26,34 → 26,34 |
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typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t Frac; // ns remainder of rounded ms above |
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 flags; // Navigation Status Flags |
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 |
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 |
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 |
Status_t Status; |
Status_t status; |
} UBX_SOL_t; |
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typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t LON; // 1e-07 deg Longitude |
int32_t LAT; // 1e-07 deg Latitude |
int32_t HEIGHT; // mm Height above Ellipsoid |
int32_t lon; // 1e-07 deg Longitude |
int32_t lat; // 1e-07 deg Latitude |
int32_t height; // mm Height above Ellipsoid |
int32_t HMSL; // mm Height above mean sea level |
uint32_t Hacc; // mm Horizontal Accuracy Estimate |
uint32_t Vacc; // mm Vertical Accuracy Estimate |
Status_t Status; |
uint32_t hAcc; // mm Horizontal Accuracy Estimate |
uint32_t vAacc; // mm Vertical Accuracy Estimate |
Status_t status; |
} UBX_POSLLH_t; |
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typedef struct { |
61,52 → 61,51 |
int32_t VEL_N; // cm/s NED north velocity |
int32_t VEL_E; // cm/s NED east velocity |
int32_t VEL_D; // cm/s NED down velocity |
uint32_t Speed; // cm/s Speed (3-D) |
uint32_t GSpeed; // cm/s Ground Speed (2-D) |
int32_t Heading; // 1e-05 deg Heading 2-D |
uint32_t SAcc; // cm/s Speed Accuracy Estimate |
uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
Status_t Status; |
uint32_t speed; // cm/s Speed (3-D) |
uint32_t gSpeed; // cm/s Ground Speed (2-D) |
int32_t heading; // 1e-05 deg Heading 2-D |
uint32_t sAcc; // cm/s Speed Accuracy Estimate |
uint32_t cAcc; // deg Course / Heading Accuracy Estimate |
Status_t status; |
} UBX_VELNED_t; |
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UBX_SOL_t UbxSol = |
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
UBX_POSLLH_t UbxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID }; |
UBX_VELNED_t UbxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
UBX_SOL_t ubxSol = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID }; |
UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
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volatile uint8_t GPSTimeout = 0; |
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void updateGPSInfo(void) { |
if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) |
&& (UbxVelNed.Status == NEWDATA)) { |
if ((ubxSol.status == NEWDATA) && (ubxPosLlh.status == NEWDATA) |
&& (ubxVelNed.status == NEWDATA)) { |
//RED_FLASH; |
// DebugOut.Digital ....blah... |
if (GPSInfo.status != NEWDATA) { |
GPSInfo.status = INVALID; |
// NAV SOL |
GPSInfo.flags = UbxSol.Flags; |
GPSInfo.satfix = UbxSol.GPSfix; |
GPSInfo.satnum = UbxSol.numSV; |
GPSInfo.PAcc = UbxSol.PAcc; |
GPSInfo.VAcc = UbxSol.SAcc; |
GPSInfo.flags = ubxSol.flags; |
GPSInfo.satfix = ubxSol.GPSfix; |
GPSInfo.satnum = ubxSol.numSV; |
GPSInfo.PAcc = ubxSol.pAcc; |
GPSInfo.VAcc = ubxSol.sAcc; |
// NAV POSLLH |
GPSInfo.longitude = UbxPosLlh.LON; |
GPSInfo.latitude = UbxPosLlh.LAT; |
GPSInfo.altitude = UbxPosLlh.HEIGHT; |
GPSInfo.longitude = ubxPosLlh.lon; |
GPSInfo.latitude = ubxPosLlh.lat; |
GPSInfo.altitude = ubxPosLlh.height; |
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GPSInfo.veleast = UbxVelNed.VEL_E; |
GPSInfo.velnorth = UbxVelNed.VEL_N; |
GPSInfo.veltop = -UbxVelNed.VEL_D; |
GPSInfo.velground = UbxVelNed.GSpeed; |
GPSInfo.veleast = ubxVelNed.VEL_E; |
GPSInfo.velnorth = ubxVelNed.VEL_N; |
GPSInfo.veltop = -ubxVelNed.VEL_D; |
GPSInfo.velground = ubxVelNed.gSpeed; |
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GPSInfo.status = NEWDATA; |
} |
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// set state to collect new data |
UbxSol.Status = PROCESSED; // never update old data |
UbxPosLlh.Status = PROCESSED; // never update old data |
UbxVelNed.Status = PROCESSED; // never update old data |
ubxSol.status = PROCESSED; // never update old data |
ubxPosLlh.status = PROCESSED; // never update old data |
ubxVelNed.status = PROCESSED; // never update old data |
} |
} |
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142,21 → 141,21 |
case UBXSTATE_CLASS: // check message identifier |
switch (c) { |
case UBX_ID_POSLLH: // geodetic position |
ubxP = (int8_t *) &UbxPosLlh; // data start pointer |
ubxEp = (int8_t *) (&UbxPosLlh + 1); // data end pointer |
ubxSp = (int8_t *) &UbxPosLlh.Status; // status pointer |
ubxP = (int8_t *) &ubxPosLlh; // data start pointer |
ubxEp = (int8_t *) (&ubxPosLlh + 1); // data end pointer |
ubxSp = (int8_t *) &ubxPosLlh.status; // status pointer |
break; |
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case UBX_ID_SOL: // navigation solution |
ubxP = (int8_t *) &UbxSol; // data start pointer |
ubxEp = (int8_t *) (&UbxSol + 1); // data end pointer |
ubxSp = (int8_t *) &UbxSol.Status; // status pointer |
ubxP = (int8_t *) &ubxSol; // data start pointer |
ubxEp = (int8_t *) (&ubxSol + 1); // data end pointer |
ubxSp = (int8_t *) &ubxSol.status; // status pointer |
break; |
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case UBX_ID_VELNED: // velocity vector in tangent plane |
ubxP = (int8_t *) &UbxVelNed; // data start pointer |
ubxEp = (int8_t *) (&UbxVelNed + 1); // data end pointer |
ubxSp = (int8_t *) &UbxVelNed.Status; // status pointer |
ubxP = (int8_t *) &ubxVelNed; // data start pointer |
ubxEp = (int8_t *) (&ubxVelNed + 1); // data end pointer |
ubxSp = (int8_t *) &ubxVelNed.status; // status pointer |
break; |
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default: // unsupported identifier |
227,4 → 226,3 |
break; |
} |
} |
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