Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 684 | killagreg | 1 | #ifndef _UBX_H |
| 2 | #define _UBX_H |
||
| 3 | |||
| 726 | killagreg | 4 | #include <inttypes.h> |
| 5 | |||
| 684 | killagreg | 6 | #define INVALID 0x00 |
| 7 | #define VALID 0x01 |
||
| 8 | #define PROCESSED 0x02 |
||
| 9 | |||
| 10 | |||
| 11 | #define SATFIX_NONE 0x00 |
||
| 12 | #define SATFIX_DEADRECKOING 0x01 |
||
| 13 | #define SATFIX_2D 0x02 |
||
| 14 | #define SATFIX_3D 0x03 |
||
| 15 | #define SATFIX_GPS_DEADRECKOING 0x04 |
||
| 16 | #define SATFIX_TIMEONLY 0x05 |
||
| 17 | |||
| 18 | |||
| 19 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
||
| 20 | 01-02 NAV - POSLLH |
||
| 752 | killagreg | 21 | 01-06 Nav - SOL |
| 684 | killagreg | 22 | 01-08 NAV - POSUTM |
| 23 | 01-12 NAV - VELNED */ |
||
| 24 | |||
| 25 | |||
| 26 | typedef struct |
||
| 27 | { |
||
| 752 | killagreg | 28 | uint8_t satnum; // number of satelites |
| 684 | killagreg | 29 | uint8_t satfix; // type of satfix |
| 30 | int32_t utmnorth; // in cm (+ = north) |
||
| 31 | int32_t utmeast; // in cm (+ = east) |
||
| 32 | int32_t utmalt; // in cm (+ = top) |
||
| 752 | killagreg | 33 | uint32_t PAcc; // in cm 3d position accuracy |
| 684 | killagreg | 34 | int32_t velnorth; // in cm/s |
| 35 | int32_t veleast; // in cm/s |
||
| 36 | int32_t veltop; // in cm/s |
||
| 752 | killagreg | 37 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
| 684 | killagreg | 38 | int32_t longitude; // in 1e-07 deg |
| 39 | int32_t latitude; // in 1e-07 deg |
||
| 40 | int32_t altitude; // in mm |
||
| 41 | uint8_t status; // status of data: invalid | valid |
||
| 42 | } GPS_INFO_t; |
||
| 43 | |||
| 44 | //here you will find the current gps info |
||
| 702 | killagreg | 45 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| 684 | killagreg | 46 | |
| 726 | killagreg | 47 | // this variable should be decremted by the application |
| 48 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
||
| 49 | |||
| 724 | killagreg | 50 | // initialized the upx parser |
| 51 | extern void ubx_init(void); |
||
| 52 | |||
| 684 | killagreg | 53 | // this function should be called within the UART RX ISR |
| 54 | extern void ubx_parser(uint8_t c); |
||
| 55 | |||
| 56 | #endif //_UBX_H |