Detailed Description

NVIDIA DriveWorks API: GPS

Description: This file defines methods to access GPS sensor.

Definition in file GPS.h.

Data Structures
struct	dwGPSFrameNew
	This structure contains one frame of data from an GPS/GNSS sensor. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorGPS_readFrame (dwGPSFrame *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next available GPS data frame with a given timeout. 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_popFrame (dwGPSFrame *const frame, dwSensorHandle_t const sensor)
	Returns any GPS frame previously processed through RAW data stream. More...

struct dwGPSFrameNew	DW_DEPRECATED ("dwGPSFrameNew is deprecated and will be removed soon. Please use dwGPSFrame instead")
	This structure contains one frame of data from an GPS/GNSS sensor. More...

DW_API_PUBLIC dwStatus	dwSensorGPS_readFrameNew (dwGPSFrameNew *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor) DW_DEPRECATED("dwSensorGPS_readFrameNew() is deprecated and will be removed soon. Please use dwSensorGPS_readFrame() instead")
	Reads the next GPS packet with a given timeout. More...

DW_API_PUBLIC dwStatus	dwSensorGPS_processRawDataNew (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor) DW_DEPRECATED("dwSensorGPS_processRawDataNew() is deprecated and will be removed soon. Please use dwSensorGPS_processRawData() instead")
	Decodes RAW data previously read. More...

DW_API_PUBLIC dwStatus	dwSensorGPS_popFrameNew (dwGPSFrameNew *const frame, dwSensorHandle_t const sensor) DW_DEPRECATED("dwSensorGPS_popFrameNew() is deprecated and will be removed soon. Please use dwSensorGPS_popFrame() instead")
	Returns any GPS frame New previously processed through RAW data stream. More...

Variables
dwGPSSignalValidityInfo	validityInfo
	Signal validity information. More...

dwTime_t	timestamp_us

float64_t	latitude

float64_t	longitude

float64_t	altitude

float64_t	course

float64_t	speed

float64_t	climb

float64_t	hdop

float64_t	vdop

float64_t	pdop

float64_t	hacc

float64_t	vacc

dwTime_t	utcTime

uint8_t	satelliteCount

dwGPSFixStatus	fixStatus

dwGPSTimestampQuality	timestampQuality

dwGPSMode	mode

uint8_t	reserved [508]
	Reserved space. More...

Function Documentation

◆ DW_DEPRECATED()

struct dwGPSFrameNew DW_DEPRECATED ( "dwGPSFrameNew is deprecated and will be removed soon. Please use dwGPSFrame instead" )

This structure contains one frame of data from an GPS/GNSS sensor.

Deprecated:: This structure is deprecated and will be removed soon. Please use dwGPSFrame instead.

◆ 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. Here it means input pointer 'frame' is empty
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS - if the procedure is done successfully.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ 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 the member m_decoder of GPS object is not initialized correctly or equal to nullptr,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS - if the procedure is done successfully.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ 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	Specify 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	Specify 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 the member m_decoder of GPS object is equal to nullptr.
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 - the procedure is done successfully.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

Variable Documentation

◆ altitude

float64_t altitude

Note: ID VS-91040; description Altitude over WGS-84 ellipsoid.; min nan max nan; freq 4 unit m

Definition at line 181 of file GPS.h.

◆ climb

float64_t climb

Note: ID VS-91070; description Vertical speed.; min nan max nan; freq 4 unit m/s

Definition at line 199 of file GPS.h.

◆ course

float64_t course

Note: ID VS-91050; description Course relative to true north.; min nan max nan; freq 4 unit deg

Definition at line 187 of file GPS.h.

◆ fixStatus

dwGPSFixStatus fixStatus

Note: ID VS-91150; description 2D or 3D fix.; TODO: Backend not yet implemented; min nan max nan; freq 4 unit unitless; *** valid values**: { DW_GPS_FIX_STATUS_NO_FIX, DW_GPS_FIX_STATUS_2D_FIX, DW_GPS_FIX_STATUS_3D_FIX }

Definition at line 254 of file GPS.h.

◆ hacc

float64_t hacc

Note: ID VS-91110; description Horizontal Accuracy of Solution.; min nan max nan; freq 4 unit m

Definition at line 223 of file GPS.h.

◆ hdop

float64_t hdop

Note: ID VS-91080; description Horizontal Dilution of Precision.; min nan max nan; freq 4 unit unitless

Definition at line 205 of file GPS.h.

◆ latitude

float64_t latitude

Note: ID VS-91020; description Latitude in WGS-84.; min nan max nan; freq 4 unit deg

Definition at line 169 of file GPS.h.

◆ longitude

float64_t longitude

Note: ID VS-91030; description Longitude in WGS-84.; min nan max nan; freq 4 unit deg

Definition at line 175 of file GPS.h.

◆ mode

dwGPSMode mode

Note: ID VS-91175; description GPS mode.; TODO: Backend not yet implemented; min nan max nan; freq 4 unit unitless; *** 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 }

Definition at line 285 of file GPS.h.

◆ pdop

float64_t pdop

Note: ID VS-91100; description Position Dilution of Precision.; min nan max nan; freq 4 unit unitless

Definition at line 217 of file GPS.h.

◆ reserved

uint8_t reserved[508]

Reserved space.

Definition at line 288 of file GPS.h.

◆ satelliteCount

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

Definition at line 242 of file GPS.h.

◆ speed

float64_t speed

Note: ID VS-91060; description Horizontal speed.; min nan max nan; freq 4 unit m/s

Definition at line 193 of file GPS.h.

◆ timestamp_us

dwTime_t timestamp_us

Note: ID VS-91010; description Timestamp of the message when first received.; min nan max nan; freq 4 unit us

Definition at line 163 of file GPS.h.

◆ timestampQuality

dwGPSTimestampQuality timestampQuality

Note: ID VS-91170; description GNSS Timestamp Quality.; TODO: Backend not yet implemented; min nan max nan; freq 4 unit unitless; *** valid values**: { DW_GPS_TIMESTAMP_QUALITY_NOT_INIT, DW_GPS_TIMESTAMP_QUALITY_OK, DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST, }

Definition at line 266 of file GPS.h.

◆ utcTime

dwTime_t utcTime

Note: ID VS-91130; description UTC time.; min nan max nan; freq 4 unit us

Definition at line 235 of file GPS.h.

◆ vacc

float64_t vacc

Note: ID VS-91120; description Vertical Accuracy of Solution.; min nan max nan; freq 4 unit m

Definition at line 229 of file GPS.h.

◆ validityInfo

dwGPSSignalValidityInfo validityInfo

Signal validity information.

Definition at line 157 of file GPS.h.

◆ vdop

float64_t vdop

Note: ID VS-91090; description Vertical Dilution of Precision.; min nan max nan; freq 4 unit unitless

Definition at line 211 of file GPS.h.

NVIDIA DriveOS Linux NSR SDK API Reference

7.0.3.0 Release

Detailed Description

Data Structures

Functions

Variables

Function Documentation

◆ DW_DEPRECATED()

◆ dwSensorGPS_popFrameNew()

◆ dwSensorGPS_processRawDataNew()

◆ dwSensorGPS_readFrameNew()

Variable Documentation

◆ altitude

◆ climb

◆ course

◆ fixStatus

◆ hacc

◆ hdop

◆ latitude

◆ longitude

◆ mode

◆ pdop

◆ reserved

◆ satelliteCount

◆ speed

◆ timestamp_us

◆ timestampQuality

◆ utcTime

◆ vacc

◆ validityInfo

◆ vdop