Rev 724 | Rev 752 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 724 | Rev 726 | ||
|---|---|---|---|
| 1 | #ifndef _UBX_H |
1 | #ifndef _UBX_H |
| 2 | #define _UBX_H |
2 | #define _UBX_H |
| - | 3 | ||
| - | 4 | #include <inttypes.h> |
|
| 3 | 5 | ||
| 4 | #define INVALID 0x00 |
6 | #define INVALID 0x00 |
| 5 | #define VALID 0x01 |
7 | #define VALID 0x01 |
| 6 | #define PROCESSED 0x02 |
8 | #define PROCESSED 0x02 |
| 7 | 9 | ||
| 8 | 10 | ||
| 9 | #define SATFIX_NONE 0x00 |
11 | #define SATFIX_NONE 0x00 |
| 10 | #define SATFIX_DEADRECKOING 0x01 |
12 | #define SATFIX_DEADRECKOING 0x01 |
| 11 | #define SATFIX_2D 0x02 |
13 | #define SATFIX_2D 0x02 |
| 12 | #define SATFIX_3D 0x03 |
14 | #define SATFIX_3D 0x03 |
| 13 | #define SATFIX_GPS_DEADRECKOING 0x04 |
15 | #define SATFIX_GPS_DEADRECKOING 0x04 |
| 14 | #define SATFIX_TIMEONLY 0x05 |
16 | #define SATFIX_TIMEONLY 0x05 |
| 15 | 17 | ||
| 16 | 18 | ||
| 17 | /* 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 |
| 18 | 01-02 NAV - POSLLH |
20 | 01-02 NAV - POSLLH |
| 19 | 01-03 NAV - STATUS |
21 | 01-03 NAV - STATUS |
| 20 | 01-08 NAV - POSUTM |
22 | 01-08 NAV - POSUTM |
| 21 | 01-12 NAV - VELNED */ |
23 | 01-12 NAV - VELNED */ |
| 22 | 24 | ||
| 23 | 25 | ||
| 24 | typedef struct |
26 | typedef struct |
| 25 | { |
27 | { |
| 26 | uint8_t satfix; // type of satfix |
28 | uint8_t satfix; // type of satfix |
| 27 | int32_t utmnorth; // in cm (+ = north) |
29 | int32_t utmnorth; // in cm (+ = north) |
| 28 | int32_t utmeast; // in cm (+ = east) |
30 | int32_t utmeast; // in cm (+ = east) |
| 29 | int32_t utmalt; // in cm (+ = top) |
31 | int32_t utmalt; // in cm (+ = top) |
| 30 | int32_t velnorth; // in cm/s |
32 | int32_t velnorth; // in cm/s |
| 31 | int32_t veleast; // in cm/s |
33 | int32_t veleast; // in cm/s |
| 32 | int32_t veltop; // in cm/s |
34 | int32_t veltop; // in cm/s |
| 33 | int32_t longitude; // in 1e-07 deg |
35 | int32_t longitude; // in 1e-07 deg |
| 34 | int32_t latitude; // in 1e-07 deg |
36 | int32_t latitude; // in 1e-07 deg |
| 35 | int32_t altitude; // in mm |
37 | int32_t altitude; // in mm |
| 36 | uint8_t status; // status of data: invalid | valid |
38 | uint8_t status; // status of data: invalid | valid |
| 37 | } GPS_INFO_t; |
39 | } GPS_INFO_t; |
| 38 | 40 | ||
| 39 | //here you will find the current gps info |
41 | //here you will find the current gps info |
| 40 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
42 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| - | 43 | ||
| - | 44 | // this variable should be decremted by the application |
|
| - | 45 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
|
| 41 | 46 | ||
| 42 | // initialized the upx parser |
47 | // initialized the upx parser |
| 43 | extern void ubx_init(void); |
48 | extern void ubx_init(void); |
| 44 | 49 | ||
| 45 | // this function should be called within the UART RX ISR |
50 | // this function should be called within the UART RX ISR |
| 46 | extern void ubx_parser(uint8_t c); |
51 | extern void ubx_parser(uint8_t c); |
| 47 | 52 | ||
| 48 | #endif //_UBX_H |
53 | #endif //_UBX_H |
| 49 | 54 | ||