mirror of
https://github.com/paparazzi/paparazzi.git
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Pascal Brisset
82 lines
2.2 KiB
C
82 lines
2.2 KiB
C
/*
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* Paparazzi autopilot $Id$
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*
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* Copyright (C) 2004-2006 Pascal Brisset, Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/** \file gps_ubx.h
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* \brief UBX protocol specific code
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*
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*/
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#ifndef UBX_H
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#define UBX_H
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#define GPS_NB_CHANNELS 16
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extern uint16_t gps_reset;
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extern uint8_t ubx_id, ubx_class;
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#define UBX_MAX_PAYLOAD 255
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extern uint8_t ubx_msg_buf[UBX_MAX_PAYLOAD];
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/** The function to be called when a characted friom the device is available */
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extern void parse_ubx( uint8_t c );
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#define GpsParse(_gps_buffer, _gps_buffer_size) { \
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uint8_t i; \
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for(i = 0; i < _gps_buffer_size; i++) { \
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parse_ubx(_gps_buffer[i]); \
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} \
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}
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#define GpsFixValid() (gps_mode == 3)
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#define CFG_RST_BBR_Hotstart 0x0000
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#define CFG_RST_BBR_Warmstart 0x0001
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#define CFG_RST_BBR_Coldstart 0xffff
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#define CFG_RST_Reset_Hardware 0x00
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#define CFG_RST_Reset_Controlled 0x01
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#define CFG_RST_Reset_Controlled_GPS_only 0x02
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#define CFG_RST_Reset_Controlled_GPS_stop 0x08
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#define CFG_RST_Reset_Controlled_GPS_start 0x09
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#define NAV_DYN_STATIONARY 1
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#define NAV_DYN_PEDESTRIAN 2
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#define NAV_DYN_AUTOMOTIVE 3
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#define NAV_DYN_SEA 4
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#define NAV_DYN_AIRBORNE_1G 5
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#define NAV_DYN_AIRBORNE_2G 6
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#define NAV_DYN_AIRBORNE_4G 7
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extern void ubxsend_cfg_rst(uint16_t, uint8_t);
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#define gps_ubx_Reset(_val) { \
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gps_reset = _val; \
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if (gps_reset > CFG_RST_BBR_Warmstart) \
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gps_reset = CFG_RST_BBR_Coldstart; \
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ubxsend_cfg_rst(gps_reset, CFG_RST_Reset_Controlled); \
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}
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#endif /* UBX_H */
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