Diff: gnss.h

Revision:

7:720841961804

Parent:

6:56eda66d585b

Child:

8:cff83b9f5093

--- a/gnss.h	Wed Jun 14 20:44:42 2017 +0100
+++ b/gnss.h	Wed May 16 10:58:16 2018 +0500
@@ -39,6 +39,56 @@
 # define GNSSBAUD GPSBAUD
 #endif
 
+#define UBX_FRAME_SIZE 8
+#define RETRY 5
+#define SYNC_CHAR_INDEX_1 0
+#define SYNC_CHAR_INDEX_2 1
+#define MSG_CLASS_INDEX 2
+#define MSG_ID_INDEX 3
+#define UBX_LENGTH_INDEX 4
+#define UBX_PAYLOAD_INDEX 6
+
+enum eUBX_MSG_CLASS {NAV = 0x01, ACK = 0x05, LOG = 0x21};
+
+enum eUBX_MESSAGE  {UBX_LOG_BATCH, UBX_ACK_ACK, UBX_ACK_NAK, UBX_NAV_ODO, UBX_NAV_PVT, UNKNOWN_UBX};
+
+typedef struct UBX_CFG_ACK {
+	uint8_t msg_class;
+	uint8_t msg_id;
+
+}tUBX_CFG_ACK;
+
+typedef struct UBX_NAV_ODO {
+	uint8_t version;
+	uint8_t reserved[3];
+	uint32_t itow;
+	uint32_t distance;
+	uint32_t totalDistance;
+	uint32_t distanceSTD;
+}tUBX_NAV_ODO;
+
+typedef struct UBX_NAV_PVT {
+	uint32_t itow;
+	uint16_t year;
+	uint8_t month;
+	uint8_t day;
+	int32_t lon; // scaling 1e-7
+	int32_t lat; // scaling 1e-7
+	int32_t height;
+
+}tUBX_NAV_PVT;
+
+typedef struct UBX_LOG_BATCH {
+	uint32_t itow;
+	int32_t lon; // scaling 1e-7
+	int32_t lat; // scaling 1e-7
+	int32_t height;
+	uint32_t distance;
+	uint32_t totalDistance;
+	uint32_t distanceSTD;
+
+}tUBX_LOG_BATCH;
+
 /** Basic GNSS parser class.
 */
 class GnssParser
@@ -153,7 +203,43 @@
      * @return true if successful, false otherwise.
      */
     static bool getNmeaAngle(int ix, char* buf, int len, double& val);
+
+    /** Enable UBX messages.
+	 * @param none
+	 * @return 0 if successful, false otherwise.
+	 */
+    int enable_ubx();
     
+    /** GET Message type of receiver UBX message
+     * @param buff the UXB message
+     * @return eUBX_MESSAGE
+     */
+    eUBX_MESSAGE get_ubx_message(char *);
+
+    /** Method to parse contents of UBX CFG-ACK/NAK and return messageid amd class for which ACK is received
+     * @param buff the UXB message
+     * @return tUBX_CFG_ACK
+     */
+    tUBX_CFG_ACK decode_ubx_cfg_ack_nak_msg(char *);
+
+    /** Method to parse contents of UBX_NAV_ODO and return decoded msg
+     * @param buff the UXB message
+     * @return tUBX_NAV_ODO
+     */
+    tUBX_NAV_ODO decode_ubx_nav_odo_msg(char *);
+
+    /** Method to parse contents of UBX_NAV_PVT and return decoded msg
+	 * @param buff the UXB message
+	 * @return tUBX_NAV_PVT
+	 */
+    tUBX_NAV_PVT decode_ubx_nav_pvt_msg(char *);
+
+    /** Method to parse contents of UBX_LOG_BATCH and return decoded msg
+	 * @param buff the UXB message
+	 * @return tUBX_LOG_BATCH
+	 */
+    tUBX_LOG_BATCH decode_ubx_log_batch_msg(char *);
+
 protected:
     /** Power on the GNSS module.
     */