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//
// Copyright 2010-2011 Ettus Research LLC
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
#ifndef INCLUDED_GPS_CTRL_HPP
#define INCLUDED_GPS_CTRL_HPP
#include <uhd/types/serial.hpp>
#include <uhd/types/sensors.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/utility.hpp>
#include <boost/function.hpp>
#include <vector>
namespace uhd{
class UHD_API gps_ctrl : boost::noncopyable{
public:
typedef boost::shared_ptr<gps_ctrl> sptr;
/*!
* Make a GPS config for internal GPSDOs or generic NMEA GPS devices
*/
static sptr make(uart_iface::sptr uart);
/*!
* Retrieve the list of sensors this GPS object provides
*/
virtual std::vector<std::string> get_sensors(void) = 0;
/*!
* Retrieve the named sensor
*/
virtual uhd::sensor_value_t get_sensor(std::string key) = 0;
/*!
* Tell you if there's a supported GPS connected or not
* \return true if a supported GPS is connected
*/
virtual bool gps_detected(void) = 0;
/*!
* Tell if the GPSDO is a LEA-M8F
* \return true if the LEA-M8F has been detected
*/
virtual bool gps_detected_lea_m8f(void) = 0;
//TODO: other fun things you can do with a GPS.
};
/*! The UBX-NAV-SOL message structure from the
* u-blox UBX protocol
*/
struct ubx_nav_sol_t
{
uint32_t itow; // ms GPS Millisecond Time of Week
int32_t frac; // ns remainder of rounded ms above
int16_t week; // GPS week
uint8_t GPSfix; // GPSfix Type, range 0..6
uint8_t Flags; // Navigation Status Flags
int32_t ECEF_X; // cm ECEF X coordinate
int32_t ECEF_Y; // cm ECEF Y coordinate
int32_t ECEF_Z; // cm ECEF Z coordinate
int32_t PAcc; // cm 3D Position Accuracy Estimate
int32_t ECEFVX; // cm/s ECEF X velocity
int32_t ECEFVY; // cm/s ECEF Y velocity
int32_t ECEFVZ; // cm/s ECEF Z velocity
uint32_t SAcc; // cm/s Speed Accuracy Estimate
uint16_t PDOP; // 0.01 Position DOP
uint8_t res1; // reserved
uint8_t numSV; // Number of SVs used in navigation solution
uint32_t res2; // reserved
} __attribute__((packed));
} //namespace uhd
#endif /* INCLUDED_GPS_CTRL_HPP */
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