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41 | ingob | 1 | #ifndef __UBX_H |
2 | #define __UBX_H |
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3 | |||
4 | // Satfix types for GPSData.SatFix |
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5 | #define SATFIX_NONE 0x00 |
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6 | #define SATFIX_DEADRECKOING 0x01 |
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7 | #define SATFIX_2D 0x02 |
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8 | #define SATFIX_3D 0x03 |
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9 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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10 | #define SATFIX_TIMEONLY 0x05 |
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11 | // Flags for interpretation of the GPSData.Flags |
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12 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
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13 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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14 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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15 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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16 | |||
17 | typedef enum |
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18 | { |
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19 | INVALID = 0, |
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20 | NEWDATA = 1, |
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21 | PROCESSED = 2 |
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22 | } Status_t; |
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23 | |||
24 | typedef struct |
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25 | { |
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26 | s32 Longitude; // in 1E-7 deg |
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27 | s32 Latitude; // in 1E-7 deg |
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28 | s32 Altitude; // in mm |
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29 | Status_t Status;// validity of data |
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30 | } __attribute__((packed)) GPS_Pos_t; |
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31 | |||
32 | |||
33 | typedef struct |
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34 | { |
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35 | GPS_Pos_t Position; // Lat/Lon/Alt |
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36 | u8 Flags; // Status Flags |
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37 | u8 NumOfSats; // number of satelites |
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38 | u8 SatFix; // type of satfix |
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39 | u32 Position_Accuracy; // in cm 3d position accuracy |
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40 | s32 Speed_North; // in cm/s |
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41 | s32 Speed_East; // in cm/s |
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42 | s32 Speed_Top; // in cm/s |
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43 | u32 Speed_Ground; // 2D ground speed in cm/s |
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44 | s32 Heading; // 1e-05 deg Heading 2-D (curent flight direction) |
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45 | u32 Speed_Accuracy; // in cm/s 3d velocity accuracy |
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46 | Status_t Status; // status of data |
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47 | } __attribute__((packed)) gps_data_t; |
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48 | |||
49 | // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
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50 | // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
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51 | extern gps_data_t GPSData; |
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52 | extern u32 CheckGPSOkay; |
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53 | |||
54 | void UBX_Init(void); |
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55 | void UBX_Parser(u8 c); |
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56 | |||
57 | |||
58 | #endif // __UBX_H |