8 #define UBX_CLS_CFG 0x06
9 #define UBX_CLS_NAV 0x01
12 #define UBX_ID_CFG_PRT 0x00
13 #define UBX_ID_CFG_TP5 0x31
14 #define UBX_ID_CFG_MSG 0x01
16 #define UBX_ID_NAV_TIMEUTC 0x21
18 #define UBX_LEN_NAV_TIMEUTC 20
20 // NAV-TIMEUTCパケットのデータ格納
22 unsigned long tow; // ms GPS Millisecond Time of Week
23 unsigned long tacc; // ns Time Accuracy Estimate
24 long nano; //ns Nanoseconds of second, range -1e9 .. 1e9 (UTC)
25 unsigned int year; // UTC
31 unsigned char valid; // Validity Flags
32 // bit0 validTOW 1 = Valid Time of Week
33 // bit1 validWKN 1 = Valid Week Number
34 // bit2 validUTC 1 = Valid UTC (Leap Seconds already known)
37 int ublox_make_cmd(unsigned char id1, unsigned char id2, unsigned int lenp, unsigned char *payload, unsigned char pkt[]);
38 void ublox_debug_pkt_out(unsigned char *pkt, int len);
39 void ublox_send(unsigned char *pkt, unsigned int len_pkt);
41 void ublox_send_cfg_prt(unsigned long bps);
42 void ublox_send_cfg_nmea(void);
43 void ublox_send_cfg_tp5_timepulse2(void);
44 void ublox_send_cfg_msg(void);
46 void ublox_send_cfg_tp5_timepulse1(void);
48 //void ublox_rcv_poll(void);
49 #define ublox_rcvbuf_clear() uart1_rcvbuf_clear()
51 int ublox_rcv_pkt(unsigned char *class, unsigned char *id, unsigned int *len, unsigned char *payload);
52 int ublox_rcv_ack(void);