {
  68     GPS_AUTOCONFIG_OFF = 0,
  69     GPS_AUTOCONFIG_ON,
  70 } gpsAutoConfig_e;
  71
  72 typedef enum {
  73     GPS_AUTOBAUD_OFF = 0,
  74     GPS_AUTOBAUD_ON
  75 } gpsAutoBaud_e;
  76
  77 typedef enum {
  78     GPS_DYNMODEL_PEDESTRIAN = 0,
  79     GPS_DYNMODEL_AUTOMOTIVE,
  80     GPS_DYNMODEL_AIR_1G,
  81     GPS_DYNMODEL_AIR_2G,
  82     GPS_DYNMODEL_AIR_4G,
  83 } gpsDynModel_e;
  84
  85 typedef enum {
  86     GPS_NO_FIX = 0,
  87     GPS_FIX_2D,
  88     GPS_FIX_3D
  89 } gpsFixType_e;
  90
  91 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  92
  93 typedef struct gpsConfig_s {
  94     gpsProvider_e provider;
  95     sbasMode_e sbasMode;
  96     gpsAutoConfig_e autoConfig;
  97     gpsAutoBaud_e autoBaud;
  98     gpsDynModel_e dynModel;
  99     bool ubloxUseGalileo;
 100     bool ubloxUseBeidou;
 101     bool ubloxUseGlonass;
 102     uint8_t gpsMinSats;
 103     uint8_t ubloxNavHz;
 104     gpsBaudRate_e autoBaudMax;
 105 } gpsConfig_t;
 106
 107 PG_DECLARE(gpsConfig_t, gpsConfig);
 108
 109 typedef struct gpsCoordinateDDDMMmmmm_s {
 110     int16_t dddmm;
 111     int16_t mmmm;
 112 } gpsCoordinateDDDMMmmmm_t;
 113
 114 /* LLH Location in NEU axis system */
 115 typedef struct gpsLocation_s {
 116     int32_t lat;    // Latitude * 1e+7
 117     int32_t lon;    // Longitude * 1e+7
 118     int32_t alt;    // Altitude in centimeters (meters * 100)
 119 } gpsLocation_t;
 120
 121 #define HDOP_SCALE (100)
 122
 123 typedef struct gpsSolutionData_s {
 124     struct {
 125         bool hasNewData;
 126         bool gpsHeartbeat;  // Toggle each update
 127         bool validVelNE;
 128         bool validVelD;
 129         bool validMag;
 130         bool validEPE;      // EPH/EPV values are valid - actual accuracy
 131         bool validTime;
 132     } flags;
 133
 134     gpsFixType_e fixType;
 135     uint8_t numSat;
 136
 137     gpsLocation_t llh;
 138     int16_t       magData[3];
 139     int16_t       velNED[3];
 140
 141     int16_t groundSpeed;
 142     int16_t groundCourse;
 143
 144     uint16_t eph;   // horizontal accuracy (cm)
 145     uint16_t epv;   // vertical accuracy (cm)
 146
 147     uint16_t hdop;  // generic HDOP value (*HDOP_SCALE)
 148
 149     dateTime_t time; // GPS time in UTC
 150
 151 } gpsSolutionData_t;
 152
 153 typedef struct {
 154     uint16_t    lastMessageDt;
 155     uint32_t    errors;                // gps error counter - crc error/lost of data/sync etc..
 156     uint32_t    timeouts;
 157     uint32_t    packetCount;
 158 } gpsStatistics_t;
 159
 160 extern gpsSolutionData_t gpsSol;
 161 extern gpsStatistics_t   gpsStats;
 162
 163 struct magDev_s;
 164 void gpsPreInit(void);
 165 void gpsInit(void);
 166 // Called periodically from GPS task. Returns true iff the GPS
 167 // information was updated.
 168 bool gpsUpdate(void);
 169 void updateGpsIndicator(timeUs_t currentTimeUs);
 170 bool isGPSHealthy(void);
 171 bool isGPSHeadingValid(void);
 172 struct serialPort_s;
 173 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
 174 void mspGPSReceiveNewData(const uint8_t * bufferPtr);
 175
 176 const char *getGpsHwVersion(void);
 177 uint8_t getGpsProtoMajorVersion(void);
 178 uint8_t getGpsProtoMinorVersion(void);
 179
 180 int getGpsBaudrate(void);
 181 int gpsBaudRateToInt(gpsBaudRate_e baudrate);
 182
 183 #if defined(USE_GPS_FAKE)
 184 void gpsFakeSet(
 185     gpsFixType_e fixType,
 186     uint8_t numSat,
 187     int32_t lat,
 188     int32_t lon,
 189     int32_t alt,
 190     int16_t groundSpeed,
 191     int16_t groundCourse,
 192     int16_t velNED_X,
 193     int16_t velNED_Y,
 194     int16_t velNED_Z,
 195     time_t time);
 196 #endif