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| 2 | #define _UBX_H |
2 | #define _UBX_H |
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| 3 | 3 | ||
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| 4 | #include <inttypes.h> |
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| 5 | - | ||
| 6 | - | ||
| 7 | typedef enum |
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| 8 | { |
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| 9 | INVALID, |
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| 10 | NEWDATA, |
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| 11 | PROCESSED |
4 | #include <inttypes.h> |
| 12 | } Status_t; |
5 | |
| 13 | 6 | ||
| 14 | // Satfix types for GPSData.satfix |
7 | // Satfix types for GPSData.SatFix |
| 15 | #define SATFIX_NONE 0x00 |
8 | #define SATFIX_NONE 0x00 |
| 16 | #define SATFIX_DEADRECKOING 0x01 |
9 | #define SATFIX_DEADRECKOING 0x01 |
| 17 | #define SATFIX_2D 0x02 |
10 | #define SATFIX_2D 0x02 |
| 18 | #define SATFIX_3D 0x03 |
11 | #define SATFIX_3D 0x03 |
| 19 | #define SATFIX_GPS_DEADRECKOING 0x04 |
12 | #define SATFIX_GPS_DEADRECKOING 0x04 |
| 20 | #define SATFIX_TIMEONLY 0x05 |
13 | #define SATFIX_TIMEONLY 0x05 |
| 21 | // Flags for interpretation of the GPSData.flags |
14 | // Flags for interpretation of the GPSData.Flags |
| 22 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
15 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
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| - | 16 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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| - | 17 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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| - | 18 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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| - | 19 | ||
| - | 20 | #define INVALID 0x00 |
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| - | 21 | #define NEWDATA 0x01 |
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| - | 22 | #define PROCESSED 0x02 |
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| - | 23 | ||
| - | 24 | typedef struct |
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| - | 25 | { |
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| - | 26 | int32_t Longitude; // in 1E-7 deg |
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| 23 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
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| 24 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
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| 25 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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| 26 | - | ||
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| 27 | 27 | int32_t Latitude; // in 1E-7 deg |
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| 28 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
28 | int32_t Altitude; // in mm |
| - | 29 | uint8_t Status; // validity of data |
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| 29 | 01-02 NAV - POSLLH |
30 | } __attribute__((packed)) GPS_Pos_t; |
| 30 | 01-06 Nav - SOL |
31 | |
| 31 | 01-12 NAV - VELNED */ |
32 | |
| 32 | - | ||
| 33 | typedef struct |
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| 34 | { |
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| 35 | uint8_t flags; // flags |
33 | typedef struct |
| 36 | uint8_t satnum; // number of satelites |
34 | { |
| 37 | uint8_t satfix; // type of satfix |
35 | GPS_Pos_t Position; // Lat/Lon/Alt |
| 38 | int32_t longitude; // in 1e-07 deg |
36 | uint8_t Flags; // Status Flags |
| 39 | int32_t latitude; // in 1e-07 deg |
37 | uint8_t NumOfSats; // number of satelites |
| - | 38 | uint8_t SatFix; // type of satfix |
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| 40 | int32_t altitude; // in mm |
39 | uint32_t Position_Accuracy; // in cm 3d position accuracy |
| 41 | uint32_t PAcc; // in cm 3d position accuracy |
40 | int32_t Speed_North; // in cm/s |
| 42 | int32_t velnorth; // in cm/s |
41 | int32_t Speed_East; // in cm/s |
| 43 | int32_t veleast; // in cm/s |
42 | int32_t Speed_Top; // in cm/s |
| 44 | int32_t veltop; // in cm/s |
43 | uint32_t Speed_Ground; // 2D ground speed in cm/s |
| 45 | uint32_t velground; // 2D ground speed in cm/s |
44 | int32_t Heading; // 1e-05 deg Heading 2-D (curent flight direction) |
| - | 45 | uint32_t Speed_Accuracy; // in cm/s 3d velocity accuracy |
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| - | 46 | uint8_t Status; // status of data |
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| 46 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
47 | } __attribute__((packed)) gps_data_t; |
| 47 | Status_t status; // status of data: invalid | valid |
48 | |
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| 48 | } GPS_INFO_t; |
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| 49 | - | ||
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| 50 | //here you will find the current gps info |
49 | // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |