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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 | - | ||
| 6 | #define INVALID 0x00 |
- | |
| 7 | #define VALID 0x01 |
- | |
| - | 5 | ||
| - | 6 | ||
| - | 7 | typedef enum |
|
| - | 8 | { |
|
| - | 9 | INVALID, |
|
| - | 10 | NEWDATA, |
|
| - | 11 | PROCESSED |
|
| 8 | #define PROCESSED 0x02 |
12 | } Status_t; |
| 9 | 13 | ||
| 10 | 14 | // Satfix types for GPSData.satfix |
|
| 11 | #define SATFIX_NONE 0x00 |
15 | #define SATFIX_NONE 0x00 |
| 12 | #define SATFIX_DEADRECKOING 0x01 |
16 | #define SATFIX_DEADRECKOING 0x01 |
| 13 | #define SATFIX_2D 0x02 |
17 | #define SATFIX_2D 0x02 |
| 14 | #define SATFIX_3D 0x03 |
18 | #define SATFIX_3D 0x03 |
| 15 | #define SATFIX_GPS_DEADRECKOING 0x04 |
19 | #define SATFIX_GPS_DEADRECKOING 0x04 |
| 16 | #define SATFIX_TIMEONLY 0x05 |
20 | #define SATFIX_TIMEONLY 0x05 |
| - | 21 | // Flags for interpretation of the GPSData.flags |
|
| - | 22 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
|
| - | 23 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
|
| - | 24 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
|
| - | 25 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
|
| 17 | 26 | ||
| 18 | 27 | ||
| 19 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
28 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
| 20 | 01-02 NAV - POSLLH |
29 | 01-02 NAV - POSLLH |
| 21 | 01-06 Nav - SOL |
30 | 01-06 Nav - SOL |
| 22 | 01-12 NAV - VELNED */ |
31 | 01-12 NAV - VELNED */ |
| 23 | 32 | ||
| 24 | typedef struct |
33 | typedef struct |
| 25 | { |
34 | { |
| 26 | uint8_t status; // status of data: invalid | valid |
35 | uint8_t flags; // flags |
| 27 | uint8_t satnum; // number of satelites |
36 | uint8_t satnum; // number of satelites |
| 28 | uint8_t satfix; // type of satfix |
37 | uint8_t satfix; // type of satfix |
| 29 | int32_t longitude; // in 1e-07 deg |
38 | int32_t longitude; // in 1e-07 deg |
| 30 | int32_t latitude; // in 1e-07 deg |
39 | int32_t latitude; // in 1e-07 deg |
| 31 | int32_t altitude; // in mm |
40 | int32_t altitude; // in mm |
| 32 | uint32_t PAcc; // in cm 3d position accuracy |
41 | uint32_t PAcc; // in cm 3d position accuracy |
| 33 | int32_t velnorth; // in cm/s |
42 | int32_t velnorth; // in cm/s |
| 34 | int32_t veleast; // in cm/s |
43 | int32_t veleast; // in cm/s |
| 35 | int32_t veltop; // in cm/s |
44 | int32_t veltop; // in cm/s |
| 36 | uint32_t velground; // 2D ground speed in cm/s |
45 | uint32_t velground; // 2D ground speed in cm/s |
| 37 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
46 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
| 38 | uint32_t updatetime; // ms |
47 | Status_t status; // status of data: invalid | valid |
| 39 | } GPS_INFO_t; |
48 | } GPS_INFO_t; |
| 40 | 49 | ||
| 41 | //here you will find the current gps info |
50 | //here you will find the current gps info |
| 42 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
51 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| 43 | 52 | ||
| 44 | // this variable should be decremted by the application |
53 | // 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 |
54 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
| 46 | 55 | ||
| 47 | // this function should be called within the UART RX ISR |
56 | // this function should be called within the UART RX ISR |
| 48 | extern void ubx_parser(uint8_t c); |
57 | extern void ubx_parser(uint8_t c); |
| 49 | 58 | ||
| 50 | #endif //_UBX_H |
59 | #endif //_UBX_H |
| 51 | 60 | ||