gps_ubx.h File Reference

UBX protocol specific code. More...

#include "modules/gps/gps.h"
#include "mcu_periph/uart.h"
#include "pprzlink/pprzlink_device.h"

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Data Structures
struct	GpsUbx

Macros
#define	GPS_UBX_NB   1
#define	PRIMARY_GPS   GPS_UBX
#define	GPS_UBX_NB_CHANNELS   40
#define	GPS_UBX_MAX_PAYLOAD   512

Functions
void	gps_ubx_init (void)
void	gps_ubx_event (void)
void	gps_ubx_parse_HITL_UBX (uint8_t *buf)
void	ubx_header (struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len)
void	ubx_trailer (struct link_device *dev)
void	ubx_send_bytes (struct link_device *dev, uint8_t len, uint8_t *bytes)
void	ubx_send_cfg_rst (struct link_device *dev, uint16_t bbr, uint8_t reset_mode)
void	gps_ubx_periodic_check (void)

Variables
struct GpsUbx	gps_ubx [GPS_UBX_NB]
uint8_t	gps_ubx_reset

Detailed Description

UBX protocol specific code.

Definition in file gps_ubx.h.

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Data Structure Documentation

GpsUbx

struct GpsUbx

Definition at line 53 of file gps_ubx.h.

Collaboration diagram for GpsUbx:

Data Fields
uint8_t	ck_a
uint8_t	ck_b
struct link_device *	dev
uint8_t	error_cnt
uint8_t	error_last
uint16_t	len
bool	msg_available
uint8_t	msg_buf[GPS_UBX_MAX_PAYLOAD]
uint8_t	msg_class
uint8_t	msg_id
uint16_t	msg_idx
bool	pacc_valid
uint8_t	send_ck_a
uint8_t	send_ck_b
uint8_t	sol_flags
struct GpsState	state
uint8_t	status
uint8_t	status_flags

Macro Definition Documentation

GPS_UBX_MAX_PAYLOAD

#define GPS_UBX_MAX_PAYLOAD   512

Definition at line 51 of file gps_ubx.h.

GPS_UBX_NB

#define GPS_UBX_NB   1

Definition at line 39 of file gps_ubx.h.

GPS_UBX_NB_CHANNELS

#define GPS_UBX_NB_CHANNELS   40

Definition at line 50 of file gps_ubx.h.

PRIMARY_GPS

#define PRIMARY_GPS   GPS_UBX

Definition at line 43 of file gps_ubx.h.

Function Documentation

gps_ubx_event()

void gps_ubx_event

(

void

)

Definition at line 138 of file gps_ubx.c.

References CFG_RST_BBR_Coldstart, CFG_RST_BBR_Hotstart, CFG_RST_BBR_Warmstart, CFG_RST_Reset_Controlled, DEBUG_PRINT, dev, GpsUbx::dev, gps_ubx, gps_ubx_msg(), GPS_UBX_NB, gps_ubx_parse(), gps_ubx_reset, reset, and ubx_send_cfg_rst().

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gps_ubx_init()

void gps_ubx_init

(

void

)

Definition at line 116 of file gps_ubx.c.

References GpsState::comp_id, GpsUbx::dev, GpsUbx::error_cnt, GpsUbx::error_last, gps_ubx, GPS_UBX2_ID, GPS_UBX_BOOTRESET, GPS_UBX_ERR_NONE, GPS_UBX_ID, GPS_UBX_NB, gps_ubx_reset, GpsUbx::msg_available, GpsUbx::pacc_valid, GpsUbx::state, GpsUbx::status, and UNINIT.

gps_ubx_parse_HITL_UBX()

void gps_ubx_parse_HITL_UBX

(

uint8_t *

buf

)

This code simulates gps_ubx.c:parse_ubx()

Definition at line 165 of file gps_ubx.c.

References GpsUbx::error_cnt, GpsUbx::error_last, gps_ubx, GPS_UBX_ERR_OVERRUN, GpsUbx::msg_available, GpsUbx::msg_class, and GpsUbx::msg_id.

gps_ubx_periodic_check()

void gps_ubx_periodic_check

(

void

)

Definition at line 700 of file gps_ubx.c.

References gps_periodic_check(), gps_ubx, GPS_UBX_NB, and state.

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ubx_header()

void ubx_header	(	struct link_device *	dev,
		uint8_t	nav_id,
		uint8_t	msg_id,
		uint16_t	len
	)

Definition at line 620 of file gps_ubx.c.

References dev, gps_ubx, GPS_UBX_NB, GpsUbx::send_ck_a, GpsUbx::send_ck_b, and ubx_send_1byte().

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ubx_send_bytes()

void ubx_send_bytes	(	struct link_device *	dev,
		uint8_t	len,
		uint8_t *	bytes
	)

Definition at line 649 of file gps_ubx.c.

References dev, and ubx_send_1byte().

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ubx_send_cfg_rst()

void ubx_send_cfg_rst	(	struct link_device *	dev,
		uint16_t	bbr,
		uint8_t	reset_mode
	)

ubx_trailer()

void ubx_trailer

(

struct link_device *

dev

)

Definition at line 637 of file gps_ubx.c.

References dev, gps_ubx, GPS_UBX_NB, GpsUbx::send_ck_a, and GpsUbx::send_ck_b.

Variable Documentation

gps_ubx

struct GpsUbx gps_ubx[GPS_UBX_NB]

extern

Definition at line 1 of file gps_ubx.c.

Referenced by ArduIMU_periodicGPS(), gps_ubx_event(), gps_ubx_init(), gps_ubx_parse_HITL_UBX(), gps_ubx_periodic_check(), gps_ubx_ucenter_event(), ubx_header(), ubx_send_1byte(), and ubx_trailer().

gps_ubx_reset

uint8_t gps_ubx_reset

extern

Definition at line 77 of file gps_ubx.c.

Referenced by gps_ubx_event(), and gps_ubx_init().