ardupilot/libraries/AP_GPS/GPS.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

/// @file	GPS.h
/// @brief	Interface definition for the various GPS drivers.

#ifndef __GPS_H__
#define __GPS_H__

#include <AP_HAL.h>

#include <inttypes.h>
#include <AP_Progmem.h>

/// @class	GPS
/// @brief	Abstract base class for GPS receiver drivers.
class GPS
{
public:

    /// 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 = 2              ///< Receiving valid messages and locked
    };

    // 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) {
        return _status;
    }

    /// GPS time epoch codes
    ///
    enum        GPS_Time_Epoch {
        TIME_OF_DAY     = 0,            ///<
        TIME_OF_WEEK    = 1,            ///< Ublox
        TIME_OF_YEAR    = 2,            ///< MTK, NMEA
        UNIX_EPOCH              = 3                     ///< If available
    };                                                                  ///< SIFR?


    /// Query GPS time epoch
    ///
    /// @returns			Current GPS time epoch code
    ///
    GPS_Time_Epoch              epoch(void) {
        return _epoch;
    }

    /// 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 = GPS_ENGINE_NONE) = 0;

    // Properties
    uint32_t time;                      ///< GPS time (milliseconds from epoch)
    uint32_t date;                      ///< GPS date (FORMAT TBD)
    int32_t latitude;                   ///< latitude in degrees * 10,000,000
    int32_t longitude;                  ///< longitude in degrees * 10,000,000
    int32_t altitude;                   ///< altitude in cm
    uint32_t ground_speed;      ///< ground speed in cm/sec
    int32_t ground_course;      ///< ground course in 100ths of a degree
    int32_t speed_3d;                   ///< 3D speed in cm/sec (not always available)
    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;

    // Deprecated properties
    bool fix;                           ///< true if we have a position fix (use ::status instead)
    bool valid_read;                    ///< true if we have seen data from the GPS (use ::status instead)

    // Debug support
    bool print_errors;          ///< deprecated

    // HIL support
    virtual void setHIL(uint32_t time, float latitude, float longitude, float altitude,
                        float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);

    /// Time in milliseconds after which we will assume the GPS is no longer
    /// sending us updates and attempt a re-init.
    ///
    /// 1200ms allows a small amount of slack over the worst-case 1Hz update
    /// rate.
    ///
    uint32_t idleTimeout;

    // components of velocity in 2D, in m/s
    float velocity_north(void) {
        return _status == GPS_OK ? _velocity_north : 0;
    }
    float velocity_east(void)  {
        return _status == GPS_OK ? _velocity_east  : 0;
    }
    float velocity_down(void)  {
        return _status == GPS_OK ? _velocity_down  : 0;
    }

    // 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 _last_ground_speed_cm * 0.01;
    }

    // the expected lag (in seconds) in the position and velocity readings from the gps
    virtual float get_lag() { return 1.0; }

    // the time we got our last fix in system milliseconds
    uint32_t last_fix_time;

	// return true if the GPS supports raw velocity values


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);

    /// 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);

    /// 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);

    /// Time epoch code for the gps in use
    GPS_Time_Epoch _epoch;

    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;

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;
};

inline int32_t
GPS::_swapl(const void *bytes)
{
    const uint8_t       *b = (const uint8_t *)bytes;
    union {
        int32_t v;
        uint8_t b[4];
    } u;

    u.b[0] = b[3];
    u.b[1] = b[2];
    u.b[2] = b[1];
    u.b[3] = b[0];

    return(u.v);
}

inline int16_t
GPS::_swapi(const void *bytes)
{
    const uint8_t       *b = (const uint8_t *)bytes;
    union {
        int16_t v;
        uint8_t b[2];
    } u;

    u.b[0] = b[1];
    u.b[1] = b[0];

    return(u.v);
}

#endif // __GPS_H__