gps

Documentation

Overview

Package gps provides a driver for GPS receivers over UART and I2C

Index

• Constants
• func FlightMode(d Device) (err error)
• func SetCfgGNSS(d Device) (err error)
• type Device
  • func NewI2C(bus drivers.I2C) Device
  • func NewUART(uart drivers.UART) Device
  • func (gps *Device) NextSentence() (sentence string, err error)
  • func (gps *Device) WriteBytes(bytes []byte)
• type Fix
• type GPSError
  • func (ge GPSError) Error() string
  • func (ge GPSError) Unwrap() error
• type Parser
  • func NewParser() Parser
  • func (parser *Parser) Parse(sentence string) (Fix, error)

Constants

const (
	BYTES_AVAIL_REG = 0xfd
	DATA_STREAM_REG = 0xff
)

const (
	I2C_ADDRESS = 0x42
)

The I2C address which this device listens to.

Functions

func FlightMode

func FlightMode(d Device) (err error)

func SetCfgGNSS

func SetCfgGNSS(d Device) (err error)

Types

type Device

type Device struct {
	// contains filtered or unexported fields
}

Device wraps a connection to a GPS device.

func NewI2C

func NewI2C(bus drivers.I2C) Device

NewI2C creates a new I2C GPS connection.

func NewUART

func NewUART(uart drivers.UART) Device

NewUART creates a new UART GPS connection. The UART must already be configured.

func (*Device) NextSentence

func (gps *Device) NextSentence() (sentence string, err error)

NextSentence returns the next valid NMEA sentence from the GPS device.

func (*Device) WriteBytes

func (gps *Device) WriteBytes(bytes []byte)

WriteBytes sends data/commands to the GPS device

type Fix

type Fix struct {
	// Valid if the fix was valid.
	Valid bool

	// Time that the fix was taken, in UTC time.
	Time time.Time

	// Latitude is the decimal latitude. Negative numbers indicate S.
	Latitude float32

	// Longitude is the decimal longitude. Negative numbers indicate E.
	Longitude float32

	// Altitude is only returned for GGA sentences.
	Altitude int32

	// Satellites is the number of visible satellites, but is only returned for GGA sentences.
	Satellites int16

	// Speed based on reported movement. Only returned for RMC sentences.
	Speed float32

	// Heading based on reported movement. Only returned for RMC sentences.
	Heading float32
}

Fix is a GPS location fix

type GPSError

type GPSError struct {
	Err      error
	Info     string
	Sentence string
}

func (GPSError) Error

func (ge GPSError) Error() string

func (GPSError) Unwrap

func (ge GPSError) Unwrap() error

type Parser

type Parser struct {
}

Parser for GPS NMEA sentences.

func NewParser

func NewParser() Parser

NewParser returns a GPS NMEA Parser.

func (*Parser) Parse

func (parser *Parser) Parse(sentence string) (Fix, error)

Parse parses a NMEA sentence looking for fix info.