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#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