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Rev | Author | Line No. | Line |
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1538 | killagreg | 1 | #ifndef _UBX_H |
2 | #define _UBX_H |
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3 | |||
4 | #include <inttypes.h> |
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5 | |||
6 | |||
7 | typedef enum |
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8 | { |
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9 | INVALID, |
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10 | NEWDATA, |
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11 | PROCESSED |
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12 | } Status_t; |
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13 | |||
14 | // Satfix types for GPSData.satfix |
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15 | #define SATFIX_NONE 0x00 |
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16 | #define SATFIX_DEADRECKOING 0x01 |
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17 | #define SATFIX_2D 0x02 |
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18 | #define SATFIX_3D 0x03 |
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19 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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20 | #define SATFIX_TIMEONLY 0x05 |
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21 | // Flags for interpretation of the GPSData.flags |
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22 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
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23 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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24 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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25 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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26 | |||
27 | |||
28 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
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29 | 01-02 NAV - POSLLH |
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30 | 01-06 Nav - SOL |
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31 | 01-12 NAV - VELNED */ |
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32 | |||
33 | typedef struct |
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34 | { |
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35 | uint8_t flags; // flags |
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36 | uint8_t satnum; // number of satelites |
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37 | uint8_t satfix; // type of satfix |
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38 | int32_t longitude; // in 1e-07 deg |
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39 | int32_t latitude; // in 1e-07 deg |
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40 | int32_t altitude; // in mm |
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41 | uint32_t PAcc; // in cm 3d position accuracy |
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42 | int32_t velnorth; // in cm/s |
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43 | int32_t veleast; // in cm/s |
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44 | int32_t veltop; // in cm/s |
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45 | uint32_t velground; // 2D ground speed in cm/s |
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46 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
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47 | Status_t status; // status of data: invalid | valid |
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48 | } GPS_INFO_t; |
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49 | |||
50 | //here you will find the current gps info |
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51 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
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52 | |||
53 | // this variable should be decremted by the application |
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54 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
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55 | |||
56 | |||
57 | #define USART1_BAUD 57600 |
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58 | // this function should be called within the UART RX ISR |
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59 | extern void ubx_parser(uint8_t c); |
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60 | |||
61 | #endif //_UBX_H |