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 #define GPS_DBHZ_MIN 0
  21 #define GPS_DBHZ_MAX 55
  22
  23 #define GPS_SV_MAXSATS   16
  24
  25 #define LAT 0
  26 #define LON 1
  27
  28 #define GPS_DEGREES_DIVIDER 10000000L
  29
  30 typedef enum {
  31     GPS_NMEA = 0,
  32     GPS_UBLOX,
  33     GPS_I2CNAV,
  34     GPS_NAZA,
  35     GPS_PROVIDER_COUNT
  36 } gpsProvider_e;
  37
  38 typedef enum {
  39     SBAS_AUTO = 0,
  40     SBAS_EGNOS,
  41     SBAS_WAAS,
  42     SBAS_MSAS,
  43     SBAS_GAGAN
  44 } sbasMode_e;
  45
  46 #define SBAS_MODE_MAX SBAS_GAGAN
  47
  48 typedef enum {
  49     GPS_BAUDRATE_115200 = 0,
  50     GPS_BAUDRATE_57600,
  51     GPS_BAUDRATE_38400,
  52     GPS_BAUDRATE_19200,
  53     GPS_BAUDRATE_9600,
  54     GPS_BAUDRATE_COUNT
  55 } gpsBaudRate_e;
  56
  57 typedef enum {
  58     GPS_AUTOCONFIG_OFF = 0,
  59     GPS_AUTOCONFIG_ON,
  60 } gpsAutoConfig_e;
  61
  62 typedef enum {
  63     GPS_AUTOBAUD_OFF = 0,
  64     GPS_AUTOBAUD_ON
  65 } gpsAutoBaud_e;
  66
  67 typedef enum {
  68     GPS_MODEL_LOW_G = 0,
  69     GPS_MODEL_HIGH_G,
  70 } gpsNavModel_e;
  71
  72 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  73
  74 typedef struct gpsConfig_s {
  75     gpsProvider_e provider;
  76     sbasMode_e sbasMode;
  77     gpsAutoConfig_e autoConfig;
  78     gpsAutoBaud_e autoBaud;
  79     gpsNavModel_e navModel;
  80 } gpsConfig_t;
  81
  82 typedef struct gpsCoordinateDDDMMmmmm_s {
  83     int16_t dddmm;
  84     int16_t mmmm;
  85 } gpsCoordinateDDDMMmmmm_t;
  86
  87 typedef struct {
  88     uint8_t chn;     // Channel number
  89     uint8_t svid;    // Satellite ID
  90     uint8_t quality; // Bitfield Qualtity
  91     uint8_t cno;     // Carrier to Noise Ratio (Signal Strength)
  92 } gpsSVChannel_t;
  93
  94 /* LLH Location in NEU axis system */
  95 typedef struct gpsLocation_s {
  96     int32_t lat;    // Lattitude * 1e+7
  97     int32_t lon;    // Longitude * 1e+7
  98     int32_t alt;    // Altitude in centimeters (meters * 100)
  99 } gpsLocation_t;
 100
 101 typedef struct gpsSolutionData_s {
 102     struct {
 103         unsigned gpsHeartbeat   : 1;     // Toggle each update
 104         unsigned fix3D          : 1;     // gps fix status
 105         unsigned validVelNE     : 1;
 106         unsigned validVelD      : 1;
 107         unsigned validMag       : 1;
 108         unsigned validEPE       : 1;    // EPH/EPV values are valid - actual accuracy
 109     } flags;
 110
 111     uint8_t numSat;
 112
 113     uint8_t numCh;
 114     gpsSVChannel_t svInfo[GPS_SV_MAXSATS];
 115
 116     gpsLocation_t llh;
 117     int16_t       magData[3];
 118     int16_t       velNED[3];
 119
 120     int16_t groundSpeed;
 121     int16_t groundCourse;
 122
 123     uint16_t eph;   // horizontal accuracy (cm)
 124     uint16_t epv;   // vertical accuracy (cm)
 125 } gpsSolutionData_t;
 126
 127 typedef struct {
 128     uint16_t    lastMessageDt;
 129     uint32_t    errors;                // gps error counter - crc error/lost of data/sync etc..
 130     uint32_t    timeouts;
 131     uint32_t    packetCount;
 132 } gpsStatistics_t;
 133
 134 extern gpsSolutionData_t gpsSol;
 135 extern gpsStatistics_t   gpsStats;
 136
 137 void gpsThread(void);
 138 void updateGpsIndicator(uint32_t currentTime);