X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=gps_venus.h;h=ca2bd8fff9614d6868e741a3c34e8b3d0bb0d17f;hp=641bcbb361dd523b78eae869626d66b2c6e199b7;hb=99a00646c85d806f34d7a4aa9f52b318607f7530;hpb=f8d665eef7b761e3b769af6b8dd9711754711cdd

diff --git a/gps_venus.h b/gps_venus.h
index 641bcbb..ca2bd8f 100644
--- a/gps_venus.h
+++ b/gps_venus.h
@@ -4,33 +4,36 @@
 #include <stdint.h>
 
 /* A GPS position structure. It also contains some information about the number
- * of seen satellites, the message ID, the date, .. */
+ * of seen satellites, the message ID, the date, ...
+ * See App Notes AN0028 p68 */
 struct gps_pos {
-	uint8_t msg_id; /* */
-	uint8_t mode;
-	uint8_t sv_num;
-	uint16_t gps_week;
-	uint32_t tow;
-
-	int32_t latitude;
-	int32_t longitude;
-	uint32_t altitude;
-
-	uint32_t sea_altitude;
-
-	uint16_t gdop;
-	uint16_t pdop;
-	uint16_t hdop;
-	uint16_t vdop;
-	uint16_t tdop;
-
-	int32_t ecef_x;
-	int32_t ecef_y;
-	int32_t ecef_z;
-
-	int32_t ecef_vx;
-	int32_t ecef_vy;
-	int32_t ecef_vz;
+	uint8_t msg_id; /* should be A8 */
+	uint8_t mode;   /* Quality of fix 0: none, 1: 2D, 2: 3D, 3: 3D+DGNSS */
+	uint8_t sv_num; /* number of SV in fix (0-12) */
+
+	uint16_t gps_week; /* GNSS week number */
+	uint32_t tow;      /* GNSS time of week */
+
+	int32_t latitude;  /* between -90e7 and 90e7, in 1/1e-7 degrees,
+			    * positive means north hemisphere */
+	int32_t longitude; /* between -180e7 and 180e7, in 1/1e-7 degrees,
+			    * positive means east */
+	uint32_t altitude; /* altitude from elipsoid, in 1/100 meters */
+	uint32_t sea_altitude; /* altitude from sea level, in 1/100 meters */
+
+	uint16_t gdop; /* Geometric dilution of precision */
+	uint16_t pdop; /* Position dilution of precision */
+	uint16_t hdop; /* Horizontal dilution of precision */
+	uint16_t vdop; /* Vertical dilution of precision */
+	uint16_t tdop; /* Timec dilution of precision */
+
+	int32_t ecef_x; /* Earth-Centered, Earth-Fixed X pos, 1/100 meters */
+	int32_t ecef_y; /* Earth-Centered, Earth-Fixed Y pos, 1/100 meters */
+	int32_t ecef_z; /* Earth-Centered, Earth-Fixed Z pos, 1/100 meters */
+
+	int32_t ecef_vx; /* Earth-Centered, Earth-Fixed X speed, 1/100 m/s */
+	int32_t ecef_vy; /* Earth-Centered, Earth-Fixed Y speed, 1/100 m/s */
+	int32_t ecef_vz; /* Earth-Centered, Earth-Fixed Z speed, 1/100 m/s */
 
 } __attribute__ ((packed));
 
@@ -40,4 +43,10 @@ int gps_loop(void);
 /* does not lock intr, must be done by user */
 void gps_get_pos(struct gps_pos *pos);
 
+static inline int8_t gps_pos_valid(struct gps_pos *pos)
+{
+	/* XXX when a GPS position is valid ? */
+	return (pos->mode >= 2 && pos->sv_num >= 5);
+}
+
 #endif