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|---|---|---|---|
| 51 | osiair | 1 | //------------------------------------------------------------------------------ |
| 2 | // _ _ |
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| 3 | // | | | | |
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| 4 | // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
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| 5 | // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
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| 6 | // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
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| 7 | // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
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| 8 | // __/ | |
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| 9 | // |___/ Engineering |
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| 10 | // |
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| 11 | // Filename: gps_ubx.h |
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| 12 | // Description: |
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| 13 | // |
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| 14 | // Author: Martin Steppuhn |
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| 15 | // History: 08.06.2007 Initial version |
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| 16 | // |
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| 17 | //------------------------------------------------------------------------------ |
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| 18 | |||
| 19 | #ifndef GPS_UBX_H |
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| 20 | #define GPS_UBX_H |
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| 21 | |||
| 22 | /**** Includes ****************************************************************/ |
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| 23 | |||
| 24 | #include "std_c.h" |
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| 25 | |||
| 26 | /**** Preprocessing directives (#define) **************************************/ |
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| 27 | |||
| 28 | /**** Type definitions (typedef) **********************************************/ |
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| 29 | |||
| 30 | typedef struct ubx_struct |
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| 31 | { |
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| 32 | bool update; |
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| 33 | |||
| 34 | uint8 msg_class; |
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| 35 | uint8 msg_id; |
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| 36 | uint8 length; |
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| 37 | uint8 data[256]; |
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| 38 | }; |
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| 39 | |||
| 40 | typedef struct nav_sol_struct |
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| 41 | { |
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| 42 | uint8 update; |
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| 43 | |||
| 44 | uint32 itow; // Time |
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| 45 | uint8 gpsfix; // GPSfix |
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| 46 | int32 ecef_x; // cm ECEF X coordinate |
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| 47 | int32 ecef_y; // cm ECEF Y coordinate |
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| 48 | int32 ecef_z; // cm ECEF Z coordinate |
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| 49 | uint32 pacc; // cm 3D Position Accuracy Estimate |
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| 50 | int32 ecefvx; // cm/s ECEF X velocity |
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| 51 | int32 ecefvy; // cm/s ECEF Y velocity |
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| 52 | int32 ecefvz; // cm/s ECEF Z velocity |
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| 53 | uint32 sacc; // cm/s Speed Accuracy Estimate |
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| 54 | uint16 pdop; // Position DOP |
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| 55 | |||
| 56 | uint8 numsv; // Number of SVs used in Nav Solution |
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| 57 | }; |
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| 58 | |||
| 59 | /**** Global constants (extern) ***********************************************/ |
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| 60 | |||
| 61 | /**** Global variables (extern) ***********************************************/ |
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| 62 | |||
| 63 | struct ubx_struct ubx; |
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| 64 | struct nav_sol_struct nav_sol; |
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| 65 | |||
| 66 | /**** Global function prototypes **********************************************/ |
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| 67 | |||
| 68 | extern void ubx_push(uint8 c); |
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| 69 | extern void ubx_decode(struct ubx_struct *ubx); |
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| 70 | |||
| 71 | #endif |