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81 lines
2.3 KiB
C
81 lines
2.3 KiB
C
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup GSPModule GPS Module
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* @brief Process GPS information
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* @{
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*
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* @file UBX.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GPS module, handles GPS and NMEA stream
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef UBX_H
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#define UBX_H
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#include "openpilot.h"
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#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
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#define UBX_SYNC2 0x62
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// From u-blox6 receiver protocol specification
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// Messages classes
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#define UBX_CLASS_NAV 0x01
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// Message IDs
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#define UBX_ID_VELNED 0x12
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// private structures
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typedef struct {
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uint32_t iTOW; // ms GPS Millisecond Time of Week
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int32_t velN; // cm/s NED north velocity
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int32_t velE; // cm/s NED east velocity
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int32_t velD; // cm/s NED down velocity
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uint32_t speed; // cm/s Speed (3-D)
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uint32_t gSpeed; // cm/s Ground Speed (2-D)
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int32_t heading; // 1e-5 *deg Heading of motion 2-D
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uint32_t sAcc; // cm/s Speed Accuracy Estimate
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uint32_t cAcc; // 1e-5 *deg Course / Heading Accuracy Estimate
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} UBX_NAV_VELNED;
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typedef union { // add more message types later
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uint8_t payload[0];
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UBX_NAV_VELNED nav_velned;
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} UBXPayload;
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typedef struct {
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uint8_t class;
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uint8_t id;
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uint16_t len;
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uint8_t ck_a;
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uint8_t ck_b;
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} UBXHeader;
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typedef struct {
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UBXHeader header;
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UBXPayload payload;
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} UBXPacket;
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bool checksum_ubx_message(UBXPacket *);
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void parse_ubx_message(UBXPacket *);
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#endif /* UBX_H */
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