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;
  67     uint16_t year;
  68     uint8_t month;
  69     uint8_t day;
  70     uint8_t hour;
  71     uint8_t min;
  72     uint8_t sec;
  73     uint8_t valid;
  74     uint32_t time_acc;
  75     int32_t nano;
  76     uint8_t fix_type;
  77     uint8_t fix_status;
  78     uint8_t additional_flags;
  79     uint8_t satellites;
  80     uint32_t longitude;
  81     uint32_t latitude;
  82     int32_t height;
  83     int32_t height_above_sea_level;
  84     uint32_t hacc; // horizontal accuracy
  85     uint32_t vacc; // vertical accuracy
  86     int32_t velocity_noord;
  87     int32_t velocity_east;
  88     int32_t velocity_down;
  89     int32_t gspeed_2d_mm; // speed 2D in mm/sec
  90     int32_t head_mot_2d;
  91     uint32_t speed_accuracy;
  92     uint32_t head_accuracy;
  93     uint16_t position_DOP;
  94     uint16_t flag3;
  95     uint32_t res;
  96     int32_t  head_velocity;
  97     int16_t magnetic_declination;
  98     uint16_t magnetic_accuracy;
  99 } ubx_nav_pvt;
 100
 101
 102 typedef struct {
 103     uint32_t time;              // GPS msToW
 104     int32_t ned_north;
 105     int32_t ned_east;
 106     int32_t ned_down;
 107     uint32_t speed_3d;
 108     uint32_t speed_2d;
 109     int32_t heading_2d;
 110     uint32_t speed_accuracy;
 111     uint32_t heading_accuracy;
 112 } ubx_nav_velned;
 113
 114 typedef struct {
 115     uint8_t chn;                // Channel number, 255 for SVx not assigned to channel
 116     uint8_t svid;               // Satellite ID
 117     uint8_t flags;              // Bitmask
 118     uint8_t quality;            // Bitfield
 119     uint8_t cno;                // Carrier to Noise Ratio (Signal Strength) // dbHz, 0-55.
 120     uint8_t elev;               // Elevation in integer degrees
 121     int16_t azim;               // Azimuth in integer degrees
 122     int32_t prRes;              // Pseudo range residual in centimetres
 123 } ubx_nav_svinfo_channel;
 124
 125 typedef struct {
 126     uint32_t time;              // GPS Millisecond time of week
 127     uint8_t numCh;              // Number of channels
 128     uint8_t globalFlags;        // Bitmask, Chip hardware generation 0:Antaris, 1:u-blox 5, 2:u-blox 6
 129     uint16_t reserved2;         // Reserved
 130     ubx_nav_svinfo_channel channel[16];         // 16 satellites * 12 byte
 131 } ubx_nav_svinfo;
 132
 133 #if defined(GPS_TRANSMIT_TIME)
 134 typedef struct {
 135     uint32_t time;              // GPS msToW
 136     uint32_t time_acc;
 137     int32_t nanoseconds;
 138     uint16_t year;
 139     uint8_t month;
 140     uint8_t day;
 141     uint8_t hour;
 142     uint8_t min;
 143     uint8_t sec;
 144     uint8_t flag;
 145 } ubx_nav_timeutc;
 146 #endif
 147
 148 // GPS codes that could be used
 149 #define    PREAMBLE1  0xb5
 150 #define    PREAMBLE2  0x62
 151 #define    CLASS_NAV  0x01
 152 #define    CLASS_ACK  0x05
 153 #define    CLASS_CFG  0x06
 154 #define    MSG_ACK_NACK  0x00
 155 #define    MSG_ACK_ACK  0x01
 156 #define    MSG_POSLLH  0x2
 157 #define    MSG_STATUS  0x3
 158 #define    MSG_SOL  0x6 // not supported in ublox10
 159 #define    MSG_PVT  0x7 // not supported in ublox6
 160 #define    MSG_VELNED  0x12
 161 #if defined GPS_TRANSMIT_TIME
 162 #define    MSG_TIMEUTC  0x21
 163 #endif
 164 #define    MSG_SVINFO  0x30
 165 #define    MSG_CFG_PRT  0x00
 166 #define    MSG_CFG_RATE  0x08
 167 #define    MSG_CFG_SET_RATE  0x01
 168 #define    MSG_CFG_NAV_SETTINGS  0x24
 169
 170 #define    FIX_NONE  0
 171 #define    FIX_DEAD_RECKONING  1
 172 #define    FIX_2D  2
 173 #define    FIX_3D  3
 174 #define    FIX_GPS_DEAD_RECKONING  4
 175 #define    FIX_TIME  5
 176
 177 #define    NAV_STATUS_FIX_VALID  1
 178
 179
 180
 181
 182 class OXS_GPS {
 183 public:
 184 #ifdef DEBUG
 185   OXS_GPS( HardwareSerial &print);
 186 #else
 187   OXS_GPS( uint8_t x );
 188 #endif
 189   void setupGps() ;
 190   void readGps();
 191 //  void OXS_GPS::_update_checksum(uint8_t *data, uint8_t len, uint8_t *ck_a, uint8_t *ck_b) ;
 192   bool UBLOX_parse_gps(void) ;
 193   bool gpsNewFrameUBLOX(uint8_t data) ;
 194
 195
 196 private:
 197 #ifdef DEBUG
 198   HardwareSerial* printer;
 199 #endif
 200
 201 };
 202
 203
 204
 205
 206 #endif // OXS_GPS_h