GPS/GNSS UBX library for UART
Dependencies: Vector3
Diff: GPSUBX_UART.hpp
- Revision:
- 10:a90d07e4c34d
- Parent:
- 9:874d7633e358
- Child:
- 11:6890b7b749c7
diff -r 874d7633e358 -r a90d07e4c34d GPSUBX_UART.hpp --- a/GPSUBX_UART.hpp Mon Sep 20 14:42:08 2021 +0000 +++ b/GPSUBX_UART.hpp Mon Nov 01 16:18:41 2021 +0000 @@ -6,6 +6,7 @@ #define POSECEF_LEN 20 #define POSLLH_LEN 28 +#define RELPOSNED_LEN 40 #define TIMEUTC_LEN 20 #define VELECEF_LEN 20 #define VELNED_LEN 36 @@ -53,6 +54,30 @@ } data; }; +// 0x01 0x3c +union RELPOSNED +{ + char byte_data[RELPOSNED_LEN]; + struct + { + unsigned char version; + unsigned char reserved1; + unsigned short refStationId; + unsigned int iTOW; + int relPosN; + int relPosE; + int relPosD; + char relPosHPN; + char relPosHPE; + char relPosHPD; + unsigned char reserved2; + unsigned int accN; + unsigned int accE; + unsigned int accD; + int flags; + } data; +}; + // 0x01 0x21 union TIMEUTC { @@ -187,6 +212,15 @@ /**iTOW of VELNED [ms]*/ volatile int iTOW_VELNED; + /**Reference Station ID (0~4095)*/ + volatile int RefStationID; + /**iTOW of RELPOSNED [ms]*/ + volatile int iTOW_RELPOSNED; + /**Relative Position [m]*/ + volatile Vector3 RelPosNED; + + + /**Time zone*/ volatile int TimeZone;