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Diffstat (limited to 'rrlp-ephemeris/ubx.h')
| -rw-r--r-- | rrlp-ephemeris/ubx.h | 232 |
1 files changed, 232 insertions, 0 deletions
diff --git a/rrlp-ephemeris/ubx.h b/rrlp-ephemeris/ubx.h new file mode 100644 index 000000000..826438658 --- /dev/null +++ b/rrlp-ephemeris/ubx.h @@ -0,0 +1,232 @@ +/* + * ubx.h + * + * Header for UBX related stuff + * + * + * Copyright (C) 2009 Sylvain Munaut <tnt@246tNt.com> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#ifndef __UBX_H__ +#define __UBX_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +#include <stdint.h> + +/* Constants used in UBX */ + + /* Sync bytes (two first bytes of each message) */ +#define UBX_SYNC0 0xb5 +#define UBX_SYNC1 0x62 + + /* UBX messages classes */ +#define UBX_CLASS_NAV 0x01 +#define UBX_CLASS_RXM 0x02 +#define UBX_CLASS_INF 0x04 +#define UBX_CLASS_ACK 0x05 +#define UBX_CLASS_CFG 0x06 +#define UBX_CLASS_UPD 0x09 +#define UBX_CLASS_MON 0x0a +#define UBX_CLASS_AID 0x0b +#define UBX_CLASS_TIM 0x0d + + /* UBX messages type ID (by class) */ +#define UBX_NAV_POSECEF 0x01 +#define UBX_NAV_POSLLH 0x02 +#define UBX_NAV_STATUS 0x03 +#define UBX_NAV_DOP 0x04 +#define UBX_NAV_SOL 0x06 +#define UBX_NAV_POSUTM 0x08 +#define UBX_NAV_VELECEF 0x11 +#define UBX_NAV_VELNED 0x12 +#define UBX_NAV_TIMEGPS 0x20 +#define UBX_NAV_TIMEUTC 0x21 +#define UBX_NAV_CLOCK 0x22 +#define UBX_NAV_SVINFO 0x30 +#define UBX_NAV_DGPS 0x31 +#define UBX_NAV_SBAS 0x32 +#define UBX_NAV_EKFSTATUS 0x40 + +#define UBX_RXM_RAW 0x10 +#define UBX_RXM_SFRB 0x11 +#define UBX_RXM_SVSI 0x20 +#define UBX_RXM_SVSI_GPS 0x20 +#define UBX_RXM_ALM 0x30 +#define UBX_RXM_EPH 0x31 +#define UBX_RXM_POSREQ 0x40 + +#define UBX_INF_ERROR 0x00 +#define UBX_INF_WARNING 0x01 +#define UBX_INF_NOTICE 0x02 +#define UBX_INF_TEST 0x03 +#define UBX_INF_DEBUG 0x04 +#define UBX_INF_USER 0x07 + +#define UBX_ACK_NAK 0x00 +#define UBX_ACK_ACK 0x01 + +#define UBX_CFG_PRT 0x00 +#define UBX_CFG_USB 0x1b +#define UBX_CFG_MSG 0x01 +#define UBX_CFG_NMEA 0x17 +#define UBX_CFG_RATE 0x08 +#define UBX_CFG_CFG 0x09 +#define UBX_CFG_TP 0x07 +#define UBX_CFG_NAV2 0x1a +#define UBX_CFG_DAT 0x06 +#define UBX_CFG_INF 0x02 +#define UBX_CFG_RST 0x04 +#define UBX_CFG_RXM 0x11 +#define UBX_CFG_ANT 0x13 +#define UBX_CFG_FXN 0x0e +#define UBX_CFG_SBAS 0x16 +#define UBX_CFG_LIC 0x80 +#define UBX_CFG_TM 0x10 +#define UBX_CFG_TM2 0x19 +#define UBX_CFG_TMODE 0x1d +#define UBX_CFG_EKF 0x12 + +#define UBX_UPD_DOWNL 0x01 +#define UBX_UPD_UPLOAD 0x02 +#define UBX_UPD_EXEC 0x03 +#define UBX_UPD_MEMCPY 0x04 + +#define UBX_MON_SCHD 0x01 +#define UBX_MON_IO 0x02 +#define UBX_MON_IPC 0x03 +#define UBX_MON_VER 0x04 +#define UBX_MON_EXCEPT 0x05 +#define UBX_MON_MSGPP 0x06 +#define UBX_MON_RXBUF 0x07 +#define UBX_MON_TXBUF 0x08 +#define UBX_MON_HW 0x09 +#define UBX_MON_USB 0x0a + +#define UBX_AID_REQ 0x00 +#define UBX_AID_INI 0x01 +#define UBX_AID_HUI 0x02 +#define UBX_AID_DATA 0x10 +#define UBX_AID_ALM 0x30 +#define UBX_AID_EPH 0x31 + +#define UBX_TIM_TP 0x01 +#define UBX_TIM_TM 0x02 +#define UBX_TIM_TM2 0x03 +#define UBX_TIM_SVIN 0x04 + + +/* Header */ +struct ubx_hdr { + uint8_t sync[2]; + uint8_t msg_class; + uint8_t msg_id; + uint16_t payload_len; +} __attribute__((packed)); + + +/* Payload formats (some of them) */ +struct ubx_nav_posllh { + uint32_t itow; + int32_t lon; /* scaling 1e-7 */ + int32_t lat; /* scaling 1e-7 */ + int32_t height;/* mm */ + int32_t hsl; /* mm */ + uint32_t hacc; /* mm */ + uint32_t vacc; /* mm */ +} __attribute__((packed)); + +struct ubx_aid_ini { + int32_t x; + int32_t y; + int32_t z; + uint32_t posacc; + uint16_t tm_cfg; + uint16_t wn; + uint32_t tow; + int32_t tow_ns; + uint32_t tacc_ms; + uint32_t tacc_ns; + int32_t clkd; + uint32_t clkdacc; + uint32_t flags; +} __attribute__((packed)); + +struct ubx_aid_hui { + uint32_t health; + double utc_a1; + double utc_a0; + int32_t utc_tot; + int16_t utc_wnt; + int16_t utc_ls; + int16_t utc_wnf; + int16_t utc_dn; + int16_t utc_lsf; + int16_t utc_spare; + float klob_a0; + float klob_a1; + float klob_a2; + float klob_a3; + float klob_b0; + float klob_b1; + float klob_b2; + float klob_b3; + uint32_t flags; +} __attribute__((packed)); + +struct ubx_aid_alm { + uint32_t sv_id; + uint32_t gps_week; + uint32_t alm_words[8]; /* Present only if 'gps_week' != 0 */ +} __attribute__((packed)); + +struct ubx_aid_eph { + uint32_t sv_id; + uint32_t present; + uint32_t eph_words[24]; /* Present only if 'present' != 0 */ +} __attribute__((packed)); + + +/* Message handler */ +typedef void (*ubx_msg_handler_t)( + struct ubx_hdr *hdr, void *payload, int payload_len, void *userdata); + +struct ubx_dispatch_entry { + uint8_t msg_class; + uint8_t msg_id; + ubx_msg_handler_t handler; +}; + +#define UBX_DISPATCH(kls,id,hdl) { \ + .msg_class = UBX_CLASS_ ## kls , \ + .msg_id = UBX_ ## kls ## _ ## id, \ + .handler = (hdl), \ +} + + +/* Methods */ +int ubx_msg_dispatch(struct ubx_dispatch_entry *dt, + void *msg, int len, void *userdata); + + +#ifdef __cplusplus +} +#endif + +#endif /* __UBX_H__ */ + |