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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 684 | killagreg | 1 | #ifndef _UBX_H |
| 2 | #define _UBX_H |
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| 3 | |||
| 726 | killagreg | 4 | #include <inttypes.h> |
| 5 | |||
| 684 | killagreg | 6 | #define INVALID 0x00 |
| 7 | #define VALID 0x01 |
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| 8 | #define PROCESSED 0x02 |
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| 9 | |||
| 10 | |||
| 11 | #define SATFIX_NONE 0x00 |
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| 12 | #define SATFIX_DEADRECKOING 0x01 |
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| 13 | #define SATFIX_2D 0x02 |
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| 14 | #define SATFIX_3D 0x03 |
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| 15 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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| 16 | #define SATFIX_TIMEONLY 0x05 |
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| 17 | |||
| 18 | |||
| 19 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
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| 20 | 01-02 NAV - POSLLH |
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| 752 | killagreg | 21 | 01-06 Nav - SOL |
| 684 | killagreg | 22 | 01-12 NAV - VELNED */ |
| 23 | |||
| 24 | typedef struct |
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| 25 | { |
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| 781 | killagreg | 26 | uint8_t status; // status of data: invalid | valid |
| 752 | killagreg | 27 | uint8_t satnum; // number of satelites |
| 684 | killagreg | 28 | uint8_t satfix; // type of satfix |
| 781 | killagreg | 29 | int32_t longitude; // in 1e-07 deg |
| 30 | int32_t latitude; // in 1e-07 deg |
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| 31 | int32_t altitude; // in mm |
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| 752 | killagreg | 32 | uint32_t PAcc; // in cm 3d position accuracy |
| 684 | killagreg | 33 | int32_t velnorth; // in cm/s |
| 34 | int32_t veleast; // in cm/s |
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| 35 | int32_t veltop; // in cm/s |
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| 828 | killagreg | 36 | uint32_t velground; // 2D ground speed in cm/s |
| 752 | killagreg | 37 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
| 684 | killagreg | 38 | } GPS_INFO_t; |
| 39 | |||
| 40 | //here you will find the current gps info |
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| 702 | killagreg | 41 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| 684 | killagreg | 42 | |
| 726 | killagreg | 43 | // this variable should be decremted by the application |
| 44 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
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| 45 | |||
| 724 | killagreg | 46 | // initialized the upx parser |
| 47 | extern void ubx_init(void); |
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| 48 | |||
| 684 | killagreg | 49 | // this function should be called within the UART RX ISR |
| 50 | extern void ubx_parser(uint8_t c); |
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| 51 | |||
| 52 | #endif //_UBX_H |