GNSS.h

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/*
 *  GNSS.h - GNSS include file for the Spresense SDK
 *  Copyright 2018, 2023 Sony Semiconductor Solutions Corporation
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library 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
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef Gnss_h
#define Gnss_h
 
#include <Stream.h>
#include <GNSSPositionData.h>
 
enum SpFixMode {
    FixInvalid = 1,
    Fix2D,
    Fix3D
};
 
enum SpStartMode {
    COLD_START, 
    WARM_START, 
    HOT_START   
};
 
enum SpPrintLevel {
    PrintNone = 0,
    PrintError,
    PrintWarning,
    PrintInfo,
};
 
enum SpPvtType {
    SpPvtTypeNone = 0, 
    SpPvtTypeGnss,     
    SpPvtTypeReserv,   
    SpPvtTypeUsers     
};
 
enum SpSatelliteType {
    GPS       = (1U << 0),
    GLONASS   = (1U << 1),
    SBAS      = (1U << 2),
    QZ_L1CA   = (1U << 3),
    QZ_L1S    = (1U << 5),
    BEIDOU    = (1U << 6),
    GALILEO   = (1U << 7),
    UNKNOWN   = 0,
};
 
enum SpIntervalFreq {
    SpInterval_10Hz = 100,
    SpInterval_8Hz  = 125,
    SpInterval_5Hz  = 200,
    SpInterval_4Hz  = 250,
    SpInterval_2Hz  = 500,
    SpInterval_1Hz  = 1000,
};
 
class SpGnssTime {
public:
  unsigned short year;  
  unsigned char month;  
  unsigned char day;    
  unsigned char hour;   
  unsigned char minute; 
  unsigned char sec;    
  unsigned long usec;   
};
 
class SpSatellite {
public:
  unsigned short type;      
  unsigned char  svid;      
  unsigned char  elevation; 
  signed short   azimuth;   
  float sigLevel;           
};
 
class SpNavData {
public:
    SpGnssTime time;    
    unsigned char type;           
    unsigned char numSatellites;  
    unsigned char posFixMode;     
    unsigned char posDataExist;   
    unsigned char numSatellitesCalcPos; 
    unsigned short satelliteType;       
    unsigned short posSatelliteType;    
    double  latitude;   
    double  longitude;  
    double  altitude;   
    float   velocity;   
    float   direction;  
    float   pdop;       
    float   hdop;       
    float   vdop;       
    float   tdop;       
    SpSatellite satellite[24];  
    int isSatelliteType(unsigned long index, SpSatelliteType sattype);
 
    int isSatelliteTypeGps(unsigned long index) { return isSatelliteType(index, GPS); }
 
    int isSatelliteTypeGlonass(unsigned long index) { return isSatelliteType(index, GLONASS); }
 
    SpSatelliteType getSatelliteType(unsigned long index);
 
    unsigned char getSatelliteId(unsigned long index);
 
    unsigned char getSatelliteElevation(unsigned long index);
 
    signed short getSatelliteAzimuth(unsigned long index);
 
    float getSatelliteSignalLevel(unsigned long index);
};
 
class SpGnss
{
public:
    friend SpNavData;
 
    SpGnss();
 
    ~SpGnss();
 
    int begin(void);
 
    int begin(Stream& debugOut) { DebugOut = debugOut; return begin(); }
 
    int end(void);
 
    int start(SpStartMode mode = HOT_START);
 
    int stop(void);
 
    int isUpdate(void);
 
    int waitUpdate(long timeout = -1);
 
    void getNavData(SpNavData *navData);
 
    /*
     * Get position data size.
     */
    unsigned long getPositionDataSize(void);
 
    /*
     * Get position data.
     */
    unsigned long getPositionData(char *pBinaryBuffer);
    unsigned long getPositionData(GnssPositionData *pData);
#ifdef CONFIG_CXD56_GNSS_ADDON
    unsigned long getPositionData(GnssPositionData2 *pData);
#endif
 
    int setPosition(double latitude, double longitude, double altitude = 0);
 
    int setTime(SpGnssTime *time);
 
    int setInterval(long interval = 1);
 
    int setInterval(SpIntervalFreq interval);
 
    int isSelecting(SpSatelliteType sattype);
 
    int select(SpSatelliteType sattype);
 
    int deselect(SpSatelliteType sattype);
 
    int isGps(void) { return isSelecting(GPS); }
 
    int useGps(void) { return select(GPS); }
 
    int unuseGps(void) { return deselect(GPS); }
 
    int isGlonass(void) { return isSelecting(GLONASS); }
 
    int useGlonass(void) { return select(GLONASS); }
 
    int unuseGlonass(void) { return deselect(GLONASS); }
 
    void setDebugMode(SpPrintLevel level);
 
    int saveEphemeris(void);
 
    int removeEphemeris(void);
 
    void* getDCReport(void);
 
    void start1PPS(void);
 
    void stop1PPS(void);
 
protected:
    int fd_;                          /* file descriptor */
    unsigned long SatelliteSystem;    /* satellite type */
    SpNavData NavData;                /* copy pos data */
 
    unsigned long inquireSatelliteType(void);
 
    /* Debug Print */
    static Stream& DebugOut;
    static SpPrintLevel DebugPrintLevel;
    inline static void printMessage(SpPrintLevel level, const char* str)
    {
        if (level <= DebugPrintLevel)
            DebugOut.print(str);
    }
};
 
#ifdef CONFIG_CXD56_GNSS_ADDON
class SpGnssAddon : public SpGnss {
public:
    int begin(void);
    int begin(Stream& debugOut) { DebugOut = debugOut; return begin(); }
};
#endif
 
#endif // Gnss_h