Go to the documentation of this file.00001 #ifndef GPS_UBLOX_h
00002 #define GPS_UBLOX_h
00003
00004 #include <inttypes.h>
00005
00006 #define UBX_MAXPAYLOAD 60
00007
00008 class GPS_UBLOX_Class
00009 {
00010 private:
00011
00012 uint8_t ck_a;
00013 uint8_t ck_b;
00014 uint8_t UBX_step;
00015 uint8_t UBX_class;
00016 uint8_t UBX_id;
00017 uint8_t UBX_payload_length_hi;
00018 uint8_t UBX_payload_length_lo;
00019 uint8_t UBX_payload_counter;
00020 uint8_t UBX_buffer[UBX_MAXPAYLOAD];
00021 uint8_t UBX_ck_a;
00022 uint8_t UBX_ck_b;
00023 long GPS_timer;
00024 long UBX_ecefVZ;
00025 void parse_ubx_gps();
00026 void ubx_checksum(unsigned char ubx_data);
00027 long join_4_bytes(unsigned char Buffer[]);
00028
00029 public:
00030
00031 GPS_UBLOX_Class();
00032 void Init();
00033 void Read();
00034
00035 long Time;
00036 long Lattitude;
00037 long Longitude;
00038 long Altitude;
00039 long Ground_Speed;
00040 long Speed_3d;
00041 long Ground_Course;
00042 uint8_t NumSats;
00043 uint8_t Fix;
00044 uint8_t NewData;
00045 uint8_t PrintErrors;
00046 };
00047
00048 extern GPS_UBLOX_Class GPS;
00049
00050 #endif