openXsensor/oXs_gps.h

   1 #ifndef OXS_GPS_h
   2 #define OXS_GPS_h
   3
   4 #include <Arduino.h>
   5 #include "oXs_config_basic.h"
   6 #include "oXs_config_advanced.h"
   7 #include "oXs_config_macros.h"
   8
   9
  10
  11 // from the UBlox6 document, the largest payout we receive i the NAV-SVINFO and the payload size
  12 // is calculated as 8 + 12*numCh.  numCh in the case of a Glonass receiver is 28.
  13 #define UBLOX_PAYLOAD_SIZE 344 // 344 is the absolute max size
  14 #define UBLOX_BUFFER_SIZE 50 // but the message that we read should not exceed about 50 bytes
  15
  16 // UBX support
  17 //typedef struct { // not used I think
  18 //    uint8_t preamble1;
  19 //    uint8_t preamble2;
  20 //    uint8_t msg_class;
  21 //    uint8_t msg_id;
  22 //    uint16_t length;
  23 //} ubx_header;
  24
  25 typedef struct {
  26     uint32_t time;              // GPS msToW
  27     int32_t longitude;                 // in degree with 7 decimals
  28     int32_t latitude;                  // in degree with 7 decimals
  29     int32_t altitude_ellipsoid;        // in mm
  30     int32_t altitude_msl;              // in mm
  31     uint32_t horizontal_accuracy;
  32     uint32_t vertical_accuracy;        // in mm
  33 } ubx_nav_posllh;
  34
  35 typedef struct {
  36     uint32_t time;              // GPS msToW
  37     uint8_t fix_type;
  38     uint8_t fix_status;
  39     uint8_t differential_status;
  40     uint8_t res;
  41     uint32_t time_to_first_fix;
  42     uint32_t uptime;            // milliseconds
  43 } ubx_nav_status;
  44
  45 typedef struct {
  46     uint32_t time;
  47     int32_t time_nsec;
  48     int16_t week;
  49     uint8_t fix_type;
  50     uint8_t fix_status;
  51     int32_t ecef_x;
  52     int32_t ecef_y;
  53     int32_t ecef_z;
  54     uint32_t position_accuracy_3d;
  55     int32_t ecef_x_velocity;
  56     int32_t ecef_y_velocity;
  57     int32_t ecef_z_velocity;
  58     uint32_t speed_accuracy;
  59     uint16_t position_DOP;
  60     uint8_t res;
  61     uint8_t satellites;
  62     uint32_t res2;
  63 } ubx_nav_solution;
  64
  65 typedef struct {
  66     uint32_t time;              // GPS msToW
  67     int32_t ned_north;
  68     int32_t ned_east;
  69     int32_t ned_down;
  70     uint32_t speed_3d;
  71     uint32_t speed_2d;
  72     int32_t heading_2d;
  73     uint32_t speed_accuracy;
  74     uint32_t heading_accuracy;
  75 } ubx_nav_velned;
  76
  77 typedef struct {
  78     uint8_t chn;                // Channel number, 255 for SVx not assigned to channel
  79     uint8_t svid;               // Satellite ID
  80     uint8_t flags;              // Bitmask
  81     uint8_t quality;            // Bitfield
  82     uint8_t cno;                // Carrier to Noise Ratio (Signal Strength) // dbHz, 0-55.
  83     uint8_t elev;               // Elevation in integer degrees
  84     int16_t azim;               // Azimuth in integer degrees
  85     int32_t prRes;              // Pseudo range residual in centimetres
  86 } ubx_nav_svinfo_channel;
  87
  88 typedef struct {
  89     uint32_t time;              // GPS Millisecond time of week
  90     uint8_t numCh;              // Number of channels
  91     uint8_t globalFlags;        // Bitmask, Chip hardware generation 0:Antaris, 1:u-blox 5, 2:u-blox 6
  92     uint16_t reserved2;         // Reserved
  93     ubx_nav_svinfo_channel channel[16];         // 16 satellites * 12 byte
  94 } ubx_nav_svinfo;
  95
  96 // GPS codes that could be used
  97 #define    PREAMBLE1  0xb5
  98 #define    PREAMBLE2  0x62
  99 #define    CLASS_NAV  0x01
 100 #define    CLASS_ACK  0x05
 101 #define    CLASS_CFG  0x06
 102 #define    MSG_ACK_NACK  0x00
 103 #define    MSG_ACK_ACK  0x01
 104 #define    MSG_POSLLH  0x2
 105 #define    MSG_STATUS  0x3
 106 #define    MSG_SOL  0x6
 107 #define    MSG_VELNED  0x12
 108 #define    MSG_SVINFO  0x30
 109 #define    MSG_CFG_PRT  0x00
 110 #define    MSG_CFG_RATE  0x08
 111 #define    MSG_CFG_SET_RATE  0x01
 112 #define    MSG_CFG_NAV_SETTINGS  0x24
 113
 114 #define    FIX_NONE  0
 115 #define    FIX_DEAD_RECKONING  1
 116 #define    FIX_2D  2
 117 #define    FIX_3D  3
 118 #define    FIX_GPS_DEAD_RECKONING  4
 119 #define    FIX_TIME  5
 120
 121 #define    NAV_STATUS_FIX_VALID  1
 122
 123
 124
 125
 126 class OXS_GPS {
 127 public:
 128 #ifdef DEBUG
 129   OXS_GPS( HardwareSerial &print);
 130 #else
 131   OXS_GPS( uint8_t x );
 132 #endif
 133   void setupGps() ;
 134   void readGps();
 135 //  void OXS_GPS::_update_checksum(uint8_t *data, uint8_t len, uint8_t *ck_a, uint8_t *ck_b) ;
 136   bool UBLOX_parse_gps(void) ;
 137   bool gpsNewFrameUBLOX(uint8_t data) ;
 138
 139
 140 private:
 141 #ifdef DEBUG
 142   HardwareSerial* printer;
 143 #endif
 144
 145 };
 146
 147
 148
 149
 150 #endif // OXS_GPS_h
 151
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 153