diff options
author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
---|---|---|
committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/gps/nmea_helper.h | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/gps/nmea_helper.h')
-rw-r--r-- | apps/gps/nmea_helper.h | 47 |
1 files changed, 47 insertions, 0 deletions
diff --git a/apps/gps/nmea_helper.h b/apps/gps/nmea_helper.h new file mode 100644 index 000000000..8fd630bcd --- /dev/null +++ b/apps/gps/nmea_helper.h @@ -0,0 +1,47 @@ +/* + * nmea_helper.h + * + * Created on: Mar 15, 2012 + * Author: thomasgubler + */ + +#ifndef NMEA_H_ +#define NMEA_H_ + +#include <stdint.h> +#include <stdlib.h> +#include <string.h> +#include <stdio.h> +#include "nmealib/nmea/nmea.h" + + +//definitions for watchdog +#define NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000 +#define NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS 800000 + +typedef struct { + uint64_t last_message_timestamp; +} __attribute__((__packed__)) type_gps_bin_nmea_state; + +typedef type_gps_bin_nmea_state gps_bin_nmea_state_t; + +extern gps_bin_nmea_state_t *nmea_state; +extern pthread_mutex_t *nmea_mutex; + + + +int read_gps_nmea(int fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser); + +void *nmea_loop(void *arg); + +void *nmea_watchdog_loop(void *arg); + +/** + * \brief Convert NDEG (NMEA degree) to fractional degree + */ +float ndeg2degree(float val); + +void nmea_init(void); + + +#endif /* NMEA_H_ */ |