flight/libraries/inc/ubx_utils.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       ubx_utils.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   6  * @brief      UBX Protocol utilities
   7  *             --
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26 #ifndef UBX_UTILS_H_
  27 #define UBX_UTILS_H_
  28
  29 #include <stdint.h>
  30 #include <stdbool.h>
  31
  32 typedef struct {
  33     uint8_t  syn1;
  34     uint8_t  syn2;
  35     uint8_t  class;
  36     uint8_t  id;
  37     uint16_t len;
  38 } __attribute__((packed)) UBXHeader_t;
  39
  40 typedef struct {
  41     uint8_t chk1;
  42     uint8_t chk2;
  43 } __attribute__((packed)) UBXFooter_t;
  44
  45 typedef union {
  46     uint8_t binarystream[0];
  47     struct {
  48         UBXHeader_t header;
  49         uint8_t     payload[0];
  50     } packet;
  51 } UBXPacket_t;
  52
  53 #define UBX_HEADER_LEN (sizeof(UBXHeader_t))
  54
  55 #define UBX_SYN1       0xB5
  56 #define UBX_SYN2       0x62
  57
  58 bool ubx_getLastSentence(uint8_t *data, uint16_t bufferCount, uint8_t * *lastSentence, uint16_t *lenght);
  59 void ubx_appendChecksum(UBXPacket_t *pkt);
  60 void ubx_buildPacket(UBXPacket_t *pkt, uint8_t packetClass, uint8_t packetId, uint16_t len);
  61
  62 #endif /* UBX_UTILS_H_ */