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Rev | Author | Line No. | Line |
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41 | ingob | 1 | #ifndef __UBX_H |
2 | #define __UBX_H |
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245 | killagreg | 3 | #include "buffer.h" |
41 | ingob | 4 | |
5 | // Satfix types for GPSData.SatFix |
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6 | #define SATFIX_NONE 0x00 |
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7 | #define SATFIX_DEADRECKOING 0x01 |
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8 | #define SATFIX_2D 0x02 |
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9 | #define SATFIX_3D 0x03 |
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10 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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11 | #define SATFIX_TIMEONLY 0x05 |
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12 | // Flags for interpretation of the GPSData.Flags |
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13 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
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14 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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15 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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16 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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17 | |||
52 | killagreg | 18 | #define INVALID 0x00 |
19 | #define NEWDATA 0x01 |
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20 | #define PROCESSED 0x02 |
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41 | ingob | 21 | |
22 | typedef struct |
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23 | { |
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24 | s32 Longitude; // in 1E-7 deg |
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25 | s32 Latitude; // in 1E-7 deg |
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26 | s32 Altitude; // in mm |
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52 | killagreg | 27 | u8 Status;// validity of data |
41 | ingob | 28 | } __attribute__((packed)) GPS_Pos_t; |
29 | |||
30 | |||
31 | typedef struct |
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32 | { |
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244 | killagreg | 33 | u16 MsgCycleTime; // time in ms since last gps data |
41 | ingob | 34 | GPS_Pos_t Position; // Lat/Lon/Alt |
35 | u8 Flags; // Status Flags |
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36 | u8 NumOfSats; // number of satelites |
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37 | u8 SatFix; // type of satfix |
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38 | u32 Position_Accuracy; // in cm 3d position accuracy |
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39 | s32 Speed_North; // in cm/s |
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40 | s32 Speed_East; // in cm/s |
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41 | s32 Speed_Top; // in cm/s |
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42 | u32 Speed_Ground; // 2D ground speed in cm/s |
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86 | killagreg | 43 | s32 Heading; // 1e-05 deg Heading 2-D (current flight direction) |
41 | ingob | 44 | u32 Speed_Accuracy; // in cm/s 3d velocity accuracy |
52 | killagreg | 45 | u8 Status; // status of data |
41 | ingob | 46 | } __attribute__((packed)) gps_data_t; |
47 | |||
48 | // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
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49 | // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
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50 | extern gps_data_t GPSData; |
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245 | killagreg | 51 | |
247 | killagreg | 52 | |
53 | #define UBX_CLASS_CFG 0x06 |
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54 | #define UBX_CLASS_ACK 0x05 |
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55 | |||
245 | killagreg | 56 | typedef struct |
57 | { |
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247 | killagreg | 58 | u8 Class; |
59 | u8 Id; |
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60 | u16 Length; |
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61 | } __attribute__((packed)) ubxmsghdr_t; |
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245 | killagreg | 62 | |
263 | killagreg | 63 | #define UBX_MSG_DATA_SIZE 200 |
247 | killagreg | 64 | typedef struct |
65 | { |
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66 | u8 ClassMask; |
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67 | u8 IdMask; |
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68 | ubxmsghdr_t Hdr; |
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263 | killagreg | 69 | u8 Data[UBX_MSG_DATA_SIZE]; |
247 | killagreg | 70 | u8 Status; |
71 | } __attribute__((packed)) ubxmsg_t; |
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72 | // msg obj to reveive |
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73 | // set Class and Id and correspoinding masks of a message that should be received |
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263 | killagreg | 74 | extern ubxmsg_t UbxMsg; |
247 | killagreg | 75 | |
76 | |||
146 | killagreg | 77 | extern u32 UBX_Timeout; |
41 | ingob | 78 | |
79 | void UBX_Init(void); |
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245 | killagreg | 80 | void UBX_RxParser(u8 c); |
247 | killagreg | 81 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len); |
41 | ingob | 82 | |
83 | |||
84 | #endif // __UBX_H |