mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-01 18:29:16 +01:00
92 lines
2.3 KiB
C
92 lines
2.3 KiB
C
|
/**
|
||
|
|
******************************************************************************
|
||
|
|
*
|
||
|
|
* @file %FILENAME%
|
||
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||
|
|
* @addtogroup [Group]
|
||
|
|
* @{
|
||
|
|
* @addtogroup %CLASS%
|
||
|
|
* @{
|
||
|
|
* @brief [Brief]
|
||
|
|
*****************************************************************************/
|
||
|
|
/*
|
||
|
|
* This program is free software; you can redistribute it and/or modify
|
||
|
|
* it under the terms of the GNU General Public License as published by
|
||
|
|
* the Free Software Foundation; either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This program is distributed in the hope that it will be useful, but
|
||
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||
|
|
* for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License along
|
||
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef UBX_AUTOCONFIG_H_
|
||
|
|
#define UBX_AUTOCONFIG_H_
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <stdbool.h>
|
||
|
|
#include "UBX.h"
|
||
|
|
|
||
|
|
// Sent messages for configuration support
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
uint16_t mask;
|
||
|
|
uint8_t dynModel;
|
||
|
|
uint8_t fixMode;
|
||
|
|
int32_t fixedAlt;
|
||
|
|
uint32_t fixedAltVar;
|
||
|
|
int8_t minElev;
|
||
|
|
uint8_t drLimit;
|
||
|
|
uint16_t pDop;
|
||
|
|
uint16_t tDop;
|
||
|
|
uint16_t pAcc;
|
||
|
|
uint16_t tAcc;
|
||
|
|
uint8_t staticHoldThresh;
|
||
|
|
uint8_t dgpsTimeOut;
|
||
|
|
uint8_t cnoThreshNumSVs;
|
||
|
|
uint8_t cnoThresh;
|
||
|
|
uint16_t reserved2;
|
||
|
|
uint32_t reserved3;
|
||
|
|
uint32_t reserved4;
|
||
|
|
} ubx_cfg_nav5_t;
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
uint16_t measRate;
|
||
|
|
uint16_t navRate;
|
||
|
|
uint16_t timeRef;
|
||
|
|
} ubx_cfg_rate_t;
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
uint8_t msgClass;
|
||
|
|
uint8_t msgID;
|
||
|
|
uint8_t rate;
|
||
|
|
} ubx_cfg_msg_t;
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
uint8_t prolog[2];
|
||
|
|
uint8_t class;
|
||
|
|
uint8_t id;
|
||
|
|
uint16_t len;
|
||
|
|
} UBXSentHeader_t;
|
||
|
|
|
||
|
|
typedef union {
|
||
|
|
uint8_t buffer[0];
|
||
|
|
struct {
|
||
|
|
UBXSentHeader_t header;
|
||
|
|
union {
|
||
|
|
ubx_cfg_nav5_t cfg_nav5;
|
||
|
|
ubx_cfg_rate_t cfg_rate;
|
||
|
|
ubx_cfg_msg_t cfg_msg;
|
||
|
|
} payload;
|
||
|
|
uint8_t resvd[2]; // added space for checksum bytes
|
||
|
|
} message;
|
||
|
|
} UBXSentPacket_t;
|
||
|
|
|
||
|
|
void ubx_autoconfig_run(char * *buffer, uint16_t *count);
|
||
|
|
|
||
|
|
#endif /* UBX_AUTOCONFIG_H_ */
|