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231 killagreg 1
#ifndef _UBX_H
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#define _UBX_H
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#include <inttypes.h>
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typedef enum
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{
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        INVALID,
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        NEWDATA,
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        PROCESSED
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} Status_t;
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// Satfix types for GPSData.satfix
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#define SATFIX_NONE                      0x00
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#define SATFIX_DEADRECKOING      0x01
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#define SATFIX_2D                                0x02
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#define SATFIX_3D                                0x03
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#define SATFIX_GPS_DEADRECKOING  0x04
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#define SATFIX_TIMEONLY                  0x05
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// Flags for interpretation of the GPSData.flags
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#define FLAG_GPSFIXOK                   0x01 // (i.e. within DOP & ACC Masks)
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#define FLAG_DIFFSOLN                   0x02 // (is DGPS used)
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#define FLAG_WKNSET                             0x04 // (is Week Number valid)
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#define FLAG_TOWSET                             0x08 // (is Time of Week valid)
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/* enable the UBX protocol at the gps receiver with the following messages enabled
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  01-02 NAV - POSLLH
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  01-06 Nav - SOL
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  01-12 NAV - VELNED */
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typedef struct
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{
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        uint8_t         flags;          // flags
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        uint8_t         satnum;         // number of satelites
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        uint8_t         satfix;         // type of satfix
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        int32_t         longitude;  // in 1e-07 deg
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        int32_t         latitude;       // in 1e-07 deg
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        int32_t         altitude;   // in mm
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        uint32_t    PAcc;               // in cm 3d position accuracy
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        int32_t         velnorth;       // in cm/s
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        int32_t         veleast;        // in cm/s
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        int32_t         veltop;     // in cm/s
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        uint32_t    velground;  // 2D ground speed in cm/s
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        uint32_t        VAcc;           // in cm/s 3d velocity accuracy
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        Status_t        status;     // status of data: invalid | valid
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} GPS_INFO_t;
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//here you will find the current gps info
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extern GPS_INFO_t GPSInfo;      // measured position (last gps record)
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// this variable should be decremted by the application
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extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received
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// this function should be called within the UART RX ISR
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extern void ubx_parser(uint8_t c);
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#endif //_UBX_H