bexus-26-imu-fusion-flight-software/Src/TinyGPS-13/TinyGPS.h

/*
TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
Based on work by and "distance_to" and "course_to" courtesy of Maarten Lamers.
Suggestion to add satellites(void), course_to(void), and cardinal(void), by Matt Monson.
Precision improvements suggested by Wayne Holder.
Copyright (C) 2008-2013 Mikal Hart
All rights reserved.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/

#ifndef TinyGPS_h
#define TinyGPS_h
#ifdef __cplusplus
 extern "C" {
#endif

#include <stdbool.h>
#include <stdlib.h>
#include <math.h>
#include "stm32f4xx.h"
#include "bexus_sysclock.h"

#define _GPS_VERSION 13 // software version of this library
#define _GPS_MPH_PER_KNOT 1.15077945
#define _GPS_MPS_PER_KNOT 0.51444444
#define _GPS_KMPH_PER_KNOT 1.852
#define _GPS_MILES_PER_METER 0.00062137112
#define _GPS_KM_PER_METER 0.001
// #define _GPS_NO_STATS

void setupTinyGps(void);

  enum {
    GPS_INVALID_AGE = -1,      GPS_INVALID_ANGLE = 999999999, 
    GPS_INVALID_ALTITUDE = 999999999,  GPS_INVALID_DATE = 0,
    GPS_INVALID_TIME = -1,		 GPS_INVALID_SPEED = 999999999, 
    GPS_INVALID_FIX_TIME = -1, GPS_INVALID_SATELLITES = 0xFF,
    GPS_INVALID_HDOP = -1
  };

	extern const float GPS_INVALID_F_ANGLE;
	extern const float GPS_INVALID_F_ALTITUDE;
	extern const float GPS_INVALID_F_SPEED;


  bool encode(char c); // process one character received from GPS

  // lat/long in MILLIONTHs of a degree and age of fix in milliseconds
  // (note: versions 12 and earlier gave lat/long in 100,000ths of a degree.
  void get_position(long *latitude, long *longitude, unsigned long *fix_age);

  // date as ddmmyy, time as hhmmsscc, and age in milliseconds
  void get_datetime(unsigned long *date, unsigned long *time, unsigned long *age);

  void f_get_position(float *latitude, float *longitude, unsigned long *fix_age);
  void crack_datetime(int *year, uint8_t *month, uint8_t *day, 
    uint8_t *hour, uint8_t *minute, uint8_t *second, uint8_t *hundredths, unsigned long *fix_age);
  float f_altitude(void);
  float f_course(void);
  float f_speed_knots(void);
  float f_speed_mph(void);
  float f_speed_mps(void);
  float f_speed_kmph(void);

  static int library_version(void) { return _GPS_VERSION; }

  static const char *cardinal(float course);

#ifndef _GPS_NO_STATS
  void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);
#endif

  enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_OTHER};



  // parsing state variables
  extern uint8_t _parity;
  extern bool _is_checksum_term;
  extern char _term[15];
  extern uint8_t _sentence_type;
  extern uint8_t _term_number;
  extern uint8_t _term_offset;
  extern bool _gps_data_good;
	extern unsigned long _hdop;

  // signed altitude in centimeters (from GPGGA sentence)
  inline long altitude(void);

  // course in last full GPRMC sentence in 100th of a degree
  inline unsigned long course(void);

  // speed in last full GPRMC sentence in 100ths of a knot
  inline unsigned long speed(void);

  // satellites used in last full GPGGA sentence
  inline unsigned short satellites(void);

  // horizontal dilution of precision in 100ths
  inline unsigned long hdop(void);

  // internal utilities


	
#ifdef __cplusplus
}
#endif
#endif