WebSVN - NaviCtrl - Blame - Rev 23 - /tags/V0.1/GPSUart.h

Rev	Author	Line No.	Line
1	ingob	1	#ifndef __GPSUART_H
		2	#define __GPSUART_H
		3
		4	struct str_ubx_nav_sol
		5	{
		6	u16 Header; // 0xB5 0x62
		7	u16 ID; // 0x01 0x06
		8	u16 Length; // 58 Bytes (+ Header - ohne ChkSum) Total: 60 Bytes
		9	// ----- start of data -----
		10	u32 GPS_time;
		11	s32 Time2;
		12	s16 GPS_week;
		13	u8 Nav_mode; // 0x00=no fix, 0x03=3d fix
		14	u8 Flags; // 0x01=GPS_ok
		15	s32 X_Pos; // in cm (ECEF frame)
		16	s32 Y_Pos;
		17	s32 Z_Pos;
		18	u32 Pos_Accuracy;
		19	s32 X_Speed; // in cm/s
		20	s32 Y_Speed;
		21	s32 Z_Speed;
		22	u32 Speed_Accuracy;
		23	u16 PDOP; // Scaling: 0.01
		24	u8 Reserved1;
		25	u8 Number_SV;
		26	u32 Reserved2;
		27	// ------ end of data -------
		28	u8 CK_A;
		29	u8 CK_B;
		30	} __attribute__((packed));
		31
		32
		33	struct str_ubx_nav_velned
		34	{
		35	u16 Header; // 0xB5 0x62
		36	u16 ID; // 0x01 0x12
		37	u16 Length; // 42 Bytes (+ Header - ohne ChkSum) Total: 44 Bytes
		38	// ----- start of data -----
		39	u32 GPS_time;
		40	s32 N_Speed;
		41	s32 E_Speed;
		42	s32 DownSpeed;
		43	u32 Speed3D;
		44	u32 GroundSpeed;
		45	s32 Heading;
		46	u32 SpeedAccuracy;
		47	u32 HeadingAccuracy;
		48	// ------ end of data -------
		49	u8 CK_A;
		50	u8 CK_B;
		51	} __attribute__((packed));
		52
		53	struct str_ubx_nav_posllh
		54	{
		55	u16 Header; // 0xB5 0x62
		56	u16 ID; // 0x01 0x02
		57	u16 Length; // 42 Bytes (+ Header - ohne ChkSum) Total: 44 Bytes
		58	// ----- start of data -----
		59	u32 GPS_time;
		60	s32 Longitude; // 1e-07 deg Longitude
		61	s32 Latitude; // 1e-07 deg Latitude
		62	s32 Height; // mm Height
		63	s32 HeightSL; // mm Height above mean sea level
		64	u32 HorizontalAccuracy; // mm Horizontal Accuracy Estimate
		65	u32 VerticalAccuracy; // mm Vertical Accuracy Estimate
		66	// ------ end of data -------
		67	u8 CK_A;
		68	u8 CK_B;
		69	} __attribute__((packed));
		70
		71	struct str_ubx_nav_posutm
		72	{
		73	u16 Header; // 0xB5 0x62
		74	u16 ID; // 0x01 0x08
		75	u16 Length; // 18 Bytes (+ Header - ohne ChkSum)
		76	// ----- start of data -----
		77	u32 GPS_time;
		78	s32 East; // in cm
		79	s32 North; // in cm
		80	s32 Altitude; // in cm
		81	s16 UTM_ZoneNumber;
		82	s16 HemisphereSector; // 0 = North, 1 = South
		83	// ------ end of data -------
		84	u8 CK_A;
		85	u8 CK_B;
		86	} __attribute__((packed));
		87
		88
		89	struct str_gps_nav_data
		90	{
		91	s32 Longitude;
		92	s32 Latitude;
		93	s32 TargetLongitude;
		94	s32 TargetLatitude;
		95	s32 HomeLongitude;
		96	s32 HomeLatitude;
		97	s32 North2Target;
		98	s32 East2Target;
		99	s32 Distance2Target;
		100	s32 Angle2Target;
		101	s32 Height;
		102	s32 HeightSL;
		103	s32 DownSpeed;
		104	u32 GPS_time;
		105	u16 GPS_week;
		106	s32 North;
		107	s32 East;
		108	s32 N_Speed;
		109	s32 E_Speed;
		110	s32 SpeedAccuracy;
		111	u32 HorizontalAccuracy;
		112	u32 VerticalAccuracy;
		113	u8 Flags; // 0x01=GPS_ok
		114	s32 DataPerSecond;
		115	s32 Altitude;
		116	u8 Used_Sat;
		117	} __attribute__((packed));
		118
		119
		120	#define GPS_RX_SIZE (sizeof(struct str_ubx_nav_velned) + sizeof(struct str_ubx_nav_posutm) + sizeof(struct str_ubx_nav_sol) + sizeof(struct str_ubx_nav_posllh) + 10)
		121
		122	// ----------------------------------------------------------------
		123	extern u8 NewGPSDataAvail;
		124	extern u8 NewPCTargetGPSPosition;
		125	extern struct str_gps_nav_data GPS_Data;
		126
		127	extern void GPS_UART0_Init (void);
		128
		129	#endif
		130

Subversion Repositories NaviCtrl

(root)/tags/V0.1/GPSUart.h - Rev 23