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/home/jgoppert/Projects/ap/libraries/GPS_UBLOX/GPS_UBLOX.h

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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     // Internal variables
00012         uint8_t ck_a;     // Packet checksum
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     // Methods
00031         GPS_UBLOX_Class();
00032         void Init();
00033         void Read();
00034         // Properties
00035         long Time;          //GPS Millisecond Time of Week
00036         long Lattitude;     // Geographic coordinates
00037         long Longitude;
00038         long Altitude;
00039         long Ground_Speed;
00040         long Speed_3d;      //Speed (3-D)
00041         long Ground_Course;
00042         uint8_t NumSats;      // Number of visible satelites
00043         uint8_t Fix;        // 1:GPS FIX   0:No FIX (normal logic)
00044         uint8_t NewData;    // 1:New GPS Data
00045         uint8_t PrintErrors; // 1: To Print GPS Errors (for debug)
00046 };
00047 
00048 extern GPS_UBLOX_Class GPS;
00049 
00050 #endif

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