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#ifndef __UBX_H
#define __UBX_H
 
#include "buffer.h"
#include "gpspos.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
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 322	Rev 491
1	#ifndef __UBX_H	1	#ifndef __UBX_H
2	#define __UBX_H	2	#define __UBX_H
-		3
3	#include "buffer.h"	4	#include "buffer.h"
-		5	#include "gpspos.h"
4		6
5	// Satfix types for GPSData.SatFix	7	// Satfix types for GPSData.SatFix
6	#define SATFIX_NONE 0x00	8	#define SATFIX_NONE 0x00
7	#define SATFIX_DEADRECKOING 0x01	9	#define SATFIX_DEADRECKOING 0x01
8	#define SATFIX_2D 0x02	10	#define SATFIX_2D 0x02
9	#define SATFIX_3D 0x03	11	#define SATFIX_3D 0x03
10	#define SATFIX_GPS_DEADRECKOING 0x04	12	#define SATFIX_GPS_DEADRECKOING 0x04
11	#define SATFIX_TIMEONLY 0x05	13	#define SATFIX_TIMEONLY 0x05
12		14
13	// Flags for interpretation of the GPSData.Flags	15	// Flags for interpretation of the GPSData.Flags
14	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	16	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
15	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	17	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
16	#define FLAG_WKNSET 0x04 // (is Week Number valid)	18	#define FLAG_WKNSET 0x04 // (is Week Number valid)
17	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	19	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
18	#define FLAG_GPS_NAVIGATION_ACT 0x10 // to FC -> NC is ready to navigate	20	#define FLAG_GPS_NAVIGATION_ACT 0x10 // to FC -> NC is ready to navigate
19		-
20	#define INVALID 0x00	-
21	#define NEWDATA 0x01	-
22	#define PROCESSED 0x02	-
23		-
24	typedef struct	-
25	{	-
26	s32 Longitude; // in 1E-7 deg	-
27	s32 Latitude; // in 1E-7 deg	-
28	s32 Altitude; // in mm	-
29	u8 Status;// validity of data	-
30	} __attribute__((packed)) GPS_Pos_t;	-
31		21
32		22
33	typedef struct	23	typedef struct
34	{	24	{
35	u16 MsgCycleTime; // time in ms since last gps data	25	u16 MsgCycleTime; // time in ms since last gps data
36	GPS_Pos_t Position; // Lat/Lon/Alt	26	GPS_Pos_t Position; // Lat/Lon/Alt
37	u8 Flags; // Status Flags	27	u8 Flags; // Status Flags
38	u8 NumOfSats; // number of satelites	28	u8 NumOfSats; // number of satelites
39	u8 SatFix; // type of satfix	29	u8 SatFix; // type of satfix
40	u32 Position_Accuracy; // in cm 3d position accuracy	30	u32 Position_Accuracy; // in cm 3d position accuracy
41	s32 Speed_North; // in cm/s	31	s32 Speed_North; // in cm/s
42	s32 Speed_East; // in cm/s	32	s32 Speed_East; // in cm/s
43	s32 Speed_Top; // in cm/s	33	s32 Speed_Top; // in cm/s
44	u32 Speed_Ground; // 2D ground speed in cm/s	34	u32 Speed_Ground; // 2D ground speed in cm/s
45	s32 Heading; // 1e-05 deg Heading 2-D (current flight direction)	35	s32 Heading; // 1e-05 deg Heading 2-D (current flight direction)
46	u32 Speed_Accuracy; // in cm/s 3d velocity accuracy	36	u32 Speed_Accuracy; // in cm/s 3d velocity accuracy
47	u8 Status; // status of data	37	u8 Status; // status of data
48	} __attribute__((packed)) gps_data_t;	38	} __attribute__((packed)) gps_data_t;
49		39
50	// The data are valid if the GPSData.Status is NEWDATA or PROCESSED.	40	// The data are valid if the GPSData.Status is NEWDATA or PROCESSED.
51	// To achieve new data after reading the GPSData.Status should be set to PROCESSED.	41	// To achieve new data after reading the GPSData.Status should be set to PROCESSED.
52	extern gps_data_t GPSData;	42	extern gps_data_t GPSData;
53		43
54		44
55	#define UBX_CLASS_CFG 0x06	45	#define UBX_CLASS_CFG 0x06
56	#define UBX_CLASS_ACK 0x05	46	#define UBX_CLASS_ACK 0x05
57		47
58	typedef struct	48	typedef struct
59	{	49	{
60	u8 Class;	50	u8 Class;
61	u8 Id;	51	u8 Id;
62	u16 Length;	52	u16 Length;
63	} __attribute__((packed)) ubxmsghdr_t;	53	} __attribute__((packed)) ubxmsghdr_t;
64		54
65	#define UBX_MSG_DATA_SIZE 200	55	#define UBX_MSG_DATA_SIZE 200
66	typedef struct	56	typedef struct
67	{	57	{
68	u8 ClassMask;	58	u8 ClassMask;
69	u8 IdMask;	59	u8 IdMask;
70	ubxmsghdr_t Hdr;	60	ubxmsghdr_t Hdr;
71	u8 Data[UBX_MSG_DATA_SIZE];	61	u8 Data[UBX_MSG_DATA_SIZE];
72	u8 Status;	62	u8 Status;
73	} __attribute__((packed)) ubxmsg_t;	63	} __attribute__((packed)) ubxmsg_t;
74	// msg obj to reveive	64	// msg obj to reveive
75	// set Class and Id and correspoinding masks of a message that should be received	65	// set Class and Id and correspoinding masks of a message that should be received
76	extern ubxmsg_t UbxMsg;	66	extern ubxmsg_t UbxMsg;
77		67
78		68
79	extern u32 UBX_Timeout;	69	extern u32 UBX_Timeout;
80		70
81	void UBX_Init(void);	71	void UBX_Init(void);
82	void UBX_RxParser(u8 c);	72	void UBX_RxParser(u8 c);
83	u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len);	73	u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len);
84		74
85		75
86	#endif // __UBX_H	76	#endif // __UBX_H
87		77

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(root)/tags/V2.06f/ubx.h @ 646 - Rev 322 → 491