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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 684 | killagreg | 1 | #ifndef _UBX_H |
| 2 | #define _UBX_H |
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| 3 | |||
| 4 | #define INVALID 0x00 |
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| 5 | #define VALID 0x01 |
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| 6 | #define PROCESSED 0x02 |
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| 7 | |||
| 8 | |||
| 9 | #define SATFIX_NONE 0x00 |
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| 10 | #define SATFIX_DEADRECKOING 0x01 |
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| 11 | #define SATFIX_2D 0x02 |
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| 12 | #define SATFIX_3D 0x03 |
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| 13 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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| 14 | #define SATFIX_TIMEONLY 0x05 |
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| 15 | |||
| 16 | |||
| 17 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
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| 18 | 01-02 NAV - POSLLH |
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| 19 | 01-03 NAV - STATUS |
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| 20 | 01-08 NAV - POSUTM |
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| 21 | 01-12 NAV - VELNED */ |
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| 22 | |||
| 23 | |||
| 24 | typedef struct |
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| 25 | { |
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| 26 | uint8_t satfix; // type of satfix |
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| 27 | int32_t utmnorth; // in cm (+ = north) |
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| 28 | int32_t utmeast; // in cm (+ = east) |
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| 29 | int32_t utmalt; // in cm (+ = top) |
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| 30 | int32_t velnorth; // in cm/s |
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| 31 | int32_t veleast; // in cm/s |
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| 32 | int32_t veltop; // in cm/s |
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| 33 | int32_t longitude; // in 1e-07 deg |
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| 34 | int32_t latitude; // in 1e-07 deg |
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| 35 | int32_t altitude; // in mm |
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| 36 | uint8_t status; // status of data: invalid | valid |
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| 37 | } GPS_INFO_t; |
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| 38 | |||
| 39 | //here you will find the current gps info |
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| 40 | extern GPS_INFO_t actualPos; // measured position (last gps record) |
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| 41 | |||
| 42 | // this function should be called within the UART RX ISR |
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| 43 | extern void ubx_parser(uint8_t c); |
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| 44 | |||
| 45 | #endif //_UBX_H |