GPS Sensor

Detailed Description

Defines the GPS sensor.

Data Structures
struct	dwGPSFrameNew
	This structure contains one frame of data from an GPS/GNSS sensor. 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_popFrameNew (dwGPSFrameNew *const frame, dwSensorHandle_t const sensor)
	Returns any GPS frame New 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_processRawDataNew (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...
DW_API_PUBLIC dwStatus	dwSensorGPS_readFrameNew (dwGPSFrameNew *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

dwGPSFrameNew

struct dwGPSFrameNew

Data Fields
float64_t	altitude	Note ID VS-91040 description Altitude over WGS-84 ellipsoid. min nan max nan freq 4 unit m
float64_t	climb	Note ID VS-91070 description Vertical speed. min nan max nan freq 4 unit m/s
float64_t	course	Note ID VS-91050 description Course relative to true north. min nan max nan freq 4 unit deg
dwGPSFixStatus	fixStatus	Note ID VS-91150 description 2D or 3D fix. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_FIX_STATUS_NO_FIX, DW_GPS_FIX_STATUS_2D_FIX, DW_GPS_FIX_STATUS_3D_FIX }
float64_t	hacc	Note ID VS-91110 description Horizontal Accuracy of Solution. min nan max nan freq 4 unit m
float64_t	hdop	Note ID VS-91080 description Horizontal Dilution of Precision. min nan max nan freq 4 unit unitless
float64_t	latitude	Note ID VS-91020 description Latitude in WGS-84. min nan max nan freq 4 unit deg
float64_t	longitude	Note ID VS-91030 description Longitude in WGS-84. min nan max nan freq 4 unit deg
dwGPSMode	mode	Note ID VS-91175 description GPS mode. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_MODE_UNKNOWN, DW_GPS_MODE_INVALID_GPS, DW_GPS_MODE_DEAD_RECKONING, DW_GPS_MODE_STAND_ALONE, DW_GPS_MODE_PRECISE_POINT, DW_GPS_MODE_CODE_DIFFERENTIAL, DW_GPS_MODE_RTK_FLOAT, DW_GPS_MODE_RTK_FIXED, DW_GPS_MODE_PPP_CONVERGING, DW_GPS_MODE_PPP_CONVERGED }
float64_t	pdop	Note ID VS-91100 description Position Dilution of Precision. min nan max nan freq 4 unit unitless
uint8_t	reserved[508]	Reserved space.
uint8_t	satelliteCount	Note ID VS-91140 description Number of satellites in view. TODO: Backend not yet implemented min nan max nan freq 4 unit unitless
float64_t	speed	Note ID VS-91060 description Horizontal speed. min nan max nan freq 4 unit m/s
dwTime_t	timestamp_us	Note ID VS-91010 description Timestamp of the message when first received. min nan max nan freq 4 unit us
dwGPSTimestampQuality	timestampQuality	Note ID VS-91170 description GNSS Timestamp Quality. TODO: Backend not yet implemented min nan max nan freq 4 unit - *** valid values**: { DW_GPS_TIMESTAMP_QUALITY_NOT_INIT, DW_GPS_TIMESTAMP_QUALITY_OK, DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST, }
dwTime_t	utcTime	Note ID VS-91130 description UTC time. min nan max nan freq 4 unit us
float64_t	vacc	Note ID VS-91120 description Vertical Accuracy of Solution. min nan max nan freq 4 unit m
dwGPSSignalValidityInfo	validityInfo	Signal validity information.
float64_t	vdop	Note ID VS-91090 description Vertical Dilution of Precision. min nan max nan freq 4 unit unitless

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_popFrameNew()

DW_API_PUBLIC dwStatus dwSensorGPS_popFrameNew	(	dwGPSFrameNew *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any GPS frame New 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 New 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_processRawDataNew()

DW_API_PUBLIC dwStatus dwSensorGPS_processRawDataNew	(	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_popMessageNew() 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

dwSensorGPS_readFrameNew()

DW_API_PUBLIC dwStatus dwSensorGPS_readFrameNew	(	dwGPSFrameNew *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 New 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