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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 | 01-03 NAV - STATUS |
21 | 01-06 Nav - SOL |
| 22 | 01-08 NAV - POSUTM |
22 | 01-08 NAV - POSUTM |
| 23 | 01-12 NAV - VELNED */ |
23 | 01-12 NAV - VELNED */ |
| 24 | 24 | ||
| 25 | 25 | ||
| 26 | typedef struct |
26 | typedef struct |
| 27 | { |
27 | { |
| - | 28 | uint8_t satnum; // number of satelites |
|
| 28 | uint8_t satfix; // type of satfix |
29 | uint8_t satfix; // type of satfix |
| 29 | int32_t utmnorth; // in cm (+ = north) |
30 | int32_t utmnorth; // in cm (+ = north) |
| 30 | int32_t utmeast; // in cm (+ = east) |
31 | int32_t utmeast; // in cm (+ = east) |
| 31 | int32_t utmalt; // in cm (+ = top) |
32 | int32_t utmalt; // in cm (+ = top) |
| - | 33 | uint32_t PAcc; // in cm 3d position accuracy |
|
| 32 | int32_t velnorth; // in cm/s |
34 | int32_t velnorth; // in cm/s |
| 33 | int32_t veleast; // in cm/s |
35 | int32_t veleast; // in cm/s |
| 34 | int32_t veltop; // in cm/s |
36 | int32_t veltop; // in cm/s |
| - | 37 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
|
| 35 | int32_t longitude; // in 1e-07 deg |
38 | int32_t longitude; // in 1e-07 deg |
| 36 | int32_t latitude; // in 1e-07 deg |
39 | int32_t latitude; // in 1e-07 deg |
| 37 | int32_t altitude; // in mm |
40 | int32_t altitude; // in mm |
| 38 | uint8_t status; // status of data: invalid | valid |
41 | uint8_t status; // status of data: invalid | valid |
| 39 | } GPS_INFO_t; |
42 | } GPS_INFO_t; |
| 40 | 43 | ||
| 41 | //here you will find the current gps info |
44 | //here you will find the current gps info |
| 42 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
45 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| 43 | 46 | ||
| 44 | // this variable should be decremted by the application |
47 | // 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 |
48 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
| 46 | 49 | ||
| 47 | // initialized the upx parser |
50 | // initialized the upx parser |
| 48 | extern void ubx_init(void); |
51 | extern void ubx_init(void); |
| 49 | 52 | ||
| 50 | // this function should be called within the UART RX ISR |
53 | // this function should be called within the UART RX ISR |
| 51 | extern void ubx_parser(uint8_t c); |
54 | extern void ubx_parser(uint8_t c); |
| 52 | 55 | ||
| 53 | #endif //_UBX_H |
56 | #endif //_UBX_H |
| 54 | 57 | ||