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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 | ||