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Ignore whitespace Rev 869 → Rev 870

/tags/V2.20f/ubx.h
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