IMU_DUAL/nmea/rtklib.h

#ifndef RTKLIB_H
#define RTKLIB_H
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
#include <time.h>
#include <ctype.h>
#include <stdint.h>

#define PI          3.1415926535897932  /* pi */
#define D2R         (PI/180.0)          /* deg to rad */
#define R2D         (180.0/PI)          /* rad to deg */
#define CLIGHT      299792458.0         /* speed of light (m/s) */
#define SC2RAD      3.1415926535898     /* semi-circle to radian (IS-GPS) */
#define AU          149597870691.0      /* 1 AU (m) */
#define AS2R        (D2R/3600.0)        /* arc sec to radian */

#define MAXLEAPS    64                  /* max number of leap seconds table */


/* type definitions ----------------------------------------------------------*/
typedef struct
{                		/* time struct */
    time_t time; 		/* time (s) expressed by standard time_t */
    double sec;  		/* fraction of second under 1 s */
} gtime_t;

typedef struct
{                				/* sys time struct */
	gtime_t SYS_UTC_TIME;  		// typedef TIME from UTC
	gtime_t SYS_GPST_TIME;      // typedef TIME from UTC
	uint8_t NMEA_GET;
} sys_time_t;

typedef struct
{
	char name[5];
	uint8_t ready;		/*1:ready  0:not ready*/
	uint8_t lock;      	/*1:lock  0:unlock*/
	uint8_t enable;
	gtime_t gpstime;    /* time (GPST) */
	gtime_t utctime;	/* time (UTC) */
	double IMU_acc[3];	/* acc (x,y,z) */
	double IMU_gyro[3];	/* gyro (x,y,z) */
}IMU_mng_t;

typedef struct
{                      /* solution type */
	gtime_t eventime;  /* time of event (GPST) */
    gtime_t gpsttime;      /* time (GPST) */
    gtime_t utctime;
    double rr[6];      /* position/velocity (m|m/s) */
    double dtr[6];     /* receiver clock bias to time systems (s) */
    uint8_t type;      /* type (0:xyz-ecef,1:enu-baseline) */
    uint8_t stat;      /* solution status (SOLQ_???) */
    uint8_t ns;        /* number of valid satellites */
    float age;         /* age of differential (s) */
    float ratio;       /* AR ratio factor for valiation */
} sol_t;

typedef struct
{
	sol_t sol;
	int nbyte;          /* number of bytes in message buffer */
	int len;            /* message length (bytes) */
	uint8_t buff[256]; /* message buffer */
} nmea_t;

/* time */
extern gtime_t timeadd  (gtime_t t, double sec);
extern double  timediff (gtime_t t1, gtime_t t2);
extern gtime_t gpst2utc (gtime_t t);
extern gtime_t utc2gpst (gtime_t t);
extern gtime_t gpst2bdt (gtime_t t);
extern gtime_t bdt2gpst (gtime_t t);
extern double  time2gpst(gtime_t t, int *week);
extern gtime_t timeget  (void);

extern gtime_t epoch2time(const double *ep);


extern int input_nmea(nmea_t* nmea, const uint8_t data);


#endif /* RTKLIB_H */