GPS Sensor

Detailed Description

Defines the GPS sensor.

Data Structures
struct	dwGPSFrame
	A GPS packet containing localization information. More...

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

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_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_readFrame (dwGPSFrame *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.
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).

Enumeration Type Documentation

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.

Definition at line 61 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_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_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