// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// @file GPS.h /// @brief Interface definition for the various GPS drivers. #ifndef __GPS_H__ #define __GPS_H__ #include #include #include #include class DataFlash_Class; /// @class GPS /// @brief Abstract base class for GPS receiver drivers. class GPS { public: GPS(); /// Update GPS state based on possible bytes received from the module. /// /// This routine must be called periodically to process incoming data. /// /// GPS drivers should not override this function; they should implement /// ::read instead. /// void update(void); /// GPS status codes /// /// \note Non-intuitive ordering for legacy reasons /// enum GPS_Status { NO_GPS = 0, ///< No GPS connected/detected NO_FIX = 1, ///< Receiving valid GPS messages but no lock GPS_OK_FIX_2D = 2, ///< Receiving valid messages and 2D lock GPS_OK_FIX_3D = 3 ///< Receiving valid messages and 3D lock }; /// Fix status codes /// enum Fix_Status { FIX_NONE = 0, ///< No fix FIX_2D = 2, ///< 2d fix FIX_3D = 3, ///< 3d fix }; // GPS navigation engine settings. Not all GPS receivers support // this enum GPS_Engine_Setting { GPS_ENGINE_NONE = -1, GPS_ENGINE_PORTABLE = 0, GPS_ENGINE_STATIONARY = 2, GPS_ENGINE_PEDESTRIAN = 3, GPS_ENGINE_AUTOMOTIVE = 4, GPS_ENGINE_SEA = 5, GPS_ENGINE_AIRBORNE_1G = 6, GPS_ENGINE_AIRBORNE_2G = 7, GPS_ENGINE_AIRBORNE_4G = 8 }; /// Query GPS status /// /// The 'valid message' status indicates that a recognised message was /// received from the GPS within the last 500ms. /// /// @returns Current GPS status /// GPS_Status status(void) const { return _status; } /// Startup initialisation. /// /// This routine performs any one-off initialisation required to set the /// GPS up for use. /// /// Must be implemented by the GPS driver. /// virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting engine_setting, DataFlash_Class *dataflash) = 0; // Properties uint32_t time_week_ms; ///< GPS time (milliseconds from start of GPS week) uint16_t time_week; ///< GPS week number int32_t latitude; ///< latitude in degrees * 10,000,000 int32_t longitude; ///< longitude in degrees * 10,000,000 int32_t altitude_cm; ///< altitude in cm uint32_t ground_speed_cm; ///< ground speed in cm/sec int32_t ground_course_cd; ///< ground course in 100ths of a degree int16_t hdop; ///< horizontal dilution of precision in cm uint8_t num_sats; ///< Number of visible satelites /// Set to true when new data arrives. A client may set this /// to false in order to avoid processing data they have /// already seen. bool new_data:1; Fix_Status fix; ///< 0 if we have no fix, 2 for 2D fix, 3 for 3D fix // HIL support virtual void setHIL(Fix_Status fix_status, uint64_t time_epoch_ms, float latitude, float longitude, float altitude, float ground_speed, float ground_course, float speed_3d, uint8_t num_sats); // components of velocity in 2D, in m/s float velocity_north(void) const { return _status >= GPS_OK_FIX_2D ? _velocity_north : 0; } float velocity_east(void) const { return _status >= GPS_OK_FIX_2D ? _velocity_east : 0; } float velocity_down(void) const { return _status >= GPS_OK_FIX_3D ? _velocity_down : 0; } // GPS velocity vector as NED in m/s Vector3f velocity_vector(void) const { return Vector3f(_velocity_north, _velocity_east, _velocity_down); } // last ground speed in m/s. This can be used when we have no GPS // lock to return the last ground speed we had with lock float last_ground_speed(void) { return static_cast(_last_ground_speed_cm) * 0.01f; } // the expected lag (in seconds) in the position and velocity readings from the gps virtual float get_lag() { return 1.0f; } // the time we got our last fix in system milliseconds uint32_t last_fix_time; // the time we last processed a message in milliseconds uint32_t last_message_time_ms(void) const { return _idleTimer; } // return last fix time since the 1/1/1970 in microseconds uint64_t time_epoch_usec(void); // return true if the GPS supports vertical velocity values bool have_vertical_velocity(void) const { return _have_raw_velocity; } void set_secondary(void) { _secondary_gps = true; } protected: AP_HAL::UARTDriver *_port; ///< port the GPS is attached to /// read from the GPS stream and update properties /// /// Must be implemented by the GPS driver. /// /// @returns true if a valid message was received from the GPS /// virtual bool read(void) = 0; /// perform an endian swap on a long /// /// @param bytes pointer to a buffer containing bytes representing a /// long in the wrong byte order /// @returns endian-swapped value /// int32_t _swapl(const void *bytes) const; /// perform an endian swap on an int /// /// @param bytes pointer to a buffer containing bytes representing an /// int in the wrong byte order /// @returns endian-swapped value int16_t _swapi(const void *bytes) const; /// emit an error message /// /// based on the value of print_errors, emits the printf-formatted message /// in msg,... to stderr /// /// @param fmt printf-like format string /// /// @note deprecated as-is due to the difficulty of hooking up to a working /// printf vs. the potential benefits /// void _error(const char *msg); enum GPS_Engine_Setting _nav_setting; void _write_progstr_block(AP_HAL::UARTDriver *_fs, const prog_char *pstr, uint8_t size); void _send_progstr(AP_HAL::UARTDriver *_fs, const prog_char *pstr, uint8_t size); void _update_progstr(void); // velocities in cm/s if available from the GPS int32_t _vel_north; int32_t _vel_east; int32_t _vel_down; // does this GPS support raw velocity numbers? bool _have_raw_velocity:1; // this is a secondary GPS, disable notify updates bool _secondary_gps:1; // detected baudrate uint16_t _baudrate; // the time we got the last GPS timestamp uint32_t _last_gps_time; // return time in seconds since GPS epoch given time components void _make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds); DataFlash_Class *_DataFlash; private: /// Last time that the GPS driver got a good packet from the GPS /// uint32_t _idleTimer; /// Our current status GPS_Status _status; // previous ground speed in cm/s uint32_t _last_ground_speed_cm; // components of the velocity, in m/s float _velocity_north; float _velocity_east; float _velocity_down; }; #endif // __GPS_H__