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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 838 | MikeW | 1 | #define _B1(bit) (1 << (bit)) |
| 2 | #define _B0(bit) (0 << (bit)) |
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| 3 | #define MIN(a, b) ((a) < (b) ? (a) : (b)) |
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| 4 | #define MAX(a, b) ((a) > (b) ? (a) : (b)) |
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| 5 | |||
| 6 | //#define BAUDRATE 129 // = 9600 baud |
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| 7 | //#define BAUDRATE 64 // = 19200 baud |
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| 8 | #define BAUDRATE 32 // = 38400 baud |
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| 9 | //#define BAUDRATE 21 // = 57600 baud |
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| 10 | //#define BAUDRATE 10 // = 115200 baud |
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| 11 | |||
| 12 | #define UBX_NOFIX 0 |
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| 13 | #define UBX_2DFIX 2 |
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| 14 | #define UBX_3DFIX 3 |
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| 15 | |||
| 16 | #define GPS_EMPTY 0 |
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| 17 | #define GPS_SYNC1 1 |
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| 18 | #define GPS_SYNC2 2 |
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| 19 | #define GPS_CLASS 3 |
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| 20 | #define GPS_LEN1 4 |
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| 21 | #define GPS_LEN2 5 |
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| 22 | #define GPS_FILLING 6 |
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| 23 | #define GPS_CKA 7 |
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| 24 | #define GPS_CKB 8 |
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| 25 | |||
| 26 | /* some uBlox UBX format defines */ |
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| 27 | #define SYNC_CHAR1 0xb5 |
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| 28 | #define SYNC_CHAR2 0x62 |
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| 29 | #define CLASS_NAV 0x01 |
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| 30 | #define MSGID_POSLLH 0x02 |
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| 31 | #define MSGID_STATUS 0x03 |
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| 32 | #define MSGID_POSUTM 0x08 |
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| 33 | #define MSGID_VELNED 0x12 |
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| 34 | |||
| 35 | typedef struct { |
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| 36 | long north; // in cm (+ = north) |
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| 37 | long east; // in cm (+ = east) |
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| 38 | long altitude; // in cm |
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| 39 | long velNorth; |
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| 40 | long velEast; |
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| 41 | long velDown; |
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| 42 | long groundSpeed; |
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| 43 | long heading; |
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| 44 | |||
| 45 | unsigned long ITOW; |
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| 46 | uint8_t state; // status of data: 0 = invlid; 1 = valid |
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| 47 | uint8_t noSV; // number of sats |
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| 48 | } gpsInfo_t; |
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| 49 | |||
| 50 | typedef struct { |
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| 51 | unsigned long ITOW; // time of week |
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| 52 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
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| 53 | uint8_t Flags; // Navigation Status Flags |
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| 54 | uint8_t DiffS; // Differential Status |
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| 55 | uint8_t res; // reserved |
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| 56 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
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| 57 | unsigned long MSSS; // Milliseconds since Startup / Reset |
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| 58 | uint8_t packetStatus; |
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| 59 | } NAV_STATUS_t; |
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| 60 | |||
| 61 | typedef struct { |
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| 62 | unsigned long ITOW; // time of week |
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| 63 | long LON; // longitude in 1e-07 deg |
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| 64 | long LAT; // lattitude |
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| 65 | long HEIGHT; // height in mm |
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| 66 | long HMSL; // height above mean sea level im mm |
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| 67 | unsigned long Hacc; // horizontal accuracy in mm |
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| 68 | unsigned long Vacc; // vertical accuracy in mm |
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| 69 | uint8_t packetStatus; |
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| 70 | } NAV_POSLLH_t; |
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| 71 | |||
| 72 | typedef struct { |
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| 73 | unsigned long ITOW; // time of week |
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| 74 | long EAST; // cm UTM Easting |
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| 75 | long NORTH; // cm UTM Nording |
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| 76 | long ALT; // cm altitude |
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| 77 | uint8_t ZONE; // UTM zone number |
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| 78 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
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| 79 | uint8_t packetStatus; |
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| 80 | } NAV_POSUTM_t; |
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| 81 | |||
| 82 | typedef struct { |
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| 83 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
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| 84 | long VEL_N; // cm/s NED north velocity |
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| 85 | long VEL_E; // cm/s NED east velocity |
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| 86 | long VEL_D; // cm/s NED down velocity |
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| 87 | unsigned long Speed; // cm/s Speed (3-D) |
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| 88 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
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| 89 | long Heading; // deg (1e-05) Heading 2-D |
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| 90 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
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| 91 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
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| 92 | uint8_t packetStatus; |
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| 93 | } NAV_VELNED_t; |
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| 94 | |||
| 95 | |||
| 96 | |||
| 97 |