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1 | #ifndef __UBX_H |
1 | #ifndef __UBX_H |
2 | #define __UBX_H |
2 | #define __UBX_H |
- | 3 | #include "buffer.h" |
|
3 | 4 | ||
4 | // Satfix types for GPSData.SatFix |
5 | // Satfix types for GPSData.SatFix |
5 | #define SATFIX_NONE 0x00 |
6 | #define SATFIX_NONE 0x00 |
6 | #define SATFIX_DEADRECKOING 0x01 |
7 | #define SATFIX_DEADRECKOING 0x01 |
7 | #define SATFIX_2D 0x02 |
8 | #define SATFIX_2D 0x02 |
8 | #define SATFIX_3D 0x03 |
9 | #define SATFIX_3D 0x03 |
9 | #define SATFIX_GPS_DEADRECKOING 0x04 |
10 | #define SATFIX_GPS_DEADRECKOING 0x04 |
10 | #define SATFIX_TIMEONLY 0x05 |
11 | #define SATFIX_TIMEONLY 0x05 |
11 | // Flags for interpretation of the GPSData.Flags |
12 | // Flags for interpretation of the GPSData.Flags |
12 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
13 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
13 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
14 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
14 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
15 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
15 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
16 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
16 | 17 | ||
17 | #define INVALID 0x00 |
18 | #define INVALID 0x00 |
18 | #define NEWDATA 0x01 |
19 | #define NEWDATA 0x01 |
19 | #define PROCESSED 0x02 |
20 | #define PROCESSED 0x02 |
- | 21 | ||
- | 22 | #define UBX_CLASS_CFG 0x06 |
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20 | 23 | ||
21 | typedef struct |
24 | typedef struct |
22 | { |
25 | { |
23 | s32 Longitude; // in 1E-7 deg |
26 | s32 Longitude; // in 1E-7 deg |
24 | s32 Latitude; // in 1E-7 deg |
27 | s32 Latitude; // in 1E-7 deg |
25 | s32 Altitude; // in mm |
28 | s32 Altitude; // in mm |
26 | u8 Status;// validity of data |
29 | u8 Status;// validity of data |
27 | } __attribute__((packed)) GPS_Pos_t; |
30 | } __attribute__((packed)) GPS_Pos_t; |
28 | 31 | ||
29 | 32 | ||
30 | typedef struct |
33 | typedef struct |
31 | { |
34 | { |
32 | u16 MsgCycleTime; // time in ms since last gps data |
35 | u16 MsgCycleTime; // time in ms since last gps data |
33 | GPS_Pos_t Position; // Lat/Lon/Alt |
36 | GPS_Pos_t Position; // Lat/Lon/Alt |
34 | u8 Flags; // Status Flags |
37 | u8 Flags; // Status Flags |
35 | u8 NumOfSats; // number of satelites |
38 | u8 NumOfSats; // number of satelites |
36 | u8 SatFix; // type of satfix |
39 | u8 SatFix; // type of satfix |
37 | u32 Position_Accuracy; // in cm 3d position accuracy |
40 | u32 Position_Accuracy; // in cm 3d position accuracy |
38 | s32 Speed_North; // in cm/s |
41 | s32 Speed_North; // in cm/s |
39 | s32 Speed_East; // in cm/s |
42 | s32 Speed_East; // in cm/s |
40 | s32 Speed_Top; // in cm/s |
43 | s32 Speed_Top; // in cm/s |
41 | u32 Speed_Ground; // 2D ground speed in cm/s |
44 | u32 Speed_Ground; // 2D ground speed in cm/s |
42 | s32 Heading; // 1e-05 deg Heading 2-D (current flight direction) |
45 | s32 Heading; // 1e-05 deg Heading 2-D (current flight direction) |
43 | u32 Speed_Accuracy; // in cm/s 3d velocity accuracy |
46 | u32 Speed_Accuracy; // in cm/s 3d velocity accuracy |
44 | u8 Status; // status of data |
47 | u8 Status; // status of data |
45 | } __attribute__((packed)) gps_data_t; |
48 | } __attribute__((packed)) gps_data_t; |
46 | 49 | ||
47 | // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
50 | // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
48 | // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
51 | // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
49 | extern gps_data_t GPSData; |
52 | extern gps_data_t GPSData; |
- | 53 | ||
- | 54 | typedef struct |
|
- | 55 | { |
|
- | 56 | u8 Ack; // 1: msg acknowledged, 0: not acknowledged |
|
- | 57 | u8 clsID; // the msg class |
|
- | 58 | u8 msgID; // the msg id |
|
- | 59 | u8 Status; // invalid/newdata/processed |
|
- | 60 | } __attribute__((packed)) ubx_ack_t; |
|
- | 61 | extern volatile ubx_ack_t UbxAck; |
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- | 62 | ||
50 | extern u32 UBX_Timeout; |
63 | extern u32 UBX_Timeout; |
51 | 64 | ||
52 | void UBX_Init(void); |
65 | void UBX_Init(void); |
53 | void UBX_Parser(u8 c); |
66 | void UBX_RxParser(u8 c); |
- | 67 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8 Class, u8 Id, u8* pData, u16 Len); |
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54 | 68 | ||
55 | 69 | ||
56 | #endif // __UBX_H |
70 | #endif // __UBX_H |
57 | 71 |