GNSS.h

Go to the documentation of this file.

/***********************************************************************/
#ifndef DRIVER_GPS_H_
#define DRIVER_GPS_H_
 
#include "system_configuration.h"
#include "float3vector.h"
#include "embedded_memory.h"
 
extern int64_t FAT_time; 
 
extern bool GNSS_new_data_ready;
extern bool D_GNSS_new_data_ready;
 
typedef struct
{
  uint32_t iTOW; // time of week
  uint16_t year;
  uint8_t month;
  uint8_t day;
  int8_t hour;
  int8_t minute;
  int8_t second;
  uint8_t valid;    // bits MSB -> LSB mag-decl tim-res time data
  uint32_t tAcc;    // timing accuracy
  int32_t nano;     // time fraction, signed
  uint8_t fix_type;
  uint8_t fix_flags;
  uint8_t reserved1;
  uint8_t num_SV;
  int32_t longitude;    // 10^-7 deg
  int32_t latitude;
  int32_t height_ellip; // WGS84 height / mm
  int32_t height;   // MSL height / mm
  uint32_t hAcc;    // horizontal accuracy / mm
  uint32_t vAcc;    // vertical accuracy / mm
  int32_t velocity[3];  // NED velocity mm/s
  uint32_t gSpeed;  // Ground speed / mm/s
  uint32_t gTrack;  // track direction / 10^-5 deg
  uint32_t sAcc;    // speed accuracy mm/s
  uint32_t headAcc; // heading accuracy 10^-5 deg
  uint16_t pDOP;    // 0.01 units
  uint8_t reserved[14]; // useless
} uBlox_pvt;
 
typedef struct
{
  uint8_t version;  // =0x01
  uint8_t dummy;    // reserved
  uint16_t ref_ID;  // ref station ID=0..4095
  uint32_t TOW;     // time of week
  int32_t relPosN;  // rel pos N / cm
  int32_t relPosE;  // rel pos E / cm
  int32_t relPosD;  // rel pos D / cm
  int32_t relPoslength; // rel pos length / cm
  int32_t relPosheading;// rel pos heading / 1E⁻5 degrees
  uint32_t dummy1;  // reserved
  int8_t relPosHP_N;    // high precision north component / 0.1mm
  int8_t relPosHP_E;    // high precision east  component / 0.1mm
  int8_t relPosHP_D;    // high precision down  component / 0.1mm
  int8_t relPosHP_len;  // high precision length / 0.1mm
  uint32_t accN;    // accuracy north / 0.1mm
  uint32_t accE;    // accuracy north / 0.1mm
  uint32_t accD;    // accuracy north / 0.1mm
  uint32_t acc_len; // accuracy length / 0.1mm
  uint32_t acc_heading; // accuracy heading / 1e-5 degrees
  uint32_t dummy2;  // reserved
  uint32_t flags;   // 0b1100110111 if optimal result
} uBlox_relpos_NED;
 
typedef enum { FIX_none, FIX_dead, FIX_2d, FIX_3d} FIX_TYPE;
typedef enum { GNSS_HAVE_FIX, GNSS_NO_FIX, GNSS_ERROR} GNSS_Result;
 
#define SAT_FIX_NONE    0
#define SAT_FIX     1 // bits within sat_fix
#define SAT_HEADING     2
 
typedef struct
{
  float3vector position;    
  float3vector velocity;    
  float3vector acceleration;    
  float  heading_motion;    
  float  speed_motion;      
  float3vector relPosNED;   
  float relPosHeading;      
  float speed_acc;      
  double latitude;      
  double longitude;     
 
  uint8_t year;
  uint8_t month;
  uint8_t day;
  uint8_t hour;
 
  uint8_t minute;
  uint8_t second;
  uint8_t SATS_number;  
  uint8_t sat_fix_type; 
 
#if INCLUDING_NANO
  int32_t nano;     // nanoseconds from time stamp
#endif
 
  int16_t geo_sep_dm;   
  uint16_t dummy;
} coordinates_t;
 
class GNSS_type
{
public:
  GNSS_type (coordinates_t & coo);
  GNSS_Result update( const uint8_t * data);
  GNSS_Result update_delta( const uint8_t * data);
  GNSS_Result update_combined( uint8_t * data);
 
  void reset_reference( void)
  {
    fix_type = FIX_none;
    latitude_reference = 0; // will be updated on next fix
  }
 
  FIX_TYPE get_fix_type( void) const
  {
    return fix_type;
  }
  uint8_t get_num_SV( void) const
  {
    return num_SV;
  }
  int64_t get_FAT_time( void) const
  {
    return FAT_time;
  }
  void clear_sat_fix_type( void)
  {
    coordinates.sat_fix_type = SAT_FIX_NONE;
  }
 
private:
  coordinates_t &coordinates;
  FIX_TYPE fix_type;
  inline bool checkSumCheck ( const uint8_t *buffer, uint8_t length)
  {
    if( (buffer[2] != length) && (buffer[3] !=0))
        return false;
 
    //Checksum A and B
    uint8_t CK_A = 0, CK_B = 0;
    for (int i = 0; i < (length + 4); i++)
    {
      CK_A = CK_A + buffer[i];
      CK_B = CK_B + CK_A;
    }
   return ((CK_A == buffer[length + 4]) && (CK_B == buffer[length + 5]));
  }
 
  uint8_t num_SV;
  int32_t latitude_reference;
  int32_t longitude_reference;
  float latitude_scale;
  unsigned old_timestamp_ms;
};
 
extern GNSS_type GNSS;
 
#endif /* DRIVER_GPS_H_ */