GPS.h

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#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 DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.latitude instead")  = 1 << 0,  
    DW_GPS_LON DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.longitude instead") = 1 << 1,  
    DW_GPS_ALT DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.altitude instead")  = 1 << 2,  
    DW_GPS_COURSE DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.course instead") = 1 << 3,  
    DW_GPS_SPEED DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.speed instead")   = 1 << 4,  
    DW_GPS_CLIMB DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.climb instead")   = 1 << 5,  
    DW_GPS_HDOP DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.hdop instead")     = 1 << 6,  
    DW_GPS_VDOP DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.vdop instead")     = 1 << 7,  
    DW_GPS_HACC DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.hacc instead")     = 1 << 8,  
    DW_GPS_VACC DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.vacc instead")     = 1 << 9,  
    DW_GPS_MODE DW_DEPRECATED_ENUM("Use dwGPSFrame.validityInfo.mode instead")     = 1 << 10, 
    DW_GPS_FORCE32                                                                 = 0x7FFFFFFF,
} dwGPSFlags
    DW_DEPRECATED("dwGPSFlags is deprecated and will be removed soon. Please use members in struct dwGPSSignalValidityInfo instead");
 
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 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 dwGPSSignalValidityInfo
{
    dwSignalValidity timestamp_us;
    dwSignalValidity latitude;
    dwSignalValidity longitude;
    dwSignalValidity altitude;
    // Validity of course signal
    dwSignalValidity course;
    dwSignalValidity speed;
    dwSignalValidity climb;
    dwSignalValidity hdop;
    dwSignalValidity vdop;
    dwSignalValidity pdop;
    dwSignalValidity hacc;
    dwSignalValidity vacc;
    dwSignalValidity utcTimeUs;
    dwSignalValidity satelliteCount;
    dwSignalValidity fixStatus;
    dwSignalValidity timestampQuality;
    dwSignalValidity mode;
    dwSignalValidity reserved[63];
} dwGPSSignalValidityInfo;
 
typedef struct dwGPSFrame
{
    dwGPSSignalValidityInfo 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 utcTimeUs;
 
    uint8_t satelliteCount;
 
    dwGPSFixStatus fixStatus;
 
    dwGPSTimestampQuality timestampQuality;
 
    dwGPSMode mode;
 
    char utcTime[16] DW_DEPRECATED("utcTime is deprecated and will be removed soon. Please use utcTime instead");
 
    char utcDate[16] DW_DEPRECATED("utcDate is deprecated and will be removed soon. Please use utcTime instead");
 
    uint32_t flags
        DW_DEPRECATED("flags is deprecated and will be removed soon. Please use struct validityInfo and APIs introduced in GPSGetterSetter.h instead");
 
    dwGPSMode gpsMode
        DW_DEPRECATED("gpsMode is deprecated and will be removed soon. Please use mode instead");
 
    uint8_t reserved[468];
} dwGPSFrame;
 
typedef struct dwGPSFrameNew
{
    dwGPSSignalValidityInfo 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 mode;
 
    uint8_t reserved[508];
} dwGPSFrameNew
    DW_DEPRECATED("dwGPSFrameNew is deprecated and will be removed soon. Please use dwGPSFrame instead");
 
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);
 
#pragma GCC diagnostic push // TODO(pshu): Remove in next major release
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
DW_API_PUBLIC
dwStatus dwSensorGPS_readFrameNew(dwGPSFrameNew* const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
    DW_DEPRECATED("dwSensorGPS_readFrameNew() is deprecated and will be removed soon. Please use dwSensorGPS_readFrame() instead");
#pragma GCC diagnostic pop
 
DW_API_PUBLIC
dwStatus dwSensorGPS_processRawDataNew(uint8_t const* const data, size_t const size, dwSensorHandle_t const sensor)
    DW_DEPRECATED("dwSensorGPS_processRawDataNew() is deprecated and will be removed soon. Please use dwSensorGPS_processRawData() instead");
 
#pragma GCC diagnostic push // TODO(pshu): Remove in next major release
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
DW_API_PUBLIC
dwStatus dwSensorGPS_popFrameNew(dwGPSFrameNew* const frame, dwSensorHandle_t const sensor)
    DW_DEPRECATED("dwSensorGPS_popFrameNew() is deprecated and will be removed soon. Please use dwSensorGPS_popFrame() instead");
#pragma GCC diagnostic pop
 
#ifdef __cplusplus
}
#endif
#endif // DW_SENSORS_GPS_GPS_H_