diff options
Diffstat (limited to 'src/drivers/ao_gps_ublox.h')
| -rw-r--r-- | src/drivers/ao_gps_ublox.h | 267 |
1 files changed, 267 insertions, 0 deletions
diff --git a/src/drivers/ao_gps_ublox.h b/src/drivers/ao_gps_ublox.h new file mode 100644 index 00000000..e4a358a8 --- /dev/null +++ b/src/drivers/ao_gps_ublox.h @@ -0,0 +1,267 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.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; version 2 of the License. + * + * 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, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_GPS_UBLOX_H_ +#define _AO_GPS_UBLOX_H_ + +struct ublox_hdr { + uint8_t class, message; + uint16_t length; +}; + +#define UBLOX_NAV 0x01 + +#define UBLOX_NAV_DOP 0x04 + +struct ublox_nav_dop { + uint8_t class; /* 0x01 */ + uint8_t message; /* 0x04 */ + uint16_t length; /* 18 */ + + uint32_t itow; /* ms */ + uint16_t gdop; + uint16_t ddop; + uint16_t tdop; + uint16_t vdop; + uint16_t hdop; + uint16_t ndop; + uint16_t edop; +}; + +#define UBLOX_NAV_POSLLH 0x02 + +struct ublox_nav_posllh { + uint8_t class; /* 0x01 */ + uint8_t message; /* 0x02 */ + uint16_t length; /* 28 */ + + uint32_t itow; /* ms */ + int32_t lon; /* deg * 1e7 */ + int32_t lat; /* deg * 1e7 */ + int32_t height; /* mm */ + int32_t hmsl; /* mm */ + uint32_t hacc; /* mm */ + uint32_t vacc; /* mm */ +}; + +#define UBLOX_NAV_SOL 0x06 + +struct ublox_nav_sol { + uint8_t class; /* 0x01 */ + uint8_t message; /* 0x06 */ + uint16_t length; /* 52 */ + + uint32_t itow; /* ms */ + int32_t ftow; /* ns */ + int16_t week; + int8_t gpsfix; + uint8_t flags; + int32_t exefx; /* cm */ + int32_t exefy; /* cm */ + int32_t exefz; /* cm */ + uint32_t pacc; /* cm */ + int32_t exefvx; /* cm/s */ + int32_t exefvy; /* cm/s */ + int32_t exefvz; /* cm/s */ + uint32_t sacc; /* cm/s */ + uint16_t pdop; /* * 100 */ + uint8_t reserved1; + uint8_t numsv; + uint32_t reserved2; +}; + +#define UBLOX_NAV_SOL_GPSFIX_NO_FIX 0 +#define UBLOX_NAV_SOL_GPSFIX_DEAD_RECKONING 1 +#define UBLOX_NAV_SOL_GPSFIX_2D 2 +#define UBLOX_NAV_SOL_GPSFIX_3D 3 +#define UBLOX_NAV_SOL_GPSFIX_GPS_DEAD_RECKONING 4 +#define UBLOX_NAV_SOL_GPSFIX_TIME_ONLY 5 + +#define UBLOX_NAV_SOL_FLAGS_GPSFIXOK 0 +#define UBLOX_NAV_SOL_FLAGS_DIFFSOLN 1 +#define UBLOX_NAV_SOL_FLAGS_WKNSET 2 +#define UBLOX_NAV_SOL_FLAGS_TOWSET 3 + +#define UBLOX_NAV_STATUS 0x03 + +struct ublox_nav_status { + uint8_t class; /* 0x01 */ + uint8_t message; /* 0x03 */ + uint16_t length; /* 16 */ + + uint8_t gpsfix; + uint8_t flags; + uint8_t fixstat; + uint8_t flags2; + + uint32_t ttff; /* ms */ + uint32_t msss; /* ms */ +}; + +#define UBLOX_NAV_STATUS_GPSFIX_NO_FIX 0 +#define UBLOX_NAV_STATUS_GPSFIX_DEAD_RECKONING 1 +#define UBLOX_NAV_STATUS_GPSFIX_2D 2 +#define UBLOX_NAV_STATUS_GPSFIX_3D 3 +#define UBLOX_NAV_STATUS_GPSFIX_GPS_DEAD_RECKONING 4 +#define UBLOX_NAV_STATUS_GPSFIX_TIME_ONLY 5 + +#define UBLOX_NAV_STATUS_FLAGS_GPSFIXOK 0 +#define UBLOX_NAV_STATUS_FLAGS_DIFFSOLN 1 +#define UBLOX_NAV_STATUS_FLAGS_WKNSET 2 +#define UBLOX_NAV_STATUS_FLAGS_TOWSET 3 + +#define UBLOX_NAV_STATUS_FIXSTAT_DGPSISTAT 0 +#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING 6 +#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_NONE 0 +#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_VALID 1 +#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_USED 2 +#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_DR 3 +#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_MASK 3 + +#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE 0 +#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_ACQUISITION 0 +#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_TRACKING 1 +#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_POWER_OPTIMIZED_TRACKING 2 +#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_INACTIVE 3 +#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_MASK 3 + +#define UBLOX_NAV_SVINFO 0x30 + +struct ublox_nav_svinfo { + uint8_t class; /* 0x01 */ + uint8_t message; /* 0x30 */ + uint16_t length; /* 8 + 12 * numch */ + + uint32_t itow; /* ms */ + + uint8_t numch; + uint8_t globalflags; + uint16_t reserved; +}; + +#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN 0 +#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_ANTARIS 0 +#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_U_BLOX_5 1 +#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_U_BLOX_6 2 +#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_MASK 7 + +struct ublox_nav_svinfo_block { + uint8_t chn; + uint8_t svid; + uint8_t flags; + uint8_t quality; + + uint8_t cno; /* dbHz */ + int8_t elev; /* deg */ + int16_t azim; /* deg */ + + int32_t prres; /* cm */ +}; + +#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_SVUSED 0 +#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_DIFFCORR 1 +#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITAVAIL 2 +#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITEPH 3 +#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_UNHEALTHY 4 +#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITALM 5 +#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITAOP 6 +#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_SMOOTHED 7 + +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND 0 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_IDLE 0 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_SEARCHING 1 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_ACQUIRED 2 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_UNUSABLE 3 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CODE_LOCK 4 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_5 5 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_6 6 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_7 7 +#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_MASK 7 + +#define UBLOX_NAV_TIMEUTC 0x21 + +struct ublox_nav_timeutc { + uint8_t class; /* 0x01 */ + uint8_t message; /* 0x21 */ + uint16_t length; /* 20 */ + + uint32_t itow; /* ms */ + uint32_t tacc; /* ns */ + int32_t nano; /* ns */ + + uint16_t year; + uint8_t month; + uint8_t day; + + uint8_t hour; + uint8_t min; + uint8_t sec; + uint8_t valid; +}; + +#define UBLOX_NAV_TIMEUTC_VALID_VALIDTOW 0 +#define UBLOX_NAV_TIMEUTC_VALID_VALIDWKN 1 +#define UBLOX_NAV_TIMEUTC_VALID_VALIDUTC 2 + +#define UBLOX_NAV_VELNED 0x12 + +struct ublox_nav_velned { + uint8_t class; /* 0x01 */ + uint8_t message; /* 0x12 */ + uint16_t length; /* 36 */ + + uint32_t itow; /* ms */ + + int32_t veln; /* cm/s */ + int32_t vele; /* cm/s */ + int32_t veld; /* cm/s */ + + uint32_t speed; /* cm/s */ + uint32_t gspeed; /* cm/s */ + + int32_t heading; /* deg */ + uint32_t sacc; /* cm/s */ + uint32_t cacc; /* deg */ +}; + +#define UBLOX_CFG 0x06 + +#define UBLOX_CFG_NAV5 0x24 + +#define UBLOX_CFG_NAV5_MASK_DYN 0 +#define UBLOX_CFG_NAV5_MASK_MINE1 1 +#define UBLOX_CFG_NAV5_MASK_FIXMODE 2 +#define UBLOX_CFG_NAV5_MASK_DRLIM 3 +#define UBLOX_CFG_NAV5_MASK_POSMASK 4 +#define UBLOX_CFG_NAV5_MASK_TIMEMASK 5 +#define UBLOX_CFG_NAV5_MASK_STATICHOLDMASK 6 +#define UBLOX_CFG_NAV5_MASK_DGPSMASK 7 + +#define UBLOX_CFG_NAV5_DYNMODEL_PORTABLE 0 +#define UBLOX_CFG_NAV5_DYNMODEL_STATIONARY 2 +#define UBLOX_CFG_NAV5_DYNMODEL_PEDESTRIAN 3 +#define UBLOX_CFG_NAV5_DYNMODEL_AUTOMOTIVE 4 +#define UBLOX_CFG_NAV5_DYNMODEL_SEA 5 +#define UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_1G 6 +#define UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_2G 7 +#define UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G 8 + +#define UBLOX_CFG_NAV5_FIXMODE_2D 1 +#define UBLOX_CFG_NAV5_FIXMODE_3D 2 +#define UBLOX_CFG_NAV5_FIXMODE_AUTO 3 + +#endif /* _AO_GPS_UBLOX_H_ */ |