| 0,0 → 1,71 |
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| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: gps_ubx.h |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 08.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| |
| #ifndef GPS_UBX_H |
| #define GPS_UBX_H |
| |
| /**** Includes ****************************************************************/ |
| |
| #include "std_c.h" |
| |
| /**** Preprocessing directives (#define) **************************************/ |
| |
| /**** Type definitions (typedef) **********************************************/ |
| |
| typedef struct ubx_struct |
| { |
| bool update; |
| |
| uint8 msg_class; |
| uint8 msg_id; |
| uint8 length; |
| uint8 data[256]; |
| }; |
| |
| typedef struct nav_sol_struct |
| { |
| uint8 update; |
| |
| uint32 itow; // Time |
| uint8 gpsfix; // GPSfix |
| int32 ecef_x; // cm ECEF X coordinate |
| int32 ecef_y; // cm ECEF Y coordinate |
| int32 ecef_z; // cm ECEF Z coordinate |
| uint32 pacc; // cm 3D Position Accuracy Estimate |
| int32 ecefvx; // cm/s ECEF X velocity |
| int32 ecefvy; // cm/s ECEF Y velocity |
| int32 ecefvz; // cm/s ECEF Z velocity |
| uint32 sacc; // cm/s Speed Accuracy Estimate |
| uint16 pdop; // Position DOP |
| |
| uint8 numsv; // Number of SVs used in Nav Solution |
| }; |
| |
| /**** Global constants (extern) ***********************************************/ |
| |
| /**** Global variables (extern) ***********************************************/ |
| |
| struct ubx_struct ubx; |
| struct nav_sol_struct nav_sol; |
| |
| /**** Global function prototypes **********************************************/ |
| |
| extern void ubx_push(uint8 c); |
| extern void ubx_decode(struct ubx_struct *ubx); |
| |
| #endif |