| 0,0 → 1,45 |
|---|
| #ifndef _UBX_H |
| #define _UBX_H |
| |
| #define INVALID 0x00 |
| #define VALID 0x01 |
| #define PROCESSED 0x02 |
| |
| |
| #define SATFIX_NONE 0x00 |
| #define SATFIX_DEADRECKOING 0x01 |
| #define SATFIX_2D 0x02 |
| #define SATFIX_3D 0x03 |
| #define SATFIX_GPS_DEADRECKOING 0x04 |
| #define SATFIX_TIMEONLY 0x05 |
| |
| |
| /* enable the UBX protocol at the gps receiver with the following messages enabled |
| 01-02 NAV - POSLLH |
| 01-03 NAV - STATUS |
| 01-08 NAV - POSUTM |
| 01-12 NAV - VELNED */ |
| |
| |
| typedef struct |
| { |
| uint8_t satfix; // type of satfix |
| int32_t utmnorth; // in cm (+ = north) |
| int32_t utmeast; // in cm (+ = east) |
| int32_t utmalt; // in cm (+ = top) |
| int32_t velnorth; // in cm/s |
| int32_t veleast; // in cm/s |
| int32_t veltop; // in cm/s |
| int32_t longitude; // in 1e-07 deg |
| int32_t latitude; // in 1e-07 deg |
| int32_t altitude; // in mm |
| uint8_t status; // status of data: invalid | valid |
| } GPS_INFO_t; |
| |
| //here you will find the current gps info |
| extern GPS_INFO_t actualPos; // measured position (last gps record) |
| |
| // this function should be called within the UART RX ISR |
| extern void ubx_parser(uint8_t c); |
| |
| #endif //_UBX_H |