src/main/io/gps_fake.c

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 #include <stdbool.h>
  26 #include <stdint.h>
  27 #include <ctype.h>
  28 #include <string.h>
  29 #include <math.h>
  30 #include <time.h>
  31
  32 #include "platform.h"
  33 #include "build/build_config.h"
  34 #include "common/log.h"
  35
  36 #if defined(USE_GPS_FAKE)
  37
  38 #include "common/axis.h"
  39
  40 #include "io/gps.h"
  41 #include "io/gps_private.h"
  42
  43 void gpsFakeRestart(void)
  44 {
  45     // NOP
  46 }
  47
  48 void gpsFakeHandle(void)
  49 {
  50     gpsProcessNewSolutionData(false);
  51 }
  52
  53 void gpsFakeSet(
  54     gpsFixType_e fixType,
  55     uint8_t numSat,
  56     int32_t lat,
  57     int32_t lon,
  58     int32_t alt,
  59     int16_t groundSpeed,
  60     int16_t groundCourse,
  61     int16_t velNED_X,
  62     int16_t velNED_Y,
  63     int16_t velNED_Z,
  64     time_t time)
  65 {
  66     gpsSolDRV.fixType = fixType;
  67     gpsSolDRV.hdop = gpsSol.fixType == GPS_NO_FIX ? 9999 : 100;
  68     gpsSolDRV.numSat = numSat;
  69
  70     gpsSolDRV.llh.lat = lat;
  71     gpsSolDRV.llh.lon = lon;
  72     gpsSolDRV.llh.alt = alt;
  73     gpsSolDRV.groundSpeed = groundSpeed;
  74     gpsSolDRV.groundCourse = groundCourse;
  75     gpsSolDRV.velNED[X] = velNED_X;
  76     gpsSolDRV.velNED[Y] = velNED_Y;
  77     gpsSolDRV.velNED[Z] = velNED_Z;
  78     gpsSolDRV.eph = 100;
  79     gpsSolDRV.epv = 100;
  80     gpsSolDRV.flags.validVelNE = true;
  81     gpsSolDRV.flags.validVelD = true;
  82     gpsSolDRV.flags.validEPE = true;
  83
  84     if (time) {
  85         struct tm* gTime = gmtime(&time);
  86
  87         gpsSolDRV.time.year   = (uint16_t)(gTime->tm_year + 1900);
  88         gpsSolDRV.time.month  = (uint16_t)(gTime->tm_mon + 1);
  89         gpsSolDRV.time.day    = (uint8_t)gTime->tm_mday;
  90         gpsSolDRV.time.hours  = (uint8_t)gTime->tm_hour;
  91         gpsSolDRV.time.minutes = (uint8_t)gTime->tm_min;
  92         gpsSolDRV.time.seconds = (uint8_t)gTime->tm_sec;
  93         gpsSolDRV.time.millis  = 0;
  94         gpsSolDRV.flags.validTime = gpsSol.fixType >= 3;
  95     }
  96
  97     gpsProcessNewDriverData();
  98 }
  99
 100 #endif