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| 1 | #ifndef _UBX_H |
1 | #ifndef _UBX_H |
| 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 | #define INVALID 0x00 |
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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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| 7 | #define VALID 0x01 |
11 | PROCESSED |
| 8 | #define PROCESSED 0x02 |
12 | } Status_t; |
| 9 | 13 | ||
| 10 | 14 | // Satfix types for GPSData.satfix |
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| 11 | #define SATFIX_NONE 0x00 |
15 | #define SATFIX_NONE 0x00 |
| 12 | #define SATFIX_DEADRECKOING 0x01 |
16 | #define SATFIX_DEADRECKOING 0x01 |
| - | 17 | #define SATFIX_2D 0x02 |
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| - | 18 | #define SATFIX_3D 0x03 |
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| - | 19 | #define SATFIX_GPS_DEADRECKOING 0x04 |
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| - | 20 | #define SATFIX_TIMEONLY 0x05 |
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| - | 21 | // Flags for interpretation of the GPSData.flags |
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| 13 | #define SATFIX_2D 0x02 |
22 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| 14 | #define SATFIX_3D 0x03 |
23 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| 15 | #define SATFIX_GPS_DEADRECKOING 0x04 |
24 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| 16 | #define SATFIX_TIMEONLY 0x05 |
25 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
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| 17 | 26 | ||
| 18 | 27 | ||
| 19 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
28 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
| 20 | 01-02 NAV - POSLLH |
29 | 01-02 NAV - POSLLH |
| 21 | 01-06 Nav - SOL |
30 | 01-06 Nav - SOL |
| 22 | 01-12 NAV - VELNED */ |
31 | 01-12 NAV - VELNED */ |
| 23 | 32 | ||
| 24 | typedef struct |
33 | typedef struct |
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| 33 | int32_t velnorth; // in cm/s |
42 | int32_t velnorth; // in cm/s |
| 34 | int32_t veleast; // in cm/s |
43 | int32_t veleast; // in cm/s |
| 35 | int32_t veltop; // in cm/s |
44 | int32_t veltop; // in cm/s |
| 36 | uint32_t velground; // 2D ground speed in cm/s |
45 | uint32_t velground; // 2D ground speed in cm/s |
| 37 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
46 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
| 38 | uint32_t updatetime; // ms |
47 | Status_t status; // status of data: invalid | valid |
| 39 | } GPS_INFO_t; |
48 | } GPS_INFO_t; |
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| 40 | 49 | ||
| 41 | //here you will find the current gps info |
50 | //here you will find the current gps info |