forked from Archive/PX4-Autopilot
48 lines
922 B
C
48 lines
922 B
C
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/*
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* nmea_helper.h
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*
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* Created on: Mar 15, 2012
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* Author: thomasgubler
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*/
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#ifndef NMEA_H_
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#define NMEA_H_
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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#include "nmealib/nmea/nmea.h"
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//definitions for watchdog
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#define NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000
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#define NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS 800000
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typedef struct {
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uint64_t last_message_timestamp;
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} __attribute__((__packed__)) type_gps_bin_nmea_state;
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typedef type_gps_bin_nmea_state gps_bin_nmea_state_t;
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extern gps_bin_nmea_state_t *nmea_state;
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extern pthread_mutex_t *nmea_mutex;
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int read_gps_nmea(int fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser);
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void *nmea_loop(void *arg);
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void *nmea_watchdog_loop(void *arg);
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/**
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* \brief Convert NDEG (NMEA degree) to fractional degree
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*/
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float ndeg2degree(float val);
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void nmea_init(void);
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#endif /* NMEA_H_ */
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