Diff: GPSUBX.hpp

Revision:

0:6256752abece

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPSUBX.hpp	Sun Sep 12 16:38:51 2021 +0000
@@ -0,0 +1,182 @@
+#ifndef __GPSUBX_HPP__
+#define __GPSUBX_HPP__
+
+#include "mbed.h"
+#include "Vector3.hpp"
+
+#define GPS_ADDRESS 0x23
+
+#define POSECEF_LEN 20
+#define POSLLH_LEN 28
+#define TIMEUTC_LEN 20
+#define VELECEF_LEN 20
+#define VELNED_LEN 36
+
+
+#define UBX_SYNC 0x62 << 8 | 0xb5
+
+extern Serial pc;
+
+struct GPSData
+{
+    int Year;
+    int Month;
+    int Day;
+    int Hours;
+    int Minutes;
+    int Seconds;
+    int iTOW;
+    float Longitude;
+    float Latitude;
+    float Height;
+    float Pressure;
+    Vector3 VelocityNED;
+    Vector3 PositionNED;
+    Vector3 PositionECEF;
+};
+
+enum GPSState
+{
+    WAIT,
+    MANUAL,
+    AUTO,
+    READ,
+    STREAM,
+    CONFIG    
+};
+
+enum LogState
+{
+    STOP,
+    STBY,
+    RUNTIME,
+    FIN
+};
+
+// 0x01 0x01
+union POSECEF
+{
+    char byte_data[POSECEF_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        int ecefX;
+        int ecefY;
+        int ecefZ;
+        unsigned int pAcc;
+        char check_a;
+        char check_b;
+    } data;
+};
+
+// 0x01 0x02
+union POSLLH
+{
+    char byte_data[POSLLH_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        int lon;
+        int lat;
+        int height;
+        int hMSL;
+        unsigned int hAcc;
+        unsigned int vAcc;
+        char check_a;
+        char check_b;
+    } data;
+};
+
+// 0x01 0x21
+union TIMEUTC
+{
+    char byte_data[TIMEUTC_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        unsigned int tAcc;
+        int nano;
+        unsigned short year;
+        unsigned char month;
+        unsigned char day;
+        unsigned char hour;
+        unsigned char min;
+        unsigned char sec;
+        unsigned char valid;
+        char check_a;
+        char check_b;
+    } data;
+};
+
+// 0x01 0x11
+union VELECEF
+{
+    char byte_data[VELECEF_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        int ecefVX;
+        int ecefVY;
+        int ecefVZ;
+        unsigned int sAcc;
+        char check_a;
+        char check_b;
+    } data;  
+};
+
+// 0x01 0x12
+union VELNED
+{
+    char byte_data[VELNED_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        int velN;
+        int velE;
+        int velD;
+        unsigned int speed;
+        unsigned int gSpeed;
+        signed int heading;
+        unsigned int sAcc;
+        unsigned int cAcc;
+        char check_a;
+        char check_b;
+    } data;
+};
+
+class GPSUBX
+{
+private:
+    I2C i2c;
+    char Address;
+public:
+    int TimeDifference;
+    
+    GPSUBX(PinName sda, PinName scl, char address, int timedifference, int hz);
+    int GetGPSData(GPSData* pdata);
+    int GetTimeData(GPSData* pdata);
+    
+    static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
+};
+
+#endif
\ No newline at end of file