GPS Sensor

Detailed Description

Defines the GPS sensor.

Data Structures
struct	dwGPSFrame
	A GPS packet containing localization information. More...
struct	dwGPSFrameNew
	This structure contains one frame of data from an GPS/GNSS sensor. More...
struct	dwGPSFrameNew.validityInfo

Enumerations
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 }
	GPS satellite fix status. More...
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 }
	Each flag shows if that value is valid in this GPS frame. More...
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 }
	The GPS mode gives the status of the GNSS data. More...
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 }

Functions
DW_API_PUBLIC dwStatus	dwSensorGPS_popFrame (dwGPSFrame *const frame, dwSensorHandle_t const sensor)
	Returns any GPS frame previously processed through RAW data stream. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_popFrameNew (dwGPSFrameNew *const frame, dwSensorHandle_t const sensor)
	Returns any GPS frame New previously processed through RAW data stream. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_processRawData (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_processRawDataNew (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_readFrame (dwGPSFrame *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next GPS packet with a given timeout. More...
DW_API_PUBLIC dwStatus	dwSensorGPS_readFrameNew (dwGPSFrameNew *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next GPS packet with a given timeout. More...

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Data Structure Documentation

dwGPSFrame

struct dwGPSFrame

Data Fields
float64_t	altitude	Altitude over WGS84 ellipsoid [m].
float64_t	climb	Vertical speed [m/s].
float64_t	course	Course relative to true north [degree].
uint32_t	flags	The flags to show which values are valid in this GPS frame.
dwGPSMode	gpsMode	GPS mode.
float64_t	hacc	Horizontal accuracy [m].
float64_t	hdop	Horizontal dilution of precision (HDOP).
float64_t	latitude	Latitude [degree].
float64_t	longitude	Longitude [degree].
float64_t	speed	Horizontal speed [m/s].
dwTime_t	timestamp_us	Timestamp of the message when first received [usec].
char	utcDate[16]	UTC date as provided in the GPS package [ddmmyy] (null terminated).
char	utcTime[16]	UTC time as provided in the GPS package [hhmmss.sss] (null terminated).
float64_t	vacc	Vertical accuracy [m].
float64_t	vdop	Vertical dilution of precision (VDOP).

dwGPSFrameNew

struct dwGPSFrameNew

Data Fields
float64_t	altitude	Note ID VS-91040 description Altitude over WGS-84 ellipsoid. min nan max nan freq 4 unit m
float64_t	climb	Note ID VS-91070 description Vertical speed. min nan max nan freq 4 unit m/s
float64_t	course	Note ID VS-91050 description Course relative to true north. min nan max nan freq 4 unit deg
dwGPSFixStatus	fixStatus	Note ID VS-91150 description 2D or 3D fix. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_FIX_STATUS_NO_FIX, DW_GPS_FIX_STATUS_2D_FIX, DW_GPS_FIX_STATUS_3D_FIX }
dwGPSMode	gpsMode	GPS mode.
float64_t	hacc	Note ID VS-91110 description Horizontal Accuracy of Solution. min nan max nan freq 4 unit m
float64_t	hdop	Note ID VS-91080 description Horizontal Dilution of Precision. min nan max nan freq 4 unit unitless
float64_t	latitude	Note ID VS-91020 description Latitude in WGS-84. min nan max nan freq 4 unit deg
float64_t	longitude	Note ID VS-91030 description Longitude in WGS-84. min nan max nan freq 4 unit deg
float64_t	pdop	Note ID VS-91100 description Position Dilution of Precision. min nan max nan freq 4 unit unitless
uint8_t	reserved[508]
uint8_t	satelliteCount	Note ID VS-91140 description Number of satellites in view. TODO: Backend not yet implemented min nan max nan freq 4 unit unitless
float64_t	speed	Note ID VS-91060 description Horizontal speed. min nan max nan freq 4 unit m/s
dwTime_t	timestamp_us	Note ID VS-91010 description Timestamp of the message when first received. min nan max nan freq 4 unit us
dwGPSTimestampQuality	timestampQuality	Note ID VS-91170 description GNSS Timestamp Quality. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_TIMESTAMP_QUALITY_NOT_INIT, DW_GPS_TIMESTAMP_QUALITY_OK, DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST, }
dwTime_t	utcTime	Note ID VS-91130 description UTC time. min nan max nan freq 4 unit us
float64_t	vacc	Note ID VS-91120 description Vertical Accuracy of Solution. min nan max nan freq 4 unit m
struct dwGPSFrameNew.validityInfo	validityInfo
float64_t	vdop	Note ID VS-91090 description Vertical Dilution of Precision. min nan max nan freq 4 unit unitless

dwGPSFrameNew.validityInfo

struct dwGPSFrameNew.validityInfo

Data Fields
dwSignalValidity	altitude
dwSignalValidity	climb
dwSignalValidity	course
dwSignalValidity	fixStatus
dwSignalValidity	gpsMode
dwSignalValidity	hacc
dwSignalValidity	hdop
dwSignalValidity	latitude
dwSignalValidity	longitude
dwSignalValidity	pdop
dwSignalValidity	reserved[63]
dwSignalValidity	satelliteCount
dwSignalValidity	speed
dwSignalValidity	timestamp_us
dwSignalValidity	timestampQuality
dwSignalValidity	utcTime
dwSignalValidity	vacc
dwSignalValidity	vdop

Enumeration Type Documentation

dwGPSFixStatus

enum dwGPSFixStatus

GPS satellite fix status.

Enumerator
DW_GPS_FIX_STATUS_NO_FIX	No fix.
DW_GPS_FIX_STATUS_2D_FIX	2D fix
DW_GPS_FIX_STATUS_3D_FIX	3D fix
DW_GPS_FIX_STATUS_FORCE32

Definition at line 156 of file GPS.h.

dwGPSFlags

enum dwGPSFlags

Each flag shows if that value is valid in this GPS frame.

Enumerator
DW_GPS_LAT	Value of dwGPSFrame.latitude is valid.
DW_GPS_LON	Value of dwGPSFrame.longitude is valid.
DW_GPS_ALT	Value of dwGPSFrame.altitude is valid.
DW_GPS_COURSE	Value of dwGPSFrame.course is valid.
DW_GPS_SPEED	Value of dwGPSFrame.speed is valid.
DW_GPS_CLIMB	Value of dwGPSFrame.climb is valid.
DW_GPS_HDOP	Value of dwGPSFrame.hdop is valid.
DW_GPS_VDOP	Value of dwGPSFrame.vdop is valid.
DW_GPS_HACC	Value of dwGPSFrame.hacc is valid.
DW_GPS_VACC	Value of dwGPSFrame.vacc is valid.
DW_GPS_MODE	Value of dwGPSFrame.gpsMode is valid.

Definition at line 61 of file GPS.h.

dwGPSMode

enum dwGPSMode

The GPS mode gives the status of the GNSS data.

Note that modes 1-7 are increasing in accuracy. Modes 8 and 9 are not quite as good as 6 and 7, respectively.

Enumerator
DW_GPS_MODE_UNKNOWN	GPS mode unknown. The device cannot or has not reported the mode.
DW_GPS_MODE_INVALID_GPS	GPS mode invalid. This GPS data cannot be used.
DW_GPS_MODE_DEAD_RECKONING	GPS mode dead reckoning. Device relying on IMU alone for updates.
DW_GPS_MODE_STAND_ALONE	GPS mode stand alone. No RTK or PPP correction.
DW_GPS_MODE_PRECISE_POINT	GPS mode precise point. No RTK or PPP correction.
DW_GPS_MODE_CODE_DIFFERENTIAL	GPS mode code differential. No RTK or PPP correction.
DW_GPS_MODE_RTK_FLOAT	GPS mode RTK float.
DW_GPS_MODE_RTK_FIXED	GPS mode RTK fixed. This is the highest accuracy mode.
DW_GPS_MODE_PPP_CONVERGING	GPS mode PPP converging. Using PPP, but solution has not finished converging, so the data is not yet as accurate as it can be.
DW_GPS_MODE_PPP_CONVERGED	GPS mode PPP converged. Most accurate mode for using PPP.
DW_GPS_MODE_FORCE32

Definition at line 79 of file GPS.h.

dwGPSTimestampQuality

enum dwGPSTimestampQuality

Enumerator
DW_GPS_TIMESTAMP_QUALITY_NOT_INIT	Not Initialized. still initializing.
DW_GPS_TIMESTAMP_QUALITY_OK	Normal Operation. Functional and Electrical Checks Passed.
DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST	Synchronization lost.
DW_GPS_TIMESTAMP_QUALITY_FORCE32

Definition at line 166 of file GPS.h.

Function Documentation

dwSensorGPS_popFrame()

DW_API_PUBLIC dwStatus dwSensorGPS_popFrame	(	dwGPSFrame *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any GPS frame previously processed through RAW data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[out]	frame	Pointer to an GPS frame structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

dwSensorGPS_popFrameNew()

DW_API_PUBLIC dwStatus dwSensorGPS_popFrameNew	(	dwGPSFrameNew *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any GPS frame New previously processed through RAW data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[out]	frame	Pointer to an GPS frame New structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

dwSensorGPS_processRawData()

DW_API_PUBLIC dwStatus dwSensorGPS_processRawData	(	uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes RAW data previously read.

Any processed messages can be picked up using the dwSensorGPS_popMessage() method. This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[in]	data	Undecoded gps data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

dwSensorGPS_processRawDataNew()

DW_API_PUBLIC dwStatus dwSensorGPS_processRawDataNew	(	uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes RAW data previously read.

Any processed messages can be picked up using the dwSensorGPS_popMessageNew() method. This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[in]	data	Undecoded gps data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

dwSensorGPS_readFrame()

DW_API_PUBLIC dwStatus dwSensorGPS_readFrame	(	dwGPSFrame *const	frame,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next GPS packet with a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout exceeds.

Parameters

[out]	frame	A pointer to a GPS frame structure to be filled with new localization data.
[in]	timeoutUs	Specifies the timeout in us to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the GPS sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_TIME_OUT - if operation has timeout.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS

dwSensorGPS_readFrameNew()

DW_API_PUBLIC dwStatus dwSensorGPS_readFrameNew	(	dwGPSFrameNew *const	frame,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next GPS packet with a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout exceeds.

Parameters

[out]	frame	A pointer to a GPS frame New structure to be filled with new localization data.
[in]	timeoutUs	Specifies the timeout in us to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the GPS sensor previously created with 'dwSAL_createSensor()'.

Returns

DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_TIME_OUT - if operation has timeout.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS