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gps/soc/software/gps_system/header/gps_ip_defines.h
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#ifndef GPS_IP_DEFINES
#define GPS_IP_DEFINES
#include <stdbool.h>
#include <stddef.h>
#include <float.h>
#include <stdint.h>
#include <bsp/soc.h>
#include "matrixLib.h"
#include "gps_macros.h"
#define GPS_IRQ_HANDLER_ATTR __attribute__((interrupt("machine"), aligned(4)))
// |_ _| _ \ | _ \| ____| ___|_ _| \ | | ____/ ___|
// | || |_) | | | | | _| | |_ | || \| | _| \___ \
// | || __/ | |_| | |___| _| | || |\ | |___ ___) |
// |___|_| |____/|_____|_| |___|_| \_|_____|____/
#define MIN_NEEDED_SATELLITE 4
#define GPS_INITIAL_SUBFRAME_MASK ((1u << 1) | (1u << 2) | (1u << 3) | (1u << 4) | (1u << 5))
#define GPS_TRCK_UNLOCK_TIMEOUT_TICKS 500000000u
#define GPS_PRN_COUNT 32u
#define GPS_PRN_INVALID 0xffu
#ifndef BSP_GPS_ACQ_COUNT
#define BSP_GPS_ACQ_COUNT 1UL
#endif
#ifndef BSP_GPS_ACQ_STRIDE
#define BSP_GPS_ACQ_STRIDE BSP_GPS_TRCK_STRIDE
#endif
#ifndef BSP_GPS_ACQ_IRQ_STRIDE
#define BSP_GPS_ACQ_IRQ_STRIDE 1UL
#endif
#ifndef ACQ_ENGINE_COUNT
#define ACQ_ENGINE_COUNT BSP_GPS_ACQ_COUNT
#endif
#define GPS_ACQ_IP_COUNT ACQ_ENGINE_COUNT
#define GPS_ACQ_IP_BASE_ADDR(index) (BSP_GPS_ACQ_BASE + ((uintptr_t)(index) * BSP_GPS_ACQ_STRIDE))
#define GPS_ACQ_INTR_LINE(index) (BSP_GPS_ACQ_IRQ + ((unsigned int)(index) * BSP_GPS_ACQ_IRQ_STRIDE))
#define GPS_EVENT_QUEUE_SIZE 64u
#define GPS_SYSTICK_HZ 20u
#define GPS_NAV_SOLVE_TIMER_TICK_MS 20u
#ifndef GPS_NAV_SOLVE_TIMER_TICKS
#define GPS_NAV_SOLVE_TIMER_TICKS 50u
#endif
#define GPS_NAV_SOLVE_PERIOD_MS (GPS_NAV_SOLVE_TIMER_TICKS * GPS_NAV_SOLVE_TIMER_TICK_MS)
/* Keep integrity statistics active, but do not let leave-one-out FDE
* replace the full-WLS position until the real measurement-noise model
* is calibrated. The live stationary test produced a 22.7% exclusion
* rate and substantially worse position dispersion. */
#define GPS_NAV_ENABLE_FDE 0u
#define GPS_PROFILE_CPU_HZ 50000000ULL
#define GPS_ACQ_RETRY_DELAY_TICKS (GPS_SYSTICK_HZ / 2u)
#define GPS_ACQ_STUCK_WARN_TICKS (GPS_SYSTICK_HZ * 2u)
#define GPS_NAV_STATUS_LOG_PERIOD_TICKS GPS_SYSTICK_HZ
#define GPS_TRK_MEASUREMENT_STALE_TICKS (GPS_SYSTICK_HZ * 3u)
#define GPS_NAV_ABS_SAMPLE_SYNC_WINDOW_MS 25u
#define GPS_NAV_TOW_CLUSTER_TOLERANCE_SEC 0.001
#define GPS_HOW_ANCHOR_MAX_AGE_SEC 12.0
_Static_assert(GPS_NAV_SOLVE_TIMER_TICKS > 0u, "NAV solve timer must be non-zero");
_Static_assert((GPS_NAV_ENABLE_FDE == 0u) || (GPS_NAV_ENABLE_FDE == 1u),
"GPS_NAV_ENABLE_FDE must be zero or one");
#if (ACQ_ENGINE_COUNT < 1UL)
#error "ACQ_ENGINE_COUNT must be at least 1"
#endif
#if (ACQ_ENGINE_COUNT > 1UL) && ((BSP_GPS_ACQ_BASE + ((ACQ_ENGINE_COUNT) * BSP_GPS_ACQ_STRIDE)) > BSP_GPS_TRCK0_BASE)
#error "multi-engine ACQ configuration overlaps BSP_GPS_TRCK0_BASE; update BSP_GPS_ACQ_STRIDE/BSP_GPS_TRCK0_BASE"
#endif
#define ACQ0_IP_BASE_ADDR BSP_GPS_ACQ_BASE
#define TRCK0_IP_BASE_ADDR BSP_GPS_TRCK0_BASE
#define TRCK1_IP_BASE_ADDR (BSP_GPS_TRCK0_BASE + 1UL * BSP_GPS_TRCK_STRIDE)
#define TRCK2_IP_BASE_ADDR (BSP_GPS_TRCK0_BASE + 2UL * BSP_GPS_TRCK_STRIDE)
#define TRCK3_IP_BASE_ADDR (BSP_GPS_TRCK0_BASE + 3UL * BSP_GPS_TRCK_STRIDE)
#define TRCK4_IP_BASE_ADDR (BSP_GPS_TRCK0_BASE + 4UL * BSP_GPS_TRCK_STRIDE)
#define TRCK5_IP_BASE_ADDR (BSP_GPS_TRCK0_BASE + 5UL * BSP_GPS_TRCK_STRIDE)
#define TRCK6_IP_BASE_ADDR (BSP_GPS_TRCK0_BASE + 6UL * BSP_GPS_TRCK_STRIDE)
#define TRCK7_IP_BASE_ADDR (BSP_GPS_TRCK0_BASE + 7UL * BSP_GPS_TRCK_STRIDE)
#define TRCK8_IP_BASE_ADDR (BSP_GPS_TRCK0_BASE + 8UL * BSP_GPS_TRCK_STRIDE)
#define ACQ0_INTR_LINE BSP_GPS_ACQ_IRQ
#define TRCK0_INTR_LINE BSP_GPS_TRCK0_IRQ
#define TRCK1_INTR_LINE (BSP_GPS_TRCK0_IRQ + 1UL * BSP_GPS_TRCK_IRQ_STRIDE)
#define TRCK2_INTR_LINE (BSP_GPS_TRCK0_IRQ + 2UL * BSP_GPS_TRCK_IRQ_STRIDE)
#define TRCK3_INTR_LINE (BSP_GPS_TRCK0_IRQ + 3UL * BSP_GPS_TRCK_IRQ_STRIDE)
#define TRCK4_INTR_LINE (BSP_GPS_TRCK0_IRQ + 4UL * BSP_GPS_TRCK_IRQ_STRIDE)
#define TRCK5_INTR_LINE (BSP_GPS_TRCK0_IRQ + 5UL * BSP_GPS_TRCK_IRQ_STRIDE)
#define TRCK6_INTR_LINE (BSP_GPS_TRCK0_IRQ + 6UL * BSP_GPS_TRCK_IRQ_STRIDE)
#define TRCK7_INTR_LINE (BSP_GPS_TRCK0_IRQ + 7UL * BSP_GPS_TRCK_IRQ_STRIDE)
#define TRCK8_INTR_LINE (BSP_GPS_TRCK0_IRQ + 8UL * BSP_GPS_TRCK_IRQ_STRIDE)
// acq ip control reg bits.
#define GPS_ACQ_START 0
#define GPS_ACQ_INTPRT_CLR 1
#define GPS_ACQ_INTPRT_ENABLE 2
#define GPS_ACQ_INTRPT_PENDING 3
#define GPS_ACQ_AFE_START 4
// trck ip control reg bits.
#define GPS_TRCK_START_POS 0
#define GPS_TRCK_STOP_POS 1
#define GPS_TRCK_INTR_EN_POS 2
#define GPS_TRCK_NAV_BITS_INTR_EN_POS 3
#define GPS_TRCK_NAV_BITS_FLAG_EN_POS 4 // (Default 1)
#define GPS_TRCK_INTR_CLR_POS 5 // generic clear signal. Clears all internal flags.
#define GPS_TRCK_RESET_POS 6
#define GPS_TRCK_STOP_UNLOCK_EN_POS 7
#define GPS_TRCK_UNLOCK_INTR_EN_POS 8
#define GPS_TRCK_UNLOCK_FLAG_EN_POS 9 // (Default 1)
#define GPS_TRCK_NAV_SOLVE_EN_POS 10
#define GPS_TRCK_NAV_SOLVE_INTR_EN_POS 11
#define GPS_TRCK_NAV_SOLVE_FLAG_EN_POS 12 // (Default 1)
// acq ip status reg bits.
#define GPS_ACQ_STATUS_POS 0
#define GPS_ACQ_BUSY_POS 1
// tracking ip status reg bits.
#define GPS_TRCK_BUSY_POS 0
#define GPS_TRCK_LOCK_POS 1
#define GPS_TRCK_OVFL_POS 2
#define GPS_TRCK_INTR_PEND_POS 3
#define GPS_TRCK_NAV_BITS_RCV_POS 4
#define GPS_TRCK_STOP_UNLOCK_POS 5
#define GPS_TRCK_NAV_SOLVE_FLAG_POS 6
#define GPS_TRCK_IP_COUNT BSP_GPS_TRCK_COUNT
// gps defines from plutogpssim.
#define POSTPONE_TOW (double)(0.160)
#define MAX_SAT (12) // 32 (TODO. OBSOLATED)
#define SECONDS_IN_WEEK 604800.0
#define SECONDS_IN_HALF_WEEK 302400.0
#define SECONDS_IN_DAY 86400.0
#define SECONDS_IN_HOUR 3600.0
#define SECONDS_IN_MINUTE 60.0
//#define SAMPLE_RATE 16368000
#define STARTOFFSET 68.802
/*! \brief Maximum number of iterations for least square search */
#define NUMBER_OF_ITERATIONS (100)
// Conventional values employed in GPS ephemeris model (ICD-GPS-200)
#define GM_EARTH 398600500000000
#define OMEGA_EARTH 7.2921151467e-5
#define PI 3.1415926535898
#define WGS84_RADIUS 6378137.0
#define WGS84_ECCENTRICITY 0.0818191908426
#define R2D 57.2957795131
#define SPEED_OF_LIGHT 299792458
#define LAMBDA_L1 0.19
// ____ _ _____ _
// | _ \ / \|_ _|/ \
// | | | |/ _ \ | | / _ \
// | |_| / ___ \| |/ ___ \
// |____/_/ \_\_/_/ \_\
//
// ____ _____ ____ _ _ ____ _____ _ _ ____ _____ ____
// / ___|_ _| _ \| | | |/ ___|_ _| | | | _ \| ____/ ___|
// \___ \ | | | |_) | | | | | | | | | | | |_) | _| \___ \
// ___) || | | _ <| |_| | |___ | | | |_| | _ <| |___ ___) |
// |____/ |_| |_| \_\\___/ \____| |_| \___/|_| \_\_____|____/
typedef struct{
uint32_t CONTROL_REG; // 'h00
uint32_t PRN_NUMBER; // 'h04
uint32_t PEAK_METRIC; // 'h08
uint32_t CODE_PHASE; // 'h0c
uint32_t ABS_SAMPLE; // 'h10
uint32_t STATUS_REG; // 'h14
uint32_t DOPPLER_REG; // 'h18
}gps_acq_t;
typedef struct{
uint32_t CONTROL_REG; // 'h00
uint32_t PRN_NUMBER; // 'h04
uint32_t CODE_PHASE; // 'h08
uint32_t ABS_SAMPLE; // 'h0c
uint32_t STATUS_REG; // 'h10
uint32_t DOPPLER_REG; // 'h14
uint32_t NAV_BIT_READ_REG0; // 'h18
uint32_t NAV_BIT_READ_REG1; // 'h1c
uint32_t NAV_BIT_READ_REG2; // 'h20
uint32_t NAV_BIT_READ_REG3; // 'h24
uint32_t NAV_BIT_READ_REG4; // 'h28
uint32_t NAV_BIT_READ_REG5; // 'h2c
uint32_t NAV_BIT_READ_REG6; // 'h30
uint32_t NAV_BIT_READ_REG7; // 'h34
uint32_t NAV_BIT_READ_REG8; // 'h38
uint32_t NAV_BIT_READ_REG9; // 'h3c
uint32_t TIMEOUT_REG; // 'h40
uint32_t NAV_SOLVE_TIMER; // 'h44
uint32_t RESERVED_48; // 'h48
uint32_t REM_CODE_PHASE_REG; // 'h4c
}gps_trck_t;
typedef enum {
GPS_SAT_NOT_SEEN = 0,
GPS_SAT_ACQUIRING,
GPS_SAT_ACQUIRED,
GPS_SAT_TRACKING,
GPS_SAT_LOST,
GPS_SAT_STALE
} gps_satellite_state_t;
typedef enum {
GPS_ACQ_ENGINE_IDLE = 0,
GPS_ACQ_ENGINE_BUSY
} gps_acq_engine_state_t;
typedef struct {
unsigned char engine_id;
unsigned char prn;
bool acquired;
uint32_t status;
uint32_t code_phase;
uint32_t doppler;
uint32_t peak_metric;
uint32_t abs_sample;
uint64_t tick;
} gps_acq_result_t;
#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L)
_Static_assert(ACQ_ENGINE_COUNT >= 1UL, "ACQ_ENGINE_COUNT must be at least 1");
_Static_assert(GPS_EVENT_QUEUE_SIZE >= (GPS_TRCK_IP_COUNT + GPS_ACQ_IP_COUNT + 1UL), "GPS event queue too small");
_Static_assert(offsetof(gps_acq_t, PRN_NUMBER) == 0x04, "gps_acq_t PRN offset mismatch");
_Static_assert(offsetof(gps_acq_t, STATUS_REG) == 0x14, "gps_acq_t STATUS offset mismatch");
_Static_assert(offsetof(gps_acq_t, DOPPLER_REG) == 0x18, "gps_acq_t DOPPLER offset mismatch");
_Static_assert(offsetof(gps_trck_t, PRN_NUMBER) == 0x04, "gps_trck_t PRN offset mismatch");
_Static_assert(offsetof(gps_trck_t, STATUS_REG) == 0x10, "gps_trck_t STATUS offset mismatch");
_Static_assert(offsetof(gps_trck_t, DOPPLER_REG) == 0x14, "gps_trck_t DOPPLER offset mismatch");
#endif
// include gps_ip_defines.h instead of plutogpssim.h.
typedef struct {
int week; /*!< GPS week number (since January 1980) */
//unsigned int sec; /*!< second inside the GPS \a week */ //eskiden double idi C_IMP
double sec; /*!< second inside the GPS \a week */ //eskiden double idi C_IMP
} gpstime_t;
typedef struct {
int y; /*!< Calendar year */
int m; /*!< Calendar month */
int d; /*!< Calendar day */
int hh; /*!< Calendar hour */
int mm; /*!< Calendar minutes */
double sec; /*!< Calendar seconds */
} datetime_t;
/* LNAV subframe 4, page 18 ionosphere and UTC parameters. */
typedef struct {
bool enable;
bool vflg;
double alpha0, alpha1, alpha2, alpha3;
double beta0, beta1, beta2, beta3;
double A0, A1;
int dtls, tot, wnt;
int dtlsf, dn, wnlsf;
} ionoutc_t;
typedef struct{
unsigned int WN; // from subframe 1
unsigned char code; // from subframe 1
unsigned char sva; // from subframe 1
unsigned char svhlth; // from subframe 1
unsigned int iodc; // from subframe 1
unsigned char l2_data_flag; // from subframe 1
double tgd; // from subframe 1
gpstime_t tow; // tow value of last reached subframe, calculated from TOW in Handover Word.
gpstime_t toc; // from subframe 1
gpstime_t toe; // from subframe 2
double af0; // from subframe 1
double af1; // from subframe 1
double af2; // from subframe 1
unsigned char iode; // from subframe 2
double crs; // from subframe 2
double deltan; // from subframe 2
double m0; // from subframe 2
double cuc; // from subframe 2
double ecc; // from subframe 2
double cus; // from subframe 2
double sqrta; // from subframe 2
double A; // from subframe 2
double cic; // from subframe 3
double omgdot; // from subframe 3
double cis; // from subframe 3
double inc0; // from subframe 3
double crc; // from subframe 3
double omg0; // from subframe 3
double omgkdot; // from subframe 3
double idot; // from subframe 3
unsigned char update; // from subframe 3
unsigned char sf4_data_id; // from subframe 4 word 3.
unsigned char sf4_sv_id; // page identifier encoded in subframe 4 word 3.
unsigned char sf4_page; // decoded page number, or 0 if not mapped.
unsigned char sf5_data_id; // from subframe 5 word 3.
unsigned char sf5_sv_id; // page identifier encoded in subframe 5 word 3.
unsigned char sf5_page; // decoded page number, or 0 if not mapped.
bool almanac_ref_valid;
gpstime_t almanac_toa; // subframe 5 page 25, seconds in GPS week.
unsigned int almanac_wn; // subframe 5 page 25, modulo 256.
ionoutc_t ionoutc; // subframe 4 page 18 ionosphere/UTC data.
double abs_sample; // corrected receiver sample for pseudorange: ABS_SAMPLE - REM_CODE_PHASE_REG/CODE_FREQ_BASIS.
unsigned char SVID; // space vehicle id that is known to user that is responsible to initialize trck & acq.
}gps_ephemeris_t;
// Frame data for subframes 1..5: ephemeris comes from 1..3, ionosphere/UTC
// from subframe 4 page 18, and almanac reference time from subframe 5 page 25.
typedef struct{
gps_ephemeris_t gps_ephems; // parsed ephemeris from all subframes.
unsigned int pending_ephemeris_words[3][10]; // staged subframes 1..3.
unsigned char pending_ephemeris_mask;
}gps_frame_t;
typedef struct {
gpstime_t g;
double range; // pseudorange
double rate;
double d; // geometric distance
double azel[2];
double iono_delay;
} range_t;
// ____ _ ___ ____ _ _ ____ _ _____ _
// / ___| | / _ \| __ ) / \ | | | _ \ / \|_ _|/ \
// | | _| | | | | | _ \ / _ \ | | | | | |/ _ \ | | / _ \
// | |_| | |__| |_| | |_) / ___ \| |___ | |_| / ___ \| |/ ___ \
// \____|_____\___/|____/_/ \_\_____| |____/_/ \_\_/_/ \_\
// gps subframe storages
extern int unsigned gps_subframes[GPS_TRCK_IP_COUNT][10];
#define gps0_subframe gps_subframes[0]
#define gps1_subframe gps_subframes[1]
#define gps2_subframe gps_subframes[2]
#define gps3_subframe gps_subframes[3]
#define gps4_subframe gps_subframes[4]
#define gps5_subframe gps_subframes[5]
#define gps6_subframe gps_subframes[6]
#define gps7_subframe gps_subframes[7]
#define gps8_subframe gps_subframes[8]
extern volatile gps_acq_t* const acq0_ip; // acq ip #0 compatibility alias
extern volatile gps_acq_t* acq_ips[GPS_ACQ_IP_COUNT];
extern unsigned int acq_ips_intr_lines[GPS_ACQ_IP_COUNT];
extern volatile gps_trck_t* const trck0_ip; // trck ip #0
extern volatile gps_trck_t* const trck1_ip; // trck ip #1
extern volatile gps_trck_t* const trck2_ip; // trck ip #2
extern volatile gps_trck_t* const trck3_ip; // trck ip #3
extern volatile gps_trck_t* const trck4_ip; // trck ip #4
extern volatile gps_trck_t* const trck5_ip; // trck ip #5
extern volatile gps_trck_t* const trck6_ip; // trck ip #6
extern volatile gps_trck_t* const trck7_ip; // trck ip #7
extern volatile gps_trck_t* const trck8_ip; // trck ip #8
extern volatile gps_trck_t* const trck_ips[GPS_TRCK_IP_COUNT]; // array to store all tracking ip count.
extern unsigned int trck_ips_intr_lines[GPS_TRCK_IP_COUNT];
extern volatile uint64_t gps_systick_ticks;
// gps frame data storage parsed from all frame (sf 1 thru 5)
extern volatile gps_frame_t gps_frames_parsed[GPS_TRCK_IP_COUNT];
#define gps0_frame_parsed gps_frames_parsed[0]
#define gps1_frame_parsed gps_frames_parsed[1]
#define gps2_frame_parsed gps_frames_parsed[2]
#define gps3_frame_parsed gps_frames_parsed[3]
#define gps4_frame_parsed gps_frames_parsed[4]
#define gps5_frame_parsed gps_frames_parsed[5]
#define gps6_frame_parsed gps_frames_parsed[6]
#define gps7_frame_parsed gps_frames_parsed[7]
#define gps8_frame_parsed gps_frames_parsed[8]
// _____ _ _ _ _ ____ _____ ___ ___ _ _
// | ___| | | | \ | |/ ___|_ _|_ _/ _ \| \ | |
// | |_ | | | | \| | | | | | | | | | \| |
// | _| | |_| | |\ | |___ | | | | |_| | |\ |
// |_| \___/|_| \_|\____| |_| |___\___/|_| \_|
//
// ____ ____ ___ _____ ___ _______ ______ _____ ____
// | _ \| _ \ / _ \_ _/ _ \_ _\ \ / / _ \| ____/ ___|
// | |_) | |_) | | | || || | | || | \ V /| |_) | _| \___ \
// | __/| _ <| |_| || || |_| || | | | | __/| |___ ___) |
// |_| |_| \_\\___/ |_| \___/ |_| |_| |_| |_____|____/
void acq_enable_intr(volatile gps_acq_t* gps_handle, unsigned char intr_no);
void acq_afe_start(volatile gps_acq_t* gps_handler);
void acq_start(volatile gps_acq_t* gps_handler, unsigned char prn_no);
// trck utility control functions
void trck_enable_nav_solve(volatile gps_trck_t* trck_ip); // enables tracking ip nav solve functionality.
void trck_disable_nav_solve(volatile gps_trck_t* trck_ip); // disables tracking ip nav solve functionality.
void trck_disable_nav_solve_flag(volatile gps_trck_t* trck_ip); // disables tracking ip nav solve flag generation.
void trck_enable_nav_solve_flag(volatile gps_trck_t* trck_ip); // disables tracking ip nav solve flag generation.
void trck_enable_nav_solve_intr(volatile gps_trck_t* trck_ip); // enables tracking ip nav solve interrupt generation.
void trck_disable_nav_solve_intr(volatile gps_trck_t* trck_ip); // enables tracking ip nav solve interrupt generation.
void trck_disable_stop_on_unlock(volatile gps_trck_t* trck_ip); // enable functionality.
void trck_enable_stop_on_unlock(volatile gps_trck_t* trck_ip); // disable functionality.
void trck_enable_stop_on_unlock_flag(volatile gps_trck_t* trck_ip); // enable internal ip flag generation.
void trck_disable_stop_on_unlock_flag(volatile gps_trck_t* trck_ip); // disable internal ip flag generation.
void trck_disable_stop_on_unlock_intr(volatile gps_trck_t* trck_ip); // disable int generation due to unlock..
void trck_enable_stop_on_unlock_intr(volatile gps_trck_t* trck_ip); // enable int generation due to unnlock.
void trck_disable_nav_bits_flag(volatile gps_trck_t* trck_ip); // disable nav bits internal flag genertaion.
void trck_enable_nav_bits_flag(volatile gps_trck_t* trck_ip); // enable nav bits internal flag generation.
void trck_enable_nav_bits_intr(volatile gps_trck_t* trck_ip); // enable nav bits intr generation.
void trck_disable_nav_bits_intr(volatile gps_trck_t* trck_ip); // disable nav bits intr generation.
void trck_set_nav_solve_timer(unsigned int tick, volatile gps_trck_t* trck_ip); // in case of gps, 1 tick is 20 ms.
void trck_clear_intr_flag(volatile gps_trck_t* trck_ip); // clear tracking generic interrupt flag.
void trck_stop(volatile gps_trck_t* trck_handler);
void trck_enable_intr(volatile gps_trck_t* gps_handle, unsigned char intr_no);
void trck_disable_intr(volatile gps_trck_t* gps_handle, unsigned char intr_no);
void set_timeout(volatile gps_trck_t* gps_handle, unsigned int timeout_val);
volatile gps_acq_t* gps_get_acq_ip(unsigned int engine_id);
unsigned int gps_get_acq_intr_line(unsigned int engine_id);
bool gps_prn_valid(unsigned int prn_no);
uint64_t gps_get_systick(void);
static inline uint64_t gps_read_cycle_counter(void)
{
uint64_t cycles;
asm volatile("rdcycle %0" : "=r"(cycles));
return cycles;
}
bool gps_get_ionoutc(ionoutc_t* ionoutc);
void gps_background_task(void);
void gps_process_isr_events(void);
void gps_acq_scheduler_run(void);
// parse functions. Generic parse function.
unsigned char parse_subframe(int unsigned* subframe, gps_frame_t* gps_frame,
unsigned int* how_tow_sec_out);
#ifdef EKF_ENABLE
void calculate_position(Ekf* g_ekf);
#else
void calculate_position();
#endif
void gps_startup_initialization(unsigned int nsp_tick);
void gps_interrupt_init(void);
void gps_irq_handler(void) GPS_IRQ_HANDLER_ATTR;
#ifdef EKF_ENABLE
void acq_start_loop(Ekf* g_ekf);
#else
void acq_start_loop();
#endif
#ifdef EKF_ENABLE
#include "ekf_wrapper.h"
#include "spi_mpu.h"
// EKF Global Variables
extern Ekf* g_ekf;
extern uint64_t g_time_now_us;
extern int g_gps_position_valid;
extern mpu6500_data_t g_imu_data;
// GPS position output (LLH)
extern double g_user_llh[3]; // lat, lon, alt
#endif
#endif
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