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