gps_ubx.h

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/*
 * Copyright (C) 2008-2011 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef GPS_UBX_H
#define GPS_UBX_H
 
#include "modules/gps/gps.h"
 
#ifdef GPS_I2C
#include "modules/gps/gps_ubx_i2c.h"
#else
#include "mcu_periph/uart.h"
#endif
 
#ifndef GPS_UBX_NB
#define GPS_UBX_NB 1
#endif
 
#ifndef PRIMARY_GPS
#define PRIMARY_GPS GPS_UBX
#endif
 
extern void gps_ubx_init(void);
extern void gps_ubx_event(void);
extern void gps_ubx_parse_HITL_UBX(uint8_t *buf);
 
#define GPS_UBX_NB_CHANNELS 40
#define GPS_UBX_MAX_PAYLOAD 512
 
struct GpsUbx {
  struct link_device *dev;
  bool msg_available;
  uint8_t msg_buf[GPS_UBX_MAX_PAYLOAD] __attribute__((aligned));
  uint8_t msg_id;
  uint8_t msg_class;
 
  uint8_t status;
  uint16_t len;
  uint16_t msg_idx;
  uint8_t ck_a, ck_b;
  uint8_t send_ck_a, send_ck_b;
  uint8_t error_cnt;
  uint8_t error_last;
 
  uint8_t status_flags;
  uint8_t sol_flags;
  bool pacc_valid;
 
  struct GpsState state;
};
 
extern struct GpsUbx gps_ubx[GPS_UBX_NB];
extern uint8_t gps_ubx_reset;
 
/*
 * This part is used by the autopilot to read data from a uart
 */
#include "pprzlink/pprzlink_device.h"
 
extern void ubx_header(struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len);
extern void ubx_trailer(struct link_device *dev);
extern void ubx_send_bytes(struct link_device *dev, uint8_t len, uint8_t *bytes);
extern void ubx_send_cfg_rst(struct link_device *dev, uint16_t bbr, uint8_t reset_mode);
 
extern void gps_ubx_periodic_check(void);
 
#endif /* GPS_UBX_H */