RX
Dependencies: mbed BufferedSerial SX1276GenericLib X_NUCLEO_IKS01A2
UbxGpsNavSol.hh
- Committer:
- TMRL123
- Date:
- 2019-06-05
- Revision:
- 0:674f1e460248
File content as of revision 0:674f1e460248:
#ifndef UBXGPSNAVSOL_H_ #define UBXGPSNAVSOL_H_ #include "mbed.h" #define UBX_NAV_SOL_HEADER_1 (0xB5) #define UBX_NAV_SOL_HEADER_2 (0x62) #define UBX_NAV_SOL_CLASS (0x01) #define UBX_NAV_SOL_ID (0x06) #define UBX_NAV_SOL_PAYLOAD_LENGTH (52) class UbxGpsNavSol : public UARTSerial{ public: UbxGpsNavSol(PinName tx, PinName rx, int baud); virtual ~UbxGpsNavSol(); uint8_t buffer [60]; bool ready(); void disableNmea(); bool enableNAVSOL(); bool changeFrequency(); bool changeBaudrate(); bool disableUnnecessaryChannels(); bool disableGNSS(); bool restoreDefaults(); void baud(int baud); bool saveConfiguration(); // void setLength(unsigned char length); // Type Name Unit Description (scaling) unsigned long iTOW; // ms GPS time of week of the navigation epoch. See the description of iTOW for // details long fTOW; // ns Fractional part of iTOW (range: +/-500000). The precise GPS time of week in // seconds is: (iTOW * 1e-3) + (fTOW * 1e-9) short week; // weeks GPS week number of the navigation epoch unsigned char gpsFix; // - GPSfix Type, range 0..5 char flags; // - Fix Status Flags (see graphic below) long ecefX; // cm ECEF X coordinate long ecefY; // cm ECEF Y coordinate long ecefZ; // cm ECEF Z coordinate unsigned long pAcc; // cm 3D Position Accuracy Estimate long ecefVX; // cm/s ECEF X velocity long ecefVY; // cm/s ECEF Y velocity long ecefVZ; // cm/s ECEF Z velocity unsigned long sAcc; // cm/s Speed Accuracy Estimate unsigned short pDOP; // - Position DOP (0.01) unsigned char reserved1; // - Reserved unsigned char numSV; // - Number of satellites used in Nav Solution unsigned long reserved2; // - Reserved private: bool calculateChecksum(unsigned char *data); // Class properties unsigned char offsetClassProperties; unsigned char offsetHeaders; unsigned char size; unsigned char carriagePosition; unsigned char checksum[2]; // Headers (common). unsigned char headerClass; unsigned char headerId; unsigned short headerLength; uint16_t payload_length; }; #endif