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1 | #ifndef _UBX_H |
1 | #ifndef _UBX_H |
2 | #define _UBX_H |
2 | #define _UBX_H |
3 | 3 | ||
4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
5 | 5 | ||
6 | #define INVALID 0x00 |
6 | #define INVALID 0x00 |
7 | #define VALID 0x01 |
7 | #define VALID 0x01 |
8 | #define PROCESSED 0x02 |
8 | #define PROCESSED 0x02 |
9 | 9 | ||
10 | 10 | ||
11 | #define SATFIX_NONE 0x00 |
11 | #define SATFIX_NONE 0x00 |
12 | #define SATFIX_DEADRECKOING 0x01 |
12 | #define SATFIX_DEADRECKOING 0x01 |
13 | #define SATFIX_2D 0x02 |
13 | #define SATFIX_2D 0x02 |
14 | #define SATFIX_3D 0x03 |
14 | #define SATFIX_3D 0x03 |
15 | #define SATFIX_GPS_DEADRECKOING 0x04 |
15 | #define SATFIX_GPS_DEADRECKOING 0x04 |
16 | #define SATFIX_TIMEONLY 0x05 |
16 | #define SATFIX_TIMEONLY 0x05 |
17 | 17 | ||
18 | 18 | ||
19 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
19 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
20 | 01-02 NAV - POSLLH |
20 | 01-02 NAV - POSLLH |
21 | 01-06 Nav - SOL |
21 | 01-06 Nav - SOL |
22 | 01-12 NAV - VELNED */ |
22 | 01-12 NAV - VELNED */ |
23 | 23 | ||
24 | typedef struct |
24 | typedef struct |
25 | { |
25 | { |
26 | uint8_t status; // status of data: invalid | valid |
26 | uint8_t status; // status of data: invalid | valid |
27 | uint8_t satnum; // number of satelites |
27 | uint8_t satnum; // number of satelites |
28 | uint8_t satfix; // type of satfix |
28 | uint8_t satfix; // type of satfix |
29 | int32_t longitude; // in 1e-07 deg |
29 | int32_t longitude; // in 1e-07 deg |
30 | int32_t latitude; // in 1e-07 deg |
30 | int32_t latitude; // in 1e-07 deg |
31 | int32_t altitude; // in mm |
31 | int32_t altitude; // in mm |
32 | uint32_t PAcc; // in cm 3d position accuracy |
32 | uint32_t PAcc; // in cm 3d position accuracy |
33 | int32_t velnorth; // in cm/s |
33 | int32_t velnorth; // in cm/s |
34 | int32_t veleast; // in cm/s |
34 | int32_t veleast; // in cm/s |
35 | int32_t veltop; // in cm/s |
35 | int32_t veltop; // in cm/s |
- | 36 | uint32_t velground; // 2D ground speed in cm/s |
|
36 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
37 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
37 | } GPS_INFO_t; |
38 | } GPS_INFO_t; |
38 | 39 | ||
39 | //here you will find the current gps info |
40 | //here you will find the current gps info |
40 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
41 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
41 | 42 | ||
42 | // this variable should be decremted by the application |
43 | // this variable should be decremted by the application |
43 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
44 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
44 | 45 | ||
45 | // initialized the upx parser |
46 | // initialized the upx parser |
46 | extern void ubx_init(void); |
47 | extern void ubx_init(void); |
47 | 48 | ||
48 | // this function should be called within the UART RX ISR |
49 | // this function should be called within the UART RX ISR |
49 | extern void ubx_parser(uint8_t c); |
50 | extern void ubx_parser(uint8_t c); |
50 | 51 | ||
51 | #endif //_UBX_H |
52 | #endif //_UBX_H |
52 | 53 |