Subversion Repositories FlightCtrl

#ifndef _UBX_H

#define _UBX_H

#include <inttypes.h>

#define INVALID    0x00

#define VALID      0x01

#define PROCESSED  0x02

#define SATFIX_NONE                      0x00

#define SATFIX_DEADRECKOING      0x01

#define SATFIX_2D                                0x02

#define SATFIX_3D                                0x03

#define SATFIX_GPS_DEADRECKOING  0x04

#define SATFIX_TIMEONLY                  0x05

/* enable the UBX protocol at the gps receiver with the following messages enabled

  01-02 NAV - POSLLH

  01-06 Nav - SOL

  01-12 NAV - VELNED */

typedef struct

{

        uint8_t         status;     // status of data: invalid | valid

        uint8_t         satnum;         // number of satelites

        uint8_t         satfix;         // type of satfix

        int32_t         longitude;  // in 1e-07 deg

        int32_t         latitude;       // in 1e-07 deg

        int32_t         altitude;   // in mm

        uint32_t    PAcc;               // in cm 3d position accuracy

        int32_t         velnorth;       // in cm/s

        int32_t         veleast;        // in cm/s

        int32_t         veltop;     // in cm/s

        uint32_t    velground;  // 2D ground speed in cm/s

        uint32_t        VAcc;           // in cm/s 3d velocity accuracy

} GPS_INFO_t;

//here you will find the current gps info

extern GPS_INFO_t GPSInfo;      // measured position (last gps record)

// this variable should be decremted by the application

extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received

// initialized the upx parser

extern void ubx_init(void);

// this function should be called within the UART RX ISR

extern void ubx_parser(uint8_t c);

#endif //_UBX_H