| 21,7 → 21,6 |
|---|
| |
| #define UBX_ID_POSLLH 0x02 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_POSUTM 0x08 |
| #define UBX_ID_VELNED 0x12 |
| |
| #define UBX_SYNC1_CHAR 0xB5 |
| 60,16 → 59,6 |
|---|
| } GPS_POSLLH_t; |
| |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t EAST; // cm UTM Easting |
| int32_t NORTH; // cm UTM Nording |
| int32_t ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t Status; |
| } GPS_POSUTM_t; |
| |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t VEL_N; // cm/s NED north velocity |
| int32_t VEL_E; // cm/s NED east velocity |
| 84,7 → 73,6 |
|---|
| |
| GPS_SOL_t GpsSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| GPS_POSLLH_t GpsPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| GPS_POSUTM_t GpsPosUtm = {0,0,0,0,0,0, INVALID}; |
| GPS_VELNED_t GpsVelNed = {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}; |
| |
| 107,13 → 95,6 |
|---|
| GPSInfo.altitude = GpsPosLlh.HEIGHT; |
| GpsPosLlh.Status = PROCESSED; // never update old data |
| } |
| if (GpsPosUtm.Status == VALID) // valid packet |
| { |
| GPSInfo.utmeast = GpsPosUtm.EAST; |
| GPSInfo.utmnorth = GpsPosUtm.NORTH; |
| GPSInfo.utmalt = GpsPosUtm.ALT; |
| GpsPosUtm.Status = PROCESSED; // never update old data |
| } |
| if (GpsVelNed.Status == VALID) // valid packet |
| { |
| GPSInfo.veleast = GpsVelNed.VEL_E; |
| 121,7 → 102,7 |
|---|
| GPSInfo.veltop = -GpsVelNed.VEL_D; |
| GpsVelNed.Status = PROCESSED; // never update old data |
| } |
| if ((GpsSol.Status != INVALID) && (GpsPosLlh.Status != INVALID) && (GpsPosUtm.Status != INVALID) && (GpsVelNed.Status != INVALID)) |
| if ((GpsSol.Status != INVALID) && (GpsPosLlh.Status != INVALID) && (GpsVelNed.Status != INVALID)) |
| { |
| GPSInfo.status = VALID; // set valid if data are updated |
| } |
| 156,12 → 137,6 |
|---|
| case UBXSTATE_CLASS: // check message identifier |
| switch(c) |
| { |
| case UBX_ID_POSUTM: // utm position |
| ubxP = (int8_t *)&GpsPosUtm; // data start pointer |
| ubxEp = (int8_t *)(&GpsPosUtm + sizeof(GPS_POSUTM_t)); // data end pointer |
| ubxSp = (int8_t *)&GpsPosUtm.Status; // status pointer |
| break; |
| |
| case UBX_ID_POSLLH: // geodetic position |
| ubxP = (int8_t *)&GpsPosLlh; // data start pointer |
| ubxEp = (int8_t *)(&GpsPosLlh + sizeof(GPS_POSLLH_t)); // data end pointer |