| 4,56 → 4,55 |
|---|
| #include <inttypes.h> |
| |
| |
| typedef enum |
| { |
| INVALID, |
| NEWDATA, |
| PROCESSED |
| } Status_t; |
| |
| // Satfix types for GPSData.satfix |
| #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 |
| // Flags for interpretation of the GPSData.flags |
| // Satfix types for GPSData.SatFix |
| #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 |
| // Flags for interpretation of the GPSData.Flags |
| #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
| |
| #define INVALID 0x00 |
| #define NEWDATA 0x01 |
| #define PROCESSED 0x02 |
| |
| /* 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 |
| { |
| int32_t Longitude; // in 1E-7 deg |
| int32_t Latitude; // in 1E-7 deg |
| int32_t Altitude; // in mm |
| uint8_t Status; // validity of data |
| } __attribute__((packed)) GPS_Pos_t; |
| |
| |
| typedef struct |
| { |
| uint8_t flags; // flags |
| 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 |
| Status_t status; // status of data: invalid | valid |
| } GPS_INFO_t; |
| GPS_Pos_t Position; // Lat/Lon/Alt |
| uint8_t Flags; // Status Flags |
| uint8_t NumOfSats; // number of satelites |
| uint8_t SatFix; // type of satfix |
| uint32_t Position_Accuracy; // in cm 3d position accuracy |
| int32_t Speed_North; // in cm/s |
| int32_t Speed_East; // in cm/s |
| int32_t Speed_Top; // in cm/s |
| uint32_t Speed_Ground; // 2D ground speed in cm/s |
| int32_t Heading; // 1e-05 deg Heading 2-D (curent flight direction) |
| uint32_t Speed_Accuracy; // in cm/s 3d velocity accuracy |
| uint8_t Status; // status of data |
| } __attribute__((packed)) gps_data_t; |
| |
| //here you will find the current gps info |
| extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
| // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
| extern gps_data_t GPSData; |
| extern uint16_t CheckGPSOkay; |
| |
| // this variable should be decremted by the application |
| extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
| void UBX_Init(void); |
| void UBX_Parser(uint8_t c); |
| |
| // this function should be called within the UART RX ISR |
| extern void ubx_parser(uint8_t c); |
| |
| #endif //_UBX_H |
| #endif // _UBX_H |