Diff: gps.h

Revision:

63:4ec1808fb547

Child:

65:4090220e19d2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gps.h	Fri Feb 26 18:11:06 2021 +0000
@@ -0,0 +1,102 @@
+#ifndef __GPS_H
+
+#define __GPS_H
+
+#include "mbed.h"
+
+#define  SYNC1       0xB5
+#define  SYNC2       0x62
+
+
+#define MAXIMUM_PACKET_SIZE 60
+
+//GPS DEclaration
+extern SPI spi_2; // mosi, miso, sclk
+extern DigitalOut cs;
+extern DigitalOut gps_reset;
+extern DigitalOut gps_int;
+extern DigitalOut gps_DSEL;
+
+static int lat;
+static int lon;
+
+
+typedef struct
+{
+    uint8_t cls;
+    uint8_t id;
+    uint16_t len;          //Length of the payload. Does not include cls, id, or checksum bytes
+    uint8_t *payload;
+    uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums.
+    uint8_t checksumB;
+} gps_ubxPacket;
+
+typedef struct
+{
+    uint32_t iTOW=0;
+    uint16_t year=0;
+    uint8_t month=0;
+    uint8_t day=0;
+    uint8_t hour=0;
+    uint8_t min=0;
+    uint8_t sec=0;
+    int8_t valid=0;
+    uint32_t tAcc=0;
+    int32_t nano=0;
+    uint8_t fixtype=0;
+    int8_t flags=0;
+    int8_t flags2=0;
+    uint8_t numSV=0;
+    int32_t lon=0;
+    int32_t lat=0;
+    int32_t height=0;
+    int32_t hMSL=0;
+    uint32_t hAcc=0;
+    uint32_t vAcc=0;
+    int32_t velN=0;
+    int32_t velE=0;
+    int32_t velD=0;
+    int32_t gSpeed=0;
+    int32_t headMot=0;
+    uint32_t sAcc=0;
+    uint32_t headAcc=0;
+    uint16_t pDOP=0;
+    int32_t headVeh;
+    int16_t magDec;
+    uint16_t magAcc;
+
+    
+} gps_navPVT;
+
+
+extern void gps_leBootMsg();
+
+extern void gps_le_envia_linha();                               
+
+extern gps_ubxPacket gps_calcula_check(gps_ubxPacket Packet);
+
+extern void send_gps_packet(gps_ubxPacket packet);
+
+extern gps_navPVT le_nav_pvt ();
+
+extern void send_nav_pvt();
+
+extern void send_gps_data(uint8_t *packet, uint8_t size);
+
+extern void wait_packet_byte (uint8_t *header, uint8_t byte);
+
+extern void gps_wait_same_packet();
+
+extern void gps_config_gnss();
+
+extern void gps_print_local ();
+
+extern void gps_get_lat_lon(int *latitude, int *logitude);
+
+extern void gps_config();
+
+extern int get_latitude();
+
+extern int get_longitude();
+
+#endif
\ No newline at end of file