WebSVN - NaviCtrl - Diff - Rev 263 and 322


#ifndef __UBX_H
#define __UBX_H
#include "buffer.h"
 
// Satfix types for GPSData.SatFix
#define SATFIX_NONE                             0x00
#define SATFIX_DEADRECKOING             0x01
#define SATFIX_2D                               0x02
#define SATFIX_3D                               0x03
#define SATFIX_GPS_DEADRECKOING 0x04
#define SATFIX_TIMEONLY                 0x05
 
// Flags for interpretation of the GPSData.Flags
#define FLAG_GPSFIXOK                   0x01 // (i.e. within DOP & ACC Masks)
#define FLAG_DIFFSOLN                   0x02 // (is DGPS used)
#define FLAG_WKNSET                             0x04 // (is Week Number valid)
#define FLAG_TOWSET                             0x08 // (is Time of Week valid)
#define FLAG_GPS_NAVIGATION_ACT 0x10 // to FC -> NC is ready to navigate
 
#define INVALID         0x00
#define NEWDATA         0x01
#define PROCESSED       0x02
 
typedef struct
{
        s32 Longitude;  // in 1E-7 deg
        s32 Latitude;   // in 1E-7 deg
        s32 Altitude;   // in mm
        u8 Status;// validity of data
} __attribute__((packed)) GPS_Pos_t;
 
 
typedef struct
{
        u16                     MsgCycleTime;   // time in ms since last gps data
        GPS_Pos_t       Position;       // Lat/Lon/Alt
        u8                      Flags;                  // Status Flags
        u8                      NumOfSats;              // number of satelites
        u8                      SatFix;                 // type of satfix
        u32             Position_Accuracy;      // in cm 3d position accuracy
        s32                     Speed_North;    // in cm/s
        s32                     Speed_East;             // in cm/s
        s32                     Speed_Top;              // in cm/s
        u32                     Speed_Ground;   // 2D ground speed in cm/s
        s32                     Heading;                // 1e-05 deg  Heading 2-D (current flight direction)
        u32                     Speed_Accuracy; // in cm/s 3d velocity accuracy
        u8                      Status;                 // status of data
} __attribute__((packed)) gps_data_t;
 
// The data are valid if the GPSData.Status is NEWDATA or PROCESSED.
// To achieve new data after reading the GPSData.Status should be set to PROCESSED.
extern gps_data_t  GPSData;
 
 
#define UBX_CLASS_CFG   0x06
#define UBX_CLASS_ACK   0x05
 
typedef struct
{
        u8 Class;
        u8 Id;
        u16 Length;
}  __attribute__((packed)) ubxmsghdr_t;
 
#define UBX_MSG_DATA_SIZE 200
typedef struct
{
        u8 ClassMask;
        u8 IdMask;
        ubxmsghdr_t Hdr;
        u8 Data[UBX_MSG_DATA_SIZE];
        u8 Status;
} __attribute__((packed)) ubxmsg_t;
// msg obj to reveive
// set Class and Id and correspoinding masks of a message that should be received
extern ubxmsg_t UbxMsg;
 
 
extern u32 UBX_Timeout;
 
void UBX_Init(void);
void UBX_RxParser(u8 c);
u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len);
 
 
#endif // __UBX_H
 

Rev 263	Rev 322
1	#ifndef __UBX_H	1	#ifndef __UBX_H
2	#define __UBX_H	2	#define __UBX_H
3	#include "buffer.h"	3	#include "buffer.h"
4		4
5	// Satfix types for GPSData.SatFix	5	// Satfix types for GPSData.SatFix
6	#define SATFIX_NONE 0x00	6	#define SATFIX_NONE 0x00
7	#define SATFIX_DEADRECKOING 0x01	7	#define SATFIX_DEADRECKOING 0x01
8	#define SATFIX_2D 0x02	8	#define SATFIX_2D 0x02
9	#define SATFIX_3D 0x03	9	#define SATFIX_3D 0x03
10	#define SATFIX_GPS_DEADRECKOING 0x04	10	#define SATFIX_GPS_DEADRECKOING 0x04
11	#define SATFIX_TIMEONLY 0x05	11	#define SATFIX_TIMEONLY 0x05
-		12
12	// Flags for interpretation of the GPSData.Flags	13	// Flags for interpretation of the GPSData.Flags
13	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	14	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
14	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	15	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
15	#define FLAG_WKNSET 0x04 // (is Week Number valid)	16	#define FLAG_WKNSET 0x04 // (is Week Number valid)
16	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	17	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
-		18	#define FLAG_GPS_NAVIGATION_ACT 0x10 // to FC -> NC is ready to navigate
17		19
18	#define INVALID 0x00	20	#define INVALID 0x00
19	#define NEWDATA 0x01	21	#define NEWDATA 0x01
20	#define PROCESSED 0x02	22	#define PROCESSED 0x02
21		23
22	typedef struct	24	typedef struct
23	{	25	{
24	s32 Longitude; // in 1E-7 deg	26	s32 Longitude; // in 1E-7 deg
25	s32 Latitude; // in 1E-7 deg	27	s32 Latitude; // in 1E-7 deg
26	s32 Altitude; // in mm	28	s32 Altitude; // in mm
27	u8 Status;// validity of data	29	u8 Status;// validity of data
28	} __attribute__((packed)) GPS_Pos_t;	30	} __attribute__((packed)) GPS_Pos_t;
29		31
30		32
31	typedef struct	33	typedef struct
32	{	34	{
33	u16 MsgCycleTime; // time in ms since last gps data	35	u16 MsgCycleTime; // time in ms since last gps data
34	GPS_Pos_t Position; // Lat/Lon/Alt	36	GPS_Pos_t Position; // Lat/Lon/Alt
35	u8 Flags; // Status Flags	37	u8 Flags; // Status Flags
36	u8 NumOfSats; // number of satelites	38	u8 NumOfSats; // number of satelites
37	u8 SatFix; // type of satfix	39	u8 SatFix; // type of satfix
38	u32 Position_Accuracy; // in cm 3d position accuracy	40	u32 Position_Accuracy; // in cm 3d position accuracy
39	s32 Speed_North; // in cm/s	41	s32 Speed_North; // in cm/s
40	s32 Speed_East; // in cm/s	42	s32 Speed_East; // in cm/s
41	s32 Speed_Top; // in cm/s	43	s32 Speed_Top; // in cm/s
42	u32 Speed_Ground; // 2D ground speed in cm/s	44	u32 Speed_Ground; // 2D ground speed in cm/s
43	s32 Heading; // 1e-05 deg Heading 2-D (current flight direction)	45	s32 Heading; // 1e-05 deg Heading 2-D (current flight direction)
44	u32 Speed_Accuracy; // in cm/s 3d velocity accuracy	46	u32 Speed_Accuracy; // in cm/s 3d velocity accuracy
45	u8 Status; // status of data	47	u8 Status; // status of data
46	} __attribute__((packed)) gps_data_t;	48	} __attribute__((packed)) gps_data_t;
47		49
48	// The data are valid if the GPSData.Status is NEWDATA or PROCESSED.	50	// The data are valid if the GPSData.Status is NEWDATA or PROCESSED.
49	// To achieve new data after reading the GPSData.Status should be set to PROCESSED.	51	// To achieve new data after reading the GPSData.Status should be set to PROCESSED.
50	extern gps_data_t GPSData;	52	extern gps_data_t GPSData;
51		53
52		54
53	#define UBX_CLASS_CFG 0x06	55	#define UBX_CLASS_CFG 0x06
54	#define UBX_CLASS_ACK 0x05	56	#define UBX_CLASS_ACK 0x05
55		57
56	typedef struct	58	typedef struct
57	{	59	{
58	u8 Class;	60	u8 Class;
59	u8 Id;	61	u8 Id;
60	u16 Length;	62	u16 Length;
61	} __attribute__((packed)) ubxmsghdr_t;	63	} __attribute__((packed)) ubxmsghdr_t;
62		64
63	#define UBX_MSG_DATA_SIZE 200	65	#define UBX_MSG_DATA_SIZE 200
64	typedef struct	66	typedef struct
65	{	67	{
66	u8 ClassMask;	68	u8 ClassMask;
67	u8 IdMask;	69	u8 IdMask;
68	ubxmsghdr_t Hdr;	70	ubxmsghdr_t Hdr;
69	u8 Data[UBX_MSG_DATA_SIZE];	71	u8 Data[UBX_MSG_DATA_SIZE];
70	u8 Status;	72	u8 Status;
71	} __attribute__((packed)) ubxmsg_t;	73	} __attribute__((packed)) ubxmsg_t;
72	// msg obj to reveive	74	// msg obj to reveive
73	// set Class and Id and correspoinding masks of a message that should be received	75	// set Class and Id and correspoinding masks of a message that should be received
74	extern ubxmsg_t UbxMsg;	76	extern ubxmsg_t UbxMsg;
75		77
76		78
77	extern u32 UBX_Timeout;	79	extern u32 UBX_Timeout;
78		80
79	void UBX_Init(void);	81	void UBX_Init(void);
80	void UBX_RxParser(u8 c);	82	void UBX_RxParser(u8 c);
81	u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len);	83	u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len);
82		84
83		85
84	#endif // __UBX_H	86	#endif // __UBX_H
85		87

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(root)/tags/V0.28o/ubx.h @ 769 - Rev 263 → 322