WebSVN - NaviCtrl - Diff - Rev 659 and 700


#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
{
        u32                     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);
 
extern u8 UbxVersionParser(void);
 
#endif // __UBX_H
 

Rev 659	Rev 700
1	#ifndef __UBX_H	1	#ifndef __UBX_H
2	#define __UBX_H	2	#define __UBX_H
3		3
4	#include "buffer.h"	4	#include "buffer.h"
5	#include "gpspos.h"	5	#include "gpspos.h"
6		6
7	// Satfix types for GPSData.SatFix	7	// Satfix types for GPSData.SatFix
8	#define SATFIX_NONE 0x00	8	#define SATFIX_NONE 0x00
9	#define SATFIX_DEADRECKOING 0x01	9	#define SATFIX_DEADRECKOING 0x01
10	#define SATFIX_2D 0x02	10	#define SATFIX_2D 0x02
11	#define SATFIX_3D 0x03	11	#define SATFIX_3D 0x03
12	#define SATFIX_GPS_DEADRECKOING 0x04	12	#define SATFIX_GPS_DEADRECKOING 0x04
13	#define SATFIX_TIMEONLY 0x05	13	#define SATFIX_TIMEONLY 0x05
14		14
15	// Flags for interpretation of the GPSData.Flags	15	// Flags for interpretation of the GPSData.Flags
16	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	16	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
17	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	17	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
18	#define FLAG_WKNSET 0x04 // (is Week Number valid)	18	#define FLAG_WKNSET 0x04 // (is Week Number valid)
19	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	19	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
20	#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
21		21
22		22
23	typedef struct	23	typedef struct
24	{	24	{
25	u32 MsgCycleTime; // time in ms since last gps data	25	u32 MsgCycleTime; // time in ms since last gps data
26	GPS_Pos_t Position; // Lat/Lon/Alt	26	GPS_Pos_t Position; // Lat/Lon/Alt
27	u8 Flags; // Status Flags	27	u8 Flags; // Status Flags
28	u8 NumOfSats; // number of satelites	28	u8 NumOfSats; // number of satelites
29	u8 SatFix; // type of satfix	29	u8 SatFix; // type of satfix
30	u32 Position_Accuracy; // in cm 3d position accuracy	30	u32 Position_Accuracy; // in cm 3d position accuracy
31	s32 Speed_North; // in cm/s	31	s32 Speed_North; // in cm/s
32	s32 Speed_East; // in cm/s	32	s32 Speed_East; // in cm/s
33	s32 Speed_Top; // in cm/s	33	s32 Speed_Top; // in cm/s
34	u32 Speed_Ground; // 2D ground speed in cm/s	34	u32 Speed_Ground; // 2D ground speed in cm/s
35	s32 Heading; // 1e-05 deg Heading 2-D (current flight direction)	35	s32 Heading; // 1e-05 deg Heading 2-D (current flight direction)
36	u32 Speed_Accuracy; // in cm/s 3d velocity accuracy	36	u32 Speed_Accuracy; // in cm/s 3d velocity accuracy
37	u8 Status; // status of data	37	u8 Status; // status of data
38	} __attribute__((packed)) gps_data_t;	38	} __attribute__((packed)) gps_data_t;
39		39
40	// 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.
41	// 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.
42	extern gps_data_t GPSData;	42	extern gps_data_t GPSData;
43		43
44		44
45	#define UBX_CLASS_CFG 0x06	45	#define UBX_CLASS_CFG 0x06
46	#define UBX_CLASS_ACK 0x05	46	#define UBX_CLASS_ACK 0x05
47		47
48	typedef struct	48	typedef struct
49	{	49	{
50	u8 Class;	50	u8 Class;
51	u8 Id;	51	u8 Id;
52	u16 Length;	52	u16 Length;
53	} __attribute__((packed)) ubxmsghdr_t;	53	} __attribute__((packed)) ubxmsghdr_t;
54		54
55	#define UBX_MSG_DATA_SIZE 200	55	#define UBX_MSG_DATA_SIZE 200
56	typedef struct	56	typedef struct
57	{	57	{
58	u8 ClassMask;	58	u8 ClassMask;
59	u8 IdMask;	59	u8 IdMask;
60	ubxmsghdr_t Hdr;	60	ubxmsghdr_t Hdr;
61	u8 Data[UBX_MSG_DATA_SIZE];	61	u8 Data[UBX_MSG_DATA_SIZE];
62	u8 Status;	62	u8 Status;
63	} __attribute__((packed)) ubxmsg_t;	63	} __attribute__((packed)) ubxmsg_t;
64	// msg obj to reveive	64	// msg obj to reveive
65	// 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
66	extern ubxmsg_t UbxMsg;	66	extern ubxmsg_t UbxMsg;
67		67
68		68
69	extern u32 UBX_Timeout;	69	extern u32 UBX_Timeout;
70		70
71	void UBX_Init(void);	71	void UBX_Init(void);
72	void UBX_RxParser(u8 c);	72	void UBX_RxParser(u8 c);
73	u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len);	73	u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len);
74		-
-		74	extern u8 UbxVersionParser(void);
75		75
76	#endif // __UBX_H	76	#endif // __UBX_H
77		77

Subversion Repositories NaviCtrl

(root)/tags/V2.14a/ubx.h @ 895 - Rev 659 → 700