GPS.h

Go to the documentation of this file.

 
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2016-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
//
// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
// property and proprietary rights in and to this material, related
// documentation and any modifications thereto. Any use, reproduction,
// disclosure or distribution of this material and related documentation
// without an express license agreement from NVIDIA CORPORATION or
// its affiliates is strictly prohibited.
//
 
#ifndef DW_SENSORS_GPS_GPS_H_
#define DW_SENSORS_GPS_GPS_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
 
#include <dw/sensors/Sensors.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum dwGPSFlags {
    DW_GPS_LAT    = 1 << 0,  
    DW_GPS_LON    = 1 << 1,  
    DW_GPS_ALT    = 1 << 2,  
    DW_GPS_COURSE = 1 << 3,  
    DW_GPS_SPEED  = 1 << 4,  
    DW_GPS_CLIMB  = 1 << 5,  
    DW_GPS_HDOP   = 1 << 6,  
    DW_GPS_VDOP   = 1 << 7,  
    DW_GPS_HACC   = 1 << 8,  
    DW_GPS_VACC   = 1 << 9,  
    DW_GPS_MODE   = 1 << 10, 
} dwGPSFlags;
 
typedef enum dwGPSMode {
    DW_GPS_MODE_UNKNOWN = 0,
    DW_GPS_MODE_INVALID_GPS = 1,
    DW_GPS_MODE_DEAD_RECKONING = 2,
    DW_GPS_MODE_STAND_ALONE = 3,
    DW_GPS_MODE_PRECISE_POINT = 4,
    DW_GPS_MODE_CODE_DIFFERENTIAL = 5,
    DW_GPS_MODE_RTK_FLOAT = 6,
    DW_GPS_MODE_RTK_FIXED = 7,
    DW_GPS_MODE_PPP_CONVERGING = 8,
    DW_GPS_MODE_PPP_CONVERGED = 9,
    DW_GPS_MODE_FORCE32       = 0x7FFFFFFF
} dwGPSMode;
 
typedef struct dwGPSFrame
{
    dwTime_t timestamp_us;
 
    float64_t latitude;
 
    float64_t longitude;
 
    float64_t altitude;
 
    float64_t course;
 
    float64_t speed;
 
    float64_t climb;
 
    char utcTime[16];
 
    char utcDate[16];
 
    float64_t hdop;
 
    float64_t vdop;
 
    float64_t hacc;
 
    float64_t vacc;
 
    uint32_t flags;
 
    dwGPSMode gpsMode;
} dwGPSFrame;
 
typedef enum dwGPSFixStatus {
    DW_GPS_FIX_STATUS_NO_FIX = 0,
    DW_GPS_FIX_STATUS_2D_FIX = 1,
    DW_GPS_FIX_STATUS_3D_FIX  = 2,
    DW_GPS_FIX_STATUS_FORCE32 = 0x7FFFFFFF
} dwGPSFixStatus;
 
typedef enum dwGPSTimestampQuality {
    DW_GPS_TIMESTAMP_QUALITY_NOT_INIT = 0,
    DW_GPS_TIMESTAMP_QUALITY_OK = 1,
    DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST = 2,
    DW_GPS_TIMESTAMP_QUALITY_FORCE32   = 0x7FFFFFFF
} dwGPSTimestampQuality;
 
typedef struct dwGPSFrameNew
{
    struct
    {
        dwSignalValidity timestamp_us;
        dwSignalValidity latitude;
        dwSignalValidity longitude;
        dwSignalValidity altitude;
        dwSignalValidity course;
        dwSignalValidity speed;
        dwSignalValidity climb;
        dwSignalValidity hdop;
        dwSignalValidity vdop;
        dwSignalValidity pdop;
        dwSignalValidity hacc;
        dwSignalValidity vacc;
        dwSignalValidity utcTime;
        dwSignalValidity satelliteCount;
        dwSignalValidity fixStatus;
        dwSignalValidity timestampQuality;
        dwSignalValidity gpsMode;
        dwSignalValidity reserved[63];
    } validityInfo;
 
    dwTime_t timestamp_us;
 
    float64_t latitude;
 
    float64_t longitude;
 
    float64_t altitude;
 
    float64_t course;
 
    float64_t speed;
 
    float64_t climb;
 
    float64_t hdop;
 
    float64_t vdop;
 
    float64_t pdop;
 
    float64_t hacc;
 
    float64_t vacc;
 
    dwTime_t utcTime;
 
    uint8_t satelliteCount;
 
    dwGPSFixStatus fixStatus;
 
    dwGPSTimestampQuality timestampQuality;
 
    dwGPSMode gpsMode;
 
    uint8_t reserved[508];
} dwGPSFrameNew;
 
DW_API_PUBLIC
dwStatus dwSensorGPS_readFrame(dwGPSFrame* const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorGPS_processRawData(uint8_t const* const data, size_t const size, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorGPS_popFrame(dwGPSFrame* const frame, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorGPS_readFrameNew(dwGPSFrameNew* const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorGPS_processRawDataNew(uint8_t const* const data, size_t const size, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorGPS_popFrameNew(dwGPSFrameNew* const frame, dwSensorHandle_t const sensor);
 
#ifdef __cplusplus
}
#endif
#endif // DW_SENSORS_GPS_GPS_H_