Rev 231 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 231 | Rev 274 | ||
|---|---|---|---|
| 1 | #ifndef _UBX_H |
1 | #ifndef _UBX_H |
| 2 | #define _UBX_H |
2 | #define _UBX_H |
| 3 | 3 | ||
| 4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
| 5 | 5 | ||
| 6 | - | ||
| 7 | typedef enum |
- | |
| 8 | { |
- | |
| 9 | INVALID, |
- | |
| 10 | NEWDATA, |
- | |
| 11 | PROCESSED |
- | |
| 12 | } Status_t; |
- | |
| 13 | 6 | ||
| 14 | // Satfix types for GPSData.satfix |
7 | // Satfix types for GPSData.SatFix |
| 15 | #define SATFIX_NONE 0x00 |
8 | #define SATFIX_NONE 0x00 |
| 16 | #define SATFIX_DEADRECKOING 0x01 |
9 | #define SATFIX_DEADRECKOING 0x01 |
| 17 | #define SATFIX_2D 0x02 |
10 | #define SATFIX_2D 0x02 |
| 18 | #define SATFIX_3D 0x03 |
11 | #define SATFIX_3D 0x03 |
| 19 | #define SATFIX_GPS_DEADRECKOING 0x04 |
12 | #define SATFIX_GPS_DEADRECKOING 0x04 |
| 20 | #define SATFIX_TIMEONLY 0x05 |
13 | #define SATFIX_TIMEONLY 0x05 |
| 21 | // Flags for interpretation of the GPSData.flags |
14 | // Flags for interpretation of the GPSData.Flags |
| 22 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
15 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| 23 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
16 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| 24 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
17 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| 25 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
18 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
| - | 19 | ||
| - | 20 | #define INVALID 0x00 |
|
| - | 21 | #define NEWDATA 0x01 |
|
| - | 22 | #define PROCESSED 0x02 |
|
| - | 23 | ||
| - | 24 | typedef struct |
|
| - | 25 | { |
|
| - | 26 | int32_t Longitude; // in 1E-7 deg |
|
| - | 27 | int32_t Latitude; // in 1E-7 deg |
|
| - | 28 | int32_t Altitude; // in mm |
|
| - | 29 | uint8_t Status; // validity of data |
|
| 26 | - | ||
| 27 | - | ||
| 28 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
- | |
| 29 | 01-02 NAV - POSLLH |
- | |
| 30 | 01-06 Nav - SOL |
30 | } __attribute__((packed)) GPS_Pos_t; |
| 31 | 01-12 NAV - VELNED */ |
31 | |
| 32 | 32 | ||
| 33 | typedef struct |
33 | typedef struct |
| 34 | { |
34 | { |
| - | 35 | GPS_Pos_t Position; // Lat/Lon/Alt |
|
| 35 | uint8_t flags; // flags |
36 | uint8_t Flags; // Status Flags |
| 36 | uint8_t satnum; // number of satelites |
37 | uint8_t NumOfSats; // number of satelites |
| 37 | uint8_t satfix; // type of satfix |
38 | uint8_t SatFix; // type of satfix |
| 38 | int32_t longitude; // in 1e-07 deg |
- | |
| 39 | int32_t latitude; // in 1e-07 deg |
- | |
| 40 | int32_t altitude; // in mm |
- | |
| 41 | uint32_t PAcc; // in cm 3d position accuracy |
39 | uint32_t Position_Accuracy; // in cm 3d position accuracy |
| 42 | int32_t velnorth; // in cm/s |
40 | int32_t Speed_North; // in cm/s |
| 43 | int32_t veleast; // in cm/s |
41 | int32_t Speed_East; // in cm/s |
| 44 | int32_t veltop; // in cm/s |
42 | int32_t Speed_Top; // in cm/s |
| 45 | uint32_t velground; // 2D ground speed in cm/s |
43 | uint32_t Speed_Ground; // 2D ground speed in cm/s |
| - | 44 | int32_t Heading; // 1e-05 deg Heading 2-D (curent flight direction) |
|
| 46 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
45 | uint32_t Speed_Accuracy; // in cm/s 3d velocity accuracy |
| 47 | Status_t status; // status of data: invalid | valid |
46 | uint8_t Status; // status of data |
| 48 | } GPS_INFO_t; |
47 | } __attribute__((packed)) gps_data_t; |
| 49 | 48 | ||
| 50 | //here you will find the current gps info |
49 | // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
| 51 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
50 | // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
| - | 51 | extern gps_data_t GPSData; |
|
| - | 52 | extern uint16_t CheckGPSOkay; |
|
| 52 | 53 | ||
| 53 | // this variable should be decremted by the application |
54 | void UBX_Init(void); |
| 54 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
- | |
| 55 | - | ||
| 56 | // this function should be called within the UART RX ISR |
55 | void UBX_Parser(uint8_t c); |
| 57 | extern void ubx_parser(uint8_t c); |
56 | |
| 58 | 57 | ||
| 59 | #endif //_UBX_H |
58 | #endif // _UBX_H |
| 60 | 59 | ||