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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 | // Flags for interpretation of the GPSData.Flags |
12 | // Flags for interpretation of the GPSData.Flags |
13 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
13 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
14 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
14 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
15 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
15 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
16 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
16 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
17 | 17 | ||
18 | #define INVALID 0x00 |
18 | #define INVALID 0x00 |
19 | #define NEWDATA 0x01 |
19 | #define NEWDATA 0x01 |
20 | #define PROCESSED 0x02 |
20 | #define PROCESSED 0x02 |
21 | - | ||
22 | #define UBX_CLASS_CFG 0x06 |
- | |
23 | 21 | ||
24 | typedef struct |
22 | typedef struct |
25 | { |
23 | { |
26 | s32 Longitude; // in 1E-7 deg |
24 | s32 Longitude; // in 1E-7 deg |
27 | s32 Latitude; // in 1E-7 deg |
25 | s32 Latitude; // in 1E-7 deg |
28 | s32 Altitude; // in mm |
26 | s32 Altitude; // in mm |
29 | u8 Status;// validity of data |
27 | u8 Status;// validity of data |
30 | } __attribute__((packed)) GPS_Pos_t; |
28 | } __attribute__((packed)) GPS_Pos_t; |
31 | 29 | ||
32 | 30 | ||
33 | typedef struct |
31 | typedef struct |
34 | { |
32 | { |
35 | u16 MsgCycleTime; // time in ms since last gps data |
33 | u16 MsgCycleTime; // time in ms since last gps data |
36 | GPS_Pos_t Position; // Lat/Lon/Alt |
34 | GPS_Pos_t Position; // Lat/Lon/Alt |
37 | u8 Flags; // Status Flags |
35 | u8 Flags; // Status Flags |
38 | u8 NumOfSats; // number of satelites |
36 | u8 NumOfSats; // number of satelites |
39 | u8 SatFix; // type of satfix |
37 | u8 SatFix; // type of satfix |
40 | u32 Position_Accuracy; // in cm 3d position accuracy |
38 | u32 Position_Accuracy; // in cm 3d position accuracy |
41 | s32 Speed_North; // in cm/s |
39 | s32 Speed_North; // in cm/s |
42 | s32 Speed_East; // in cm/s |
40 | s32 Speed_East; // in cm/s |
43 | s32 Speed_Top; // in cm/s |
41 | s32 Speed_Top; // in cm/s |
44 | u32 Speed_Ground; // 2D ground speed in cm/s |
42 | u32 Speed_Ground; // 2D ground speed in cm/s |
45 | s32 Heading; // 1e-05 deg Heading 2-D (current flight direction) |
43 | s32 Heading; // 1e-05 deg Heading 2-D (current flight direction) |
46 | u32 Speed_Accuracy; // in cm/s 3d velocity accuracy |
44 | u32 Speed_Accuracy; // in cm/s 3d velocity accuracy |
47 | u8 Status; // status of data |
45 | u8 Status; // status of data |
48 | } __attribute__((packed)) gps_data_t; |
46 | } __attribute__((packed)) gps_data_t; |
49 | 47 | ||
50 | // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
48 | // 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. |
49 | // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
52 | extern gps_data_t GPSData; |
50 | extern gps_data_t GPSData; |
- | 51 | ||
- | 52 | ||
- | 53 | #define UBX_CLASS_CFG 0x06 |
|
- | 54 | #define UBX_CLASS_ACK 0x05 |
|
53 | 55 | ||
54 | typedef struct |
56 | typedef struct |
- | 57 | { |
|
- | 58 | u8 Class; |
|
- | 59 | u8 Id; |
|
55 | { |
60 | u16 Length; |
- | 61 | } __attribute__((packed)) ubxmsghdr_t; |
|
- | 62 | ||
- | 63 | typedef struct |
|
56 | u8 Ack; // 1: msg acknowledged, 0: not acknowledged |
64 | { |
- | 65 | u8 ClassMask; |
|
57 | u8 clsID; // the msg class |
66 | u8 IdMask; |
- | 67 | ubxmsghdr_t Hdr; |
|
58 | u8 msgID; // the msg id |
68 | u8 Data[100]; |
59 | u8 Status; // invalid/newdata/processed |
69 | u8 Status; |
- | 70 | } __attribute__((packed)) ubxmsg_t; |
|
- | 71 | // msg obj to reveive |
|
60 | } __attribute__((packed)) ubx_ack_t; |
72 | // set Class and Id and correspoinding masks of a message that should be received |
- | 73 | extern volatile ubxmsg_t UbxMsg; |
|
61 | extern volatile ubx_ack_t UbxAck; |
74 | |
62 | 75 | ||
63 | extern u32 UBX_Timeout; |
76 | extern u32 UBX_Timeout; |
64 | 77 | ||
65 | void UBX_Init(void); |
78 | void UBX_Init(void); |
66 | void UBX_RxParser(u8 c); |
79 | void UBX_RxParser(u8 c); |
67 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8 Class, u8 Id, u8* pData, u16 Len); |
80 | u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len); |
68 | 81 | ||
69 | 82 | ||
70 | #endif // __UBX_H |
83 | #endif // __UBX_H |
71 | 84 |