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
  22 #include "config/parameter_group.h"
  23
  24 #include "common/time.h"
  25
  26 #define GPS_DBHZ_MIN 0
  27 #define GPS_DBHZ_MAX 55
  28
  29 #define LAT 0
  30 #define LON 1
  31
  32 #define GPS_DEGREES_DIVIDER 10000000L
  33
  34 typedef enum {
  35     GPS_NMEA = 0,
  36     GPS_UBLOX,
  37     GPS_I2CNAV,
  38     GPS_NAZA,
  39     GPS_UBLOX7PLUS,
  40     GPS_MTK,
  41     GPS_PROVIDER_COUNT
  42 } gpsProvider_e;
  43
  44 typedef enum {
  45     SBAS_AUTO = 0,
  46     SBAS_EGNOS,
  47     SBAS_WAAS,
  48     SBAS_MSAS,
  49     SBAS_GAGAN,
  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_COUNT
  62 } gpsBaudRate_e;
  63
  64 typedef enum {
  65     GPS_AUTOCONFIG_OFF = 0,
  66     GPS_AUTOCONFIG_ON,
  67 } gpsAutoConfig_e;
  68
  69 typedef enum {
  70     GPS_AUTOBAUD_OFF = 0,
  71     GPS_AUTOBAUD_ON
  72 } gpsAutoBaud_e;
  73
  74 typedef enum {
  75     GPS_DYNMODEL_PEDESTRIAN = 0,
  76     GPS_DYNMODEL_AIR_1G,
  77     GPS_DYNMODEL_AIR_4G,
  78 } gpsDynModel_e;
  79
  80 typedef enum {
  81     GPS_NO_FIX = 0,
  82     GPS_FIX_2D,
  83     GPS_FIX_3D
  84 } gpsFixType_e;
  85
  86 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  87
  88 typedef struct gpsConfig_s {
  89     gpsProvider_e provider;
  90     sbasMode_e sbasMode;
  91     gpsAutoConfig_e autoConfig;
  92     gpsAutoBaud_e autoBaud;
  93     gpsDynModel_e dynModel;
  94     bool ubloxUseGalileo;
  95     uint8_t gpsMinSats;
  96 } gpsConfig_t;
  97
  98 PG_DECLARE(gpsConfig_t, gpsConfig);
  99
 100 typedef struct gpsCoordinateDDDMMmmmm_s {
 101     int16_t dddmm;
 102     int16_t mmmm;
 103 } gpsCoordinateDDDMMmmmm_t;
 104
 105 /* LLH Location in NEU axis system */
 106 typedef struct gpsLocation_s {
 107     int32_t lat;    // Latitude * 1e+7
 108     int32_t lon;    // Longitude * 1e+7
 109     int32_t alt;    // Altitude in centimeters (meters * 100)
 110 } gpsLocation_t;
 111
 112 #define HDOP_SCALE (100)
 113
 114 typedef struct gpsSolutionData_s {
 115     struct {
 116         bool hasNewData;
 117         bool gpsHeartbeat;  // Toggle each update
 118         bool validVelNE;
 119         bool validVelD;
 120         bool validMag;
 121         bool validEPE;      // EPH/EPV values are valid - actual accuracy
 122         bool validTime;
 123     } flags;
 124
 125     gpsFixType_e fixType;
 126     uint8_t numSat;
 127
 128     gpsLocation_t llh;
 129     int16_t       magData[3];
 130     int16_t       velNED[3];
 131
 132     int16_t groundSpeed;
 133     int16_t groundCourse;
 134
 135     uint16_t eph;   // horizontal accuracy (cm)
 136     uint16_t epv;   // vertical accuracy (cm)
 137
 138     uint16_t hdop;  // generic HDOP value (*HDOP_SCALE)
 139
 140     dateTime_t time; // GPS time in UTC
 141
 142 } gpsSolutionData_t;
 143
 144 typedef struct {
 145     uint16_t    lastMessageDt;
 146     uint32_t    errors;                // gps error counter - crc error/lost of data/sync etc..
 147     uint32_t    timeouts;
 148     uint32_t    packetCount;
 149 } gpsStatistics_t;
 150
 151 extern gpsSolutionData_t gpsSol;
 152 extern gpsStatistics_t   gpsStats;
 153
 154 struct magDev_s;
 155 bool gpsMagDetect(struct magDev_s *mag);
 156 void gpsPreInit(void);
 157 void gpsInit(void);
 158 // Called periodically from GPS task. Returns true iff the GPS
 159 // information was updated.
 160 bool gpsUpdate(void);
 161 void updateGpsIndicator(timeUs_t currentTimeUs);
 162 bool isGPSHealthy(void);
 163 bool isGPSHeadingValid(void);
 164 struct serialPort_s;
 165 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);