| 0,0 → 1,130 |
|---|
| #ifndef __GPSUART_H |
| #define __GPSUART_H |
| |
| struct str_ubx_nav_sol |
| { |
| u16 Header; // 0xB5 0x62 |
| u16 ID; // 0x01 0x06 |
| u16 Length; // 58 Bytes (+ Header - ohne ChkSum) Total: 60 Bytes |
| // ----- start of data ----- |
| u32 GPS_time; |
| s32 Time2; |
| s16 GPS_week; |
| u8 Nav_mode; // 0x00=no fix, 0x03=3d fix |
| u8 Flags; // 0x01=GPS_ok |
| s32 X_Pos; // in cm (ECEF frame) |
| s32 Y_Pos; |
| s32 Z_Pos; |
| u32 Pos_Accuracy; |
| s32 X_Speed; // in cm/s |
| s32 Y_Speed; |
| s32 Z_Speed; |
| u32 Speed_Accuracy; |
| u16 PDOP; // Scaling: 0.01 |
| u8 Reserved1; |
| u8 Number_SV; |
| u32 Reserved2; |
| // ------ end of data ------- |
| u8 CK_A; |
| u8 CK_B; |
| } __attribute__((packed)); |
| |
| |
| struct str_ubx_nav_velned |
| { |
| u16 Header; // 0xB5 0x62 |
| u16 ID; // 0x01 0x12 |
| u16 Length; // 42 Bytes (+ Header - ohne ChkSum) Total: 44 Bytes |
| // ----- start of data ----- |
| u32 GPS_time; |
| s32 N_Speed; |
| s32 E_Speed; |
| s32 DownSpeed; |
| u32 Speed3D; |
| u32 GroundSpeed; |
| s32 Heading; |
| u32 SpeedAccuracy; |
| u32 HeadingAccuracy; |
| // ------ end of data ------- |
| u8 CK_A; |
| u8 CK_B; |
| } __attribute__((packed)); |
| |
| struct str_ubx_nav_posllh |
| { |
| u16 Header; // 0xB5 0x62 |
| u16 ID; // 0x01 0x02 |
| u16 Length; // 42 Bytes (+ Header - ohne ChkSum) Total: 44 Bytes |
| // ----- start of data ----- |
| u32 GPS_time; |
| s32 Longitude; // 1e-07 deg Longitude |
| s32 Latitude; // 1e-07 deg Latitude |
| s32 Height; // mm Height |
| s32 HeightSL; // mm Height above mean sea level |
| u32 HorizontalAccuracy; // mm Horizontal Accuracy Estimate |
| u32 VerticalAccuracy; // mm Vertical Accuracy Estimate |
| // ------ end of data ------- |
| u8 CK_A; |
| u8 CK_B; |
| } __attribute__((packed)); |
| |
| struct str_ubx_nav_posutm |
| { |
| u16 Header; // 0xB5 0x62 |
| u16 ID; // 0x01 0x08 |
| u16 Length; // 18 Bytes (+ Header - ohne ChkSum) |
| // ----- start of data ----- |
| u32 GPS_time; |
| s32 East; // in cm |
| s32 North; // in cm |
| s32 Altitude; // in cm |
| s16 UTM_ZoneNumber; |
| s16 HemisphereSector; // 0 = North, 1 = South |
| // ------ end of data ------- |
| u8 CK_A; |
| u8 CK_B; |
| } __attribute__((packed)); |
| |
| |
| struct str_gps_nav_data |
| { |
| s32 Longitude; |
| s32 Latitude; |
| s32 TargetLongitude; |
| s32 TargetLatitude; |
| s32 HomeLongitude; |
| s32 HomeLatitude; |
| s32 North2Target; |
| s32 East2Target; |
| s32 Distance2Target; |
| s32 Angle2Target; |
| s32 Height; |
| s32 HeightSL; |
| s32 DownSpeed; |
| u32 GPS_time; |
| u16 GPS_week; |
| s32 North; |
| s32 East; |
| s32 N_Speed; |
| s32 E_Speed; |
| s32 SpeedAccuracy; |
| u32 HorizontalAccuracy; |
| u32 VerticalAccuracy; |
| u8 Flags; // 0x01=GPS_ok |
| s32 DataPerSecond; |
| s32 Altitude; |
| u8 Used_Sat; |
| } __attribute__((packed)); |
| |
| |
| #define GPS_RX_SIZE (sizeof(struct str_ubx_nav_velned) + sizeof(struct str_ubx_nav_posutm) + sizeof(struct str_ubx_nav_sol) + sizeof(struct str_ubx_nav_posllh) + 10) |
| |
| // ---------------------------------------------------------------- |
| extern u8 NewGPSDataAvail; |
| extern u8 NewPCTargetGPSPosition; |
| extern struct str_gps_nav_data GPS_Data; |
| |
| extern void GPS_UART0_Init (void); |
| |
| #endif |
| |