87 lines
3.9 KiB
C
87 lines
3.9 KiB
C
/****************************************************************************
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* apps/system/uorb/sensor/gnss.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <sensor/gnss.h>
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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#ifdef CONFIG_DEBUG_UORB
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#define UORB_DEBUG_FORMAT_SENSOR_GNSS \
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"timestamp:%" PRIu64 ",time_utc:%" PRIu64 ",latitude:%hf,longitude:%hf," \
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"altitude:%hf,altitude_ellipsoid:%hf,eph:%hf,epv:%hf,hdop:%hf,pdop:%hf," \
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"vdop:%hf,ground_speed:%hf,course:%hf,satellites_used:%" PRIu32 ""
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static const char sensor_gnss_format[] =
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UORB_DEBUG_FORMAT_SENSOR_GNSS;
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static const char sensor_gnss_clock_format[] =
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"flags:%" PRIx32 ",leap_second:%" PRId32 ",time_ns:%" PRId64 ","
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"time_uncertainty_ns:%hf,hw_clock_discontinuity_count:%" PRIu32 ","
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"full_bias_ns:%" PRId64 ",bias_ns:%hf,bias_uncertainty_ns:%hf,"
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"drift_nsps:%hf,drift_uncertainty_nsps:%hf";
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static const char sensor_gnss_geofence_event_format[] =
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"type:%" PRId32 ",geofence_id:%" PRId32 ","
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UORB_DEBUG_FORMAT_SENSOR_GNSS ","
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"timestamp:%" PRId64 ",status:%" PRId32 ",transition:%" PRId32 "";
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static const char sensor_gnss_measurement_format[] =
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"flags:%" PRIx32 ",svid:%" PRId32 ",constellation:%" PRIu32 ","
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"time_offset_ns:%hf,received_sv_time_in_ns:%" PRId64 ","
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"received_sv_time_uncertainty_in_ns:%" PRId64 ",state:%" PRIu32 ","
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"c_n0_dbhz:%hf,pseudorange_rate_mps:%hf,"
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"pseudorange_rate_uncertainty_mps:%hf,"
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"accumulated_delta_range_state:%" PRIu32 ",accumulated_delta_range_m:%hf,"
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"accumulated_delta_range_uncertainty_m:%hf,"
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"carrier_frequency_hz:%hf,carrier_cycles:%" PRId64 ",carrier_phase:%hf,"
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"carrier_phase_uncertainty:%hf,multipath_indicator:%" PRIu32 ","
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"snr:%" PRIu32 "";
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static const char sensor_gnss_satellite_format[] =
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"timestamp:%" PRIu64 ",count:%" PRIu32 ",satellites:%" PRIu32 ","
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"constellation:%" PRIu32 ","
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"svid0:%" PRIu32 ",elevation0:%" PRIu32 ",azimuth0:%" PRIu32 ","
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"snr0:%" PRIu32 ",svid1:%" PRIu32 ",elevation1:%" PRIu32 ","
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"azimuth1:%" PRIu32 ",snr1:%" PRIu32 ",svid2:%" PRIu32 ","
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"elevation2:%" PRIu32 ",azimuth2:%" PRIu32 ",snr2:%" PRIu32 ","
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"svid3:%" PRIu32 ",elevation3:%" PRIu32 ",azimuth3:%" PRIu32 ","
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"snr3:%" PRIu32 "";
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#endif
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/****************************************************************************
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* Public Data
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****************************************************************************/
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ORB_DEFINE(sensor_gnss, struct sensor_gnss, sensor_gnss_format);
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ORB_DEFINE(sensor_gnss_clock, struct sensor_gnss_clock,
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sensor_gnss_clock_format);
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ORB_DEFINE(sensor_gnss_geofence_event, struct sensor_gnss_geofence_event,
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sensor_gnss_geofence_event_format);
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ORB_DEFINE(sensor_gnss_measurement, struct sensor_gnss_measurement,
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sensor_gnss_measurement_format);
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ORB_DEFINE(sensor_gnss_satellite, struct sensor_gnss_satellite,
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sensor_gnss_satellite_format);
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