forked from iNavFlight/inav
-
Notifications
You must be signed in to change notification settings - Fork 0
/
gps_private.h
executable file
·70 lines (55 loc) · 2.14 KB
/
gps_private.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
/*
* 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
#ifdef GPS
#include "io/serial.h"
#define GPS_HDOP_TO_EPH_MULTIPLIER 2 // empirical value
typedef enum {
GPS_UNKNOWN, // 0
GPS_INITIALIZING, // 1
GPS_CHANGE_BAUD, // 2
GPS_CHECK_VERSION, // 3
GPS_CONFIGURE, // 4
GPS_RECEIVING_DATA, // 5
GPS_LOST_COMMUNICATION, // 6
} gpsState_e;
typedef struct {
const gpsConfig_t * gpsConfig;
const serialConfig_t * serialConfig;
serialPort_t * gpsPort; // Serial GPS only
uint32_t hwVersion;
gpsState_e state;
gpsBaudRate_e baudrateIndex;
gpsBaudRate_e autoBaudrateIndex; // Driver internal use (for autoBaud)
uint8_t autoConfigStep; // Driver internal use (for autoConfig)
uint8_t autoConfigPosition; // Driver internal use (for autoConfig)
uint32_t lastStateSwitchMs;
uint32_t lastLastMessageMs;
uint32_t lastMessageMs;
} gpsReceiverData_t;
extern gpsReceiverData_t gpsState;
extern baudRate_e gpsToSerialBaudRate[GPS_BAUDRATE_COUNT];
extern void gpsSetState(gpsState_e state);
extern void gpsFinalizeChangeBaud(void);
extern uint16_t gpsConstrainEPE(uint32_t epe);
extern uint16_t gpsConstrainHDOP(uint32_t hdop);
extern bool gpsHandleNMEA(void);
extern bool gpsHandleUBLOX(void);
extern bool gpsHandleI2CNAV(void);
extern bool gpsDetectI2CNAV(void);
extern bool gpsHandleNAZA(void);
#endif