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<h1>gps.h</h1><a href="gps_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment">00001 <span class="comment">/*! \file gps.h \brief GPS position storage and processing library. */</span>
00002 <span class="comment">//*****************************************************************************</span>
00003 <span class="comment">//</span>
00004 <span class="comment">// File Name : 'gps.h'</span>
00005 <span class="comment">// Title : GPS position storage and processing function library</span>
00006 <span class="comment">// Author : Pascal Stang - Copyright (C) 2002</span>
00007 <span class="comment">// Created : 2002.08.29</span>
00008 <span class="comment">// Revised : 2002.08.29</span>
00009 <span class="comment">// Version : 0.1</span>
00010 <span class="comment">// Target MCU : Atmel AVR Series</span>
00011 <span class="comment">// Editor Tabs : 4</span>
00012 <span class="comment">//</span>
00013 <span class="comment">// NOTE: This code is currently below version 1.0, and therefore is considered</span>
00014 <span class="comment">// to be lacking in some functionality or documentation, or may not be fully</span>
00015 <span class="comment">// tested. Nonetheless, you can expect most functions to work.</span>
00016 <span class="comment">//</span><span class="comment"></span>
00017 <span class="comment">/// \ingroup driver_hw</span>
00018 <span class="comment">/// \defgroup gps GPS Positioning and Navigation Function Library (gps.c)</span>
00019 <span class="comment">/// \code #include "gps.h" \endcode</span>
00020 <span class="comment">/// \par Overview</span>
00021 <span class="comment">/// This library provides a generic way to store and process information</span>
00022 <span class="comment">/// received from a GPS receiver. Currently the library only stores the most</span>
00023 <span class="comment">/// recent set of GPS data (position, velocity, time) from a GPS receiver.</span>
00024 <span class="comment">/// Future revisions will include navigation functions like calculate</span>
00025 <span class="comment">/// heading/distance to a waypoint. The processing of incoming serial data</span>
00026 <span class="comment">/// packets from GPS hardware is not done in this library. The libraries</span>
00027 <span class="comment">/// tsip.c and nmea.c do the packet processing for Trimble Standard Interface</span>
00028 <span class="comment">/// Protocol and NMEA-0813 repectively, and store the results in this library.</span>
00029 <span class="comment"></span><span class="comment">//</span>
00030 <span class="comment">// This code is distributed under the GNU Public License</span>
00031 <span class="comment">// which can be found at http://www.gnu.org/licenses/gpl.txt</span>
00032 <span class="comment">//</span>
00033 <span class="comment">//*****************************************************************************</span>
00034
00035 <span class="preprocessor">#ifndef GPS_H</span>
00036 <span class="preprocessor"></span><span class="preprocessor">#define GPS_H</span>
00037 <span class="preprocessor"></span>
00038 <span class="preprocessor">#include "<a class="code" href="global_8h.html">global.h</a>"</span>
00039
00040 <span class="comment">// constants/macros/typdefs</span>
00041 <span class="keyword">typedef</span> <span class="keyword">union </span>union_float_u32
00042 {
00043 <span class="keywordtype">float</span> f;
00044 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> i;
00045 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b[4];
00046 } float_u32;
00047
00048 <span class="keyword">typedef</span> <span class="keyword">union </span>union_double_u64
00049 {
00050 <span class="keywordtype">double</span> f;
00051 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">long</span> i;
00052 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b[8];
00053 } double_u64;
00054
00055 <span class="keyword">struct </span>PositionLLA
00056 {
00057 float_u32 lat;
00058 float_u32 lon;
00059 float_u32 alt;
00060 float_u32 TimeOfFix;
00061 u16 updates;
00062 };
00063
00064 <span class="keyword">struct </span>VelocityENU
00065 {
00066 float_u32 east;
00067 float_u32 north;
00068 float_u32 up;
00069 float_u32 TimeOfFix;
00070 u16 updates;
00071 };
00072
00073 <span class="keyword">struct </span>VelocityHS
00074 {
00075 float_u32 heading;
00076 float_u32 speed;
00077 float_u32 TimeOfFix;
00078 u16 updates;
00079 };
00080
00081 <span class="keyword">struct </span>PositionECEF
00082 {
00083 float_u32 x;
00084 float_u32 y;
00085 float_u32 z;
00086 float_u32 TimeOfFix;
00087 u16 updates;
00088 };
00089
00090 <span class="keyword">struct </span>VelocityECEF
00091 {
00092 float_u32 x;
00093 float_u32 y;
00094 float_u32 z;
00095 float_u32 TimeOfFix;
00096 u16 updates;
00097 };
00098
00099 <span class="keyword">typedef</span> <span class="keyword">struct </span>struct_GpsInfo
00100 {
00101 float_u32 TimeOfWeek;
00102 u16 WeekNum;
00103 float_u32 UtcOffset;
00104 u08 numSVs;
00105
00106 <span class="keyword">struct </span>PositionLLA PosLLA;
00107 <span class="keyword">struct </span>PositionECEF PosECEF;
00108 <span class="keyword">struct </span>VelocityECEF VelECEF;
00109 <span class="keyword">struct </span>VelocityENU VelENU;
00110 <span class="keyword">struct </span>VelocityHS VelHS;
00111
00112 } GpsInfoType;
00113
00114 <span class="comment">// functions</span>
00115 <span class="keywordtype">void</span> gpsInit(<span class="keywordtype">void</span>);
00116 GpsInfoType* gpsGetInfo(<span class="keywordtype">void</span>);
00117 <span class="keywordtype">void</span> gpsInfoPrint(<span class="keywordtype">void</span>);
00118
00119 <span class="preprocessor">#endif</span>
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