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| author | Matthias P. Braendli <matthias.braendli@mpb.li> | 2015-04-03 12:38:35 +0200 |
|---|---|---|
| committer | Matthias P. Braendli <matthias.braendli@mpb.li> | 2015-04-03 12:45:57 +0200 |
| commit | a3ec110a07fb24424f59040272f147b7af130aef (patch) | |
| tree | d344bfcc039ac1697769ebf0c892011b5814c660 /host/include | |
| parent | ec027e05039567b079006035bf99717a3d4e7bf7 (diff) | |
| download | uhd-a3ec110a07fb24424f59040272f147b7af130aef.tar.gz uhd-a3ec110a07fb24424f59040272f147b7af130aef.tar.bz2 uhd-a3ec110a07fb24424f59040272f147b7af130aef.zip | |
Improve LEA-M8F autodetection and poll NAV-SOL
Diffstat (limited to 'host/include')
| -rw-r--r-- | host/include/uhd/usrp/gps_ctrl.hpp | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/host/include/uhd/usrp/gps_ctrl.hpp b/host/include/uhd/usrp/gps_ctrl.hpp index bbccac8bb..27e202d9b 100644 --- a/host/include/uhd/usrp/gps_ctrl.hpp +++ b/host/include/uhd/usrp/gps_ctrl.hpp @@ -52,10 +52,40 @@ public: */ virtual bool gps_detected(void) = 0; + /*! + * Tell if the GPSDO is a LEA-M8F + * \return true if the LEA-M8F has been detected + */ + virtual bool gps_detected_lea_m8f(void) = 0; + //TODO: other fun things you can do with a GPS. }; +/*! The UBX-NAV-SOL message structure from the + * u-blox UBX protocol + */ +struct ubx_nav_sol_t +{ + uint32_t itow; // ms GPS Millisecond Time of Week + int32_t frac; // ns remainder of rounded ms above + int16_t week; // GPS week + uint8_t GPSfix; // GPSfix Type, range 0..6 + uint8_t Flags; // Navigation Status Flags + int32_t ECEF_X; // cm ECEF X coordinate + int32_t ECEF_Y; // cm ECEF Y coordinate + int32_t ECEF_Z; // cm ECEF Z coordinate + int32_t PAcc; // cm 3D Position Accuracy Estimate + int32_t ECEFVX; // cm/s ECEF X velocity + int32_t ECEFVY; // cm/s ECEF Y velocity + int32_t ECEFVZ; // cm/s ECEF Z velocity + uint32_t SAcc; // cm/s Speed Accuracy Estimate + uint16_t PDOP; // 0.01 Position DOP + uint8_t res1; // reserved + uint8_t numSV; // Number of SVs used in navigation solution + uint32_t res2; // reserved +} __attribute__((packed)); + } //namespace uhd #endif /* INCLUDED_GPS_CTRL_HPP */ |