#include <stdbool.h>
#include <stdint.h>
#include <ctype.h>
#include <string.h>
#include <math.h>
#include <platform.h>
#include "build_config.h"
#include "debug.h"
#include "common/maths.h"
#include "common/axis.h"
#include "common/utils.h"
#include "config/config.h"
#include "config/feature.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "drivers/serial_uart.h"
#include "drivers/light_led.h"
#include "io/serial.h"
#include "gps.h"

Include dependency graph for gps.c:

Data Structures
struct	gpsInitData_s

struct	ubloxSbas_s

struct	gpsDataNmea_s

struct	ubx_header

struct	ubx_nav_posllh

struct	ubx_nav_status

struct	ubx_nav_solution

struct	ubx_nav_velned

struct	ubx_nav_svinfo_channel

struct	ubx_nav_svinfo

Macros
#define	LOG_ERROR '?'

#define	LOG_IGNORED '!'

#define	LOG_SKIPPED '>'

#define	LOG_NMEA_GGA 'g'

#define	LOG_NMEA_RMC 'r'

#define	LOG_UBLOX_SOL 'O'

#define	LOG_UBLOX_STATUS 'S'

#define	LOG_UBLOX_SVINFO 'I'

#define	LOG_UBLOX_POSLLH 'P'

#define	LOG_UBLOX_VELNED 'V'

#define	GPS_SV_MAXSATS 16

#define	GPS_TIMEOUT (2500)

#define	GPS_INIT_ENTRIES (GPS_BAUDRATE_MAX + 1)

#define	GPS_BAUDRATE_CHANGE_DELAY (200)

#define	GPS_INIT_DATA_ENTRY_COUNT (sizeof(gpsInitData) / sizeof(gpsInitData[0]))

#define	DEFAULT_BAUD_RATE_INDEX 0

#define	UBLOX_SBAS_MESSAGE_LENGTH 16

#define	NO_FRAME 0

#define	FRAME_GGA 1

#define	FRAME_RMC 2

#define	FRAME_GSV 3

#define	MAX_UBLOX_PAYLOAD_SIZE 344

#define	UBLOX_BUFFER_SIZE MAX_UBLOX_PAYLOAD_SIZE

Typedefs
typedef struct gpsInitData_s	gpsInitData_t

typedef struct ubloxSbas_s	ubloxSbas_t

typedef struct gpsDataNmea_s	gpsDataNmea_t

Enumerations
enum	gpsState_e { GPS_UNKNOWN, GPS_INITIALIZING, GPS_CHANGE_BAUD, GPS_CONFIGURE, GPS_RECEIVING_DATA, GPS_LOST_COMMUNICATION }

enum	{ PREAMBLE1 = 0xb5, PREAMBLE2 = 0x62, CLASS_NAV = 0x01, CLASS_ACK = 0x05, CLASS_CFG = 0x06, MSG_ACK_NACK = 0x00, MSG_ACK_ACK = 0x01, MSG_POSLLH = 0x2, MSG_STATUS = 0x3, MSG_SOL = 0x6, MSG_VELNED = 0x12, MSG_SVINFO = 0x30, MSG_CFG_PRT = 0x00, MSG_CFG_RATE = 0x08, MSG_CFG_SET_RATE = 0x01, MSG_CFG_NAV_SETTINGS = 0x24 }

enum	{ FIX_NONE = 0, FIX_DEAD_RECKONING = 1, FIX_2D = 2, FIX_3D = 3, FIX_GPS_DEAD_RECKONING = 4, FIX_TIME = 5 }

enum	{ NAV_STATUS_FIX_VALID = 1 }

Functions
int	gps_init (struct gps self, const struct system_calls system, const struct config *config)

void	gps_update (struct gps *self)

void	gps_enable_passthrough (struct gps self, serialPort_t gpsPassthroughPort)

Variables
gpsData_t	gpsData

enum { ... }	ubx_protocol_bytes

enum { ... }	ubs_nav_fix_type

enum { ... }	ubx_nav_status_bits

Macro Definition Documentation

#define DEFAULT_BAUD_RATE_INDEX 0

#define FRAME_GGA 1

#define FRAME_GSV 3

#define FRAME_RMC 2

#define GPS_BAUDRATE_CHANGE_DELAY (200)

#define GPS_INIT_DATA_ENTRY_COUNT (sizeof(gpsInitData) / sizeof(gpsInitData[0]))

#define GPS_INIT_ENTRIES (GPS_BAUDRATE_MAX + 1)

#define GPS_SV_MAXSATS 16

#define GPS_TIMEOUT (2500)

#define LOG_ERROR '?'

#define LOG_IGNORED '!'

#define LOG_NMEA_GGA 'g'

#define LOG_NMEA_RMC 'r'

#define LOG_SKIPPED '>'

#define LOG_UBLOX_POSLLH 'P'

#define LOG_UBLOX_SOL 'O'

#define LOG_UBLOX_STATUS 'S'

#define LOG_UBLOX_SVINFO 'I'

#define LOG_UBLOX_VELNED 'V'

#define MAX_UBLOX_PAYLOAD_SIZE 344

#define NO_FRAME 0

#define UBLOX_BUFFER_SIZE MAX_UBLOX_PAYLOAD_SIZE

#define UBLOX_SBAS_MESSAGE_LENGTH 16

Typedef Documentation

typedef struct gpsDataNmea_s gpsDataNmea_t

typedef struct gpsInitData_s gpsInitData_t

typedef struct ubloxSbas_s ubloxSbas_t

Enumeration Type Documentation

anonymous enum

Enumerator
PREAMBLE1
PREAMBLE2
CLASS_NAV
CLASS_ACK
CLASS_CFG
MSG_ACK_NACK
MSG_ACK_ACK
MSG_POSLLH
MSG_STATUS
MSG_SOL
MSG_VELNED
MSG_SVINFO
MSG_CFG_PRT
MSG_CFG_RATE
MSG_CFG_SET_RATE
MSG_CFG_NAV_SETTINGS