kopia lustrzana https://github.com/Qyon/STM32_RTTY
211 wiersze
8.2 KiB
C
211 wiersze
8.2 KiB
C
//
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// Created by SQ5RWU on 2016-12-27.
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//
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#ifndef RS41HUP_UBLOX_H
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#define RS41HUP_UBLOX_H
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#include <stdint.h>
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typedef struct {
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int32_t lat_raw;
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int32_t lon_raw;
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int32_t alt_raw;
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int32_t speed_raw;
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uint8_t sats_raw;
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uint8_t seconds;
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uint8_t minutes;
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uint8_t hours;
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uint8_t fix;
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uint16_t ok_packets;
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uint16_t bad_packets;
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} GPSEntry;
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typedef struct __attribute__((packed)){
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uint8_t sc1; // 0xB5
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uint8_t sc2; // 0x62
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uint8_t messageClass;
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uint8_t messageId;
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uint16_t payloadSize;
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} uBloxHeader;
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typedef struct {
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uint8_t ck_a;
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uint8_t ck_b;
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} uBloxChecksum;
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typedef struct {
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uint32_t iTOW; //GPS time of week of the navigation epoch. [- ms]
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uint16_t year; //Year (UTC) [- y]
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uint8_t month; //Month, range 1..12 (UTC) [- month]
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uint8_t day; //Day of month, range 1..31 (UTC) [- d]
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uint8_t hour; //Hour of day, range 0..23 (UTC) [- h]
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uint8_t min; //Minute of hour, range 0..59 (UTC) [- min]
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uint8_t sec; //Seconds of minute, range 0..60 (UTC) [- s]
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uint8_t valid; //Validity flags (see graphic below) [- -]
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uint32_t tAcc; //Time accuracy estimate (UTC) [- ns]
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int32_t nano; //Fraction of second, range -1e9 .. 1e9 (UTC) [- ns]
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uint8_t fixType; //GNSSfix Type: [- -]
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uint8_t flags; //Fix status flags (see graphic below) [- -]
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uint8_t flags2; //Additional flags (see graphic below) [- -]
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uint8_t numSV; //Number of satellites used in Nav Solution [- -]
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int32_t lon; //Longitude [1e-7 deg]
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int32_t lat; //Latitude [1e-7 deg]
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int32_t height; //Height above ellipsoid [- mm]
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int32_t hMSL; //Height above mean sea level [- mm]
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uint32_t hAcc; //Horizontal accuracy estimate [- mm]
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uint32_t vAcc; //Vertical accuracy estimate [- mm]
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int32_t velN; //NED north velocity [- mm/s]
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int32_t velE; //NED east velocity [- mm/s]
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int32_t velD; //NED down velocity [- mm/s]
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int32_t gSpeed; //Ground Speed (2-D) [- mm/s]
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int32_t headMot; //Heading of motion (2-D) [1e-5 deg]
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uint32_t sAcc; //Speed accuracy estimate [- mm/s]
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uint32_t headAcc; //Heading accuracy estimate (both motion and vehicle) [1e-5 deg]
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uint16_t pDOP; //Position DOP [0.01 -]
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uint8_t reserved1[6]; //Reserved [- -]
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int32_t headVeh; //Heading of vehicle (2-D) [1e-5 deg]
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uint8_t reserved2[4]; //Reserved [- -]
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} uBloxNAVPVTPayload;
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typedef struct {
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uint32_t iTOW; //GPS Millisecond Time of Week [- ms]
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int32_t lon; //Longitude [1e-7 deg]
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int32_t lat; //Latitude [1e-7 deg]
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int32_t height; //Height above Ellipsoid [- mm]
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int32_t hMSL; //Height above mean sea level [- mm]
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uint32_t hAcc; //Horizontal Accuracy Estimate [- mm]
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uint32_t vAcc; //Vertical Accuracy Estimate [- mm]
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} uBloxNAVPOSLLHPayload;
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typedef struct {
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uint32_t iTOW; //GPS Millisecond Time of Week [- ms]
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int32_t fTOW; //Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 [- ns]
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int16_t week; //GPS week (GPS time) [- -]
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uint8_t gpsFix; //GPSfix Type, range 0..5 0x00 = No Fix 0x01 = Dead Reckoning only 0x02 = 2D-Fix 0x03 = 3D-Fix 0x04 = GPS + dead reckoning combined 0x05 = Time only fix 0x06..0xff: reserved [- -]
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uint8_t flags; //Fix Status Flags (see graphic below) [- -]
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int32_t ecefX; //ECEF X coordinate [- cm]
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int32_t ecefY; //ECEF Y coordinate [- cm]
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int32_t ecefZ; //ECEF Z coordinate [- cm]
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uint32_t pAcc; //3D Position Accuracy Estimate [- cm]
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int32_t ecefVX; //ECEF X velocity [- cm/s]
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int32_t ecefVY; //ECEF Y velocity [- cm/s]
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int32_t ecefVZ; //ECEF Z velocity [- cm/s]
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uint32_t sAcc; //Speed Accuracy Estimate [- cm/s]
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uint16_t pDOP; //Position DOP [0.01 -]
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uint8_t reserved1; //Reserved [- -]
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uint8_t numSV; //Number of SVs used in Nav Solution [- -]
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uint32_t reserved2; //Reserved [- -]
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} uBloxNAVSOLPayload;
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typedef struct {
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uint32_t iTOW; //GPS Millisecond Time of Week [- ms]
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uint32_t tAcc; //Time Accuracy Estimate [- ns]
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int32_t nano; //Nanoseconds of second, range -1e9 .. 1e9 (UTC) [- ns]
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uint16_t year; //Year, range 1999..2099 (UTC) [- y]
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uint8_t month; //Month, range 1..12 (UTC) [- month]
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uint8_t day; //Day of Month, range 1..31 (UTC) [- d]
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uint8_t hour; //Hour of Day, range 0..23 (UTC) [- h]
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uint8_t min; //Minute of Hour, range 0..59 (UTC) [- min]
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uint8_t sec; //Seconds of Minute, range 0..59 (UTC) [- s]
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uint8_t valid; //Validity Flags (see graphic below) [- -]
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} uBloxNAVTIMEUTCPayload;
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typedef struct {
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uint8_t portID; //Port Identifier Number (see Serial [- -]
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uint8_t reserved1; //Reserved [- -]
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uint16_t txReady; //TX ready PIN configuration [- -]
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uint32_t mode; //A bit mask describing the UART mode [- -]
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uint32_t baudRate; //Baud rate in bits/second [- Bits/s]
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uint16_t inProtoMask; //A mask describing which input protocols are active. [- -]
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uint16_t outProtoMask; //A mask describing which output protocols are active. [- -]
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uint16_t flags; //Flags bit mask (see graphic below) [- -]
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uint8_t reserved2[2]; //Reserved [- -]
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} uBloxCFGPRTPayload;
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typedef struct {
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uint8_t clsID; //Message Class [- -]
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uint8_t msgID; //Message Identifier [- -]
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uint8_t ck_a;
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uint8_t ck_b;
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} uBloxACKACKayload;
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typedef struct {
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uint8_t msgClass; //Message Class [- -]
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uint8_t msgID; //Message Identifier [- -]
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uint8_t rate; //Send rate on current Port [- -]
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} uBloxCFGMSGPayload;
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typedef struct {
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uint16_t navBbrMask; //BBR Sections to clear. The following Special Sets apply:
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// 0x0000 Hotstart
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// 0x0001 Warmstart
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// 0xFFFF Coldstart [- -]
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uint8_t resetMode; //Reset Type
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// - 0x00 - Hardware reset (Watchdog) immediately
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// - 0x01 - Controlled Software reset
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// - 0x02 - Controlled Software reset (GPS only)
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// - 0x04 - Hardware reset (Watchdog) after shutdown (>=FW6.0)
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// - 0x08 - Controlled GPS stop
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// - 0x09 - Controlled GPS start [- -]
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// - 0x09 - Controlled GPS start [- -]
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uint8_t reserved1; //Reserved [- -]
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} uBloxCFGRSTPayload;
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typedef struct {
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uint16_t mask; //Parameters Bitmask. Only the masked parameters will be applied. (see graphic below) [- -]
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uint8_t dynModel; //Dynamic Platform model: - 0 Portable - 2 Stationary - 3 Pedestrian - 4 Automotive - 5 Sea - 6 Airborne with <1g Acceleration - 7 Airborne with <2g Acceleration - 8 Airborne with <4g Acceleration [- -]
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uint8_t fixMode; //Position Fixing Mode. - 1: 2D only - 2: 3D only - 3: Auto 2D/3D [- -]
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int32_t fixedAlt; //Fixed altitude (mean sea level) for 2D fix mode. [0.01 m]
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uint32_t fixedAltVar; //Fixed altitude variance for 2D mode. [0.0001 m^2]
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int8_t minElev; //Minimum Elevation for a GNSS satellite to be used in NAV [- deg]
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uint8_t drLimit; //Maximum time to perform dead reckoning (linear extrapolation) in case of GPS signal loss [- s]
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uint16_t pDop; //Position DOP Mask to use [0.1 -]
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uint16_t tDop; //Time DOP Mask to use [0.1 -]
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uint16_t pAcc; //Position Accuracy Mask [- m]
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uint16_t tAcc; //Time Accuracy Mask [- m]
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uint8_t staticHoldThresh; //Static hold threshold [- cm/s]
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uint8_t dgpsTimeOut; //DGPS timeout, firmware 7 and newer only [- s]
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uint32_t reserved2; //Always set to zero [- -]
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uint32_t reserved3; //Always set to zero [- -]
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uint32_t reserved4; //Always set to zero [- -]
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} uBloxCFGNAV5Payload;
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typedef struct {
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uint8_t reserved1; //Always set to 8 [- -]
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uint8_t lpMode; //Low Power Mode 0: Max. performance mode 1: Power Save Mode (>= FW 6.00 only) 2-3: reserved 4: Eco mode 5-255: reserved [- -]
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} uBloxCFGRXMPayload;
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typedef union {
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uBloxNAVPVTPayload navpvt;
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uBloxCFGPRTPayload cfgprt;
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uBloxCFGMSGPayload cfgmsg;
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uBloxCFGNAV5Payload cfgnav5;
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uBloxNAVPOSLLHPayload navposllh;
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uBloxNAVSOLPayload navsol;
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uBloxNAVTIMEUTCPayload navtimeutc;
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uBloxACKACKayload ackack;
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uBloxCFGRSTPayload cfgrst;
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uBloxCFGRXMPayload cfgrxm;
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} ubloxPacketData;
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typedef struct __attribute__((packed)){
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uBloxHeader header;
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ubloxPacketData data;
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} uBloxPacket;
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void ublox_init();
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void send_ublox(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t payloadSize);
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void send_ublox_packet(uBloxPacket * packet);
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void ublox_get_last_data(GPSEntry * gpsEntry);
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uBloxChecksum ublox_calc_checksum(const uint8_t msgClass, const uint8_t msgId, const uint8_t *message, uint16_t size);
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void ublox_handle_incoming_byte(uint8_t data);
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void ublox_handle_packet(uBloxPacket *pkt);
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uint8_t ublox_wait_for_ack();
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#endif //RS41HUP_UBLOX_H
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