#include <gps_helper.h>

Inheritance diagram for GPSHelper:

Collaboration diagram for GPSHelper:

Public Types
enum	OutputMode : uint8_t { OutputMode::GPS = 0, OutputMode::RTCM }

enum	Interface : uint8_t { Interface::UART = 0, Interface::SPI }

Public Member Functions
	GPSHelper (GPSCallbackPtr callback, void *callback_user)

virtual	~GPSHelper ()=default

virtual int	configure (unsigned &baud, OutputMode output_mode)=0
	configure the device More...

virtual int	receive (unsigned timeout)=0
	receive & handle new data from the device More...

virtual int	reset (GPSRestartType restart_type)
	Reset GPS device. More...

float	getPositionUpdateRate ()

float	getVelocityUpdateRate ()

void	resetUpdateRates ()

void	storeUpdateRates ()

Protected Member Functions
int	read (uint8_t *buf, int buf_length, int timeout)
	read from device More...

int	write (const void *buf, int buf_length)
	write to the device More...

int	setBaudrate (int baudrate)
	set the Baudrate More...

void	surveyInStatus (SurveyInStatus &status)

void	gotRTCMMessage (uint8_t *buf, int buf_length)
	got an RTCM message from the device More...

void	setClock (timespec &t)

Static Protected Member Functions
static void	ECEF2lla (double ecef_x, double ecef_y, double ecef_z, double &latitude, double &longitude, float &altitude)
	Convert an ECEF (Earth Centered Earth Fixed) coordinate to LLA WGS84 (Lat, Lon, Alt). More...

Protected Attributes
GPSCallbackPtr	_callback {nullptr}

void *	_callback_user {}

uint8_t	_rate_count_lat_lon {}

uint8_t	_rate_count_vel {}

float	_rate_lat_lon {0.0f}

float	_rate_vel {0.0f}

uint64_t	_interval_rate_start {0}

Detailed Description

Definition at line 147 of file gps_helper.h.

Member Enumeration Documentation

◆ Interface

enum GPSHelper::Interface : uint8_t

strong

Enumerator
UART
SPI

Definition at line 155 of file gps_helper.h.

◆ OutputMode

enum GPSHelper::OutputMode : uint8_t

strong

Enumerator
GPS	normal GPS output
RTCM	request RTCM output. This is used for (fixed position) base stations

Definition at line 150 of file gps_helper.h.

Constructor & Destructor Documentation

◆ GPSHelper()

GPSHelper::GPSHelper	(	GPSCallbackPtr	callback,
		void *	callback_user
	)

Definition at line 49 of file gps_helper.cpp.

◆ ~GPSHelper()

virtual GPSHelper::~GPSHelper ( )

virtualdefault

Member Function Documentation

◆ configure()

virtual int GPSHelper::configure	(	unsigned &	baud,
		OutputMode	output_mode
	)

pure virtual

configure the device

Parameters

baud	Input and output parameter: if set to 0, the baudrate will be automatically detected and set to the detected baudrate. If not 0, a fixed baudrate is used.

Returns: 0 on success, <0 otherwise

Implemented in GPSDriverUBX, GPSDriverEmlidReach, GPSDriverMTK, and GPSDriverAshtech.

Referenced by GPS::run().

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◆ ECEF2lla()

void GPSHelper::ECEF2lla	(	double	ecef_x,
		double	ecef_y,
		double	ecef_z,
		double &	latitude,
		double &	longitude,
		float &	altitude
	)

staticprotected

Convert an ECEF (Earth Centered Earth Fixed) coordinate to LLA WGS84 (Lat, Lon, Alt).

Ported from: https://stackoverflow.com/a/25428344

Parameters

ecef_x	ECEF X-coordinate [m]
ecef_y	ECEF Y-coordinate [m]
ecef_z	ECEF Z-coordinate [m]
latitude	[deg]
longitude	[deg]
altitude	[m]

Definition at line 69 of file gps_helper.cpp.

References matrix::atan2(), matrix::cos(), M_PI, matrix::sin(), and matrix::sqrt().

Referenced by GPSDriverUBX::payloadRxDone().

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◆ getPositionUpdateRate()

float GPSHelper::getPositionUpdateRate ( )

inline

Definition at line 190 of file gps_helper.h.

Referenced by GPS::print_status().

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◆ getVelocityUpdateRate()

float GPSHelper::getVelocityUpdateRate ( )

inline

Definition at line 191 of file gps_helper.h.

Referenced by GPS::print_status().

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◆ gotRTCMMessage()

void GPSHelper::gotRTCMMessage	(	uint8_t *	buf,
		int	buf_length
	)

inlineprotected

got an RTCM message from the device

Definition at line 239 of file gps_helper.h.

References gotRTCMMessage.

Referenced by GPSDriverAshtech::parseChar(), GPSDriverSBF::parseChar(), and GPSDriverUBX::parseChar().

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◆ read()

int GPSHelper::read	(	uint8_t *	buf,
		int	buf_length,
		int	timeout
	)

inlineprotected

read from device

Parameters

buf	pointer to read buffer
buf_length	size of read buffer
timeout	timeout in ms

Returns: : 0 for nothing read, or poll timed out < 0 for error > 0 number of bytes read

Definition at line 206 of file gps_helper.h.

References readDeviceData.

Referenced by GPSDriverAshtech::receive(), GPSDriverMTK::receive(), GPSDriverEmlidReach::receive(), GPSDriverSBF::receive(), GPSDriverUBX::receive(), and GPSDriverSBF::sendMessageAndWaitForAck().

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◆ receive()

virtual int GPSHelper::receive ( unsigned timeout )

pure virtual

receive & handle new data from the device

Parameters

timeout [ms]

Returns: <0 on error, otherwise a bitset: bit 0 set: got gps position update bit 1 set: got satellite info update

Implemented in GPSDriverUBX, GPSDriverSBF, GPSDriverEmlidReach, GPSDriverMTK, and GPSDriverAshtech.

Referenced by GPS::run().

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◆ reset()

virtual int GPSHelper::reset ( GPSRestartType restart_type )

inlinevirtual

Reset GPS device.

Parameters

restart_type

Returns: <0 failure -1 not implemented 0 success

Reimplemented in GPSDriverUBX, and GPSDriverSBF.

Definition at line 188 of file gps_helper.h.

Referenced by GPS::reset_if_scheduled().

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◆ resetUpdateRates()

void GPSHelper::resetUpdateRates ( )

Definition at line 55 of file gps_helper.cpp.

References _interval_rate_start, _rate_count_lat_lon, _rate_count_vel, and gps_absolute_time.

Referenced by GPS::run().

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◆ setBaudrate()

int GPSHelper::setBaudrate ( int baudrate )

inlineprotected

set the Baudrate

Parameters

baudrate

Returns: 0 on success, <0 otherwise

Definition at line 228 of file gps_helper.h.

References setBaudrate.

Referenced by GPSDriverAshtech::configure(), GPSDriverMTK::configure(), GPSDriverEmlidReach::configure(), GPSDriverSBF::configure(), and GPSDriverUBX::configure().

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◆ setClock()

void GPSHelper::setClock ( timespec & t )

inlineprotected

Definition at line 244 of file gps_helper.h.

References setClock.

Referenced by GPSDriverAshtech::handleMessage(), GPSDriverMTK::handleMessage(), GPSDriverSBF::payloadRxDone(), and GPSDriverUBX::payloadRxDone().

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◆ storeUpdateRates()

void GPSHelper::storeUpdateRates ( )

Definition at line 63 of file gps_helper.cpp.

References _interval_rate_start, _rate_count_lat_lon, _rate_count_vel, _rate_lat_lon, _rate_vel, and gps_absolute_time.

Referenced by GPS::run().

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◆ surveyInStatus()

void GPSHelper::surveyInStatus ( SurveyInStatus & status )

inlineprotected

Definition at line 233 of file gps_helper.h.

References surveyInStatus.

Referenced by GPSDriverAshtech::configure(), GPSDriverUBX::payloadRxDone(), and GPSDriverAshtech::sendSurveyInStatusUpdate().

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◆ write()

int GPSHelper::write	(	const void *	buf,
		int	buf_length
	)

inlineprotected

write to the device

Parameters

buf
buf_length

Returns: num written bytes, -1 on error

Definition at line 218 of file gps_helper.h.

References writeDeviceData.

Referenced by GPSDriverAshtech::activateCorrectionOutput(), GPSDriverAshtech::configure(), GPSDriverMTK::configure(), GPSDriverSBF::sendMessage(), GPSDriverUBX::sendMessage(), GPSDriverSBF::sendMessageAndWaitForAck(), and GPSDriverAshtech::writeAckedCommand().

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Member Data Documentation

◆ _callback

GPSCallbackPtr GPSHelper::_callback {nullptr}

protected

Definition at line 261 of file gps_helper.h.

◆ _callback_user

void* GPSHelper::_callback_user {}

protected

Definition at line 262 of file gps_helper.h.

◆ _interval_rate_start

uint64_t GPSHelper::_interval_rate_start {0}

protected

Definition at line 270 of file gps_helper.h.

Referenced by resetUpdateRates(), and storeUpdateRates().

◆ _rate_count_lat_lon

uint8_t GPSHelper::_rate_count_lat_lon {}

protected

Definition at line 264 of file gps_helper.h.

Referenced by GPSDriverEmlidReach::handleErbSentence(), GPSDriverAshtech::handleMessage(), GPSDriverMTK::handleMessage(), GPSDriverSBF::payloadRxDone(), GPSDriverUBX::payloadRxDone(), resetUpdateRates(), and storeUpdateRates().

◆ _rate_count_vel

uint8_t GPSHelper::_rate_count_vel {}

protected

Definition at line 265 of file gps_helper.h.

Referenced by GPSDriverEmlidReach::handleErbSentence(), GPSDriverAshtech::handleMessage(), GPSDriverMTK::handleMessage(), GPSDriverSBF::payloadRxDone(), GPSDriverUBX::payloadRxDone(), resetUpdateRates(), and storeUpdateRates().

◆ _rate_lat_lon

float GPSHelper::_rate_lat_lon {0.0f}

protected

Definition at line 267 of file gps_helper.h.

Referenced by storeUpdateRates().

◆ _rate_vel

float GPSHelper::_rate_vel {0.0f}

protected

Definition at line 268 of file gps_helper.h.

Referenced by storeUpdateRates().

The documentation for this class was generated from the following files:

src/drivers/gps/devices/src/gps_helper.h
src/drivers/gps/devices/src/gps_helper.cpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ Interface

◆ OutputMode

Constructor & Destructor Documentation

◆ GPSHelper()

◆ ~GPSHelper()

Member Function Documentation

◆ configure()

◆ ECEF2lla()

◆ getPositionUpdateRate()

◆ getVelocityUpdateRate()

◆ gotRTCMMessage()

◆ read()

◆ receive()

◆ reset()

◆ resetUpdateRates()

◆ setBaudrate()

◆ setClock()

◆ storeUpdateRates()

◆ surveyInStatus()

◆ write()

Member Data Documentation

◆ _callback

◆ _callback_user

◆ _interval_rate_start

◆ _rate_count_lat_lon

◆ _rate_count_vel

◆ _rate_lat_lon

◆ _rate_vel