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#ifndef _UBX_H
#define _UBX_H
 
#include <inttypes.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 INVALID         0x00
#define NEWDATA         0x01
#define PROCESSED       0x02
 
typedef struct
{
        int32_t Longitude;  // in 1E-7 deg
        int32_t Latitude;       // in 1E-7 deg
        int32_t Altitude;       // in mm
        uint8_t Status;         // validity of data
} __attribute__((packed)) GPS_Pos_t;
 
 
typedef struct
{
        GPS_Pos_t       Position;       // Lat/Lon/Alt
        uint8_t         Flags;                  // Status Flags
        uint8_t         NumOfSats;              // number of satelites
        uint8_t         SatFix;                 // type of satfix
        uint32_t        Position_Accuracy;      // in cm 3d position accuracy
        int32_t         Speed_North;    // in cm/s
        int32_t         Speed_East;             // in cm/s
        int32_t         Speed_Top;              // in cm/s
        uint32_t        Speed_Ground;   // 2D ground speed in cm/s
        int32_t         Heading;                // 1e-05 deg  Heading 2-D (curent flight direction)
        uint32_t        Speed_Accuracy; // in cm/s 3d velocity accuracy
        uint8_t         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;
extern uint16_t CheckGPSOkay;
 
void UBX_Init(void);
void UBX_Parser(uint8_t c);
 
 
#endif // _UBX_H
 

Rev 274	Rev 333
1	#ifndef _UBX_H	1	#ifndef _UBX_H
2	#define _UBX_H	2	#define _UBX_H
3		3
4	#include <inttypes.h>	4	#include <inttypes.h>
5		5
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	// Flags for interpretation of the GPSData.Flags	14	// Flags for interpretation of the GPSData.Flags
15	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)	15	#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
16	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)	16	#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
17	#define FLAG_WKNSET 0x04 // (is Week Number valid)	17	#define FLAG_WKNSET 0x04 // (is Week Number valid)
18	#define FLAG_TOWSET 0x08 // (is Time of Week valid)	18	#define FLAG_TOWSET 0x08 // (is Time of Week valid)
19		19
20	#define INVALID 0x00	20	#define INVALID 0x00
21	#define NEWDATA 0x01	21	#define NEWDATA 0x01
22	#define PROCESSED 0x02	22	#define PROCESSED 0x02
23		23
24	typedef struct	24	typedef struct
25	{	25	{
26	int32_t Longitude; // in 1E-7 deg	26	int32_t Longitude; // in 1E-7 deg
27	int32_t Latitude; // in 1E-7 deg	27	int32_t Latitude; // in 1E-7 deg
28	int32_t Altitude; // in mm	28	int32_t Altitude; // in mm
29	uint8_t Status; // validity of data	29	uint8_t Status; // validity of data
30	} __attribute__((packed)) GPS_Pos_t;	30	} __attribute__((packed)) GPS_Pos_t;
31		31
32		32
33	typedef struct	33	typedef struct
34	{	34	{
35	GPS_Pos_t Position; // Lat/Lon/Alt	35	GPS_Pos_t Position; // Lat/Lon/Alt
36	uint8_t Flags; // Status Flags	36	uint8_t Flags; // Status Flags
37	uint8_t NumOfSats; // number of satelites	37	uint8_t NumOfSats; // number of satelites
38	uint8_t SatFix; // type of satfix	38	uint8_t SatFix; // type of satfix
39	uint32_t Position_Accuracy; // in cm 3d position accuracy	39	uint32_t Position_Accuracy; // in cm 3d position accuracy
40	int32_t Speed_North; // in cm/s	40	int32_t Speed_North; // in cm/s
41	int32_t Speed_East; // in cm/s	41	int32_t Speed_East; // in cm/s
42	int32_t Speed_Top; // in cm/s	42	int32_t Speed_Top; // in cm/s
43	uint32_t Speed_Ground; // 2D ground speed in cm/s	43	uint32_t Speed_Ground; // 2D ground speed in cm/s
44	int32_t Heading; // 1e-05 deg Heading 2-D (curent flight direction)	44	int32_t Heading; // 1e-05 deg Heading 2-D (curent flight direction)
45	uint32_t Speed_Accuracy; // in cm/s 3d velocity accuracy	45	uint32_t Speed_Accuracy; // in cm/s 3d velocity accuracy
46	uint8_t Status; // status of data	46	uint8_t Status; // status of data
47	} __attribute__((packed)) gps_data_t;	47	} __attribute__((packed)) gps_data_t;
48		48
49	// The data are valid if the GPSData.Status is NEWDATA or PROCESSED.	49	// The data are valid if the GPSData.Status is NEWDATA or PROCESSED.
50	// To achieve new data after reading the GPSData.Status should be set to PROCESSED.	50	// To achieve new data after reading the GPSData.Status should be set to PROCESSED.
51	extern gps_data_t GPSData;	51	extern gps_data_t GPSData;
52	extern uint16_t CheckGPSOkay;	52	extern uint16_t CheckGPSOkay;
53		53
54	void UBX_Init(void);	54	void UBX_Init(void);
55	void UBX_Parser(uint8_t c);	55	void UBX_Parser(uint8_t c);
56		-
57		56
58	#endif // _UBX_H	57	#endif // _UBX_H
59		58

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