62 lines
1.7 KiB
C
62 lines
1.7 KiB
C
|
#ifndef UBX_H
|
||
|
|
#define UBX_H
|
||
|
|
|
||
|
|
/*============================ INCLUDES ======================================*/
|
||
|
|
#include "libcmn.h"
|
||
|
|
#include "ParsePackUbx.h"
|
||
|
|
|
||
|
|
/*============================ MACROS =========================================*/
|
||
|
|
#define GET_BYTE_FLAG(byte, index) (((byte) & (0x01 << (index))) >> index)
|
||
|
|
|
||
|
|
#define UBX_MAX_LEN (1024)
|
||
|
|
#define UBX_MIN_LEN (7)
|
||
|
|
|
||
|
|
#define F9P_PROTOCOL_VER_27 (0x00)
|
||
|
|
#define F9P_PROTOCOL_VER_27_1 (0x01)
|
||
|
|
|
||
|
|
#define UBX_NAV (0x01)
|
||
|
|
#define UBX_ACK (0x05)
|
||
|
|
#define UBX_MON (0x0A)
|
||
|
|
|
||
|
|
#define UBX_ACK_ID (0x01)
|
||
|
|
#define UBX_NAV_PVT (0x07)
|
||
|
|
#define UBX_NAV_NED (0x3C)
|
||
|
|
#define UBX_NAV_SAT (0x35)
|
||
|
|
#define UBX_MON_HW (0x09)
|
||
|
|
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
/*================================================== pvt ============================================*/
|
||
|
|
UtcStruct utc;
|
||
|
|
|
||
|
|
uint8_t SvNum;
|
||
|
|
uint8_t TimeFlag, DateValid, TimeValid, TimeFullyResolved;
|
||
|
|
uint8_t GpsType, RtkType;
|
||
|
|
uint32_t towms;
|
||
|
|
|
||
|
|
int LatDeg, LonDeg; // degree 1e-7
|
||
|
|
int hgt, msl; // mm
|
||
|
|
int hacc, vacc, sacc; // hacc: horizontal accuracy estimate(mm), vacc: vertical accuracy estimate(mm), sacc: speed acc(mm/s)
|
||
|
|
|
||
|
|
float ve, vn, vd; // 1mm/s
|
||
|
|
float GroundSpeed; // m/s
|
||
|
|
float pdop;
|
||
|
|
|
||
|
|
float cacc; // sacc: speed accuracy estimate(m), cacc: course/heading accuracy estimate(deg)
|
||
|
|
float HeadingMotionDeg; // heading of motion, degree
|
||
|
|
float HeadingVehichleDeg; // heading of vehicle, degree
|
||
|
|
|
||
|
|
int CntNavPvt;
|
||
|
|
int LastCntNavPvt;
|
||
|
|
int PpsNavPvt;
|
||
|
|
uint8_t seq;
|
||
|
|
}UbxStruct;
|
||
|
|
|
||
|
|
extern void UbxDecodeNavPvt(UbxStruct *sol, uint8_t frame[]);
|
||
|
|
|
||
|
|
extern void UbxDecodeInit(UbxStruct *sol);
|
||
|
|
extern void UbxDecodeStats(UbxStruct *sol);
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|