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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1704 | - | 1 | #ifndef _UBX_H |
| 2 | #define _UBX_H |
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| 3 | |||
| 4 | #include <inttypes.h> |
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| 5 | |||
| 6 | |||
| 7 | // Satfix types for GPSData.SatFix |
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| 8 | #define SATFIX_NONE 0x00 |
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| 9 | #define SATFIX_DEADRECKOING 0x01 |
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| 10 | #define SATFIX_2D 0x02 |
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| 11 | #define SATFIX_3D 0x03 |
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| 12 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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| 13 | #define SATFIX_TIMEONLY 0x05 |
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| 14 | // Flags for interpretation of the GPSData.Flags |
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| 15 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
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| 16 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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| 17 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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| 18 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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| 19 | |||
| 20 | #define INVALID 0x00 |
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| 21 | #define NEWDATA 0x01 |
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| 22 | #define PROCESSED 0x02 |
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| 23 | |||
| 24 | typedef struct |
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| 25 | { |
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| 26 | int32_t Longitude; // in 1E-7 deg |
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| 27 | int32_t Latitude; // in 1E-7 deg |
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| 28 | int32_t Altitude; // in mm |
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| 29 | uint8_t Status; // validity of data |
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| 30 | } __attribute__((packed)) GPS_Pos_t; |
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| 31 | |||
| 32 | |||
| 33 | typedef struct |
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| 34 | { |
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| 35 | //u16 MsgCycleTime; // time in ms since last gps data |
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| 36 | GPS_Pos_t Position; // Lat/Lon/Alt |
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| 37 | uint8_t Flags; // Status Flags |
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| 38 | uint8_t NumOfSats; // number of satelites |
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| 39 | uint8_t SatFix; // type of satfix |
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| 40 | uint32_t Position_Accuracy; // in cm 3d position accuracy |
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| 41 | int32_t Speed_North; // in cm/s |
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| 42 | int32_t Speed_East; // in cm/s |
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| 43 | int32_t Speed_Top; // in cm/s |
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| 44 | uint32_t Speed_Ground; // 2D ground speed in cm/s |
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| 45 | int32_t Heading; // 1e-05 deg Heading 2-D (curent flight direction) |
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| 46 | uint32_t Speed_Accuracy; // in cm/s 3d velocity accuracy |
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| 47 | uint8_t Status; // status of data |
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| 48 | } __attribute__((packed)) gps_data_t; |
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| 49 | |||
| 50 | // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
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| 51 | // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
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| 52 | extern gps_data_t GPSData; |
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| 53 | extern uint16_t CheckGPSOkay; |
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| 54 | |||
| 55 | void UBX_Init(void); |
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| 56 | void UBX_Parser(uint8_t c); |
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| 57 | |||
| 58 | #endif // _UBX_H |