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     uint8_t         swVersionMajor;
  47     uint8_t         swVersionMinor;
  48
  49     gpsState_e      state;
  50     gpsBaudRate_e   baudrateIndex;
  51     gpsBaudRate_e   autoBaudrateIndex;      // Driver internal use (for autoBaud)
  52     uint8_t         autoConfigStep;         // Driver internal use (for autoConfig)
  53     struct
  54     {
  55         uint8_t pvt : 1;
  56         uint8_t sig : 1;
  57         uint8_t sat : 1;
  58     } flags;
  59
  60     timeMs_t        lastStateSwitchMs;
  61     timeMs_t        lastLastMessageMs;
  62     timeMs_t        lastMessageMs;
  63     timeMs_t        timeoutMs;
  64     timeMs_t        baseTimeoutMs;
  65     timeMs_t        lastCapaPoolMs;
  66     timeMs_t        lastCapaUpdMs;
  67 } gpsReceiverData_t;
  68
  69 extern gpsReceiverData_t gpsState;
  70 extern gpsSolutionData_t gpsSolDRV;
  71
  72 extern baudRate_e gpsToSerialBaudRate[GPS_BAUDRATE_COUNT];
  73
  74 extern void gpsSetState(gpsState_e state);
  75 extern void gpsFinalizeChangeBaud(void);
  76
  77 extern uint16_t gpsConstrainEPE(uint32_t epe);
  78 extern uint16_t gpsConstrainHDOP(uint32_t hdop);
  79
  80 void gpsProcessNewDriverData(void);
  81 void gpsProcessNewSolutionData(bool);
  82 void gpsSetProtocolTimeout(timeMs_t timeoutMs);
  83
  84 extern void gpsRestartUBLOX(void);
  85 extern void gpsHandleUBLOX(void);
  86
  87 extern void gpsRestartMSP(void);
  88 extern void gpsHandleMSP(void);
  89
  90 #if defined(USE_GPS_FAKE)
  91 extern void gpsFakeRestart(void);
  92 extern void gpsFakeHandle(void);
  93 #endif
  94
  95
  96 #endif