Eigen
Dependencies: Vector3
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: GPSUBX_UART.hpp
- Revision:
- 13:facd8e54f2eb
- Parent:
- 12:2ffb2fcaac23
- Child:
- 17:2e6147aeba54
- Child:
- 18:ba361d6ab9cd
- Child:
- 19:ae1a294cb30b
diff -r 2ffb2fcaac23 -r facd8e54f2eb GPSUBX_UART.hpp --- a/GPSUBX_UART.hpp Thu Nov 04 09:41:59 2021 +0000 +++ b/GPSUBX_UART.hpp Fri Nov 12 06:11:39 2021 +0000 @@ -6,7 +6,7 @@ #define POSECEF_LEN 20 #define POSLLH_LEN 28 -#define RELPOSNED_LEN 40 +#define STATUS_LEN 16 #define TIMEUTC_LEN 20 #define VELECEF_LEN 20 #define VELNED_LEN 36 @@ -54,27 +54,19 @@ } data; }; -// 0x01 0x3c -union RELPOSNED +// 0x01 0x03 +union STATUS { - char byte_data[RELPOSNED_LEN]; + char byte_data[STATUS_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; + unsigned char gpsFix; + unsigned char flags; + unsigned char fixStat; + unsigned char flags2; + unsigned int ttff; + unsigned int msss; } data; }; @@ -212,13 +204,10 @@ /**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; - + /**iTOW of STATUS [ms]*/ + volatile int iTOW_STATUS; + /**gpsFix Status*/ + volatile char gpsFix; /**Time zone*/