| 18,23 → 18,35 |
|---|
| |
| // ublox protocoll identifier |
| #define UBX_CLASS_NAV 0x01 |
| |
| #define UBX_ID_POSLLH 0x02 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_POSUTM 0x08 |
| #define UBX_ID_STATUS 0x03 |
| #define UBX_ID_VELNED 0x12 |
| |
| #define UBX_SYNC1_CHAR 0xB5 |
| #define UBX_SYNC2_CHAR 0x62 |
| |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t Frac; // ns remainder of rounded ms above |
| int16_t week; // GPS week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| uint32_t TTFF; // Time to first fix (millisecond time tag) |
| uint32_t MSSS; // Milliseconds since Startup / Reset |
| int32_t ECEF_X; // cm ECEF X coordinate |
| int32_t ECEF_Y; // cm ECEF Y coordinate |
| int32_t ECEF_Z; // cm ECEF Z coordinate |
| uint32_t PAcc; // cm 3D Position Accuracy Estimate |
| int32_t ECEFVX; // cm/s ECEF X velocity |
| int32_t ECEFVY; // cm/s ECEF Y velocity |
| int32_t ECEFVZ; // cm/s ECEF Z velocity |
| uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| uint16_t PDOP; // 0.01 Position DOP |
| uint8_t res1; // reserved |
| uint8_t numSV; // Number of SVs used in navigation solution |
| uint32_t res2; // reserved |
| uint8_t Status; |
| } GPS_STATUS_t; |
| } GPS_SOL_t; |
| |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| 70,8 → 82,7 |
|---|
| uint8_t Status; |
| } GPS_VELNED_t; |
| |
| |
| GPS_STATUS_t GpsStatus = {0,0,0,0,0,0,0, INVALID}; |
| GPS_SOL_t GpsSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| GPS_POSLLH_t GpsPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| GPS_POSUTM_t GpsPosUtm = {0,0,0,0,0,0, INVALID}; |
| GPS_VELNED_t GpsVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| 81,10 → 92,13 |
|---|
| |
| void UpdateGPSInfo (void) |
| { |
| if (GpsStatus.Status == VALID) // valid packet |
| if (GpsSol.Status == VALID) // valid packet |
| { |
| GPSInfo.satfix = GpsStatus.GPSfix; |
| GpsStatus.Status = PROCESSED; // never update old data |
| GPSInfo.satfix = GpsSol.GPSfix; |
| GPSInfo.satnum = GpsSol.numSV; |
| GPSInfo.PAcc = GpsSol.PAcc; |
| GPSInfo.VAcc = GpsSol.SAcc; |
| GpsSol.Status = PROCESSED; // never update old data |
| } |
| if (GpsPosLlh.Status == VALID) // valid packet |
| { |
| 107,7 → 121,7 |
|---|
| GPSInfo.veltop = -GpsVelNed.VEL_D; |
| GpsVelNed.Status = PROCESSED; // never update old data |
| } |
| if (GpsStatus.Status != INVALID) |
| if ((GpsSol.Status != INVALID) && (GpsPosLlh.Status != INVALID) && (GpsPosUtm.Status != INVALID) && (GpsVelNed.Status != INVALID)) |
| { |
| GPSInfo.status = VALID; // set valid if data are updated |
| } |
| 154,10 → 168,10 |
|---|
| ubxSp = (int8_t *)&GpsPosLlh.Status; // status pointer |
| break; |
| |
| case UBX_ID_STATUS: // receiver status |
| ubxP = (int8_t *)&GpsStatus; // data start pointer |
| ubxEp = (int8_t *)(&GpsStatus + sizeof(GPS_STATUS_t)); // data end pointer |
| ubxSp = (int8_t *)&GpsStatus.Status; // status pointer |
| case UBX_ID_SOL: // navigation solution |
| ubxP = (int8_t *)&GpsSol; // data start pointer |
| ubxEp = (int8_t *)(&GpsSol + sizeof(GPS_SOL_t)); // data end pointer |
| ubxSp = (int8_t *)&GpsSol.Status; // status pointer |
| break; |
| |
| case UBX_ID_VELNED: // velocity vector in tangent plane |