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