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_MSP,
  38     GPS_FAKE,
  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_SPAN,
  49     SBAS_NONE
  50 } sbasMode_e;
  51
  52 #define SBAS_MODE_MAX SBAS_GAGAN
  53
  54 typedef enum {
  55     GPS_BAUDRATE_115200 = 0,
  56     GPS_BAUDRATE_57600,
  57     GPS_BAUDRATE_38400,
  58     GPS_BAUDRATE_19200,
  59     GPS_BAUDRATE_9600,
  60     GPS_BAUDRATE_230400,
  61     GPS_BAUDRATE_460800,
  62     GPS_BAUDRATE_921600,
  63     GPS_BAUDRATE_COUNT
  64 } gpsBaudRate_e;
  65
  66 typedef enum {
  67     GPS_AUTOCONFIG_OFF = 0,
  68     GPS_AUTOCONFIG_ON,
  69 } gpsAutoConfig_e;
  70
  71 typedef enum {
  72     GPS_AUTOBAUD_OFF = 0,
  73     GPS_AUTOBAUD_ON
  74 } gpsAutoBaud_e;
  75
  76 typedef enum {
  77     GPS_DYNMODEL_PEDESTRIAN = 0,
  78     GPS_DYNMODEL_AUTOMOTIVE,
  79     GPS_DYNMODEL_AIR_1G,
  80     GPS_DYNMODEL_AIR_2G,
  81     GPS_DYNMODEL_AIR_4G,
  82     GPS_DYNMODEL_SEA,
  83     GPS_DYNMODEL_MOWER,
  84 } gpsDynModel_e;
  85
  86 typedef enum {
  87     GPS_NO_FIX = 0,
  88     GPS_FIX_2D,
  89     GPS_FIX_3D
  90 } gpsFixType_e;
  91
  92 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  93
  94 typedef struct gpsConfig_s {
  95     gpsProvider_e provider;
  96     sbasMode_e sbasMode;
  97     gpsAutoConfig_e autoConfig;
  98     gpsAutoBaud_e autoBaud;
  99     gpsDynModel_e dynModel;
 100     bool ubloxUseGalileo;
 101     bool ubloxUseBeidou;
 102     bool ubloxUseGlonass;
 103     uint8_t gpsMinSats;
 104     uint8_t ubloxNavHz;
 105     gpsBaudRate_e autoBaudMax;
 106 } gpsConfig_t;
 107
 108 PG_DECLARE(gpsConfig_t, gpsConfig);
 109
 110 typedef struct gpsCoordinateDDDMMmmmm_s {
 111     int16_t dddmm;
 112     int16_t mmmm;
 113 } gpsCoordinateDDDMMmmmm_t;
 114
 115 /* LLH Location in NEU axis system */
 116 typedef struct gpsLocation_s {
 117     int32_t lat;    // Latitude * 1e+7
 118     int32_t lon;    // Longitude * 1e+7
 119     int32_t alt;    // Altitude in centimeters (meters * 100)
 120 } gpsLocation_t;
 121
 122 #define HDOP_SCALE (100)
 123
 124 typedef struct gpsSolutionData_s {
 125     struct {
 126         bool hasNewData;
 127         bool gpsHeartbeat;  // Toggle each update
 128         bool validVelNE;
 129         bool validVelD;
 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       velNED[3];
 139
 140     int16_t groundSpeed;
 141     int16_t groundCourse;
 142
 143     uint16_t eph;   // horizontal accuracy (cm)
 144     uint16_t epv;   // vertical accuracy (cm)
 145
 146     uint16_t hdop;  // generic HDOP value (*HDOP_SCALE)
 147
 148     dateTime_t time; // GPS time in UTC
 149
 150 } gpsSolutionData_t;
 151
 152 typedef struct {
 153     uint16_t    lastMessageDt;
 154     uint32_t    errors;                // gps error counter - crc error/lost of data/sync etc..
 155     uint32_t    timeouts;
 156     uint32_t    packetCount;
 157 } gpsStatistics_t;
 158
 159 extern gpsSolutionData_t gpsSol;
 160 extern gpsStatistics_t   gpsStats;
 161
 162 struct magDev_s;
 163 void gpsPreInit(void);
 164 void gpsInit(void);
 165 // Called periodically from GPS task. Returns true iff the GPS
 166 // information was updated.
 167 bool gpsUpdate(void);
 168 void updateGpsIndicator(timeUs_t currentTimeUs);
 169 bool isGPSHealthy(void);
 170 bool isGPSHeadingValid(void);
 171 struct serialPort_s;
 172 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
 173 void mspGPSReceiveNewData(const uint8_t * bufferPtr);
 174
 175 const char *getGpsHwVersion(void);
 176 uint8_t getGpsProtoMajorVersion(void);
 177 uint8_t getGpsProtoMinorVersion(void);
 178
 179 int getGpsBaudrate(void);
 180 int gpsBaudRateToInt(gpsBaudRate_e baudrate);
 181
 182 #if defined(USE_GPS_FAKE)
 183 void gpsFakeSet(
 184     gpsFixType_e fixType,
 185     uint8_t numSat,
 186     int32_t lat,
 187     int32_t lon,
 188     int32_t alt,
 189     int16_t groundSpeed,
 190     int16_t groundCourse,
 191     int16_t velNED_X,
 192     int16_t velNED_Y,
 193     int16_t velNED_Z,
 194     time_t time);
 195 #endif