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--- code:i2c_ubx [2009/05/14 23:46] – created laurenceb
+++ code:i2c_ubx [2009/05/27 21:30] (current) – keeping it clean :P laurenceb
@@ Line 54: / Line 54: @@
 	u08 a;
 	TOGGLE_PIN;
-	printf("fuck\n");
+	printf("something screwed up\n");
 	wdt_enable(WDTO_500MS);
 	for(;;)
@@ Line 189: / Line 189: @@
 }
 </code>
+===== header =====
+<code c>
+#include <stdlib.h>
+#include <stdio.h>
+#include <avr/interrupt.h>
+#include <avr/io.h>
+#include <util/delay.h>
+typedef unsigned char u08;
+typedef unsigned int u16;
+typedef unsigned long u32;
+typedef signed long s32;
+typedef struct
+{
+	u32 time;					//milliseconds/week
+	s32 vnorth;					//cm/s
+	s32 veast;
+	s32 vdown;
+	s32 longitude;					//degrees/10^-7
+	s32 latitude;
+	s32 altitude;					//height/mm
+	u08 packetflag;					//packetflag lets us see when our packet has been updated
+	u08 status;					//type of fix
+	u08 nosats;					//number of tracked satellites
+} ubx_gps_type;
+#define UBLOX 0x90
+#define UBLOX_WRITE UBLOX
+#define UBLOX_READ UBLOX|0x01
+#define REQUIRED_DATA 0x07
+#define DATA_LENGHT 130
+#define LLH_DATA 0x02
+#define VELNED_DATA 0x12
+#define SOL_DATA 0x06
+#define NAV_CLASS 0x01
+#define SATS_POS 5
+#define SOL_POS 42
+#define POS_OFFSET 40
+#define POS_START 12
+#define POS_END 25
+#define VEL_OFFSET 36
+#define VEL_START 20
+#define VEL_END 37
+#define SYNC_1 0xB5
+#define SYNC_2 0x62
+#define BAUDRATE 19200UL
+//#define BAUDDIV 32
+#define BAUDDIV  (u16)( ((float)F_CPU/(BAUDRATE*16UL)) -1 )//baud divider
+#define TOGGLE_PIN PIND=0x20				//led on port D.5
+</code>