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| /*! \file gps.h \brief GPS position storage and processing library. */ |
| //***************************************************************************** |
| // |
| // File Name : 'gps.h' |
| // Title : GPS position storage and processing function library |
| // Author : Pascal Stang - Copyright (C) 2002 |
| // Created : 2002.08.29 |
| // Revised : 2002.08.29 |
| // Version : 0.1 |
| // Target MCU : Atmel AVR Series |
| // Editor Tabs : 4 |
| // |
| // NOTE: This code is currently below version 1.0, and therefore is considered |
| // to be lacking in some functionality or documentation, or may not be fully |
| // tested. Nonetheless, you can expect most functions to work. |
| // |
| /// \ingroup driver_hw |
| /// \defgroup gps GPS Positioning and Navigation Function Library (gps.c) |
| /// \code #include "gps.h" \endcode |
| /// \par Overview |
| /// This library provides a generic way to store and process information |
| /// received from a GPS receiver. Currently the library only stores the most |
| /// recent set of GPS data (position, velocity, time) from a GPS receiver. |
| /// Future revisions will include navigation functions like calculate |
| /// heading/distance to a waypoint. The processing of incoming serial data |
| /// packets from GPS hardware is not done in this library. The libraries |
| /// tsip.c and nmea.c do the packet processing for Trimble Standard Interface |
| /// Protocol and NMEA-0813 repectively, and store the results in this library. |
| // |
| // This code is distributed under the GNU Public License |
| // which can be found at http://www.gnu.org/licenses/gpl.txt |
| // |
| //***************************************************************************** |
| |
| #ifndef GPS_H |
| #define GPS_H |
| |
| #include "global.h" |
| |
| // constants/macros/typdefs |
| typedef union union_float_u32 |
| { |
| float f; |
| unsigned long i; |
| unsigned char b[4]; |
| } float_u32; |
| |
| typedef union union_double_u64 |
| { |
| double f; |
| unsigned long long i; |
| unsigned char b[8]; |
| } double_u64; |
| |
| struct PositionLLA |
| { |
| float_u32 lat; |
| float_u32 lon; |
| float_u32 alt; |
| float_u32 TimeOfFix; |
| u16 updates; |
| }; |
| |
| struct VelocityENU |
| { |
| float_u32 east; |
| float_u32 north; |
| float_u32 up; |
| float_u32 TimeOfFix; |
| u16 updates; |
| }; |
| |
| struct VelocityHS |
| { |
| float_u32 heading; |
| float_u32 speed; |
| float_u32 TimeOfFix; |
| u16 updates; |
| }; |
| |
| struct PositionECEF |
| { |
| float_u32 x; |
| float_u32 y; |
| float_u32 z; |
| float_u32 TimeOfFix; |
| u16 updates; |
| }; |
| |
| struct VelocityECEF |
| { |
| float_u32 x; |
| float_u32 y; |
| float_u32 z; |
| float_u32 TimeOfFix; |
| u16 updates; |
| }; |
| |
| typedef struct struct_GpsInfo |
| { |
| float_u32 TimeOfWeek; |
| u16 WeekNum; |
| float_u32 UtcOffset; |
| u08 numSVs; |
| |
| struct PositionLLA PosLLA; |
| struct PositionECEF PosECEF; |
| struct VelocityECEF VelECEF; |
| struct VelocityENU VelENU; |
| struct VelocityHS VelHS; |
| |
| } GpsInfoType; |
| |
| // functions |
| void gpsInit(void); |
| GpsInfoType* gpsGetInfo(void); |
| void gpsInfoPrint(void); |
| |
| #endif |