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58 lines
1.3 KiB
58 lines
1.3 KiB
6 years ago
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#pragma once
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#include <freertos/FreeRTOS.h>
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#include <freertos/semphr.h>
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#include <freertos/task.h>
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#include <stdint.h>
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namespace ugv {
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namespace io {
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enum GpsFixQual {
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GPS_FIX_INVALID = 0, // invalid gps fix
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GPS_FIX_GPS = 1, // GPS fix
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GPS_FIX_DGPS = 2, // differential GPS fix
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GPS_FIX_PPS = 3, // PPS fix
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GPS_FIX_RTK = 4, // Real Time Kinematic fix
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GPS_FIX_FRTK = 5, // Float Real Time Kinematic fix
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GPS_FIX_ESTIMATED = 6, // Estimated fix
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GPS_FIX_MANUAL = 7, // Manual fix
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GPS_FIX_SIMULATED = 8, // Simulated fix
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};
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struct GpsInfo {
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TickType_t last_update;
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bool valid;
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GpsFixQual fix_quality;
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uint8_t num_satellites;
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float latitude; // degrees +/-
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float longitude; // degrees +/-
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float altitude; // meters
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float speed; // knots
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float course; // degrees clockwise of north
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};
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class UART_GPS {
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public:
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explicit UART_GPS();
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~UART_GPS();
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void Init();
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void GetInfo(GpsInfo& info);
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private:
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TaskHandle_t task_;
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SemaphoreHandle_t mutex_;
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GpsInfo info_;
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esp_err_t WriteCommand(const char* cmd, size_t len);
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void ProcessLine(const char* line, size_t len);
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static void GPS_Task(void* arg);
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};
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} // namespace io
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} // namespace ugv
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