Subversion Repositories FlightCtrl

#ifndef _UBX_H
#define _UBX_H

#include <inttypes.h>


typedef enum
{
        INVALID,
        NEWDATA,
        PROCESSED
} Status_t;

// 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)


/* enable the UBX protocol at the gps receiver with the following messages enabled
  01-02 NAV - POSLLH
  01-06 Nav - SOL
  01-12 NAV - VELNED */

typedef struct
{
        uint8_t         flags;          // flags
        uint8_t         satnum;         // number of satelites
        uint8_t         satfix;         // type of satfix
        int32_t         longitude;  // in 1e-07 deg
        int32_t         latitude;       // in 1e-07 deg
        int32_t         altitude;   // in mm
        uint32_t    PAcc;               // in cm 3d position accuracy
        int32_t         velnorth;       // in cm/s
        int32_t         veleast;        // in cm/s
        int32_t         veltop;     // in cm/s
        uint32_t    velground;  // 2D ground speed in cm/s
        uint32_t        VAcc;           // in cm/s 3d velocity accuracy
        Status_t        status;     // status of data: invalid | valid
} GPS_INFO_t;

//here you will find the current gps info
extern GPS_INFO_t GPSInfo;      // measured position (last gps record)

// this variable should be decremted by the application
extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received

// this function should be called within the UART RX ISR
extern void ubx_parser(uint8_t c);

#endif //_UBX_H