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1 | ingob | 1 | #ifndef __GPSUART_H |
2 | #define __GPSUART_H |
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3 | |||
4 | struct str_ubx_nav_sol |
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5 | { |
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6 | u16 Header; // 0xB5 0x62 |
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7 | u16 ID; // 0x01 0x06 |
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8 | u16 Length; // 58 Bytes (+ Header - ohne ChkSum) Total: 60 Bytes |
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9 | // ----- start of data ----- |
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10 | u32 GPS_time; |
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11 | s32 Time2; |
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12 | s16 GPS_week; |
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13 | u8 Nav_mode; // 0x00=no fix, 0x03=3d fix |
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14 | u8 Flags; // 0x01=GPS_ok |
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15 | s32 X_Pos; // in cm (ECEF frame) |
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16 | s32 Y_Pos; |
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17 | s32 Z_Pos; |
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18 | u32 Pos_Accuracy; |
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19 | s32 X_Speed; // in cm/s |
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20 | s32 Y_Speed; |
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21 | s32 Z_Speed; |
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22 | u32 Speed_Accuracy; |
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23 | u16 PDOP; // Scaling: 0.01 |
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24 | u8 Reserved1; |
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25 | u8 Number_SV; |
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26 | u32 Reserved2; |
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27 | // ------ end of data ------- |
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28 | u8 CK_A; |
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29 | u8 CK_B; |
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30 | } __attribute__((packed)); |
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31 | |||
32 | |||
33 | struct str_ubx_nav_velned |
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34 | { |
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35 | u16 Header; // 0xB5 0x62 |
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36 | u16 ID; // 0x01 0x12 |
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37 | u16 Length; // 42 Bytes (+ Header - ohne ChkSum) Total: 44 Bytes |
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38 | // ----- start of data ----- |
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39 | u32 GPS_time; |
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40 | s32 N_Speed; |
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41 | s32 E_Speed; |
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42 | s32 DownSpeed; |
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43 | u32 Speed3D; |
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44 | u32 GroundSpeed; |
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45 | s32 Heading; |
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46 | u32 SpeedAccuracy; |
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47 | u32 HeadingAccuracy; |
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48 | // ------ end of data ------- |
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49 | u8 CK_A; |
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50 | u8 CK_B; |
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51 | } __attribute__((packed)); |
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52 | |||
53 | struct str_ubx_nav_posllh |
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54 | { |
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55 | u16 Header; // 0xB5 0x62 |
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56 | u16 ID; // 0x01 0x02 |
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57 | u16 Length; // 42 Bytes (+ Header - ohne ChkSum) Total: 44 Bytes |
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58 | // ----- start of data ----- |
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59 | u32 GPS_time; |
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60 | s32 Longitude; // 1e-07 deg Longitude |
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61 | s32 Latitude; // 1e-07 deg Latitude |
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62 | s32 Height; // mm Height |
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63 | s32 HeightSL; // mm Height above mean sea level |
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64 | u32 HorizontalAccuracy; // mm Horizontal Accuracy Estimate |
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65 | u32 VerticalAccuracy; // mm Vertical Accuracy Estimate |
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66 | // ------ end of data ------- |
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67 | u8 CK_A; |
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68 | u8 CK_B; |
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69 | } __attribute__((packed)); |
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70 | |||
71 | struct str_ubx_nav_posutm |
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72 | { |
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73 | u16 Header; // 0xB5 0x62 |
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74 | u16 ID; // 0x01 0x08 |
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75 | u16 Length; // 18 Bytes (+ Header - ohne ChkSum) |
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76 | // ----- start of data ----- |
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77 | u32 GPS_time; |
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78 | s32 East; // in cm |
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79 | s32 North; // in cm |
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80 | s32 Altitude; // in cm |
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81 | s16 UTM_ZoneNumber; |
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82 | s16 HemisphereSector; // 0 = North, 1 = South |
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83 | // ------ end of data ------- |
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84 | u8 CK_A; |
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85 | u8 CK_B; |
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86 | } __attribute__((packed)); |
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87 | |||
88 | |||
89 | struct str_gps_nav_data |
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90 | { |
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91 | s32 Longitude; |
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92 | s32 Latitude; |
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93 | s32 TargetLongitude; |
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94 | s32 TargetLatitude; |
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95 | s32 HomeLongitude; |
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96 | s32 HomeLatitude; |
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97 | s32 North2Target; |
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98 | s32 East2Target; |
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99 | s32 Distance2Target; |
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100 | s32 Angle2Target; |
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101 | s32 Height; |
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102 | s32 HeightSL; |
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103 | s32 DownSpeed; |
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104 | u32 GPS_time; |
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105 | u16 GPS_week; |
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106 | s32 North; |
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107 | s32 East; |
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108 | s32 N_Speed; |
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109 | s32 E_Speed; |
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110 | s32 SpeedAccuracy; |
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111 | u32 HorizontalAccuracy; |
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112 | u32 VerticalAccuracy; |
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113 | u8 Flags; // 0x01=GPS_ok |
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114 | s32 DataPerSecond; |
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115 | s32 Altitude; |
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116 | u8 Used_Sat; |
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117 | } __attribute__((packed)); |
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118 | |||
119 | |||
120 | #define GPS_RX_SIZE (sizeof(struct str_ubx_nav_velned) + sizeof(struct str_ubx_nav_posutm) + sizeof(struct str_ubx_nav_sol) + sizeof(struct str_ubx_nav_posllh) + 10) |
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121 | |||
122 | // ---------------------------------------------------------------- |
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123 | extern u8 NewGPSDataAvail; |
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124 | extern u8 NewPCTargetGPSPosition; |
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125 | extern struct str_gps_nav_data GPS_Data; |
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126 | |||
127 | extern void GPS_UART0_Init (void); |
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128 | |||
129 | #endif |
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130 |