kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
74 wiersze
3.0 KiB
C
74 wiersze
3.0 KiB
C
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#include "hal.h"
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#include "timesync.h"
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#include "ogn.h"
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#include "lowpass2.h"
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#include "flight.h"
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// extern uint8_t GPS_PowerMode; // 0=shutdown, 1=reduced, 2=normal
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#ifdef WITH_ESP32
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const uint8_t GPS_PosPipeSize = 16; // number of GPS positions held in a pipe
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#else
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const uint8_t GPS_PosPipeSize = 4; // number of GPS positions held in a pipe
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#endif
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extern uint8_t GPS_PosIdx; // Pipe index, increments with every GPS position received
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extern GPS_Position GPS_Pos[GPS_PosPipeSize]; // GPS position pipe
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extern GPS_Time GPS_DateTime; // Time and date from the GPS
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extern int32_t GPS_Altitude; // [0.1m] altitude (height above Geoid)
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extern int32_t GPS_Latitude; // [0.0001/60 deg]
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extern int32_t GPS_Longitude; // [0.0001/60 deg]
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extern int16_t GPS_GeoidSepar; // [0.1m]
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extern uint16_t GPS_LatCosine; // [1.0/(1<<12)] Latitude Cosine for distance calculations
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extern uint32_t GPS_TimeSinceLock; // [sec] time since GPS has a valid lock
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extern uint32_t GPS_Random; // random number produced from the GPS data
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extern uint16_t GPS_PosPeriod; // [msec] how often (which period) the GPS/MAV is sending the positions
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extern uint16_t GPS_SatSNR; // [0.25dB] average SNR for satellites being tracked
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extern uint8_t GPS_SatCnt; // [0.25dB] number of satellites being tracked
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typedef union
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{ uint8_t Flags;
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struct
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{ bool NMEA:1; // got at least one valid NMEA message
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bool UBX:1; // got at least one valid UBX message
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bool MAV:1; // got at least one valid MAV message
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bool PPS:1; // got at least one PPS signal
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bool BaudConfig:1; // baudrate is configured
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bool ModeConfig:1; // navigation mode is configured
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bool RateConfig:1; // navigation rate is configured
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bool :1; //
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} ;
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} Status; //
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extern Status GPS_Status; // GPS status bits
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uint32_t GPS_getBaudRate(void); // [bps]
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GPS_Position *GPS_getPosition(void);
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GPS_Position *GPS_getPosition(int8_t Sec); // return GPS position for given Sec
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GPS_Position *GPS_getPosition(uint8_t &BestIdx, int16_t &BestRes, int8_t Sec, int16_t Frac, bool Ready=1); // return GPS position closest to the given Sec.Frac
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int16_t GPS_AverageSpeed(void); // [0.1m/s] calc. average speed based on most recent GPS positions
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#ifdef WITH_MAVLINK
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extern uint16_t MAVLINK_BattVolt; // [mV]
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extern uint16_t MAVLINK_BattCurr; // [10mA]
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extern uint8_t MAVLINK_BattCap; // [%]
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#endif
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extern EventGroupHandle_t GPS_Event;
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const EventBits_t GPSevt_PPS = 0x01;
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const EventBits_t GPSevt_NewPos = 0x02;
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extern FlightMonitor Flight; // detect/monitor takeoff/flight/landing
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#ifdef __cplusplus
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extern "C"
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#endif
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void vTaskGPS(void* pvParameters);
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