// Private Methods //////////////////////////////////////////////////////////////
void GPS_MTK_Class::parse_ubx_gps(void)
{
int j;
//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes..
//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
if(UBX_class==0x01)
{
switch(UBX_id)//Checking the UBX ID
{
case 0x05: //ID Custom
j=0;
Lattitude= join_4_bytes(&UBX_buffer[j]); // lon*10000000
j+=4;
Longitude = join_4_bytes(&UBX_buffer[j]); // lat*10000000
j+=4;
Altitude = join_4_bytes(&UBX_buffer[j]); // MSL
j+=4;
Ground_Speed = join_4_bytes(&UBX_buffer[j]);
j+=4;
Ground_Course = join_4_bytes(&UBX_buffer[j]);
j+=4;
NumSats=UBX_buffer[j];
j++;
Fix=UBX_buffer[j];
j++;
Time = join_4_bytes(&UBX_buffer[j]);
NewData=1;
break;
}
}
}
// Private Methods //////////////////////////////////////////////////////////////
void GPS_UBLOX_Class::parse_ubx_gps(void)
{
int j;
//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes..
//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
if(UBX_class==0x01)
{
switch(UBX_id)//Checking the UBX ID
{
case 0x02: //ID NAV-POSLLH
j=0;
Time = join_4_bytes(&UBX_buffer[j]); // ms Time of week
j+=4;
Longitude = join_4_bytes(&UBX_buffer[j]); // lon*10000000
j+=4;
Lattitude = join_4_bytes(&UBX_buffer[j]); // lat*10000000
j+=4;
//Altitude = join_4_bytes(&UBX_buffer[j]); // elipsoid heigth mm
j+=4;
Altitude = (float)join_4_bytes(&UBX_buffer[j]); // MSL heigth mm
//j+=4;
/*
hacc = (float)join_4_bytes(&UBX_buffer[j])/(float)1000;
j+=4;
vacc = (float)join_4_bytes(&UBX_buffer[j])/(float)1000;
j+=4;
*/
NewData=1;
break;
case 0x03://ID NAV-STATUS
//if(UBX_buffer[4] >= 0x03)
if((UBX_buffer[4] >= 0x03)&&(UBX_buffer[5]&0x01))
Fix=1; //valid position
else
Fix=0; //invalid position
break;
case 0x06://ID NAV-SOL
if((UBX_buffer[10] >= 0x03)&&(UBX_buffer[11]&0x01))
Fix=1; //valid position
else
Fix=0; //invalid position
UBX_ecefVZ=join_4_bytes(&UBX_buffer[36]); //Vertical Speed in cm/s
NumSats=UBX_buffer[47]; //Number of sats...
break;
case 0x12:// ID NAV-VELNED
j=16;
Speed_3d = join_4_bytes(&UBX_buffer[j]); // cm/s
j+=4;
Ground_Speed = join_4_bytes(&UBX_buffer[j]); // Ground speed 2D cm/s
j+=4;
Ground_Course = join_4_bytes(&UBX_buffer[j]); // Heading 2D deg*100000
Ground_Course /= 1000; // Rescale heading to deg * 100
j+=4;
/*
sacc = join_4_bytes(&UBX_buffer[j]) // Speed accuracy
j+=4;
headacc = join_4_bytes(&UBX_buffer[j]) // Heading accuracy
j+=4;
*/
break;
}
}
}
// Private Methods //////////////////////////////////////////////////////////////
void parse_ubx_gps(void)
{
int j;
switch(UBX_class){
case 0x01:
switch(UBX_id)//Checking the UBX ID
{
case 0x02: //ID NAV-POSLLH
j=0;
Time = join_4_bytes(&UBX_buffer[j]); // ms Time of week
j+=4;
Longitude = join_4_bytes(&UBX_buffer[j]); // lon*10000000
j+=4;
Lattitude = join_4_bytes(&UBX_buffer[j]); // lat*10000000
j+=4;
Altitude = join_4_bytes(&UBX_buffer[j]); // elipsoid heigth mm
j+=4;
//Altitude = (float)join_4_bytes(&UBX_buffer[j]); // MSL heigth mm
NewData=1;
break;
case 0x03://ID NAV-STATUS
//if(UBX_buffer[4] >= 0x03)
if((UBX_buffer[4] >= 0x03)&&(UBX_buffer[5]&0x01))
Fix=1; //valid position
else
Fix=0; //invalid position
break;
case 0x06://ID NAV-SOL
if((UBX_buffer[10] >= 0x03)&&(UBX_buffer[11]&0x01))
Fix=1; //valid position
else
Fix=0; //invalid position
UBX_ecefVZ=join_4_bytes(&UBX_buffer[36]); //Vertical Speed in cm/s
NumSats=UBX_buffer[47]; //Number of sats...
break;
case 0x12:// ID NAV-VELNED
j=16;
Speed_3d = join_4_bytes(&UBX_buffer[j]); // cm/s
j+=4;
Ground_Speed = join_4_bytes(&UBX_buffer[j]); // Ground speed 2D cm/s
j+=4;
Ground_Course = join_4_bytes(&UBX_buffer[j]); // Heading 2D deg*100000
Ground_Course /= 1000; // Rescale heading to deg * 100
j+=4;
break;
}
// UBX_class = 0x0D;
PosData = 1;
break;
//Serial.println(UBX_class);
case 0x0D:
//UBX_id = 0x03;
switch(UBX_id)//Checking the UBX ID
{
case 0x03: //ID TIM-TM2
ch = one_byte(&UBX_buffer[0]);
flags = one_byte(&UBX_buffer[1]);
count = join_2_bytes(&UBX_buffer[2]);
wnR = join_2_bytes(&UBX_buffer[4]);
wnF = join_2_bytes(&UBX_buffer[6]);
towMsR = join_4_bytes(&UBX_buffer[8]);
towSubMsR = join_4_bytes(&UBX_buffer[12]);
towMsF = join_4_bytes(&UBX_buffer[16]);
towSubMsF = join_4_bytes(&UBX_buffer[20]);
accEst = join_4_bytes(&UBX_buffer[24]);
checksum = join_2_bytes(&UBX_buffer[28]);
break;
}
NewData=1;
break;
}
}
void parse_ubx_gps(void)
{
int j1;
//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes..
//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
if(gUblox.Class == 0x01)
{
switch(gUblox.id) //Checking the UBX ID
{
case 0x02: // ID NAV - POSLLH
j1 = 0;
gUblox.Time = join_4_bytes(&UBX_buffer[j1]); // ms Time of week
j1 += 4;
gUblox.Longitude = join_4_bytes(&UBX_buffer[j1]); // lon * 10000000
j1 += 4;
gUblox.Lattitude = join_4_bytes(&UBX_buffer[j1]); // lat * 10000000
j1 += 4;
//Altitude = j1oin_4_bytes(&UBX_buffer[j1]); // elipsoid heigth mm
j1 += 4;
gUblox.Altitude =join_4_bytes(&UBX_buffer[j1]); // MSL heigth mm
//gUblox.Altitude /= 10.;
gUblox.NewData = 1;
break;
case 0x03: //ID NAV - STATUS
if((UBX_buffer[4] >= 0x03) && (UBX_buffer[5] & 0x01))
gUblox.Fix = 1; // valid position
else
gUblox.Fix = 0; // invalid position
break;
case 0x06: //ID NAV - SOL
if((UBX_buffer[10] >= 0x03) && (UBX_buffer[11] & 0x01))
gUblox.Fix = 1; // valid position
else
gUblox.Fix = 0; // invalid position
gUblox.NumSats = UBX_buffer[47]; // Number of sats...
break;
case 0x12: // ID NAV - VELNED
gUblox.velN= join_4_bytes(&UBX_buffer[4]); // cm / s
gUblox.velE= join_4_bytes(&UBX_buffer[8]); // cm / s
gUblox.velD= join_4_bytes(&UBX_buffer[12]); // cm / s
j1 = 16;
gUblox.Speed_3d = join_4_bytes(&UBX_buffer[j1]); // cm / s
j1 += 4;
gUblox.Ground_Speed = join_4_bytes(&UBX_buffer[j1]); // Ground speed 2D cm / s
gUblox.Ground_Speed/=100; // Ground speed 2D m / s
j1 += 4;
gUblox.Ground_Course = join_4_bytes(&UBX_buffer[j1]); // Heading 2D deg * 100000
gUblox.Ground_Course /= 100000; // Rescale heading to deg * 100
j1 += 4;
break;
}
}
}
