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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 | typedef enum { |
6 | typedef enum { |
| 7 | INVALID, NEWDATA, PROCESSED |
7 | INVALID, NEWDATA, PROCESSED |
| 8 | } Status_t; |
8 | } Status_t; |
| 9 | 9 | ||
| 10 | // Satfix types for GPSData.satfix |
10 | // Satfix types for GPSData.satfix |
| 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 | // Flags for interpretation of the GPSData.flags |
17 | // Flags for interpretation of the GPSData.flags |
| 18 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
18 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| 19 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
19 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| 20 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
20 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| 21 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
21 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
| 22 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
22 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
| 23 | 01-02 NAV - POSLLH |
23 | 01-02 NAV - POSLLH |
| 24 | 01-06 Nav - SOL |
24 | 01-06 Nav - SOL |
| 25 | 01-12 NAV - VELNED */ |
25 | 01-12 NAV - VELNED */ |
| 26 | 26 | ||
| 27 | typedef struct { |
27 | typedef struct { |
| 28 | uint8_t flags; // flags |
28 | uint8_t flags; // flags |
| 29 | uint8_t satnum; // number of satelites |
29 | uint8_t satnum; // number of satelites |
| 30 | uint8_t satfix; // type of satfix |
30 | uint8_t satfix; // type of satfix |
| 31 | int32_t longitude; // in 1e-07 deg |
31 | int32_t longitude; // in 1e-07 deg |
| 32 | int32_t latitude; // in 1e-07 deg |
32 | int32_t latitude; // in 1e-07 deg |
| 33 | int32_t altitude; // in mm |
33 | int32_t altitude; // in mm |
| 34 | uint32_t PAcc; // in cm 3d position accuracy |
34 | uint32_t position3DAcc; // in cm 3d position accuracy |
| - | 35 | uint32_t verticalAcc; // in bm vertical position accuracy |
|
| 35 | int32_t velnorth; // in cm/s |
36 | int32_t velnorth; // in cm/s |
| 36 | int32_t veleast; // in cm/s |
37 | int32_t veleast; // in cm/s |
| 37 | int32_t veltop; // in cm/s |
38 | int32_t veltop; // in cm/s |
| 38 | uint32_t velground; // 2D ground speed in cm/s |
39 | uint32_t velground; // 2D ground speed in cm/s |
| 39 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
40 | uint32_t velocityAcc; // in cm/s 3d velocity accuracy |
| 40 | Status_t status; // status of data: invalid | valid |
41 | Status_t status; // status of data: invalid | valid |
| 41 | } GPS_INFO_t; |
42 | } GPS_INFO_t; |
| 42 | 43 | ||
| 43 | //here you will find the current gps info |
44 | //here you will find the current gps info |
| 44 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
45 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| 45 | 46 | ||
| 46 | // this variable should be decremted by the application |
47 | // this variable should be decremted by the application |
| 47 | 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 |
| 48 | 49 | ||
| 49 | #define USART1_BAUD 57600 |
50 | #define USART1_BAUD 57600 |
| 50 | // this function should be called within the UART RX ISR |
51 | // this function should be called within the UART RX ISR |
| 51 | extern void ubx_parser(uint8_t c); |
52 | extern void ubx_parser(uint8_t c); |
| 52 | 53 | ||
| 53 | #endif //_UBX_H |
54 | #endif //_UBX_H |
| 54 | 55 | ||