gps.h

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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

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