gps.h

/*
 * This file is part of Cleanflight.
 *
 * Cleanflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#define LAT 0
#define LON 1

#define GPS_DEGREES_DIVIDER 10000000L

typedef enum {
    GPS_NMEA = 0,
    GPS_UBLOX
} gpsProvider_e;

#define GPS_PROVIDER_MAX GPS_UBLOX

typedef enum {
    SBAS_AUTO = 0,
    SBAS_EGNOS,
    SBAS_WAAS,
    SBAS_MSAS,
    SBAS_GAGAN
} sbasMode_e;

#define SBAS_MODE_MAX SBAS_GAGAN

typedef enum {
    GPS_BAUDRATE_115200 = 0,
    GPS_BAUDRATE_57600,
    GPS_BAUDRATE_38400,
    GPS_BAUDRATE_19200,
    GPS_BAUDRATE_9600
} gpsBaudRate_e;

typedef enum {
    GPS_AUTOCONFIG_OFF = 0,
    GPS_AUTOCONFIG_ON,
} gpsAutoConfig_e;

typedef enum {
    GPS_AUTOBAUD_OFF = 0,
    GPS_AUTOBAUD_ON
} gpsAutoBaud_e;

#define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600

typedef struct gpsConfig_s {
    gpsProvider_e provider;
    sbasMode_e sbasMode;
    gpsAutoConfig_e autoConfig;
    gpsAutoBaud_e autoBaud;
} gpsConfig_t;

typedef struct gpsCoordinateDDDMMmmmm_s {
    int16_t dddmm;
    int16_t mmmm;
} gpsCoordinateDDDMMmmmm_t;


typedef enum {
    GPS_MESSAGE_STATE_IDLE = 0,
    GPS_MESSAGE_STATE_INIT,
    GPS_MESSAGE_STATE_SBAS,
    GPS_MESSAGE_STATE_MAX = GPS_MESSAGE_STATE_SBAS
} gpsMessageState_e;

#define GPS_MESSAGE_STATE_ENTRY_COUNT (GPS_MESSAGE_STATE_MAX + 1)

typedef struct gpsData_t {
    uint8_t state;                  // GPS thread state. Used for detecting cable disconnects and configuring attached devices
    uint8_t baudrateIndex;          // index into auto-detecting or current baudrate
    uint32_t errors;                // gps error counter - crc error/lost of data/sync etc..
    uint32_t timeouts;
    uint32_t lastMessage;           // last time valid GPS data was received (millis)
    uint32_t lastLastMessage;       // last-last valid GPS message. Used to calculate delta.

    uint32_t state_position;        // incremental variable for loops
    uint32_t state_ts;              // timestamp for last state_position increment
    gpsMessageState_e messageState;
} gpsData_t;

#define GPS_PACKET_LOG_ENTRY_COUNT 21 // To make this useful we should log as many packets as we can fit characters a single line of a OLED display.
extern char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];

extern gpsData_t gpsData;
extern int32_t GPS_coord[2];               // LAT/LON

extern uint8_t GPS_numSat;
extern uint16_t GPS_hdop;                  // GPS signal quality
extern uint8_t GPS_update;                 // it's a binary toogle to distinct a GPS position update
extern uint32_t GPS_packetCount;
extern uint32_t GPS_svInfoReceivedCount;
extern uint16_t GPS_altitude;              // altitude in 0.1m
extern uint16_t GPS_speed;                 // speed in 0.1m/s
extern uint16_t GPS_ground_course;         // degrees * 10
extern uint8_t GPS_numCh;                  // Number of channels
extern uint8_t GPS_svinfo_chn[16];         // Channel number
extern uint8_t GPS_svinfo_svid[16];        // Satellite ID
extern uint8_t GPS_svinfo_quality[16];     // Bitfield Qualtity
extern uint8_t GPS_svinfo_cno[16];         // Carrier to Noise Ratio (Signal Strength)

#define GPS_DBHZ_MIN 0
#define GPS_DBHZ_MAX 55


void gpsThread(void);
bool gpsNewFrame(uint8_t c);
void updateGpsIndicator(uint32_t currentTime);