| 0,0 → 1,76 |
|---|
| #ifndef __UBX_H |
| #define __UBX_H |
| |
| #include "buffer.h" |
| #include "gpspos.h" |
| |
| // Satfix types for GPSData.SatFix |
| #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 |
| |
| // Flags for interpretation of the GPSData.Flags |
| #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
| #define FLAG_GPS_NAVIGATION_ACT 0x10 // to FC -> NC is ready to navigate |
| |
| |
| typedef struct |
| { |
| u32 MsgCycleTime; // time in ms since last gps data |
| GPS_Pos_t Position; // Lat/Lon/Alt |
| u8 Flags; // Status Flags |
| u8 NumOfSats; // number of satelites |
| u8 SatFix; // type of satfix |
| u32 Position_Accuracy; // in cm 3d position accuracy |
| s32 Speed_North; // in cm/s |
| s32 Speed_East; // in cm/s |
| s32 Speed_Top; // in cm/s |
| u32 Speed_Ground; // 2D ground speed in cm/s |
| s32 Heading; // 1e-05 deg Heading 2-D (current flight direction) |
| u32 Speed_Accuracy; // in cm/s 3d velocity accuracy |
| u8 Status; // status of data |
| } __attribute__((packed)) gps_data_t; |
| |
| // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
| // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
| extern gps_data_t GPSData; |
| |
| |
| #define UBX_CLASS_CFG 0x06 |
| #define UBX_CLASS_ACK 0x05 |
| |
| typedef struct |
| { |
| u8 Class; |
| u8 Id; |
| u16 Length; |
| } __attribute__((packed)) ubxmsghdr_t; |
| |
| #define UBX_MSG_DATA_SIZE 200 |
| typedef struct |
| { |
| u8 ClassMask; |
| u8 IdMask; |
| ubxmsghdr_t Hdr; |
| u8 Data[UBX_MSG_DATA_SIZE]; |
| u8 Status; |
| } __attribute__((packed)) ubxmsg_t; |
| // msg obj to reveive |
| // set Class and Id and correspoinding masks of a message that should be received |
| extern ubxmsg_t UbxMsg; |
| |
| |
| extern u32 UBX_Timeout; |
| |
| void UBX_Init(void); |
| void UBX_RxParser(u8 c); |
| u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len); |
| extern u8 UbxVersionParser(void); |
| |
| #endif // __UBX_H |